WO2022213737A1 - 沿边清洁方法、清洁机器人及存储介质 - Google Patents

沿边清洁方法、清洁机器人及存储介质 Download PDF

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Publication number
WO2022213737A1
WO2022213737A1 PCT/CN2022/077883 CN2022077883W WO2022213737A1 WO 2022213737 A1 WO2022213737 A1 WO 2022213737A1 CN 2022077883 W CN2022077883 W CN 2022077883W WO 2022213737 A1 WO2022213737 A1 WO 2022213737A1
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Prior art keywords
closed loop
sum
boundary
type
distance
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PCT/CN2022/077883
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English (en)
French (fr)
Inventor
任纪颖
喻强
邵林
王聪
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美智纵横科技有限责任公司
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Publication of WO2022213737A1 publication Critical patent/WO2022213737A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • 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
    • 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
    • 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 disclosure relates to the field of robotics, and in particular, to an edge cleaning method, a cleaning robot and a storage medium.
  • the cleaning robot When the cleaning robot cleans any area: first perform edge cleaning on the boundary of the area; when the edge cleaning ends, clean the interior of the area.
  • the cleaning robot in the process of edge cleaning, the cleaning robot is easily disturbed by dynamic obstacles, such as people or pets, and forms a closed-loop area.
  • some closed-loop areas do not need to be cleaned, which causes the cleaning robot to take more unnecessary paths and reduces the cleaning efficiency of the cleaning robot.
  • embodiments of the present disclosure provide an edgewise cleaning method, a cleaning robot, and a storage medium.
  • Embodiments of the present disclosure provide an edge cleaning method, including:
  • edge cleaning when the detected obstacle is a set obstacle, continue to perform edge cleaning.
  • Embodiments of the present disclosure also provide a cleaning robot, including:
  • the edgewise cleaning unit is configured to continue the edgewise cleaning when the detected obstacle is a set obstacle during the edgewise cleaning process.
  • Embodiments of the present disclosure also provide a cleaning robot comprising: a processor and a memory configured to store a computer program executable on the processor,
  • the processor is configured to execute the steps of any one of the above edge cleaning methods when running the computer program.
  • Embodiments of the present disclosure further provide a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any of the foregoing edge edge cleaning methods.
  • the edgewise cleaning when the detected obstacle is a set obstacle, the edgewise cleaning is continued. Therefore, when the detected obstacle is a set obstacle, such as an isolated obstacle or a dynamic obstacle, the cleaning robot can avoid the set obstacle and continue to clean along the edge. Setting the boundary of the obstacle to form a closed loop can avoid unnecessary paths caused by the closed loop caused by the disturbance of the set obstacle; even if the cleaning robot is disturbed by the dynamic obstacle, it can move around the dynamic obstacle or the isolated obstacle. Then a closed loop is formed, and the cleaning robot also continues to clean along the edge, and will not clean the inner area of the closed loop, so as to avoid unnecessary paths due to cleaning the inner area of the closed loop, and also avoid repeated cleaning along the edge and inside the area. Switching between cleanings increases cleaning efficiency.
  • FIG. 1 is a schematic diagram of a realization flow of an edgewise cleaning method provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of an implementation flow of a method for edgewise cleaning provided by another embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of a starting point provided by an embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram of a reverse push to a starting point based on a current position according to an embodiment of the present disclosure
  • FIG. 5 is a schematic diagram of a gap between a first boundary and a second boundary provided by an embodiment of the present disclosure
  • FIG. 6 is a schematic diagram of an edgewise cleaning method provided by an embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of an implementation flow of determining a type of a first closed loop in an edgewise cleaning method provided by an application embodiment of the present disclosure
  • FIG. 8 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a hardware composition of a cleaning robot according to an embodiment of the present disclosure.
  • the cleaning robot is easily disturbed by dynamic obstacles during the edge cleaning process, and moves clockwise around isolated obstacles to form a small clockwise closed loop, or moves counterclockwise around isolated obstacles to form a small counterclockwise closed loop.
  • the cleaning robot recognizes that the edge cleaning is over, and cleans the inner area of the clockwise small closed loop or the counterclockwise small closed loop, but the inner area of the clockwise small closed loop does not need to be cleaned, thus causing the cleaning robot to walk a little more.
  • the necessary path reduces the cleaning efficiency of the cleaning robot.
  • the boundary of the cleaning area is continued to be cleaned.
  • the cleaning robot repeatedly switches between edge cleaning and inner area cleaning, which consumes a long switching time. Reduced the cleaning efficiency of the cleaning robot.
  • the inner area of the counterclockwise closed loop needs to be cleaned, and the isolated obstacles include dynamic obstacles, and also include obstacles other than dynamic obstacles in the cleaning area, such as tables, chairs, toys, etc.
  • a normal closed loop refers to a closed loop formed by walking counterclockwise along the set boundary of the cleaning area.
  • the embodiment of the present disclosure provides an edgewise cleaning method, in the process of edgewise cleaning, when the detected obstacle is a set obstacle, the edgewise cleaning is continued. Therefore, when the detected obstacle is a set obstacle, such as an isolated obstacle or a dynamic obstacle, the cleaning robot can avoid the set obstacle and continue to clean along the edge. Setting the boundary of the obstacle to form a closed loop can avoid unnecessary paths caused by the closed loop caused by the disturbance of the set obstacle; even if the cleaning robot is disturbed by the dynamic obstacle, it can move around the dynamic obstacle or the isolated obstacle.
  • FIG. 1 provides a schematic diagram of an implementation process of an edgewise cleaning method according to an embodiment of the present disclosure, wherein an execution body of the process is a cleaning robot.
  • the cleaning robot can clean the ground, and can also clean the desktop and so on.
  • the edgewise cleaning method includes:
  • Step 101 In the process of edge cleaning, when the detected obstacle is a set obstacle, continue edge cleaning.
  • the cleaning robot is provided with sensors; the sensors are used to monitor the surrounding environment, such as detecting obstacles, and monitoring the working state data of the cleaning robot; the working state data includes the angle of the robot, the pose and edge state of the robot, and the like.
  • the pose represents the position and posture of the cleaning robot; the state along the edge includes traveling straight or along the wall, and the state along the wall can also be called along the edge; the state along the edge includes traveling straight and along the wall.
  • the cleaning robot plans an edgewise path based on the set boundary corresponding to the area to be cleaned, and performs edgewise cleaning based on the planned edgewise path.
  • the first sensor in the cleaning robot can be used to detect whether there is an obstacle on the edgewise path ahead.
  • the obstacle is a set obstacle, you can bypass the obstacle and continue to clean along the edge, and a closed loop will not be formed around the set obstacle at this time; or when the obstacle is a set obstacle, and surround the set obstacle
  • the first sensor is used to detect obstacles, and the first sensor may be a ranging sensor, for example, a lidar.
  • the set obstacles include dynamic obstacles or isolated obstacles, and isolated obstacles refer to obstacles that exist in isolation.
  • the implementation process of continuing edge cleaning includes at least one of the following:
  • the cleaning robot can travel to the vicinity of the first obstacle, and continue to perform edgewise cleaning when the dynamic obstacle leaves the edgewise path.
  • the cleaning robot can avoid the set obstacle and continue to clean along the edge. At this time, the cleaning robot will not form a closed loop along the boundary of the set obstacle. For example, after the cleaning robot has planned an edge path, in a scenario where a person, an animal or a toy enters the planned edge path, the cleaning robot avoids the set obstacles and continues edge cleaning.
  • the cleaning robot collides with the set obstacle and deviates from the planned edgewise path, the cleaning robot returns to the planned edgewise path to continue edgewise cleaning.
  • the set obstacle is usually a dynamic obstacle.
  • the cleaning robot can return to the planned edgewise path based on the collision position, continue edgewise cleaning, or travel Continue edge cleaning to the set boundary closest to the current position.
  • the cleaning robot collides with the dynamic obstacle and travels to the position where the second obstacle is located, or when the second obstacle is a set obstacle and surrounds the
  • the cleaning robot can return to the planned edgewise path based on the collision position with the first obstacle to continue edgewise cleaning; it can also travel to the setting closest to the current position Boundaries, continue with edgewise cleaning.
  • edge cleaning is performed along the planned edge path; when it is determined that there is an obstacle ahead, and the obstacle is not a set obstacle, for example, When hitting a wall, edge cleaning is performed along the boundary of that obstacle.
  • the edgewise cleaning when the detected obstacle is a set obstacle, the edgewise cleaning is continued. Therefore, when the detected obstacle is a set obstacle, such as an isolated obstacle or a dynamic obstacle, the cleaning robot can avoid the set obstacle and continue to clean along the edge. Setting the boundary of the obstacle to form a closed loop can avoid unnecessary paths caused by the closed loop caused by the disturbance of the set obstacle; even if the cleaning robot is disturbed by the dynamic obstacle, it can move around the dynamic obstacle or the isolated obstacle. Then a closed loop is formed, and the cleaning robot also continues to clean along the edge, and will not clean the inner area of the closed loop, so as to avoid unnecessary paths due to cleaning the inner area of the closed loop, and also avoid repeated cleaning along the edge and inside the area.
  • the cleaning robot may form a closed loop due to the disturbance of dynamic obstacles.
  • the edge edge can be continued.
  • the method when continuing to perform edgewise cleaning, the method further includes:
  • Step 201 Determine the type of the first closed loop formed based on the sum of the first distance and the angle increment; wherein, the first distance represents the Manhattan distance between the current position and the starting point; the starting point represents the first-time collision with the obstacle. Position, or the position where the first straight line reaches the set boundary; the sum of the angle increments represents the sum of the angle increments of every two adjacent key points in the key points between the current position and the starting point; the key points represent the distance along the edge Points recorded every set distance during cleaning.
  • the cleaning robot when the cleaning function is activated, the cleaning robot will go straight from the initial position of the cleaning robot to the nearest set boundary to clean along the edge; The location is determined as the starting point.
  • the position of the first collision with the obstacle is determined as the starting point.
  • the position on the set boundary for the first time is determined as the starting point, and in the process of edge cleaning, the first collision with the obstacle is determined as the new position starting point.
  • the cleaning robot During the process of going straight from the initial position to the nearest set boundary and cleaning along the set boundary, the cleaning robot records a key point every set distance, and records the corresponding pose and edge state of the key point in association with it. and the robot's point of view.
  • the cleaning robot sets the location of the starting point as the first key point.
  • the set distance can be 100 mm.
  • the Manhattan distance between the current position and the starting point is calculated to obtain the first distance; based on the angle of the robot corresponding to each two adjacent key points, the sum of the angle increments is determined.
  • the sum of the angle increments includes the sum of the first angle increments and the sum of the second angle increments; the sum of the first angle increments represents the angle increment of every two adjacent key points in the process of traveling from the starting point to the current position.
  • the sum of the quantities; the sum of the second angle increments represents the sum of the angle increments of every two adjacent key points in the process of backward pushing to the starting point based on the current position.
  • the first key point corresponding to the current position represents the key point closest to the current position; the reverse push based on the first key point means that the key point closest to the current position is used as the starting point to push backward toward the starting point.
  • the cleaning robot determines whether the first closed loop is currently formed based on the first distance and the first set threshold, and based on the sum of the angle increments, and the first closed loop is currently formed. In the case of a closed loop, the type of the currently formed first closed loop is determined.
  • the shape of the first closed loop may be an irregular shape or a regular shape.
  • the type of the first closed loop includes a set normal closed loop or a set abnormal closed loop.
  • the set normal closed loop refers to the counterclockwise closed loop formed by the cleaning robot walking counterclockwise along all the set boundaries of the cleaning area
  • the set abnormal closed loop refers to the closed loop formed by the cleaning robot walking along some set boundaries of the cleaning area.
  • the set first abnormal closed loop represents a clockwise small closed loop; the set second abnormal closed loop represents a counterclockwise small closed loop. That is to say, the set normal closed loop is a large counterclockwise closed loop, and the set size of the normal closed loop is much larger than the set size of the second abnormal closed loop.
  • the determining the type of the first closed loop currently formed based on the sum of the first distance and the angle increment includes:
  • the type of the first closed loop based on the absolute value of the sum of the first angle increments and the total walking trajectory
  • the type of the first closed loop is determined based on the absolute value of the sum of the second angle increments and the second distance;
  • the second distance represents the Manhattan distance of every two adjacent keypoints in the process of inversion.
  • the first angle increase is determined based on the angle increments of every two adjacent key points.
  • the total walking trajectory corresponding to the current position is recorded, where the total walking trajectory refers to the total length of all trajectories that the cleaning robot walks; based on the sum of the first angle increments and the second set threshold, and based on the total walking trajectory and
  • the third sets a threshold to determine whether the first closed loop is currently formed, and in the case that the first closed loop is currently formed, the type of the first closed loop is determined.
  • the second set threshold may be 350 degrees
  • the third set threshold may be 2 meters.
  • the first set threshold may be 1 meter.
  • the second set threshold value represents the absolute value of the corresponding angular increment sum when the set normal closed loop is formed.
  • the type of the first closed loop is determined based on the absolute value of the sum of the first angle increments and the total walking trajectory, including:
  • the first judgment result indicates that the absolute value of the sum of the first angle increments is greater than the second set threshold
  • the second judgment result indicates that the total walking trajectory is greater than the third set threshold
  • the third set threshold may be 2 meters.
  • the first distance is greater than the first set threshold, start from the key point closest to the current position, and push back to the starting point.
  • the angle increment of the key point is determined, and the sum of the second angle increment is determined; and the Manhattan distance of every two adjacent key points in the process of reverse push is determined, and the second distance is obtained.
  • the second angular increment sum and the second distance are determined, based on the second angular increment sum and the fourth set threshold, and based on the second distance and the fifth set threshold, it is determined whether the first Closed loop, in the case that the first closed loop is currently formed, the type of the first closed loop is determined.
  • the determining the type of the first closed loop based on the absolute value of the sum of the second angle increments and the second distance includes:
  • the type of the first closed loop is determined based on the poses and angles corresponding to the set number of first key points; Wherein, the set number of first key points represent continuous key points between the current position and the starting point.
  • the first distance is greater than the first set threshold
  • a third judgment result is obtained; and it is judged whether the second distance is less than the fifth set threshold.
  • a threshold is set to obtain a fourth judgment result.
  • the third judgment result indicates that the absolute value of the sum of the second angle increments is greater than the fourth set threshold
  • the fourth judgment result indicates that the second distance is less than or equal to the fifth set threshold
  • it is determined that the first The loop is closed, and it is judged whether the sum of the second angle increments is greater than zero, a fifth judgment result is obtained, and the type of the first closed loop is determined based on the fifth judgment result.
  • the fourth set threshold and the second set threshold may be the same or different, and in practical application, the fourth set threshold may be 350 degrees.
  • the third judgment result indicates that the absolute value of the sum of the second angle increments is less than or equal to the fourth set threshold
  • Closed loop in the case that the first closed loop is currently formed, the type of the first closed loop is determined.
  • the set number is greater than or equal to 10, that is, there are at least 10 consecutive key points between the current position and the starting point.
  • the pose and angle corresponding to the first key point of the set number the type of the first closed loop is determined.
  • the The poses and angles corresponding to a certain number of first key points are used to determine the type of the first closed loop, including:
  • the type of the first closed loop is set normal closed loop
  • the first key point represents the current key point determined in the process of reverse push
  • the corresponding second key point represents the set number of first key points, the distance between the first key point and the first key point is at least one key point.
  • the key point; the third distance represents the Manhattan distance between the first key point and the corresponding second key point; the first information and the second information both include the pose and angle of the cleaning robot.
  • the first key point and the corresponding second key point are separated by two key points.
  • the current key point determined in the process of reverse push changes dynamically.
  • the absolute value of the sum of the second angle increments is less than or equal to the fourth set threshold, and there are at least 10 consecutive key points between the current position and the starting point, based on the first key point corresponding to the second key point.
  • the information and the second information corresponding to the corresponding third key point are used to determine the difference between the third distance and the corresponding first angle.
  • the third distance is determined by the pose in the first information and the corresponding pose in the second information; the first angle difference is determined by the angle in the first information and the corresponding angle in the second information.
  • the set angle threshold is 40 degrees.
  • the cleaning robot In the process of walking from the starting point to the current position, the cleaning robot continuously records key points 1 to 10, and there are two key points between the first key point and the corresponding second key point. point and the corresponding second key point to explain:
  • the second key point corresponding to the first key point represents the key point 7 that is separated from the key point 10 by two key points when the reverse push starts from the key point 10 to the starting point;
  • the second key point corresponding to the first key point represents the key point 6 that is separated from the key point 9 by two key points when the reverse push starts from the key point 9 to the starting point;
  • the second key point corresponding to the first key point represents the key point 5 that is separated from the key point 8 by two key points when the reverse push starts from the key point 8 to the starting point; Determine the numbers of all the first key points and the numbers of the corresponding second key points.
  • the determining the type of the first closed loop based on the second angle increment sum includes:
  • the type of the first closed loop is determined based on the minimum gap between the first boundary and the second boundary and based on the size of the first closed loop;
  • the first boundary represents the boundary of the first closed loop; the second boundary represents the maximum boundary determined by all key points.
  • the fifth judgment result indicates that the sum of the second angle increments is less than zero, it indicates that the first closed loop is currently formed, and the type of the first closed loop is the set first abnormal closed loop.
  • the cleaning robot determines whether the type of the first closed loop is the set normal closed loop or the counterclockwise small closed loop based on the minimum gap between the first boundary and the second boundary and the size of the first closed loop.
  • the realization process of determining the type of the first closed loop is:
  • the boundary of the first closed loop is determined, and the first boundary is obtained, wherein the first boundary is outside the first closed loop; based on the cleaning robot record
  • the position information in the poses corresponding to all the valid key points determine the maximum boundary corresponding to all the valid key points, and obtain the second boundary; when the first boundary and the second boundary are determined, determine the first boundary and the second boundary.
  • the minimum gap between the boundary and the second boundary based on the minimum gap between the first boundary and the second boundary and the set gap, and based on the size of the first closed loop and the set size, the type of the first closed loop is determined. As shown in FIG. 5 , the small rectangle represents the first boundary, the large rectangle represents the second boundary, and the gap between the small rectangle and the large rectangle represents the gap between the first boundary and the second boundary.
  • the edge state corresponding to the key point when the edge state corresponding to the key point is along the wall, the key point is determined as a valid key point; when the edge state corresponding to the key point is straight, the key point is determined as an invalid key point.
  • the second angle increment sum when the absolute value of the second angle increment sum is greater than the fourth set threshold, and the second distance is less than or equal to the fifth set threshold, the second angle increment sum is greater than zero, and the record The edge state corresponding to at least one key point is straight. At this time, it means that the cleaning robot forms a small counterclockwise closed loop outside the set boundary, that is to say, the type of the first closed loop currently formed is the set second abnormal closed loop .
  • the and based on the size of the first closed loop determine the type of the first closed loop, including one of the following:
  • the type of the first closed loop is a set normal closed loop
  • the type of the first closed loop is the set second abnormal closed loop.
  • the sixth judgment result represents the difference between the first boundary and the second boundary.
  • the minimum gap between the second boundaries is larger than the set gap, it indicates that the first closed loop is far from the set boundary.
  • it is judged whether the size of the first closed loop is larger than the set size and the seventh judgment result is obtained; 7.
  • the judgment result indicates that when the size of the first closed loop is larger than the set size, the type of the currently formed first closed loop is determined as the set normal closed loop.
  • the type of the currently formed first closed loop is determined as the set second abnormal closed loop.
  • the set size indicates that the length of the first closed loop is greater than 0.5 meters, and the width of the first closed loop is greater than 0.5 meters.
  • Step 202 in the case that the type of the first closed loop represents the set abnormal closed loop, perform navigation based on the pose corresponding to the backtracking point on the set boundary to continue edgewise cleaning.
  • the cleaning robot determines that the currently formed first closed loop is the set abnormal closed loop, it determines the key points on the set boundary from the recorded key points, and determines the determined key points as backtracking point, and navigate the cleaning robot based on the determined pose of the backtracking point, so as to trigger the cleaning robot to travel to the backtracking point, so as to continue edgewise cleaning based on the backtracking point.
  • the backtracking point may be determined based on the third key point newly recorded before the robot collides with the obstacle, and the backtracking point may be a key point adjacent to the third key point.
  • the dotted line segment represents the recorded key points, and the cleaning robot determines the key point before the collision position and closest to the collision position as the backtracking point.
  • the navigation may succeed or fail.
  • the successful navigation indicates that a path from the current position to the backtracking point can be planned, and the cleaning robot can travel from the current position to the backtracking point based on the planned path, so as to continue along the set boundary where the backtracking point is located. Clean along the edges.
  • Navigation failure means that the path from the current position to the backtracking point cannot be planned, and the robot cannot travel to the backtracking point.
  • the cleaning robot in order to continue cleaning along the edge to prevent missed sweeps, in some embodiments, in the case of a navigation failure, it goes straight to the first set boundary to follow the Edge cleaning is performed on the first set boundary; the first set boundary represents the set boundary closest to the current position.
  • the cleaning robot when the cleaning robot fails to navigate, it determines the first set boundary closest to the current position based on the position information of the set boundary and the position information of the current position, and goes straight to the first set boundary to follow the first set boundary. Set boundaries for edge cleaning.
  • the cleaning robot when it successfully navigates, it can expand or shrink the polygon according to the key points near the current position, so as to move towards the nearest obstacle (for example, a wall) to the current position. ) to go straight, and continue along the edge after colliding with the obstacle.
  • the nearest obstacle for example, a wall
  • the method further include:
  • the first closed loop and the first path are marked as a non-walkable area; the first path represents the path between the set boundary and the first closed loop.
  • the cleaning robot marks the first closed loop and the path between the set boundary and the first closed loop as a non-walkable area, so that when the cleaning robot follows the path again or travels to the position where the first closed loop is located, it can Go around the isolated obstacle and continue along the edge.
  • the first closed loop is a small clockwise closed loop
  • the path between the set boundary and the first closed loop represents the line segment between the collision position and the small clockwise closed loop.
  • the method further includes:
  • the cleaning robot determines that the currently set normal closed loop is formed, it indicates that the edge cleaning is currently completed, and the cleaning robot clears the marked non-walkable area to prevent missed scanning.
  • the cleaning robot clears the marked first closed loop, and sets the path between the boundary and the first closed loop.
  • the type of the first closed loop formed is determined based on the sum of the first distance and the angle increment; in the case that the type of the first closed loop represents the set abnormal closed loop, based on The pose corresponding to the backtracking point on the set boundary is used to navigate the cleaning robot to continue edgewise cleaning, so that the type of the first closed loop can be accurately identified, and the type of the first closed loop represents the set abnormal closed loop Continue to perform edgewise cleaning without cleaning the inner area of the first closed loop, so as to avoid unnecessary paths for cleaning the inner area of the clockwise closed loop, or avoid repeated cleaning between the edgewise cleaning and the inner area of the area. switch to improve cleaning efficiency.
  • FIG. 7 is a schematic diagram of an implementation flowchart of determining the type of the first closed loop in an edgewise cleaning method provided by an embodiment of the present disclosure. As shown in FIG. 7 , the method for determining the type of the first closed loop includes:
  • Step 701 In the process of edge cleaning, record key points and starting points.
  • Step 702 Determine whether the first distance is greater than a first set threshold; the first distance represents the Manhattan distance between the current position and the starting point.
  • the first set threshold is 1 meter.
  • Step 703 When the first distance is less than or equal to the first set threshold, judge whether the absolute value of the sum of the first angle increments is greater than the second set threshold, and judge whether the total walking trajectory is greater than the third set threshold.
  • the sum of the first angle increments represents the sum of the angle increments of every two adjacent key points in the process of traveling from the starting point to the current position.
  • the second set threshold may be 350 degrees
  • the third set threshold may be 2 meters.
  • the absolute value of the sum of the first angle increments is greater than the second set threshold, and the total walking trajectory is greater than the third set threshold, it indicates that a first closed loop is currently formed, and the first closed loop is a set normal closed loop.
  • the absolute value of the sum of the first angle increments is less than or equal to the second set threshold, or the total walking trajectory is less than or equal to the third set threshold, it means that the first closed loop is not currently formed, and the cleaning robot runs straight.
  • Step 704 When the first distance is greater than the first set threshold, determine whether the absolute value of the second angle increment sum is greater than the fourth set threshold, and judge whether the second distance is less than or equal to the fifth set threshold.
  • the sum of the second angle increments represents the sum of the angle increments of every two adjacent key points in the process of inversely pushing the starting point based on the current position; Manhattan distance of neighboring keypoints.
  • the fourth set threshold may be 350 degrees
  • the fifth set threshold may be 1 meter.
  • step 705 When the absolute value of the second angle increment sum is less than or equal to the fourth set threshold, step 705 is executed. When the absolute value of the sum of the second angle increments is greater than the fourth set threshold, and the second distance is less than or equal to the fifth set threshold, it indicates that the first closed loop is currently formed, and step 706 is executed. At this time, the cleaning robot The type of the first closed loop formed is determined by step 706 or 707 .
  • Step 705 When the absolute value of the second angle increment sum is less than or equal to the fourth set threshold, determine whether to form a first closed loop based on the poses and angles corresponding to the set number of first key points.
  • the set number of first key points represent the continuous key points between the current position and the starting point, and based on the poses and angles corresponding to the set number of first key points, it is determined whether a first closed loop is formed, including:
  • the set distance threshold In the case that only one of the determined third distances is greater than the set distance threshold, or in the case that all of the determined third distances are less than or equal to the set distance threshold, Indicates that the first closed loop is not currently formed; in the determined third distances, there are two third distances greater than the set distance threshold, and there is at least one first angle in the first angle difference corresponding to the two third distances When the difference is greater than or equal to the set distance threshold, it indicates that the first closed loop is not currently formed, and continues to go straight.
  • the set angle threshold is 40 degrees.
  • the first key point represents the current key point in the process of reverse push
  • the corresponding second key point represents the key point that is separated from the first key point by two key points among the set number of first key points
  • the three distances represent the Manhattan distance between the first key point and the corresponding second key point
  • both the first information and the second information include the pose and angle of the cleaning robot.
  • Step 706 When the absolute value of the second angle increment sum is greater than the fourth preset threshold and the second distance is less than or equal to the fifth preset threshold, determine whether the second angle increment sum is greater than zero.
  • the first closed loop formed is characterized as a small clockwise closed loop.
  • Step 707 In the case that the sum of the second angle increments is greater than zero, determine whether there is a straight line along the edge track, and determine whether the size of the closed loop area is larger than the set size.
  • the cleaning robot determines whether there is a straight line along the edge trajectory based on the edge state corresponding to the key point between the current position and the starting point, wherein, the edge state corresponding to any key point between the current position and the starting point indicates that when the edge travels straight, it represents There is a straight line along the edge track; when the edge state corresponding to all the key points between the current position and the starting point represents the edge along the wall, it indicates that there is no straight line along the edge track.
  • the cleaning robot can determine the size of the first closed loop based on the boundary of the first closed loop formed, and judge whether the size of the first closed loop is larger than the set size; in practical application, the set size indicates that the length and width of the closed loop are both 0.5 meters .
  • the first closed loop formed is a set normal closed loop; there is a straight line along the edge track, or the size of the closed loop region is smaller than or equal to the set size
  • the first closed loop formed by the characterization is a small counterclockwise closed loop.
  • the embodiment of the present disclosure further provides a cleaning robot, as shown in FIG. 8 , the cleaning robot includes:
  • the edgewise cleaning unit 81 is configured to continue to perform edgewise cleaning when the detected obstacle is a set obstacle during the edgewise cleaning process.
  • the cleaning robot further includes:
  • a determining unit configured to determine the type of the first closed loop formed based on the first distance and the sum of the angle increments
  • a navigation unit configured to perform navigation based on the pose corresponding to the backtracking point on the set boundary when the type of the first closed loop represents the set abnormal closed loop, so as to continue the edge cleaning;
  • the first distance represents the Manhattan distance between the current position and the starting point; the starting point represents the position where the collision occurs with the obstacle for the first time, or the position where the first straight line reaches the set boundary; the sum of the angle increments represents the difference between the current position and the starting point.
  • the key points between the starting points the sum of the angle increments of every two adjacent key points; the key points represent the points recorded every set distance in the process of edge cleaning.
  • the determining unit is specifically configured as:
  • the type of the first closed loop based on the absolute value of the sum of the first angle increments and the total walking trajectory
  • the type of the first closed loop is determined based on the absolute value of the sum of the second angle increments and the second distance;
  • the first angle increment sum represents the sum of the angle increments of every two adjacent key points in the process of traveling from the starting point to the current position; the second angle increment sum represents the direction based on the current position.
  • the sum of the angle increments of every two adjacent key points; the second distance represents the Manhattan distance of every two adjacent key points in the process of inversion.
  • the determining unit is specifically configured to: when the absolute value of the sum of the first angle increments is greater than the second set threshold, and the total walking trajectory is greater than the third set threshold, determine the first A type of closed loop is a set normal closed loop.
  • the determining unit is specifically configured as:
  • the type of the first closed loop is determined based on the poses and angles corresponding to the set number of first key points; in,
  • the set number of first key points represent consecutive key points between the current position and the starting point.
  • the determining unit is specifically configured as:
  • the type of the first closed loop is determined based on the minimum gap between the first boundary and the second boundary and based on the size of the first closed loop;
  • the first boundary represents the boundary of the first closed loop; the second boundary represents the maximum boundary determined by all key points.
  • the determining unit is specifically configured to perform one of the following:
  • the type of the first closed loop is a set normal closed loop
  • the minimum gap is less than or equal to the set gap, or the size of the first closed loop is less than or equal to the set size, it is determined that the type of the first closed loop is the set second abnormality closed loop.
  • the determining unit is specifically configured as:
  • the type of the first closed loop is set normal closed loop
  • the first key point represents the current key point determined in the process of reverse push
  • the corresponding second key point represents the set number of first key points, the distance between the first key point and the first key point is at least one key point.
  • the key point; the third distance represents the Manhattan distance between the first key point and the corresponding second key point; the first information and the second information both include the pose and angle of the cleaning robot.
  • the navigation unit is further configured to:
  • the cleaning robot In the case of failure to navigate, control the cleaning robot to go straight to a first set boundary to perform edgewise cleaning along the first set boundary; the first set boundary represents the set boundary closest to the current position .
  • the cleaning robot when the type of the first closed loop represents the set abnormal closed loop, the cleaning robot further includes:
  • the marking unit is configured to mark the first closed loop and the first path as a non-walkable area; the first path represents a path between a set boundary and the first closed loop.
  • the cleaning robot further includes:
  • the clearing unit is configured to clear the marked non-walkable area under the condition of forming a set normal closed loop.
  • each unit included in the cleaning robot can be controlled by processors in the cleaning robot, such as a central processing unit (CPU, Central Processing Unit), a digital signal processor (DSP, Digital Signal Processor), and a microcontroller unit (MCU, Microcontroller Unit). ) or programmable gate array (FPGA, Field-Programmable Gate Array).
  • processors in the cleaning robot such as a central processing unit (CPU, Central Processing Unit), a digital signal processor (DSP, Digital Signal Processor), and a microcontroller unit (MCU, Microcontroller Unit).
  • CPU central processing unit
  • DSP Digital Signal Processor
  • MCU Microcontroller Unit
  • FPGA Field-Programmable Gate Array
  • FIG. 9 is a schematic structural diagram of the hardware composition of a cleaning robot provided by an embodiment of the present disclosure. As shown in FIG. 9 , the cleaning robot 9 includes:
  • a communication interface 91 capable of information interaction with other devices such as network devices;
  • the processor 92 is connected to the communication interface 91 to realize information interaction with other devices, and is configured to execute the edge cleaning method provided by one or more of the above technical solutions when running a computer program. And the computer program is stored on the memory 93 .
  • bus system 94 is configured to enable connection communication between these components.
  • bus system 94 also includes a power bus, a control bus and a status signal bus.
  • the various buses are designated as bus system 94 in FIG. 9 .
  • the memory 93 in the embodiment of the present disclosure is used to store various types of data to support the operation of the cleaning robot 9 .
  • Examples of such data include: any computer program configured to operate on the cleaning robot 9 .
  • the memory 93 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory.
  • the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-only memory) Only Memory), Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), Magnetic Random Access Memory (FRAM, ferromagnetic random access memory), Flash Memory (Flash Memory), Magnetic Surface Memory , CD-ROM, or CD-ROM (Compact Disc Read-Only Memory); magnetic surface memory can be disk memory or tape memory.
  • RAM Random Access Memory
  • SRAM Static Random Access Memory
  • SSRAM Synchronous Static Random Access Memory
  • DRAM Dynamic Random Access Memory
  • SDRAM Synchronous Dynamic Random Access Memory
  • DDRSDRAM Double Data Rate Synchronous Dynamic Random Access Memory
  • ESDRAM Enhanced Type Synchronous Dynamic Random Access Memory
  • SLDRAM Synchronous Link Dynamic Random Access Memory
  • DRRAM Direct Rambus Random Access Memory
  • the memory 93 described in the embodiments of the present disclosure is intended to include, but not be limited to, these and any other suitable types of memory.
  • the methods disclosed in the above embodiments of the present disclosure may be applied to the processor 92 or implemented by the processor 92 .
  • the processor 92 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method can be completed by a hardware integrated logic circuit in the processor 92 or an instruction in the form of software.
  • the aforementioned processor 92 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.
  • the processor 92 may implement or execute the methods, steps, and logical block diagrams disclosed in the embodiments of the present disclosure.
  • a general purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the methods disclosed in combination with the embodiments of the present disclosure can 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 a storage medium, and the storage medium is located in the memory 93, and the processor 92 reads the program in the memory 93, and completes the steps of the foregoing method in combination with its hardware.
  • an embodiment of the present disclosure further provides a storage medium, that is, a computer storage medium, specifically a computer-readable storage medium, for example, including a first memory 93 storing a computer program, and the above-mentioned computer program can be stored by a cleaning robot.
  • the processor 92 executes the steps described in the aforementioned methods.
  • the computer-readable storage medium may be memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disk, or CD-ROM.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling, or direct coupling, or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical or other forms. of.
  • the unit described above as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or 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 disclosure may be all integrated into one processing module, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above integration
  • the unit can be implemented either in the form of hardware or in the form of hardware plus software functional units.
  • the aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, execute Including the steps of the above method embodiment; and the aforementioned storage medium includes: a mobile storage device, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk and other various A medium on which program code can be stored.
  • ROM read-only memory
  • RAM random access memory
  • magnetic disk or an optical disk and other various A medium on which program code can be stored.

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Abstract

一种沿边清洁方法、清洁机器人（9）及存储介质。其中，沿边清洁方法包括：在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁（101）。

Description

沿边清洁方法、清洁机器人及存储介质
相关申请的交叉引用
本公开基于申请号为202110385303.X，申请日为2021年04月09日的中国专利申请提出，并要求上述中国专利申请的优先权，上述中国专利申请的全部内容在此引入本公开作为参考。
技术领域
本公开涉及机器人技术领域，尤其涉及一种沿边清洁方法、清洁机器人及存储介质。
背景技术
清洁机器人在对任一区域进行清洁时：先对该区域的边界进行沿边清洁；在沿边清洁结束时，对该区域内部进行清洁。相关技术中，清洁机器人在沿边清洁的过程中，容易受到动态障碍物，比如，人或宠物的扰动，而形成闭环区域，此时，清洁机器人识别为沿边清洁结束，对闭环区域内部进行清洁，但是一些闭环区域是不需要清洁的，由此，导致清洁机器人多走了一些不必要的路径，降低了清洁机器人的清洁效率。
发明内容
为解决相关技术问题，本公开实施例提供了一种沿边清洁方法、清洁机器人及存储介质。
本公开实施例提供了一种沿边清洁方法，包括：
在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁。
本公开实施例还提供了一种清洁机器人，包括：
沿边清洁单元，配置为在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁。
本公开实施例还提供了一种清洁机器人包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，
其中，所述处理器配置为运行所述计算机程序时，执行上述任一种沿边清洁方法的步骤。
本公开实施例还提供了一种存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述任一种沿边清洁方法的步骤。
在本公开实施例中，在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁。由此，当检测到的障碍物为设定障碍物，比如，孤立障碍物或动态障碍物时，清洁机器人可以避开设定障碍物，继续进行沿边清洁，此时，清洁机器人不会沿着设定障碍物的边界形成闭环，可以避免因受到设定障碍物的扰动形成闭环而导致多走一些不必要的路径；即使清洁机器人受到动态障碍物的扰动，围绕动态障碍物或孤立障碍物行进而形成闭环，清洁机器人也继续进行沿边清洁，不会清洁该闭环的内部区域， 这样可以避免因清洁该闭环的内部区域而多走一些不必要的路径，还可以避免反复在沿边清洁和区域内部清洁之间进行切换，提高了清洁效率。
附图说明
图1为本公开实施例提供的一种沿边清洁方法的实现流程示意图；
图2为本公开另一实施例提供的一种沿边清洁方法的实现流程示意图；
图3为本公开实施例提供的一种起始点的示意图；
图4为本公开实施例提供的一种基于当前位置向起始点进行逆推的示意图；
图5为本公开实施例提供的第一边界与第二边界之间的间隙的示意图；
图6为本公开实施例提供的沿边清洁方法的示意图；
图7为本公开应用实施例提供的一种沿边清洁方法中确定第一闭环的类型的实现流程示意图；
图8为本公开实施例提供的清洁机器人的结构示意图；
图9为本公开实施例提供的清洁机器人的硬件组成结构示意图。
具体实施方式
相关技术中，清洁机器人在沿边清洁过程中，容易受到动态障碍物的扰动，而围绕孤立障碍物顺时针移动形成顺时针小闭环，或者围绕孤立障碍物逆时针移动形成逆时针小闭环，此时，清洁机器人识别为沿边清洁结束，对顺时针小闭环或逆时针小闭环的内部区域进行清洁，但是顺时针小闭环的内部区域是不需要清洁的，由此，导致清洁机器人多走了一些不必要的路径，降低了清洁机器人的清洁效率。另外，在清洁完逆时针小闭环的内部区域的情况下，继续对清洁区域的边界进行清洁，由此，清洁机器人反复在沿边清洁和区域内部清洁之间进行切换，消耗的切换时间较长，降低了清洁机器人的清洁效率。其中，逆时针闭环的内部区域时需要清洁的，孤立障碍物包括动态障碍物，还包括清洁区域内除动态障碍物之外的障碍物，例如、桌椅、玩具等。
综上所述，相关技术中，在沿边清洁过程中，清洁机器人因受到动态障碍物的扰动，而形成闭环时，清洁机器人因无法识别出该闭环是正常闭环还是异常闭环，导致多走了一些不必要的路径，或者反复在沿边清洁和区域内部清洁之间进行切换，降低了清洁效率。正常闭环是指逆时针沿着清洁区域的设定边界行走一圈，而形成的闭环。
本公开实施例提供了一种沿边清洁方法，在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁。由此，当检测到的障碍物为设定障碍物，比如，孤立障碍物或动态障碍物时，清洁机器人可以避开设定障碍物，继续进行沿边清洁，此时，清洁机器人不会沿着设定障碍物的边界形成闭环，可以避免因受到设定障碍物的扰动形成闭环而导致多走一些不必要的路径；即使清洁机器人受到动态障碍物的扰动，围绕动态障碍物或孤立障碍物行进而形成闭环，清洁机器人也继续进行沿边清洁，不会清洁该闭环的内部区域，这样可以避免因清洁该闭环的内部区域而多走一些不必要的路径，还可以避免反复在沿边清洁和区域内部清洁之间进行切换，提高了清洁效率。
为了使本公开的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本公开进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本 公开，并不用于限定本公开。
图1为本公开实施例提供一种沿边清洁方法的实现流程示意图，其中，流程的执行主体为清洁机器人。清洁机器人可以对地面进行清洁，也可以对桌面等进行清洁。如图1示出的，沿边清洁方法包括：
步骤101：在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁。
其中，清洁机器人中设置有传感器；传感器用于监测周围环境，例如检测障碍物，以及用于监测清洁机器人的工作状态数据；工作状态数据包括机器人的角度、机器人的位姿和沿边状态等。位姿表征清洁机器人所处的位置和姿态；沿边状态包括直行或沿墙，沿墙也可以称为沿边；沿边状态包括直行和沿墙。
清洁机器人在启动清洁功能的情况下，基于待清洁区域对应的设定边界规划出沿边路径，并基于规划出的沿边路径进行沿边清洁。在沿边清洁的过程中，可以通过清洁机器人中的第一传感器，检测前方的沿边路径上是否存在障碍物，当确定出前方的沿边路径上存在障碍物时，判断该障碍物是否为设定障碍物；当该障碍物为设定障碍物时，可以绕开障碍物继续进行沿边清洁，此时不会围绕设定障碍物形成闭环；或者当该障碍物为设定障碍物，且围绕设定障碍物形成闭环时，可以返回规划出的沿边路径，继续进行沿边清洁，此时，不会清洁该闭环的内部区域。其中，第一传感器用于检测障碍物，第一传感器可以是测距传感器，例如，激光雷达。设定障碍物包括动态障碍物或孤立障碍物，孤立障碍物是指孤立存在的障碍物。
实际应用时，当检测到的障碍物为设定障碍物时，继续进行沿边清洁的实现过程包括以下至少一种：
当检测到的障碍物为动态障碍物时，清洁机器人可以行进至第一障碍物附近，且在该动态障碍物离开沿边路径的情况下，继续进行沿边清洁。
当检测到的障碍物为设定障碍物时，清洁机器人可以避开设定障碍物，继续进行沿边清洁，此时，清洁机器人不会沿着设定障碍物的边界形成闭环。例如，在清洁机器人规划出沿边路径之后，人、动物或玩具等进入规划出的沿边路径的场景下，清洁机器人避开设定障碍物，继续进行沿边清洁。
在清洁机器人与设定障碍物发生碰撞，偏离规划出的沿边路径的情况下，清洁机器人返回至规划出的沿边路径，继续进行沿边清洁。此时，设定障碍物通常为动态障碍物。
在清洁机器人与设定障碍物发生碰撞，并围绕该设定障碍物行进而形成闭环的情况下，清洁机器人可以基于发生碰撞的位置返回至规划出的沿边路径，继续进行沿边清洁，也可以行进至距离当前位置最近的设定边界，继续进行沿边清洁。
在检测到的第一障碍物为动态障碍物，清洁机器人与动态障碍物发生碰撞，而行进至第二障碍物所在的位置的情况下，或者在第二障碍物为设定障碍物，且围绕第二障碍物行进而形成闭环的情况下，清洁机器人可以基于与第一障碍物发生碰撞的位置，返回至规划出的沿边路径，继续进行沿边清洁；也可以行进至距离当前位置最近的设定边界，继续进行沿边清洁。
需要说明的是，当确定出前方的沿边路径上不存在障碍物时，沿着规划出的沿边路径进行沿边清洁；当确定出前方存在障碍物，且该障碍物不是设定障碍物，比如，墙壁时，沿着该障碍物的边界进行沿边清洁。
本公开实施例中，在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁。由此，当检测到的障碍物为设定障碍物，比如，孤立障碍物或动态障碍物时，清洁机器人可以避开设定障碍物，继续进行沿边清洁，此时，清洁 机器人不会沿着设定障碍物的边界形成闭环，可以避免因受到设定障碍物的扰动形成闭环而导致多走一些不必要的路径；即使清洁机器人受到动态障碍物的扰动，围绕动态障碍物或孤立障碍物行进而形成闭环，清洁机器人也继续进行沿边清洁，不会清洁该闭环的内部区域，这样可以避免因清洁该闭环的内部区域而多走一些不必要的路径，还可以避免反复在沿边清洁和区域内部清洁之间进行切换，提高了清洁效率。考虑到，清洁机器人在沿边清洁的过程中，可能存在因受到动态障碍物的扰动而形成闭环的场景，为了准确地确定出形成的闭环是否为异常闭环，并在形成异常闭环时可以继续进行沿边清洁，请参照图2，在一些实施例中，在所述继续进行沿边清洁时，所述方法还包括：
步骤201：基于第一距离和角度增量总和，确定出形成的第一闭环的类型；其中，第一距离表征当前位置与起始点之间的曼哈顿距离；起始点表征首次与障碍物发生碰撞的位置，或首次直行至设定边界的位置；角度增量总和表征在当前位置与起始点之间的关键点中，每两个相邻的关键点的角度增量之和；关键点表征在沿边清洁的过程中每隔设定距离记录的点。
实际应用时，如图3所示，清洁机器人在启动清洁功能的情况下，从清洁机器人所处的初始位置向最近的设定边界直行，以进行沿边清洁；将首次直行至设定边界上的位置确定为起始点。在从初始位置向最近的设定边界直行的过程中，当首次与障碍物发生碰撞时，将首次与障碍物发生碰撞的位置确定为起始点，当首次直行至设定边界上时，将首次直行至设定边界上的位置确定为新的起始点，并利用新的起始点替换之前的起始点。在从初始位置向最近的设定边界直行的过程中，将首次直行至设定边界上的位置确定为起始点，在沿边清洁的过程中，将首次与障碍物发生碰撞的位置确定为新的起始点。
清洁机器人在从初始位置向最近的设定边界直行的过程中，以及沿着设定边界清洁的过程中，每隔设定距离记录一个关键点，并关联记录关键点对应的位姿、沿边状态和机器人的角度。实际应用时，清洁机器人将起始点所在的位置设置为第一个关键点。实际应用时，设定距离可以为100毫米。
清洁机器人在行走过程中，计算出当前位置与起始点之间的曼哈顿距离，得到第一距离；基于每两个相邻的关键点对应的机器人的角度，确定出角度增量总和。其中，角度增量总和包括第一角度增量总和以及第二角度增量总和；第一角度增量总和表征从起始点行进至当前位置的过程中，每两个相邻的关键点的角度增量之和；第二角度增量总和表征基于当前位置向起始点进行逆推的过程中，每两个相邻的关键点的角度增量之和。当前位置对应的第一关键点表征距离当前位置最近的关键点；基于第一关键点进行逆推，是指以距离当前位置最近的关键点为起点，向起始点进行倒推。
清洁机器人在确定出第一距离和角度增量总和的情况下，基于第一距离以及第一设定阈值，以及基于角度增量总和，确定出当前是否形成第一闭环，在当前已形成第一闭环的情况下，确定出当前形成的第一闭环的类型。
其中，第一闭环的形状可以是不规则的形状，也可以是规则的形状。第一闭环的类型包括设定的正常闭环或设定的异常闭环。设定的正常闭环是指清洁机器人沿着清洁区域的所有设定边界逆时针行走形成的逆时针闭环，设定的异常闭环是指清洁机器人沿着清洁区域的部分设定边界行走形成的闭环。当第一闭环的类型为设定的正常闭环时，表征清洁机器人完成沿边清洁；当第一闭环的类型为设定的异常闭环时，表征清洁机器人未完成沿边清洁。设定的异常闭环包括设定的第一异常闭环和设定的第二异常闭环。设定的第一异常闭环表征顺时针小闭环；设定的第二异常 闭环表征逆时针小闭环。也就是说，设定的正常闭环为逆时针大闭环，设定的正常闭环的尺寸远大于设定的第二异常闭环的尺寸。
需要说明的是，在基于第一距离和角度增量总和，确定出当前未形成第一闭环的情况下，继续沿边清洁。
需要说明的是，清洁机器人在非首次与障碍物发生碰撞时，绕过障碍物直行，不会将碰撞位置确定为起始点。
为了准确地确定出当前形成的第一闭环的类型，在一些实施例中，所述基于第一距离和角度增量总和，确定出当前形成的第一闭环的类型，包括：
在第一距离小于或等于第一设定阈值的情况下，基于第一角度增量总和的绝对值以及总行走轨迹，确定出所述第一闭环的类型；或者
在第一距离大于所述第一设定阈值的情况下，基于第二角度增量总和的绝对值以及第二距离，确定出所述第一闭环的类型；其中，
所述第二距离表征在逆推的过程中每两个相邻的关键点的曼哈顿距离。
这里，在第一距离小于或等于第一设定阈值的情况下，在从起始点行进至当前位置的过程中，基于每两个相邻的关键点的角度增量，确定出第一角度增量总和；记录行进至当前位置对应的总行走轨迹，这里总行走轨迹是指清洁机器人行走的所有轨迹的总长度；基于第一角度增量总和以及第二设定阈值，以及基于总行走轨迹和第三设定阈值，确定出当前是否形成第一闭环，在当前已形成第一闭环的情况下，确定出第一闭环的类型。实际应用时，第二设定阈值可以为350度，第三设定阈值可以为2米。第一设定阈值可以为1米。第二设定阈值表征形成设定的正常闭环时对应的角度增量总和的绝对值。
为了更准确地确定出设定的正常闭环，在一些实施例中，所述基于第一角度增量总和的绝对值以及总行走轨迹，确定出所述第一闭环的类型，包括：
在第一角度增量总和的绝对值大于第二设定阈值，且总行走轨迹大于第三设定阈值的情况下，确定出所述第一闭环的类型为设定的正常闭环。
这里，在第一距离小于或等于第一设定阈值的情况下，判断第一角度增量总和的绝对值是否大于第二设定阈值，得到第一判断结果；以及判断总行走轨迹是否大于第三设定阈值，得到第二判断结果。在第一判断结果表征第一角度增量总和的绝对值大于第二设定阈值，且第二判断结果表征总行走轨迹大于第三设定阈值的情况下，确定出当前已形成第一闭环，且第一闭环的类型为设定的正常闭环。实际应用时，第三设定阈值可以为2米。
其中，在第一距离小于或等于第一设定阈值的情况下，且在第一判断结果表征第一角度增量总和的绝对值小于或等于第二设定阈值，或者在第二判断结果表征总行走轨迹小于或等于第三设定阈值的情况下，确定出当前未形成第一闭环，清洁机器人继续直行，以继续进行沿边清洁。
请参照图4，在第一距离大于第一设定阈值的情况下，从距离当前位置最近的关键点开始，向起始点进行逆推，在逆推的过程中，基于每两个相邻的关键点的角度增量，确定出第二角度增量总和；以及确定出在逆推的过程中，每两个相邻的关键点的曼哈顿距离，得到第二距离。在确定出第二角度增量总和以及第二距离的情况下，基于第二角度增量总和以及第四设定阈值，以及基于第二距离和第五设定阈值，确定出当前是否形成第一闭环，在当前已形成第一闭环的情况下，确定出第一闭环的类型。
为了更准确地确定出第一闭环的类型，在一些实施例中，所述基于第二角度增量总和的绝对值以及第二距离，确定出所述第一闭环的类型，包括：
在第二角度增量总和的绝对值大于第四设定阈值，且第二距离小于或等于第五设定阈值的情况下，基于第二角度增量总和确定出所述第一闭环的类型；或者
在第二角度增量总和的绝对值小于或等于所述第四设定阈值的情况下，基于设定数量的第一关键点对应的位姿和角度，确定出所述第一闭环的类型；其中，所述设定数量的第一关键点表征当前位置与起始点之间的连续的关键点。
这里，在第一距离大于第一设定阈值的情况下，判断第二角度增量总和的绝对值是否大于第四设定阈值，得到第三判断结果；以及判断第二距离是否小于第五设定阈值，得到第四判断结果。在第三判断结果表征第二角度增量总和的绝对值大于第四设定阈值，且第四判断结果表征第二距离小于或等于第五设定阈值的情况下，确定出当前已形成第一闭环，并判断第二角度增量总和是否大于零，得到第五判断结果，基于第五判断结果确定出第一闭环的类型。其中，第四设定阈值与第二设定阈值可以相同，也可以不同，实际应用时，第四设定阈值可以350度。
在第三判断结果表征第二角度增量总和的绝对值小于或等于第四设定阈值的情况下，基于设定数量的第一关键点对应的位姿和角度，确定出当前是否形成第一闭环，在当前已形成第一闭环的情况下，确定出第一闭环的类型。实际应用时，设定数量大于或等于10，也就是说，当前位置与起始点之间至少存在10个连续的关键点。实际应用时，在记录的关键点的总数大于30个，且前位置与起始点之间至少存在10个连续的关键点的情况下，设定数量的第一关键点对应的位姿和角度，确定出第一闭环的类型。
考虑到实际应用中可能存在因误差导致起始点不可靠的情况，为了防止因第二角度增量总和出现误差，而导致清洁机器人重复饶边的情况出现，在一些实施例中，所述基于设定数量的第一关键点对应的位姿和角度，确定出所述第一闭环的类型，包括：
基于设定数量的第一关键点对应的第一信息和对应的第二关键点对应的第二信息，确定出第三距离和对应的第一角度差值；
在确定出的第三距离中存在两个第三距离大于设定的距离阈值，且对应的第一角度差值小于设定的角度阈值的情况下，所述第一闭环的类型为设定的正常闭环；
其中，第一关键点表征在逆推的过程中确定出的当前关键点；对应的第二关键点表征所述设定数量的第一关键点中，与第一关键点相隔至少一个关键点的关键点；第三距离表征第一关键点和对应的第二关键点之间的曼哈顿距离；所述第一信息和第二信息均包括清洁机器人的位姿和角度。实际应用时，第一关键点与对应的第二关键点之间相隔两个关键点。在逆推的过程中确定出的当前关键点是动态变化的。
这里，在第二角度增量总和的绝对值小于或等于第四设定阈值，且当前位置与起始点之间至少存在10个连续的关键点的情况下，基于第二关键点对应的第一信息和对应的第三关键点对应的第二信息，确定出第三距离和对应的第一角度差值。其中，第三距离由第一信息中的位姿和对应的第二信息中的位姿确定出；第一角度差值由第一信息中的角度和对应的第二信息中的角度确定出。
需要说明的是，在确定出的第三距离中不存在两个第三距离大于设定的距离阈值，或对应的第一角度差值大于或等于设定的角度阈值的情况下，确定出当前未形成第一闭环，清洁机器人继续直行，以继续进行沿边清洁。实际应用时，设定的角度阈值为40度。
以清洁机器人从起始点行走至当前位置的过程中，连续记录了关键点1至关键点10，第一关键点与对应的第二关键点之间相隔两个关键点为例，对第一关键点和 对应的第二关键点进行说明：
在第一关键点为关键点10时，第一关键点对应的第二关键点表征以关键点10开始向起始点进行逆推时，与关键点10相隔两个关键点的关键点7；在第一关键点为关键点9时，第一关键点对应的第二关键点表征以关键点9开始向起始点进行逆推时，与关键点9相隔两个关键点的关键点6；在第一关键点为关键点8时，第一关键点对应的第二关键点表征以关键点8开始向起始点进行逆推时，与关键点8相隔两个关键点的关键点5；依次类推可以确定出所有的第一关键点的编号和对应的第二关键点的编号。
为了更准确的确定出第一闭环的类型，在一些实施例中，所述基于第二角度增量总和确定出所述第一闭环的类型，包括：
在第二角度增量总和小于零的情况下，确定出所述第一闭环的类型为设定的第一异常闭环；或者
在第二角度增量总和大于零的情况下，基于第一边界与第二边界之间的最小间隙以及基于所述第一闭环的尺寸，确定出所述第一闭环的类型；其中，
所述第一边界表征所述第一闭环的边界；所述第二边界表征由所有关键点确定出的最大边界。
这里，在第二角度增量总和的绝对值大于第四设定阈值，且第二距离小于或等于第五设定阈值的情况下，判断第二角度增量总和是否小于零，得到第五判断结果；在第五判断结果表征第二角度增量总和小于零的情况下，表征当前已形成第一闭环，且第一闭环的类型为设定的第一异常闭环。
在第五判断结果表征第二角度增量总和大于零的情况下，表征当前已形成第一闭环，且第一闭环表征逆时针闭环，由于第一闭环可能是设定的正常闭环，也可能是逆时针小闭环，因此，清洁机器人基于第一边界与第二边界之间的最小间隙以及基于第一闭环的尺寸，确定出第一闭环的类型是设定的正常闭环，还是逆时针小闭环。
其中，基于第一边界与第二边界之间的最小间隙以及设定间隙，以及基于第一闭环的尺寸和设定尺寸，确定出第一闭环的类型的实现过程为：
基于当前位置与起始点之间的有效关键点对应的位姿中的位置信息，确定出第一闭环的边界，得到第一边界，其中，第一边界处于第一闭环之外；基于清洁机器人记录的所有的有效关键点对应的位姿中的位置信息，确定出所有的有效关键点对应的最大边界，得到第二边界；在确定出第一边界和第二边界的情况下，确定出第一边界和第二边界之间的最小间隙，基于第一边界与第二边界之间的最小间隙以及设定间隙，以及基于第一闭环的尺寸和设定尺寸，确定出第一闭环的类型。如图5所示，小的矩形表征第一边界，大的矩形表征第二边界，小的矩形与大的矩形之间的间隙表征第一边界与第二边界之间的间隙。
其中，当关键点对应的沿边状态为沿墙时，将该关键点确定为有效的关键点；当关键点对应的沿边状态为直行时，将该关键点确定为无效的关键点。实际应用中，当时，在第二角度增量总和的绝对值大于第四设定阈值，且第二距离小于或等于第五设定阈值的情况下，第二角度增量总和大于零，且记录的至少一个关键点对应的沿边状态为直行，此时，表征清洁机器人在设定边界外形成了逆时针小闭环，也就是说，当前形成的第一闭环的类型为设定的第二异常闭环。
考虑到清洁机器人在设定边界外形成了逆时针小闭环，为了防止清洁机器人长时间对一个逆时针小闭环进行重复沿边，在一些实施例中，所述基于第一边界与第二边界之间的最小间隙以及基于所述第一闭环的尺寸，确定出所述第一闭环的类 型，包括以下之一：
在所述最小间隙大于设定间隙，且所述第一闭环的尺寸大于设定尺寸的情况下，所述第一闭环的类型为设定的正常闭环；
在所述最小间隙小于或等于设定间隙，或者所述第一闭环的尺寸小于或等于所述设定尺寸的情况下，所述第一闭环的类型为设定的第二异常闭环。
这里，在第二角度增量总和大于零的情况下，判断第一边界与第二边界之间的最小间隙是否大于设定间隙，得到第六判断结果；在第六判断结果表征第一边界与第二边界之间的最小间隙大于设定间隙的情况下，表征第一闭环与设定边界较远，此时，判断第一闭环的尺寸是否大于设定尺寸，得到第七判断结果；在第七判断结果表征第一闭环的尺寸大于设定尺寸的情况下，将当前已形成的第一闭环的类型确定为设定的正常闭环。
在第六判断结果表征第一边界与第二边界之间的最小间隙小于或等于设定间隙的情况下，或者在第七判断结果表征第一闭环的尺寸小于或等于设定尺寸的情况下，将当前已形成的第一闭环的类型确定为设定的第二异常闭环。
实际应用时，设定尺寸表征第一闭环的长度大于0.5米，且第一闭环的宽度大于0.5米。
步骤202：在所述第一闭环的类型表征设定的异常闭环的情况下，基于处于设定边界上的回溯点对应的位姿进行导航，以继续进行沿边清洁。
这里，清洁机器人在确定出当前形成的第一闭环为设定的异常闭环的情况下，从记录的关键点中，确定出处于设定边界上的关键点，将确定出的关键点确定为回溯点，并基于确定出的回溯点的位姿对清洁机器人进行导航，以触发清洁机器人行进至该回溯点，以基于回溯点继续进行沿边清洁。实际应用时，可以基于机器人与障碍物碰撞之前最新记录的第三关键点，确定出的回溯点，该回溯点可以是与第三关键点相邻的关键点。如图6所示，虚线的线段表征记录的关键点，清洁机器人将碰撞位置之前，且与碰撞位置最近的关键点确定为回溯点。
在实际应用中，清洁机器人基于处于设定边界上的回溯点对应的位姿进行导航时，可能导航成功，也可能导航失败。其中，导航成功表征可以规划出从当前位置行进至该回溯点的路径，清洁机器人可以基于规划出的路径从当前位置行进至该回溯点，从而沿着该回溯点所处的设定边界继续进行沿边清洁。导航失败表征无法规划出从当前位置行进至回溯点的路径，机器人无法行进至该回溯点。
考虑到清洁机器人在导航失败时无法行进至回溯点，为了继续进行沿边清洁，以防止漏扫，在一些实施例中，在导航失败的情况下，直行至第一设定边界，以沿着所述第一设定边界进行沿边清洁；所述第一设定边界表征与所述当前位置最近的设定边界。
这里，清洁机器人在导航失败时，基于设定边界的位置信息以及当前位置的位置信息，确定出距离当前位置最近的第一设定边界，并直行至第一设定边界，以沿着第一设定边界进行沿边清洁。
实际应用中，考虑到导航过程中存在精度误差，清洁机器人在导航成功时，可以根据当前位置附近的关键点进行多边形外扩或多边形内缩，以向距离当前位置最近的障碍物(比如，墙壁)进行直行，与障碍物碰撞后继续进行沿边。
为了防止清洁机器人再次沿边至孤立障碍物或者对第一闭环的内部区域进行沿边清洁，在一些实施例中，在所述第一闭环的类型表征设定的异常闭环的情况下，所述方法还包括：
将所述第一闭环以及第一路径，标记为不可走区域；所述第一路径表征设定边 界与所述第一闭环之间的路径。
这里，清洁机器人将第一闭环、以及设定边界与第一闭环之间的路径，标记为不可走区域，这样，当清洁机器人再次沿边至该路径或行进至第一闭环所在的位置时，可以绕过该孤立障碍物继续进行沿边。如图5所示，第一闭环为顺时针小闭环，设定边界与第一闭环之间的路径表征碰撞位置与顺时针小闭环之间的线段。
在沿边过程中形成了设定的异常闭环之后，再形成设定的正常闭环的场景下，为了避免漏扫，在一些实施例中，所述方法还包括：
在形成设定的正常闭环的情况下，清除已标记的不可走区域。
这里，清洁机器人在确定出当前形成设定的正常闭环时，表征当前已完成沿边清洁，清洁机器人清除已标记的不可走区域，以防止漏扫。实际应用时，清洁机器人清除被标记的第一闭环，以及设定边界与第一闭环之间的路径。
本公开实施例中，在沿边清洁的过程中，基于第一距离和角度增量总和，确定出形成的第一闭环的类型；在第一闭环的类型表征设定的异常闭环的情况下，基于处于设定边界上的回溯点对应的位姿对清洁机器人进行导航，以继续进行沿边清洁，由此，可以准确地识别出第一闭环的类型，在第一闭环的类型表征设定的异常闭环的情况下，继续进行沿边清洁，不清洁第一闭环的内部区域，可以避免因清洁顺时针闭环的内部区域而多走一些不必要的路径，或者避免反复在沿边清洁和区域内部清洁之间进行切换，提高了清洁效率。
图7为本公开实施例提供的一种沿边清洁方法中确定第一闭环的类型的实现流程示意图，如图7示出的，确定第一闭环的类型的方法包括：
步骤701：在沿边清洁的过程中，记录关键点以及起始点。
步骤702：判断第一距离是否大于第一设定阈值；第一距离表征当前位置与起始点之间的曼哈顿距离。
实际应用时，第一设定阈值为1米。
步骤703：在第一距离小于或等于第一设定阈值的情况下，判断第一角度增量总和的绝对值是否大于第二设定阈值，以及判断总行走轨迹是否大于第三设定阈值。
其中，第一角度增量总和表征从起始点行进至当前位置的过程中，每两个相邻的关键点的角度增量之和。实际应用时，第二设定阈值可以为350度，第三设定阈值可以为2米。
在第一角度增量总和的绝对值大于第二设定阈值，且总行走轨迹大于第三设定阈值，表征当前已形成第一闭环，且该第一闭环为设定的正常闭环。在第一角度增量总和的绝对值小于或等于第二设定阈值，或者总行走轨迹小于或等于第三设定阈值的情况下，表征当前未形成第一闭环，清洁机器人直行。
步骤704：在第一距离大于第一设定阈值的情况下，判断第二角度增量总和的绝对值是否大于第四设定阈值，以及判断第二距离是否小于或等于第五设定阈值。
其中，第二角度增量总和表征基于当前位置向起始点进行逆推的过程中，每两个相邻的关键点的角度增量之和；第二距离表征在逆推过程中每两个相邻的关键点的曼哈顿距离。实际应用时，第四设定阈值可以为350度，第五设定阈值可以为1米。
在第二角度增量总和的绝对值小于或等于第四设定阈值的情况下，执行步骤705。在第二角度增量总和的绝对值大于第四设定阈值，且第二距离小于或等于第五设定阈值的情况下，表征当前已形成第一闭环，执行步骤706，此时，清洁机器人通过步骤706或707判断形成的第一闭环的类型。
步骤705：在第二角度增量总和的绝对值小于或等于第四设定阈值的情况下，基于设定数量的第一关键点对应的位姿和角度，确定出是否形成第一闭环。
这里，设定数量的第一关键点表征当前位置与起始点之间的连续的关键点，基于设定数量的第一关键点对应的位姿和角度，确定出是否形成第一闭环，包括：
基于设定数量的第一关键点对应的第一信息和对应的第二关键点对应的第二信息，确定出第三距离和对应的第一角度差值；
判断确定出的第三距离中是否存在两个第三距离大于设定的距离阈值，以及判断确定出的第一角度差值中，是否存在两个第一角度差值小于设定的角度阈值。在确定出的第三距离中存在两个第三距离大于设定的距离阈值，且这两个第三距离对应的第一角度差值均小于设定的角度阈值的情况下，确定出当前已形成第一闭环，且该第一闭环为设定的正常闭环。
在确定出的第三距离中只有一个第三距离大于设定的距离阈值的情况下，或者在确定出的第三距离中的所有第三距离均小于或等于设定的距离阈值的情况下，表征当前未形成第一闭环；在确定出的第三距离中存在两个第三距离大于设定的距离阈值，且这两个第三距离对应的第一角度差值中存在至少一个第一角度差值大于或等于设定的距离阈值时，表征出当前未形成第一闭环，继续直行。实际应用时，设定的角度阈值为40度。
其中，第一关键点表征在逆推的过程中的当前关键点；对应的第二关键点表征设定数量的第一关键点中，与第一关键点相隔两个关键点的关键点；第三距离表征第一关键点和对应的第二关键点之间的曼哈顿距离；第一信息和第二信息均包括清洁机器人的位姿和角度。
步骤706：在第二角度增量总和的绝对值大于第四设定阈值，且第二距离小于或等于第五设定阈值的情况下，判断第二角度增量总和是否大于零。
其中，在第二角度增量总和小于零的情况下，表征形成的第一闭环为顺时针小闭环。
步骤707：在第二角度增量总和大于零的情况下，判断沿边轨迹是否存在直行，以及判断闭环区域的尺寸是否大于设定尺寸。
其中，清洁机器人基于当前位置与起始点之间的关键点对应的沿边状态，判断沿边轨迹是否存在直行，其中，当前位置与起始点之间的任一关键点对应的沿边状态表征直行时，表征沿边轨迹存在直行；当前位置与起始点之间的所有关键点对应的沿边状态表征沿墙时，表征沿边轨迹不存在直行。
清洁机器人可以基于形成的第一闭环的边界，确定出第一闭环的尺寸，并判断第一闭环的尺寸是否大于设定尺寸；实际应用时，设定尺寸表征闭环的长度和宽度均为0.5米。
在沿边轨迹不存在直行，且闭环区域的尺寸大于设定尺寸的情况下，表征形成的第一闭环为设定的正常闭环；在沿边轨迹存在直行，或者闭环区域的尺寸小于或等于设定尺寸的情况下，表征形成的第一闭环为逆时针小闭环。
需要说明的是，顺时针小闭环和逆时针小闭环均为设定的异常闭环。
为实现本公开实施例的沿边清洁方法，本公开实施例还提供了一种清洁机器人，如图8所示，该清洁机器人包括：
沿边清洁单元81，配置为在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁。
在一些实施例中，该清洁机器人还包括：
确定单元，配置为基于第一距离和角度增量总和，确定出形成的第一闭环的类 型；
导航单元，配置为在所述第一闭环的类型表征设定的异常闭环的情况下，基于处于设定边界上的回溯点对应的位姿进行导航，以继续进行沿边清洁；其中，
所述第一距离表征当前位置与起始点之间的曼哈顿距离；起始点表征首次与障碍物发生碰撞的位置，或首次直行至设定边界的位置；所述角度增量总和表征在当前位置与起始点之间的关键点中，每两个相邻的关键点的角度增量之和；关键点表征在沿边清洁的过程中每隔设定距离记录的点。
在一些实施例中，所述确定单元具体配置为：
在第一距离小于或等于第一设定阈值的情况下，基于第一角度增量总和的绝对值以及总行走轨迹，确定出所述第一闭环的类型；或者
在第一距离大于所述第一设定阈值的情况下，基于第二角度增量总和的绝对值以及第二距离，确定出所述第一闭环的类型；其中，
第一角度增量总和表征从所述起始点行进至所述当前位置的过程中，每两个相邻的关键点的角度增量之和；所述第二角度增量总和表征基于当前位置向所述起始点进行逆推的过程中，每两个相邻的关键点的角度增量之和；所述第二距离表征在逆推的过程中每两个相邻的关键点的曼哈顿距离。
在一些实施例中，所述确定单元具体配置为：在第一角度增量总和的绝对值大于第二设定阈值，且总行走轨迹大于第三设定阈值的情况下，确定出所述第一闭环的类型为设定的正常闭环。
在一些实施例中，所述确定单元具体配置为：
在第二角度增量总和的绝对值大于第四设定阈值，且第二距离小于或等于第五设定阈值的情况下，基于第二角度增量总和确定出所述第一闭环的类型；或者
在第二角度增量总和的绝对值小于或等于所述第四设定阈值的情况下，基于设定数量的第一关键点对应的位姿和角度，确定出所述第一闭环的类型；其中，
所述设定数量的第一关键点表征当前位置与起始点之间连续的关键点。
在一些实施例中，所述确定单元具体配置为：
在第二角度增量总和小于零的情况下，确定出所述第一闭环的类型为设定的第一异常闭环；或者
在第二角度增量总和大于零的情况下，基于第一边界与第二边界之间的最小间隙以及基于所述第一闭环的尺寸，确定出所述第一闭环的类型；其中，
所述第一边界表征所述第一闭环的边界；所述第二边界表征由所有关键点确定出的最大边界。
在一些实施例中，所述确定单元具体配置为执行以下之一：
在所述最小间隙大于设定间隙，且所述第一闭环的尺寸大于设定尺寸的情况下，确定出所述第一闭环的类型为设定的正常闭环；
在所述最小间隙小于或等于所述设定间隙，或者所述第一闭环的尺寸小于或等于所述设定尺寸的情况下，确定出所述第一闭环的类型为设定的第二异常闭环。
在一些实施例中，所述确定单元具体配置为：
基于设定数量的第一关键点对应的第一信息和对应的第二关键点对应的第二信息，确定出第三距离和对应的第一角度差值；
在确定出的第三距离中存在两个第三距离大于设定的距离阈值，且对应的第一角度差值小于设定的角度阈值的情况下，所述第一闭环的类型为设定的正常闭环；
其中，第一关键点表征在逆推的过程中确定出的当前关键点；对应的第二关键点表征所述设定数量的第一关键点中，与第一关键点相隔至少一个关键点的关键 点；第三距离表征第一关键点和对应的第二关键点之间的曼哈顿距离；所述第一信息和第二信息均包括清洁机器人的位姿和角度。
在一些实施例中，所述导航单元还配置为：
在导航失败的情况下，控制清洁机器人直行至第一设定边界，以沿着所述第一设定边界进行沿边清洁；所述第一设定边界表征与所述当前位置最近的设定边界。
在一些实施例中，在所述第一闭环的类型表征设定的异常闭环的情况下，该清洁机器人还包括：
标记单元，配置为将所述第一闭环以及第一路径，标记为不可走区域；所述第一路径表征设定边界与所述第一闭环之间的路径。
在一些实施例中，该清洁机器人还包括：
清除单元，配置为在形成设定的正常闭环的情况下，清除已标记的不可走区域。
实际应用时，清洁机器人包括的各单元可由清洁机器人中的处理器，比如中央处理器(CPU，Central Processing Unit)、数字信号处理器(DSP，Digital Signal Processor)、微控制单元(MCU，Microcontroller Unit)或可编程门阵列(FPGA，Field－Programmable Gate Array)等实现。当然，处理器需要运行存储器中存储的程序来实现上述各程序模块的功能。
需要说明的是：上述实施例提供的清洁机器人在进行沿边清洁时，仅以上述各程序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程序模块完成，即将清洁机器人的内部结构划分成不同的程序模块，以完成以上描述的全部或者部分处理。另外，上述实施例提供的清洁机器人与沿边清洁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。
基于上述程序模块的硬件实现，且为了实现本公开实施例的方法，本公开实施例还提供了一种清洁机器人。图9为本公开实施例提供的清洁机器人的硬件组成结构示意图，如图9所示，清洁机器人9包括：
通信接口91，能够与其它设备比如网络设备等进行信息交互；
处理器92，与通信接口91连接，以实现与其它设备进行信息交互，配置为运行计算机程序时，执行上述一个或多个技术方案提供的沿边清洁方法。而计算机程序存储在存储器93上。
当然，实际应用时，清洁机器人9中的各个组件通过总线系统94耦合在一起。可理解，总线系统94配置为实现这些组件之间的连接通信。总线系统94除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图9中将各种总线都标为总线系统94。
本公开实施例中的存储器93用于存储各种类型的数据以支持清洁机器人9的操作。这些数据的示例包括：配置为在清洁机器人9上操作的任何计算机程序。
可以理解，存储器93可以是易失性存储器或非易失性存储器，也可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(ROM，Read Only Memory)、可编程只读存储器(PROM，Programmable Read-Only Memory)、可擦除可编程只读存储器(EPROM，Erasable Programmable Read-Only Memory)、电可擦除可编程只读存储器(EEPROM，Electrically Erasable Programmable Read-Only Memory)、磁性随机存取存储器(FRAM，ferromagnetic random access memory)、快闪存储器(Flash Memory)、磁表面存储器、光盘、或只读光盘(CD-ROM，Compact Disc Read-Only Memory)；磁表面存储器可以是磁盘存储器或磁带存储器。易失性存储器可以是随机存取存储器(RAM，Random Access Memory)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随 机存取存储器(SRAM，Static Random Access Memory)、同步静态随机存取存储器(SSRAM，Synchronous Static Random Access Memory)、动态随机存取存储器(DRAM，Dynamic Random Access Memory)、同步动态随机存取存储器(SDRAM，Synchronous Dynamic Random Access Memory)、双倍数据速率同步动态随机存取存储器(DDRSDRAM，Double Data Rate Synchronous Dynamic Random Access Memory)、增强型同步动态随机存取存储器(ESDRAM，Enhanced Synchronous Dynamic Random Access Memory)、同步连接动态随机存取存储器(SLDRAM，SyncLink Dynamic Random Access Memory)、直接内存总线随机存取存储器(DRRAM，Direct Rambus Random Access Memory)。本公开实施例描述的存储器93旨在包括但不限于这些和任意其它适合类型的存储器。
上述本公开实施例揭示的方法可以应用于处理器92中，或者由处理器92实现。处理器92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92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92可以是通用处理器、DSP，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。处理器92可以实现或者执行本公开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任何常规的处理器等。结合本公开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。软件模块可以位于存储介质中，该存储介质位于存储器93，处理器92读取存储器93中的程序，结合其硬件完成前述方法的步骤。
可选地，所述处理器92执行所述程序时实现本公开实施例的各个方法中由终端实现的相应流程，为了简洁，在此不再赘述。
在示例性实施例中，本公开实施例还提供了一种存储介质，即计算机存储介质，具体为计算机可读存储介质，例如包括存储计算机程序的第一存储器93，上述计算机程序可由清洁机器人的处理器92执行，以完成前述方法所述步骤。计算机可读存储介质可以是FRAM、ROM、PROM、EPROM、EEPROM、Flash Memory、磁表面存储器、光盘、或CD-ROM等存储器。
在本公开所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，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，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，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全部单元来实现本实施例方案的目的。
另外，在本公开各实施例中的各功能单元可以全部集成在一个处理模块中，也可以是各单元分别单独作为一个单元，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，也可以采用硬件加软件功能单元的形式实现。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质 中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
需要说明的是，本公开实施例所记载的技术方案之间，在不冲突的情况下，可以任意组合。
以上所述，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以所述权利要求的保护范围为准。

Claims (20)

  1. 一种沿边清洁方法，包括：
    在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁。
  2. 根据权利要求1所述的方法，其中，在所述继续进行沿边清洁时，所述方法还包括：
    基于第一距离和角度增量总和，确定出形成的第一闭环的类型；
    在所述第一闭环的类型表征设定的异常闭环的情况下，基于处于设定边界上的回溯点对应的位姿进行导航，以继续进行沿边清洁；其中，
    所述第一距离表征当前位置与起始点之间的曼哈顿距离；起始点表征首次与障碍物发生碰撞的位置，或首次直行至设定边界的位置；所述角度增量总和表征在当前位置与起始点之间的关键点中，每两个相邻的关键点的角度增量之和；关键点表征在沿边清洁的过程中每隔设定距离记录的点。
  3. 根据权利要求2所述的方法，其中，所述基于第一距离和角度增量总和，确定出形成的第一闭环的类型，包括：
    在第一距离小于或等于第一设定阈值的情况下，基于第一角度增量总和的绝对值以及总行走轨迹，确定出所述第一闭环的类型；或者
    在第一距离大于所述第一设定阈值的情况下，基于第二角度增量总和的绝对值以及第二距离，确定出所述第一闭环的类型；其中，
    第一角度增量总和表征从所述起始点行进至所述当前位置的过程中，每两个相邻的关键点的角度增量之和；第二角度增量总和表征基于当前位置向所述起始点进行逆推的过程中，每两个相邻的关键点的角度增量之和；所述第二距离表征在逆推的过程中每两个相邻的关键点的曼哈顿距离。
  4. 根据权利要求3所述的方法，其中，所述基于第一角度增量总和的绝对值以及总行走轨迹，确定出所述第一闭环的类型，包括：
    在第一角度增量总和的绝对值大于第二设定阈值，且总行走轨迹大于第三设定阈值的情况下，确定出所述第一闭环的类型为设定的正常闭环。
  5. 根据权利要求3所述的方法，其中，所述基于第二角度增量总和的绝对值以及第二距离，确定出所述第一闭环的类型，包括：
    在第二角度增量总和的绝对值大于第四设定阈值，且第二距离小于或等于第五设定阈值的情况下，基于第二角度增量总和确定出所述第一闭环的类型；或者
    在第二角度增量总和的绝对值小于或等于所述第四设定阈值的情况下，基于设定数量的第一关键点对应的位姿和角度，确定出所述第一闭环的类型；其中，所述设定数量的第一关键点表征当前位置与起始点之间连续的关键点。
  6. 根据权利要求5所述的方法，其中，所述基于第二角度增量总和确定出所述第一闭环的类型，包括：
    在第二角度增量总和小于零的情况下，确定出所述第一闭环的类型为设定的第一异常闭环；或者
    在第二角度增量总和大于零的情况下，基于第一边界与第二边界之间的最小间隙以及基于所述第一闭环的尺寸，确定出所述第一闭环的类型；其中，
    所述第一边界表征所述第一闭环的边界；所述第二边界表征由所有关键点确定出的最大边界。
  7. 根据权利要求6所述的方法，其中，所述基于第一边界与第二边界之间的最小间隙以及基于所述第一闭环的尺寸，确定出所述第一闭环的类型，包括以下之一：
    在所述最小间隙大于设定间隙，且所述第一闭环的尺寸大于设定尺寸的情况下，确定出所述第一闭环的类型为设定的正常闭环；
    在所述最小间隙小于或等于所述设定间隙，或者所述第一闭环的尺寸小于或等于所述设定尺寸的情况下，确定出所述第一闭环的类型为设定的第二异常闭环。
  8. 根据权利要求5所述的方法，其中，所述基于设定数量的第一关键点对应的位姿和角度，确定出所述第一闭环的类型，包括：
    基于设定数量的第一关键点对应的第一信息和对应的第二关键点对应的第二信息，确定出第三距离和对应的第一角度差值；
    在确定出的第三距离中存在两个第三距离大于设定的距离阈值，且对应的第一角度差值小于设定的角度阈值的情况下，所述第一闭环的类型为设定的正常闭环；
    其中，第一关键点表征在逆推的过程中确定出的当前关键点；对应的第二关键点表征所述设定数量的第一关键点中，与第一关键点相隔至少一个关键点的关键点；第三距离表征第一关键点和对应的第二关键点之间的曼哈顿距离；所述第一信息和第二信息均包括清洁机器人的位姿和角度。
  9. 根据权利要求2至8任一项所述的方法，其中，所述方法还包括：
    在导航失败的情况下，直行至第一设定边界，以沿着所述第一设定边界进行沿边清洁；所述第一设定边界表征与所述当前位置最近的设定边界。
  10. 根据权利要求2至8任一项所述的方法，其中，在所述第一闭环的类型表征设定的异常闭环的情况下，所述方法还包括：
    将所述第一闭环以及第一路径，标记为不可走区域；所述第一路径表征设定边界与所述第一闭环之间的路径。
  11. 根据权利要求10所述的方法，其中，所述方法还包括：
    在形成设定的正常闭环的情况下，清除已标记的不可走区域。
  12. 一种清洁机器人，包括：
    沿边清洁单元，配置为在沿边清洁的过程中，当检测到的障碍物为设定障碍物时，继续进行沿边清洁。
  13. 根据权利要求12所述的清洁机器人，其中，所述清洁机器人还包括：
    确定单元，配置为基于第一距离和角度增量总和，确定出形成的第一闭环的类型；
    导航单元，配置为在所述第一闭环的类型表征设定的异常闭环的情况下，基于处于设定边界上的回溯点对应的位姿进行导航，以继续进行沿边清洁；其中，
    所述第一距离表征当前位置与起始点之间的曼哈顿距离；起始点表征首次与障碍物发生碰撞的位置，或首次直行至设定边界的位置；所述角度增量总和表征在当前位置与起始点之间的关键点中，每两个相邻的关键点的角度增量之和；关键点表征在沿边清洁的过程中每隔设定距离记录的点。
  14. 根据权利要求13所述的清洁机器人，其中，所述确定单元具体配置为：
    在第一距离小于或等于第一设定阈值的情况下，基于第一角度增量总和的绝对值以及总行走轨迹，确定出所述第一闭环的类型；或者
    在第一距离大于所述第一设定阈值的情况下，基于第二角度增量总和的绝对值以及第二距离，确定出所述第一闭环的类型；其中，
    第一角度增量总和表征从所述起始点行进至所述当前位置的过程中，每两个相 邻的关键点的角度增量之和；所述第二角度增量总和表征基于当前位置向所述起始点进行逆推的过程中，每两个相邻的关键点的角度增量之和；所述第二距离表征在逆推的过程中每两个相邻的关键点的曼哈顿距离。
  15. 根据权利要求14所述的清洁机器人，其中，所述确定单元具体配置为：在第一角度增量总和的绝对值大于第二设定阈值，且总行走轨迹大于第三设定阈值的情况下，确定出所述第一闭环的类型为设定的正常闭环。
  16. 根据权利要求14所述的清洁机器人，其中，所述确定单元具体配置为：
    在第二角度增量总和的绝对值大于第四设定阈值，且第二距离小于或等于第五设定阈值的情况下，基于第二角度增量总和确定出所述第一闭环的类型；或者
    在第二角度增量总和的绝对值小于或等于所述第四设定阈值的情况下，基于设定数量的第一关键点对应的位姿和角度，确定出所述第一闭环的类型；其中，
    所述设定数量的第一关键点表征当前位置与起始点之间连续的关键点。
  17. 根据权利要求16所述的清洁机器人，其中，所述确定单元具体配置为：
    在第二角度增量总和小于零的情况下，确定出所述第一闭环的类型为设定的第一异常闭环；或者
    在第二角度增量总和大于零的情况下，基于第一边界与第二边界之间的最小间隙以及基于所述第一闭环的尺寸，确定出所述第一闭环的类型；其中，
    所述第一边界表征所述第一闭环的边界；所述第二边界表征由所有关键点确定出的最大边界。
  18. 根据权利要求17所述的清洁机器人，其中，所述确定单元配置为执行以下之一：
    在所述最小间隙大于设定间隙，且所述第一闭环的尺寸大于设定尺寸的情况下，确定出所述第一闭环的类型为设定的正常闭环；
    在所述最小间隙小于或等于所述设定间隙，或者所述第一闭环的尺寸小于或等于所述设定尺寸的情况下，确定出所述第一闭环的类型为设定的第二异常闭环。
  19. 一种清洁机器人，包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，
    其中，所述处理器配置为运行所述计算机程序时，执行权利要求1至11任一项所述的方法的步骤。
  20. 一种存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现权利要求1至11任一项所述的方法的步骤。
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