WO2023078110A1

WO2023078110A1 - Operating control method and apparatus for cleaning robot, and storage medium and electronic apparatus

Info

Publication number: WO2023078110A1
Application number: PCT/CN2022/126963
Authority: WO
Inventors: 顾一休; 杨咚浩; 许灿
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-11-05
Filing date: 2022-10-24
Publication date: 2023-05-11
Also published as: CN115005711B; CN115005711A

Abstract

An operating control method and apparatus for a cleaning robot (104), and a storage medium and an electronic apparatus. The method comprises: when detecting that a first collision plate of a cleaning robot (104) is triggered, controlling the cleaning robot (104) to rotate by a first angle in a first direction; after the cleaning robot rotates by the first angle, detecting that a second collision plate of the cleaning robot (104) is triggered; and when the first collision plate and the second collision plate are collision plates that are located on different sides of the cleaning robot (104), controlling the cleaning robot (104) to rotate by a second angle in a second direction, wherein the second direction is the opposite direction to the first direction, and the second angle is less than the first angle. The problem of a cleaning robot (104) easily getting trapped due to the influence of a historical point cloud in the operating control method of the cleaning robot (104) is thereby solved.

Description

Cleaning robot operation control method and device, storage medium and electronic device

This disclosure claims the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on November 5, 2021, with the application number 202111309061.2, and the title of the invention is "operation control method and device, storage medium and electronic device for a cleaning robot" ; the entire content of the above patent application is incorporated by reference in this disclosure.

technical field

The present disclosure relates to the field of smart home, in particular, to a cleaning robot operation control method and device, a storage medium and an electronic device.

Background technique

At present, the cleaning robot can use detection sensors to detect obstacles in the process of performing cleaning tasks. Common detection sensors include LDS (Laser Direct Structuring, laser direct structuring) sensors, line laser sensors, PSD (Position Sensitive Device, position sensitive detectors), crash sensors, etc.

However, when the sweeping robot is in a local small area or narrow channel environment, due to the influence of historical point clouds, the cleaning robot's body is easy to fall into the point cloud and get trapped. That is to say, the operation control method of the cleaning robot in the related art has the problem that the cleaning robot is easily trapped due to the influence of the historical point cloud.

Contents of the invention

The purpose of the present disclosure is to provide an operation control method and device, a storage medium, and an electronic device for a cleaning robot, so as to at least solve the problem that the cleaning robot is easily damaged due to the influence of historical point clouds in the operation control method of the cleaning robot in the related art. sleepy problem.

The purpose of this disclosure is to be achieved through the following technical solutions:

According to an aspect of an embodiment of the present disclosure, there is provided an operation control method of a cleaning robot, including: when it is detected that the first collision plate of the cleaning robot is triggered, controlling the cleaning robot to move along the first direction Rotate the first angle; after rotating the first angle, it is detected that the second strike plate of the cleaning robot is triggered; when the first strike plate and the second strike plate are located on different In the case of a side impact plate, the cleaning robot is controlled to rotate along a second direction by a second angle, wherein the second direction is the opposite direction of the first direction, and the second angle is smaller than the first angle.

In an exemplary embodiment, the controlling the cleaning robot to rotate along the first direction by a first angle includes: when the first collision plate is the left collision plate of the cleaning robot, controlling the The cleaning robot rotates the first angle in the clockwise direction; when the first collision plate is the right collision plate of the cleaning robot, control the cleaning robot to rotate the first collision plate in the counterclockwise direction an angle.

In an exemplary embodiment, before controlling the cleaning robot to rotate a second angle along a second direction, the method further includes: determining the second angle according to the first angle, wherein the The second angle is half of the first angle.

In an exemplary embodiment, after detecting that the second striker of the cleaning robot is triggered, the method further includes: when the first striker and the second striker are the same striker, In the case of , the cleaning robot is controlled to continue to rotate at a third angle along the first direction.

In an exemplary embodiment, before the controlling the cleaning robot to continue to rotate a third angle along the first direction, the method further includes: determining the third angle according to the first angle, Wherein, the third angle is a product of half of the first angle and a target coefficient.

In an exemplary embodiment, after the controlling the cleaning robot to rotate along the second direction by a second angle, the method further includes: detecting the cleaning robot within a target time period after rotating the second angle When the third striker of the robot is triggered and the cumulative number of triggers of all the strikers of the cleaning robot reaches the target number threshold, control the cleaning robot to rotate to the target direction to perform collision detection again, and clear the accumulated trigger times , wherein the target direction is at least one of the following: a vertical direction to the current direction of the cleaning robot, and a direction opposite to the current direction of the cleaning robot.

In an exemplary embodiment, after the controlling the cleaning robot to rotate along the second direction by a second angle, the method further includes: not detecting the When the collision plate of the cleaning robot is triggered, clear the accumulated trigger times of the cleaning robot.

According to another aspect of the embodiments of the present disclosure, there is also provided an operation control device for a cleaning robot, including: a first control unit, configured to control The cleaning robot rotates along the first direction by a first angle; the detection unit is configured to detect that the second striker of the cleaning robot is triggered after rotating the first angle; the second control unit is configured to When the first strike plate and the second strike plate are strike plates located on different sides of the cleaning robot, the cleaning robot is controlled to rotate along a second direction by a second angle, wherein the second The direction is opposite to the first direction, and the second angle is smaller than the first angle.

In an exemplary embodiment, the first control unit includes: a first control module, configured to control the cleaning robot to move along the Rotate the first angle clockwise; the second control module is used to control the cleaning robot to rotate counterclockwise when the first striker is the right striker of the cleaning robot the first angle.

In an exemplary embodiment, the device further includes: a first determining unit, configured to determine the A second angle, wherein the second angle is half of the first angle.

In an exemplary embodiment, the device further includes: a third control unit, configured to, after detecting that the second striker of the cleaning robot is triggered, When the two strikers are the same striker, the cleaning robot is controlled to continue to rotate at a third angle along the first direction.

In an exemplary embodiment, the device further includes: a second determining unit, configured to, according to the first angle, The third angle is determined, wherein the third angle is a product of half of the first angle and a target coefficient.

In an exemplary embodiment, the device further includes: an execution unit, configured to, after controlling the cleaning robot to rotate by a second angle along a second direction, within a target time period after rotating the second angle When it is detected that the third striker of the cleaning robot is triggered and the cumulative number of triggers of all strikers of the cleaning robot reaches the target number threshold, control the cleaning robot to rotate to the target direction to perform collision detection again, and clear the The cumulative number of triggers, wherein the target direction is at least one of the following: a vertical direction to the current direction of the cleaning robot, and a direction opposite to the current direction of the cleaning robot.

In an exemplary embodiment, the device further includes: an emptying unit, configured to rotate the cleaning robot by a second angle along a second direction within a target time period after rotating the second angle When it is not detected that the collision plate of the cleaning robot is triggered, the accumulated trigger times of the cleaning robot are cleared.

According to yet another aspect of the embodiments of the present disclosure, there is also provided a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-mentioned interface test when running method.

According to yet another aspect of the embodiments of the present disclosure, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the above-mentioned processor executes the above-mentioned The test method for the interface.

In the embodiment of the present disclosure, the direction of the cleaning robot is quickly adjusted by sending messages through the collision information detected by the multiple collision plates arranged on the cleaning robot. By detecting that the first collision plate of the cleaning robot is triggered Next, control the cleaning robot to rotate the first angle along the first direction; after rotating the first angle, it is detected that the second strike plate of the cleaning robot is triggered; the first strike plate and the second strike plate are different In the case of a collision plate on the side, the cleaning robot is controlled to rotate along the second direction at a second angle, wherein the second direction is the opposite direction of the first direction, and the second angle is smaller than the first angle. The strike board is arranged. When the strike board on one side is triggered, try to rotate a certain angle. If the strike board on the opposite end is triggered, it will rotate back a small angle. By continuously adjusting the angle, it can be used in narrow passages and local small Find a suitable movement angle in special areas such as the area, so as to achieve the purpose of cleaning robot out of trouble, achieve the technical effect of improving the success rate of cleaning robot out of trouble, and then solve the problems in the operation control mode of cleaning robot in related technologies due to the historical point cloud The impact of the cleaning robot is easy to get stuck.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

FIG. 1 is a schematic diagram of a hardware environment of an optional cleaning robot operation control method according to an embodiment of the present disclosure;

Fig. 2 is a schematic flowchart of an optional operation control method of a cleaning robot according to an embodiment of the present disclosure;

Fig. 3 is a schematic diagram of an optional operation control method of a cleaning robot according to an embodiment of the present disclosure;

Fig. 4 is a structural block diagram of an optional operation control device of a cleaning robot according to an embodiment of the present disclosure;

Fig. 5 is a structural block diagram of an optional electronic device according to an embodiment of the present disclosure.

Detailed ways

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the specification and claims of the present disclosure and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

According to one aspect of the embodiments of the present disclosure, an operation control method of a cleaning robot is proposed. Optionally, in this embodiment, the above cleaning robot operation control method may be applied to a hardware environment composed of a terminal device 102 , a cleaning robot 104 and a server 106 as shown in FIG. 1 . As shown in FIG. 1 , the terminal device 102 can be connected to the cleaning robot 104 and/or the server 106 (for example, an Internet of Things platform or a cloud server) through the network to control the cleaning robot 104, for example, bind the cleaning robot to Determine and configure the cleaning function of the cleaning robot 104. The cleaning robot 104 may include a host and a base station (or a dust collection station), and the host and the base station may be connected through a network to determine the current state of the peer (eg, battery status, working status, location information, etc.).

The foregoing network may include but not limited to at least one of the following: a wired network and a wireless network. The above-mentioned wired network may include but not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above-mentioned wireless network may include but not limited to at least one of the following: WIFI (Wireless Fidelity, Wireless Fidelity), bluetooth, infrared. The network used by the terminal device 102 to communicate with the cleaning robot 104 and/or the server 106 and the network used by the cleaning robot 104 to communicate with the server 106 may be the same or different. The terminal device 102 is not limited to a PC, a mobile phone, a tablet computer, etc. The cleaning robot 104 may be a self-cleaning robot, for example, an automatic mop washing machine, and the server 106 may be a server of an Internet of Things platform.

The control method of the cleaning robot in the embodiment of the present disclosure may be executed solely by the terminal device 102 , the cleaning robot 104 or the server 106 , or jointly executed by at least two of the terminal device 102 , the cleaning robot 104 and the server 106 . Wherein, the terminal device 102 or the cleaning robot 104 executes the cleaning robot control method of the embodiment of the present disclosure, which may also be executed by a client installed on it.

Taking the operation control method of the cleaning robot in this embodiment performed by the cleaning robot 104 as an example, FIG. 2 is a schematic flowchart of an optional operation control method of the cleaning robot according to an embodiment of the present disclosure, as shown in FIG. 2 , The flow of the method may include the following steps:

Step S202 , in a case where it is detected that the first impact plate of the cleaning robot is triggered, control the cleaning robot to rotate along the first direction by a first angle.

The operation control method of the cleaning robot in this embodiment can be applied to the following scenarios: when the cleaning robot is cleaning the area, reduce the risk of the cleaning robot being trapped in a narrow passage (a passage with a narrower width at a passable position) and a local small area . The above-mentioned narrow passages and local small areas can be indoor areas with a lot of furniture and sundries in the family, or other places such as narrow passages in offices and restaurants, and areas with many tables and chairs, or other possible areas. A small area for the cleaning robot to move around. The cleaning robot mentioned above may be a smart vacuum cleaner, a smart sweeper, a smart sweeper integrating sweeping and dragging, or other robots with area cleaning functions, which are not limited in this embodiment.

Multiple impact plates can be arranged on the cleaning robot, and multiple impact plates can be arranged around the cleaning robot. The striker may be a striker switch, a force sensor or other components capable of collision detection, which is not limited in this embodiment. Optionally, the above-mentioned force sensor may be a pressure sensor, which may perform collision detection based on the detected pressure change, and determine whether a collision occurs.

The number of collision plates arranged on the cleaning robot can be set according to needs, for example, the collision plates can be arranged in pairs, and the number can be 2, 4, or other quantities, such as 6 , 8, etc., the number of collision plates in this embodiment is not limited. In order to ensure the convenience of the operation control of the cleaning robot, the collision plates can also be arranged symmetrically in pairs, and the symmetrical arrangement here is left-right symmetrical arrangement.

In order to avoid the situation of being trapped in the point cloud due to the influence of the historical point cloud during the cleaning of narrow passages and local small areas, etc., the cleaning robot can detect the After the collision, rotate a certain angle in a specific direction and try to get out of trouble. In the process of cleaning the area, collision detection can be performed on multiple collision plates around the cleaning robot, and the result of the collision detection can be synchronized to the processing components of the cleaning robot, such as a processor, in real time. The operation control method of the cleaning robot in this embodiment may be executed by the processing component.

Based on the collision detection results of each striker, the cleaning robot can determine which striker or strikers are triggered, for example, the cleaning robot detects that the first striker is triggered. The triggering of the first striker may refer to the triggering of the striker switch of the first striker, or the pressure detected by the force sensor on the first striker reaches the set pressure threshold, which in this embodiment No limit.

In this embodiment, when it is detected that the striker switch of the first striker is triggered, the cleaning robot may rotate along the first direction by a first angle. The first direction here can be a fixed direction, that is, no matter which striker is triggered, it will rotate in the same direction, or it can be a direction that matches the first striker, that is, different strikers can be configured differently direction of rotation. The first angle here can be a fixed angle, that is, no matter which striker is triggered and what kind of collision information is detected by the striker, it will be rotated by a fixed angle (for example, 30 degrees), or it can be the same as the first striker. Or the angle matched by the collision information detected by the first striker, where the collision information can be at least one of the following: the duration of the striker switch from triggering to release, the force detected by the force sensor, and the striker rotation The angle of is positively related to the duration or the magnitude of the force. The first direction and the first angle are not limited in this embodiment.

When rotating the first angle, the cleaning robot can control the time required to rotate the first angle, that is, the rotation speed, for example, can rotate at a slower speed, so as to avoid turning too fast and causing rollover, and the original obstacle again objects collide, etc. In addition, when rotating, it is possible to control all the wheels of the cleaning robot (for example, the left drive wheel and the right driving wheel) to rotate at the same time, and the center of this rotation is the center of the cleaning robot, and it is also possible to control the cleaning robot from the side where the collision is detected. The driving wheel on the other side rotates, while the other side driving wheel does not move, that is, the driving wheel on the other side where the collision occurs is the center, and the driving wheel on the side where the collision occurs is controlled to rotate. In this embodiment, there is no limitation on the manner of rotating the first angle along the first direction.

Step S204, after the first rotation angle, it is detected that the second striker of the cleaning robot is triggered.

After the first rotation angle, if the rotation angle is appropriate, the cleaning robot will not collide again, or at least will not collide within a period of time (eg, 5s, 10s, etc.). If the rotation angle is wrong, the cleaning robot will collide again in a short time. For example, the cleaning robot is in an area with a small range of activities. If it is rotated at an angle, there is a high probability that it will collide again.

In this embodiment, after the rotation of the first angle, the second striking plate of the cleaning robot collides, and the cleaning robot can detect that the second striking plate is triggered. The manner of detecting that the second striker is triggered is the same as or similar to the manner of detecting that the first striker is triggered, which will not be repeated here. Due to the different scenes after rotation, the second striker and the first striker can be the same striker, or they can be different strikers, for example, other strikers on the same side as the first striker, and different sides from the first striker other bumper boards.

Step S206, in the case that the first strike plate and the second strike plate are strike plates located on different sides of the cleaning robot, control the cleaning robot to rotate along the second direction by a second angle, wherein the second direction is an angle of the first direction In the opposite direction, the second angle is smaller than the first angle.

If the first striker and the second striker are strikers located on different sides of the cleaning robot, the cleaning robot may perform a reverse rotation operation, that is, rotate the second angle, in order to prevent the cleaning robot from colliding with the original obstacle again, the second angle of reverse rotation may be smaller than the first angle.

In this embodiment, the second angle may be a relatively fixed angle, for example, the ratio of the second angle to the first angle is a fixed value, for example, the second angle is half, one-third, etc. of the first angle, or It can be an unfixed angle. For example, the second angle can be positively correlated with the duration of the second striker's striker switch from triggering to release, or the force detected by the force sensor, or in other words, the second angle The ratio to the first angle is less than 1, and is positively related to the duration of the second striker's striker switch from triggering to release, or the force detected by the force sensor.

Optionally, if the second striker and the first striker are different strikers on the same side, the cleaning robot can be controlled to rotate in a certain angle along the first direction (or, second reverse direction), for example, the fourth angle, the first The four angles may be angles matching the second striker. If the second striker and the first striker are the same striker, the first angle may continue to be rotated along the first direction, or a new angle may be obtained. This is not limited in this embodiment.

Optionally, if after rotating the second angle, another impact plate collides within a short period of time, the cleaning robot can be controlled to move in the same or similar manner as described above, for example, when different side impact plates collide, turn around a small angle , collide with the side striker and rotate an angle matching the striker. If the cumulative number of collisions in a short period of time reaches the set threshold, an abnormal prompt message may be sent to the target object to prompt that the cleaning robot has moved abnormally, which is not limited in this embodiment.

For example, as shown in FIG. 3 , the cleaning robot includes a left striker and a right striker. During the movement, the left striker is triggered, rotates clockwise at a certain angle, and continues to move. After moving a certain distance, the right striker is triggered, and after a small counterclockwise rotation, the cleaning robot escapes from the narrow passage.

Through the above steps S202 to S206, when it is detected that the first collision plate of the cleaning robot is triggered, the cleaning robot is controlled to rotate along the first angle by the first angle; after the first rotation angle, the cleaning robot is detected The second strike plate is triggered; in the case that the first strike plate and the second strike plate are strike plates located on different sides of the cleaning robot, the cleaning robot is controlled to rotate by a second angle along a second direction, wherein the second direction is The opposite direction of the first direction, the second angle is smaller than the first angle, which solves the problem that the cleaning robot is easily trapped due to the influence of historical point clouds in the operation control mode of the cleaning robot in the related art, and improves the cleaning robot's escape. success rate.

In an exemplary embodiment, controlling the cleaning robot to rotate a first angle along a first direction includes:

S11, in the case that the first striker is the left striker of the cleaning robot, control the cleaning robot to rotate clockwise by a first angle;

S12. In the case that the first striker is the right striker of the cleaning robot, control the cleaning robot to rotate counterclockwise by a first angle.

The multiple strikers can include the left striker and the right striker of the cleaning robot. The left and right here are based on the forward direction of the cleaning robot, that is, the left side of the cleaning robot's forward direction is left, and the right forward direction of the cleaning robot is right. In order to improve the convenience of the cleaning robot's rotation and the efficiency of getting out of trouble, different rotation reversals can be configured for the left and right impact plates. For example, the left impact plate corresponds to clockwise rotation, and the right impact plate corresponds to reverse rotation. The hour hand rotates, and the angle of rotation can be less than 90 degrees.

If the first striker is the left striker of the cleaning robot, the cleaning robot can rotate the first angle clockwise. For example, if the left striker is triggered, it will rotate a certain angle clockwise and record the current rotation angle α . If the first striker is the right striker of the cleaning robot, the cleaning robot can rotate the first angle counterclockwise. For example, if the right striker is triggered, it will rotate a certain angle counterclockwise and record the current rotation angle α . Here α can be the angle of rotation when the collision is detected this time. It can be the angle of rotation when the striker is triggered for the first time after no collision is detected beyond the target time, or it can be the angle of rotation during multiple collisions that occur in a short period of time. The angle rotated by a certain collision of .

Through this embodiment, different rotation directions are configured for the left striker and the right striker, which can improve the convenience of the cleaning robot's rotation and the efficiency of getting out of trouble.

In an exemplary embodiment, before controlling the cleaning robot to rotate by a second angle along a second direction, the above method further includes:

S21. Determine a second angle according to the first angle, where the second angle is half of the first angle.

In this embodiment, if the second striker is on a different side from the first striker, half of the first angle may be determined as the second angle. For example, based on binary iteration, the machine direction can be quickly adjusted through the left and right collision signals to solve the trapped problem of narrow passages and local small areas.

For example, if the left striker is triggered, rotate the angle α clockwise, and if the next trigger is the right striker, then rotate α/2 counterclockwise. If the right striker triggers, then rotate the angle α counterclockwise, and if the next trigger is the left striker, then rotate α/2 clockwise.

In this embodiment, determining the rotation angle of the cleaning robot based on binary iteration can improve the convenience of the operation control of the cleaning robot and improve the efficiency of the cleaning robot's escape.

In an exemplary embodiment, after detecting that the second striker of the cleaning robot is triggered, the above method further includes:

S31. In a case where the first striker and the second striker are the same striker, control the cleaning robot to continue to rotate at a third angle along the first direction.

In this embodiment, if the first striker and the second striker are the same striker, that is, the first striker is triggered again, the cleaning robot may continue to rotate along the first direction by a third angle. The size of the third angle can be configured as required, and it can be an angle larger than the first angle, or the same as the first angle, or an angle smaller than the first angle, which is not discussed in this embodiment. Do limited.

If the first striker is triggered again after rotating the third angle, the cleaning robot can continue to rotate an angle along the first direction, for example, an angle larger than the third angle, a third angle, and an angle smaller than the third angle angle. If the striker on the side different from the first striker is triggered, the rotation direction and rotation angle of the cleaning robot can be determined in a manner similar to the above (for example, reverse rotation, and the rotation angle is half of the third angle). What has already been explained will not be repeated again.

Through this embodiment, when the striker is triggered repeatedly, it continues to rotate at a certain angle in the same direction, which can improve the success rate of the cleaning robot getting out of trouble.

In an exemplary embodiment, before controlling the cleaning robot to continue to rotate by a third angle along the first direction, the above method further includes:

S41. Determine a third angle according to the first angle, where the third angle is a product of half of the first angle and a target coefficient.

In this embodiment, the third angle may be determined according to the first angle, which may be the product of half of the first angle and the target coefficient, that is, the cleaning robot may determine the product of half of the first angle and the target coefficient third angle. The target coefficient can be configured as required, and it can be a value greater than 1, 1, or a value equal to 1, which is not limited in this embodiment.

For example, if the left striker triggers, then rotate the angle α clockwise; if the next trigger is the left striker, then rotate clockwise by k*α/2 (k is an example of the above-mentioned target coefficient). If the right striker triggers, then rotate the angle α counterclockwise; if the next trigger is the right striker, then rotate clockwise by k*α/2.

Through this embodiment, by determining the angle of this rotation based on the angle of the last rotation and the set coefficient when the same-side impact plate is continuously triggered, the flexibility of the cleaning robot's operation control can be improved, and the success of the cleaning robot's escape can be improved. Rate.

In an exemplary embodiment, after controlling the cleaning robot to rotate by a second angle along a second direction, the above method further includes:

S51, when it is detected within the target duration after rotating the second angle that the third striker of the cleaning robot is triggered, and the cumulative number of triggers of all the strikers of the cleaning robot reaches the target times threshold, control the cleaning robot to rotate to the target direction again Perform collision detection and clear the accumulated trigger times. The target direction is at least one of the following: the vertical direction of the cleaning robot's current forward direction, and the opposite direction of the cleaning robot's current forward direction.

If within a short period of time (for example, the target duration) after rotating the second angle, the third striker of the cleaning robot is triggered, the cumulative number of triggers of all strikers of the cleaning robot can be increased by 1, where the third striker can be The first strike board can also be the second strike board, and can also be other strike boards except the first strike board and the second strike board.

If the cumulative number of triggers does not reach the target number threshold at this time, the cleaning robot may be continuously controlled to rotate in the same or similar manner as in the foregoing embodiments. If the cumulative number of triggers at this time reaches the threshold of the target number of times, the above-mentioned abnormal prompt information can be sent to the target object, for example, the abnormal prompt information is sent through the cleaning robot, and for example, the abnormal prompt information is sent to the target client corresponding to the target object.

Optionally, if the accumulated trigger times reach the target times threshold, the cleaning robot can clear the accumulated trigger times by rotating in a general direction (ie, rotate to the target direction), and re-perform the collision detection. The target direction here can be the vertical direction of the current direction of the cleaning robot (for example, rotate 90 degrees clockwise, 90 degrees counterclockwise), or the opposite direction of the current direction of the cleaning robot (for example, rotate 180 degrees clockwise, counterclockwise The hour hand rotates 180 degrees).

For example, if the cumulative number of collisions on both sides reaches M, the machine will rotate 90° counterclockwise to clear the accumulated number of collisions, and try to get out of trouble in another direction.

According to this embodiment, the success rate of the cleaning robot getting out of trouble can be improved by trying to get out of trouble in another direction after the cumulative number of collisions with the board hits the set number of times threshold.

S61 , clearing the cumulative number of triggers of the cleaning robot when it is not detected that the striker of the cleaning robot is triggered within the target time period after the second angle is rotated.

If the target duration (for example, 5s, 10s, etc.) after rotating the second angle does not trigger the striker, it can be considered that the cleaning robot has escaped, or is not trapped in a certain area, and the cleaning robot can be emptied. Cumulative number of triggers.

Optionally, if a striker is triggered again after clearing the cumulative trigger times of the cleaning robot, the cumulative trigger times of the striker can be recalculated until no cleaning robot is detected within the target time period after a certain striker is triggered is triggered, or the cumulative number of triggers reaches the target times threshold.

Through this embodiment, when the striker is not triggered again within a certain period of time, clearing the accumulated trigger times of the cleaning robot can avoid accumulating the number of times the striker is triggered in different areas, and improve the accuracy of the operation control of the cleaning robot.

It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present disclosure is not limited by the described action sequence. Because of this disclosure, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is Better implementation. Based on such an understanding, the technical solution of the present disclosure can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM (Read-Only Memory, Read-only memory)/RAM (Random Access Memory, random access memory), magnetic disk, optical disk), including several instructions to make a terminal device (which can be a mobile phone, computer, server, or network device, etc.) execute this Methods described in various embodiments are disclosed.

According to another aspect of the embodiments of the present disclosure, there is also provided an operation control device for a cleaning robot for implementing the above cleaning robot operation control method. Fig. 4 is a structural block diagram of an optional operation control device of a cleaning robot according to an embodiment of the present disclosure. As shown in Fig. 4 , the device may include:

The first control unit 402 is configured to control the cleaning robot to rotate along a first direction by a first angle when detecting that the first striker of the cleaning robot is triggered;

A detection unit 404, connected to the first control unit 402, configured to detect that the second striker of the cleaning robot is triggered after the first angle is rotated;

The second control unit 406 is connected to the detection unit 404, and is used to control the cleaning robot to move along the and rotating in a second direction by a second angle, wherein the second direction is opposite to the first direction, and the second angle is smaller than the first angle.

It should be noted that the first control unit 402 in this embodiment can be used to perform the above step S202, the detection unit 404 in this embodiment can be used to perform the above step S204, and the second control unit 406 in this embodiment can be It is used to execute the above step S206.

Through the above module, by detecting that the first collision plate of the cleaning robot is triggered, the cleaning robot is controlled to rotate the first angle along the first direction; after the rotation of the first angle, the second collision plate of the cleaning robot is detected is triggered; in the case where the first strike plate and the second strike plate are strike plates located on different sides of the cleaning robot, the cleaning robot is controlled to rotate by a second angle along the second direction, wherein the second direction is an angle of the first direction In the opposite direction, the second angle is smaller than the first angle, which solves the problem that the cleaning robot is easily trapped due to the influence of historical point clouds in the operation control mode of the cleaning robot in the related art, and improves the success rate of the cleaning robot getting out of trouble.

In an exemplary embodiment, the first control unit includes:

The first control module is configured to control the cleaning robot to rotate clockwise by a first angle when the first striker is the left striker of the cleaning robot;

The second control module is configured to control the cleaning robot to rotate counterclockwise by a first angle when the first striker is the right striker of the cleaning robot.

In an exemplary embodiment, the above-mentioned device also includes:

The first determination unit is configured to determine the second angle according to the first angle before controlling the cleaning robot to rotate the second angle along the second direction, wherein the second angle is half of the first angle.

In an exemplary embodiment, the above-mentioned device also includes:

The third control unit is configured to control the cleaning robot to continue to rotate along the first direction for the second striker when the first striker and the second striker are the same after detecting that the second striker of the cleaning robot is triggered. three angles.

In an exemplary embodiment, the above-mentioned device also includes:

The second determination unit is configured to determine a third angle according to the first angle before controlling the cleaning robot to continue to rotate the third angle along the first direction, wherein the third angle is a product of half of the first angle and a target coefficient.

In an exemplary embodiment, the above-mentioned device also includes:

The fourth execution unit is used to detect that the third striker of the cleaning robot is triggered within the target time period after the rotation of the second angle after controlling the cleaning robot to rotate by the second angle, and all the strikers of the cleaning robot When the cumulative number of triggers reaches the threshold of the target number of times, control the cleaning robot to rotate to the target direction to perform collision detection again, and clear the accumulated trigger times. The target direction is at least one of the following: the vertical direction of the cleaning robot's current forward direction, the cleaning robot's current The opposite direction of the forward direction.

In an exemplary embodiment, the above-mentioned device also includes:

The emptying unit is used to clear the accumulated triggers of the cleaning robot when the cleaning robot is not detected to be triggered within the target time period after the second angle is rotated after the cleaning robot is controlled to rotate by the second angle frequency.

It should be noted here that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that, as a part of the device, the above modules can run in the hardware environment shown in FIG. 1 , and can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

According to still another aspect of the embodiments of the present disclosure, a storage medium is also provided. Optionally, in this embodiment, the above-mentioned storage medium may be used to execute the program code of any one of the above-mentioned cleaning robot operation control methods in the embodiments of the present disclosure.

Optionally, in this embodiment, the foregoing storage medium may be located on at least one network device among the plurality of network devices in the network shown in the foregoing embodiments.

Optionally, in this embodiment, the storage medium is configured to store program codes for performing the following steps:

S1, when it is detected that the first impact plate of the cleaning robot is triggered, control the cleaning robot to rotate along the first direction by a first angle;

S2, after rotating the first angle, it is detected that the second striker of the cleaning robot is triggered;

S3, in the case that the first strike plate and the second strike plate are strike plates located on different sides of the cleaning robot, control the cleaning robot to rotate along the second direction by a second angle, wherein the second direction is the opposite of the first direction direction, the second angle is smaller than the first angle.

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments, which will not be repeated in this embodiment.

Optionally, in this embodiment, the above-mentioned storage medium may include, but not limited to, various media capable of storing program codes such as a U disk, ROM, RAM, removable hard disk, magnetic disk, or optical disk.

According to yet another aspect of the embodiments of the present disclosure, there is also provided an electronic device for implementing the above cleaning robot operation control method, the electronic device may be a server, a terminal, or a combination thereof.

FIG. 5 is a structural block diagram of an optional electronic device according to an embodiment of the present disclosure. As shown in FIG. 5 , it includes a processor 502, a communication interface 504, a memory 506, and a communication bus 508. 504 and memory 506 complete mutual communication through communication bus 508, wherein,

memory 506, for storing computer programs;

When the processor 502 is used to execute the computer program stored on the memory 506, the following steps are implemented:

Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus, or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 5 , but it does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the electronic device and other devices.

The above-mentioned memory may include RAM, and may also include non-volatile memory (non-volatile memory), for example, at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

As an example, the memory 506 may include, but is not limited to, the first control unit 402, the detection unit 404, and the second control unit 406 in the control device of the above-mentioned device. In addition, it may also include but not limited to other module units in the control device of the above equipment, which will not be described in detail in this example.

Above-mentioned processor can be general-purpose processor, can include but not limited to: CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor) etc.; Can also be DSP (Digital Signal Processing, digital signal processor ), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments, and details are not repeated in this embodiment.

Those of ordinary skill in the art can understand that the structure shown in Figure 5 is only for illustration, and the device implementing the operation control method of the above-mentioned cleaning robot can be a terminal device, and the terminal device can be a smart phone (such as an Android phone, an iOS phone, etc.), Tablet PCs, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment. FIG. 5 does not limit the structure of the above-mentioned electronic device. For example, the electronic device may also include more or less components than those shown in FIG. 5 (such as a network interface, a display device, etc.), or have a different configuration from that shown in FIG. 5 .

Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can be Including: flash disk, ROM, RAM, magnetic disk or optical disk, etc.

The serial numbers of the above-mentioned embodiments of the present disclosure are for description only, and do not represent the advantages and disadvantages of the embodiments.

If the integrated units in the above embodiments are realized in the form of software function units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the essence of the technical solution disclosed in this disclosure or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of software products, and the computer software products are stored in storage media. Several instructions are included to make one or more computer devices (which may be personal computers, servers or network devices, etc.) execute all or part of the steps of the methods described in the various embodiments of the present disclosure.

In the above-mentioned embodiments of the present disclosure, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed client may be implemented in other ways. Wherein, the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or can be Integrate into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

The above descriptions are only preferred implementations of the present disclosure. It should be pointed out that those skilled in the art can make some improvements and modifications without departing from the principle of the present disclosure. These improvements and modifications are also It should be regarded as the protection scope of the present disclosure.

Claims

A method for controlling the operation of a cleaning robot, comprising:

controlling the cleaning robot to rotate along a first direction by a first angle when it is detected that the first striker of the cleaning robot is triggered;

After rotating the first angle, it is detected that the second striker of the cleaning robot is triggered;

In the case that the first strike plate and the second strike plate are strike plates located on different sides of the cleaning robot, the cleaning robot is controlled to rotate along a second direction by a second angle, wherein the first strike plate The two directions are opposite to the first direction, and the second angle is smaller than the first angle.
The method according to claim 1, wherein the controlling the cleaning robot to rotate along a first direction by a first angle comprises:

In the case where the first bumper is the left bumper of the cleaning robot, controlling the cleaning robot to rotate clockwise by the first angle;

In the case that the first striker is the right striker of the cleaning robot, the cleaning robot is controlled to rotate counterclockwise by the first angle.
The method according to claim 1, wherein, before said controlling said cleaning robot to rotate along a second direction by a second angle, said method further comprises:

The second angle is determined according to the first angle, wherein the second angle is half of the first angle.
The method according to claim 1, wherein, after detecting that the second striker of the cleaning robot is triggered, the method further comprises:

In the case that the first strike plate and the second strike plate are the same strike plate, the cleaning robot is controlled to continue to rotate at a third angle along the first direction.
The method according to claim 4, wherein, before the controlling the cleaning robot to continue to rotate by a third angle along the first direction, the method further comprises:

The third angle is determined according to the first angle, wherein the third angle is a product of half of the first angle and a target coefficient.
The method according to any one of claims 1 to 5, wherein, after controlling the cleaning robot to rotate by a second angle along a second direction, the method further comprises:

When it is detected within the target time period after rotating the second angle that the third striker of the cleaning robot is triggered and the cumulative number of triggers of all strikers of the cleaning robot reaches the target number of thresholds, control the cleaning The robot rotates to the target direction to perform collision detection again, and clears the accumulated trigger times, wherein the target direction is at least one of the following: the vertical direction of the cleaning robot's current forward direction, the opposite direction of the cleaning robot's current forward direction direction.
The method according to claim 6, wherein, after said controlling said cleaning robot to rotate a second angle along a second direction, said method further comprises:

In the case that the strike plate of the cleaning robot is not detected to be triggered within the target time period after the second angle is rotated, the accumulated number of triggers of the cleaning robot is cleared.
An operation control device for a cleaning robot, including:

A first control unit, configured to control the cleaning robot to rotate along a first direction by a first angle when detecting that the first striker of the cleaning robot is triggered;

a detection unit, configured to detect that the second striker of the cleaning robot is triggered after the first angle is rotated;

The second control unit is configured to control the cleaning robot to rotate along the second direction for the second angle, wherein the second direction is the opposite direction of the first direction, and the second angle is smaller than the first angle.
A computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein, when the program is run, the method according to any one of claims 1 to 7 is executed.
An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 7 through the computer program.