WO2023104118A1 - 清洁路径确定方法、系统、设备及存储介质 - Google Patents

清洁路径确定方法、系统、设备及存储介质 Download PDF

Info

Publication number
WO2023104118A1
WO2023104118A1 PCT/CN2022/137341 CN2022137341W WO2023104118A1 WO 2023104118 A1 WO2023104118 A1 WO 2023104118A1 CN 2022137341 W CN2022137341 W CN 2022137341W WO 2023104118 A1 WO2023104118 A1 WO 2023104118A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning robot
trigger signal
cleaned
cleaning
corner trigger
Prior art date
Application number
PCT/CN2022/137341
Other languages
English (en)
French (fr)
Inventor
贺敏
陈荣
丁民权
Original Assignee
科沃斯机器人股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Publication of WO2023104118A1 publication Critical patent/WO2023104118A1/zh
Priority to US18/677,493 priority Critical patent/US20240310856A1/en

Links

Images

Classifications

    • 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
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • 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
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/241—Means for detecting physical contact, e.g. touch sensors or bump sensors
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G05D2109/15—Climbing vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the present application relates to the technical field of smart home, and in particular to a method, system, device and storage medium for determining a cleaning path.
  • the window cleaning robot is a kind of smart household appliances. It can firmly adsorb on the glass with the vacuum pump or fan device at the bottom, and then use a certain artificial intelligence to automatically detect the corner distance of the window and plan the window cleaning path.
  • the window cleaning robot generally uses the strength of its own adsorption on the glass to drive the rag at the bottom of the fuselage to wipe off the dirt on the glass.
  • window cleaning paths of the window cleaning robot there are generally two kinds of window cleaning paths of the window cleaning robot, one is a Z-shaped cleaning path along the horizontal direction, and the other is an N-shaped cleaning path along the longitudinal direction. Since the window-cleaning robot needs to overcome its own gravity when moving vertically and upwards, it is more difficult to walk and it is easier to slip. Therefore, most of the existing window-cleaning robots default to the window-cleaning path extending horizontally.
  • the window cleaning robot is usually designed as a square structure in accordance with the shape of the window. Restrictions may cause it to be unable to rotate and change direction on narrow glass.
  • the user needs to adjust the window cleaning path of the window cleaning robot according to the size and specification of the window before use. If the user forgets to adjust the window cleaning path or the selected window cleaning path does not match the structure of the window to be cleaned, Then it is easy to cause the window-cleaning robot to fail to work normally or to have low work efficiency.
  • the present application provides a cleaning path determination method, system, equipment and storage medium, aiming to solve the problem that the cleaning robot cannot work normally or the working efficiency is low when the cleaning path of the cleaning robot in the prior art does not match the structure of the surface to be cleaned. low problem.
  • the present application provides a cleaning path determination method, the cleaning path determination method comprising: in response to a cleaning instruction of the cleaning robot, controlling the cleaning robot to rotate a preset angle based on the target rotation direction on the surface to be cleaned; During the rotation process, it is monitored whether the cleaning robot generates a first corner trigger signal; according to the monitoring result of the first corner trigger signal, the working path of the cleaning robot on the surface to be cleaned is determined.
  • the cleaning robot is controlled to rotate based on a target rotation direction.
  • the method includes: acquiring an initial orientation of the cleaning robot on the surface to be cleaned; and determining the target rotation direction according to the initial orientation.
  • the cleaning robot is controlled to rotate based on the target rotation direction.
  • the method includes: controlling the cleaning robot to rotate back to normal, so that the cleaning robot rotates from the current orientation to a first preset orientation, and the first The preset orientation is used as the initial orientation of the cleaning robot.
  • acquiring the initial orientation of the cleaning robot on the surface to be cleaned includes: acquiring an attitude signal of the cleaning robot; and obtaining the initial orientation of the cleaning robot on the surface to be cleaned according to the attitude signal.
  • monitoring whether the cleaning robot generates the first edge trigger signal during the rotation of the cleaning robot includes: if the cleaning robot exposes or touches the edge of the surface to be cleaned during the rotation If the border of the surface to be cleaned is detected, it is detected that the cleaning robot generates the first corner trigger signal; otherwise, it is detected that the cleaning robot does not generate the first corner trigger signal.
  • determining the working path of the cleaning robot on the surface to be cleaned includes: if the first corner trigger signal is not detected, determining The working path of the cleaning robot on the surface to be cleaned is a horizontal sweeping path.
  • determining the working path of the cleaning robot on the surface to be cleaned includes: if the first corner trigger signal is detected, then according to the first corner trigger signal, The positioning control of the corner trigger signal moves the cleaning robot based on the preset motion trajectory, and at the same time monitors whether the cleaning robot generates a second corner trigger signal during the movement, and determines the cleaning according to the monitoring results of the second corner trigger signal.
  • the working path of the robot on the surface to be cleaned includes: if the first corner trigger signal is detected, then according to the first corner trigger signal, The positioning control of the corner trigger signal moves the cleaning robot based on the preset motion trajectory, and at the same time monitors whether the cleaning robot generates a second corner trigger signal during the movement, and determines the cleaning according to the monitoring results of the second corner trigger signal.
  • the cleaning robot is controlled to move based on a preset motion track according to the positioning of the first corner trigger signal, and at the same time, it is monitored whether the cleaning robot generates a second corner trigger signal during the movement, according to For the monitoring result of the second corner trigger signal, determine the working path of the cleaning robot on the surface to be cleaned, including: if the location of the first corner trigger signal is the head of the cleaning robot, then control the cleaning robot on the surface to be cleaned Move vertically downward for a preset first distance; if a second corner trigger signal is detected during the movement, it is determined that the cleaning robot cannot work on the surface to be cleaned, and a corresponding alarm message is issued.
  • the cleaning robot is controlled to move based on a preset motion track according to the positioning of the first corner trigger signal, and at the same time, it is monitored whether the cleaning robot generates a second corner trigger signal during the movement, according to For the monitoring result of the second corner trigger signal, determine the working path of the cleaning robot on the surface to be cleaned, including: if the location of the first corner trigger signal is the head of the cleaning robot, then control the cleaning robot on the surface to be cleaned Move vertically downward to preset the first distance; if the second corner trigger signal is not detected during the movement, control the cleaning robot to rotate the preset angle based on the target rotation direction and the opposite direction of the target rotation direction respectively, and monitor the cleaning Whether the robot generates a fourth corner trigger signal during two rotations; if the fourth corner trigger signal is detected during two rotations, it is determined that the working path of the cleaning robot on the surface to be cleaned is a longitudinal cleaning path; Otherwise, it is determined that the working path of the cleaning robot on the surface to be cleaned is a
  • the cleaning robot is controlled to move based on a preset motion track according to the positioning of the first corner trigger signal, and at the same time, it is monitored whether the cleaning robot generates a second corner trigger signal during the movement, according to For the monitoring result of the second corner trigger signal, determine the working path of the cleaning robot on the surface to be cleaned, including: if the location of the first corner trigger signal is a side of the cleaning robot, then control the cleaning robot on the surface to be cleaned After moving vertically downward for a preset second distance, rotate around its own center point in the opposite direction of the target rotation direction or rotate around its own center point in the opposite direction of the target rotation direction and perform walking motion until the current orientation of the cleaning robot The angle between the vertical downward direction is greater than the preset angle threshold; if the second corner trigger signal is not detected during the movement, it is determined that the working path of the cleaning robot on the surface to be cleaned is a horizontal cleaning path .
  • determining the working path of the cleaning robot on the surface to be cleaned further includes: if the second corner trigger signal is detected during the movement signal, and the location of the second corner trigger signal is the other side of the cleaning robot, then it is determined that the working path of the cleaning robot on the surface to be cleaned is a longitudinal cleaning path.
  • the cleaning robot is controlled to rotate based on the target rotation direction on the surface to be cleaned.
  • the method further includes: controlling the cleaning robot to rotate from the current orientation to a second preset orientation; During the process, it is monitored whether the cleaning robot generates a third corner trigger signal; according to the monitoring result of the third corner trigger signal, the working path of the cleaning robot on the surface to be cleaned is determined.
  • determining the working path of the cleaning robot on the surface to be cleaned includes: if the third corner trigger signal is detected, and the third The positioning of the corner trigger signal is the two sides of the cleaning robot, so it is determined that the working path of the cleaning robot on the surface to be cleaned is a horizontal cleaning path.
  • the present application also provides a path determination system, the path determination system comprising: a rotation control unit, configured to control the cleaning robot to rotate a preset angle based on the target rotation direction on the surface to be cleaned in response to the cleaning instruction of the cleaning robot
  • the signal monitoring unit is used to monitor whether the cleaning robot generates the first corner trigger signal during the rotation of the cleaning robot; the path determination unit is used to determine whether the cleaning robot is to be cleaned according to the monitoring result of the first corner trigger signal.
  • the working path on the surface comprising: a rotation control unit, configured to control the cleaning robot to rotate a preset angle based on the target rotation direction on the surface to be cleaned in response to the cleaning instruction of the cleaning robot
  • the signal monitoring unit is used to monitor whether the cleaning robot generates the first corner trigger signal during the rotation of the cleaning robot;
  • the path determination unit is used to determine whether the cleaning robot is to be cleaned according to the monitoring result of the first corner trigger signal. The working path on the surface.
  • the present application also provides a route determination device, the route determination device includes a memory and a processor, the memory is used to store a computer program, and when the computer program is executed by the processor, it is used to realize the following functions: respond to cleaning The cleaning instruction of the robot controls the rotation of the cleaning robot on the surface to be cleaned based on the target rotation direction; monitors whether the cleaning robot generates the first corner trigger signal during the rotation of the cleaning robot; according to the monitoring result of the first corner trigger signal, Determine the working path of the cleaning robot over the surface to be cleaned.
  • the present application further provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the steps in the method for determining the cleaning path in the first aspect are implemented.
  • the cleaning robot in response to the cleaning command of the cleaning robot, the cleaning robot is controlled to rotate based on the target rotation direction, and during the rotation, whether it generates the first corner trigger signal is monitored, and finally the working path of the cleaning robot is determined according to the monitoring results.
  • the application automatically determines the working path based on the monitoring results of the first corner trigger signal, compared with the prior art that relies on artificial In terms of selecting the working path, it can ensure the adaptability between the working path and the surface to be cleaned, ensure the normal operation of the cleaning robot, improve the working efficiency and cleaning effect of the cleaning robot, and improve the reliability of the cleaning robot.
  • FIG. 1 is a schematic flowchart of a method for determining a cleaning path provided in an embodiment of the present application
  • Fig. 2 is a schematic diagram of a posture change of the cleaning robot rotating based on the target rotation direction provided in the embodiment of the present application;
  • Fig. 3 is a schematic diagram of another attitude change of the cleaning robot rotating based on the target rotation direction provided in the embodiment of the present application;
  • Fig. 4 is a schematic diagram of another posture change of the cleaning robot rotating based on the target rotation direction provided in the embodiment of the present application;
  • Fig. 5 is a schematic diagram of another attitude change of the cleaning robot rotating based on the target rotation direction provided in the embodiment of the present application;
  • Fig. 6 is a schematic structural diagram of the cleaning robot provided in the embodiment of the present application.
  • Fig. 7 is a schematic diagram of a movement trajectory of the cleaning robot provided in the embodiment of the present application.
  • Fig. 8 is a schematic diagram of the position relationship of the two sides of the cleaning robot provided in the embodiment of the present application being triggered;
  • Fig. 9 is a schematic diagram of a functional module of the cleaning path determination system provided in the embodiment of the present application.
  • Fig. 10 is a schematic structural diagram of a device for determining a cleaning path provided in an embodiment of the present application.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, features defined as “first” and “second” may explicitly or implicitly include one or more features. In the description of the present application, “plurality” means two or more, unless otherwise specifically defined.
  • the present application provides a method, system, device and storage medium for determining a cleaning path, which will be described in detail below.
  • the present application provides a method for determining a cleaning route, which may be executed by a system for determining a cleaning route, and the method for determining a cleaning route may be applied to smart devices with cleaning functions such as cleaning robots.
  • the cleaning robot in the embodiment of the present application can be used to clean glass surfaces, walls of marble media, ceramic tiles, and the like.
  • the cleaning path determination method includes:
  • control the cleaning robot In response to the cleaning instruction of the cleaning robot, control the cleaning robot to rotate a preset angle based on the target rotation direction on the window to be cleaned; monitor whether the cleaning robot generates a first corner trigger signal during the rotation of the cleaning robot; The monitoring result of the trigger signal determines the working path of the cleaning robot on the window to be cleaned.
  • FIG. 1 is a schematic flowchart of a method for determining a cleaning path provided in an embodiment of the present application. It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here.
  • the method for determining a working path may include the following steps.
  • Step S101 in response to the cleaning instruction of the cleaning robot, control the cleaning robot to rotate a preset angle based on the target rotation direction on the window to be cleaned.
  • the cleaning instruction of the cleaning robot may be a cleaning instruction sent by the user to the cleaning robot through a communication network, so that the operation of the cleaning robot can be started by the cleaning instruction.
  • the user can control the operation of the cleaning robot through the terminal device.
  • the terminal device can be a mobile phone terminal, a computer terminal, a dedicated remote control, a universal remote control and other terminal devices.
  • the terminal device and the cleaning robot can be connected through Any communication method to achieve network communication, including but not limited to, based on the 3rd Generation Partnership Project (3rd Generation Partnership Project, 3GPP), Long Term Evolution (LTE), Worldwide Interoperability for Microwave Access (WiMAX ) mobile communications, etc.
  • 3rd Generation Partnership Project 3rd Generation Partnership Project
  • LTE Long Term Evolution
  • WiMAX Worldwide Interoperability for Microwave Access
  • the target rotation direction is the rotation direction of the cleaning robot on the window to be cleaned, it can be understood that the rotation direction on a plane can be left or right. Therefore, in the embodiment of the present application, the target rotation The direction can be left or right, and the target rotation direction can be a specified rotation direction included in the cleaning command when the user sends the cleaning command to the cleaning robot, or it can be when the cleaning robot is initially configured, A default rotation direction pre-configured for the cleaning robot may also be a rotation direction calculated by the cleaning robot based on its own current posture.
  • the center point of the cleaning robot can be used as the base point of rotation, and the body of the cleaning robot is controlled to rotate around the base point of rotation.
  • the body of the cleaning robot They are usually designed as a square structure. Therefore, when the body of the cleaning robot rotates with its own center point as the circle point, it is equivalent to using the center point as the center of the circle to clean the diagonal length of the robot body. Draw a circle for the diameter. At this time, the diagonal length of the body of the cleaning robot is the minimum width required for the rotation of the cleaning robot.
  • the width of the window to be cleaned is greater than or equal to the diagonal length of the cleaning robot body, it can be ensured that the cleaning robot can rotate on the window to be cleaned to change direction; When the length of the corner line is larger, the cleaning robot cannot rotate on the window to be cleaned to change direction.
  • Step S102 during the rotation of the cleaning robot, it is monitored whether the cleaning robot generates a first corner trigger signal.
  • the detection device in order to detect whether the cleaning robot can rotate on the window to be cleaned to change direction, multiple detection devices can be arranged on the corners of the cleaning robot, that is, the vertices and sides/sides of the body of the cleaning robot, for example
  • the detection device can be a pressure sensor, a ball sensor, a key sensor, etc.
  • the above-mentioned detection device can always be in the detection state. Once the detection device meets the trigger condition and is triggered, it will generate a first corner trigger signal in response to the trigger condition, so as to pass the first
  • the corner trigger signal represents the relative positional relationship between the cleaning robot and the window to be cleaned during the rotation process or working process.
  • Step S103 according to the monitoring result of the first corner trigger signal, determine the working path of the cleaning robot on the window to be cleaned.
  • step S102 it can be known that the generation of the first corner trigger signal is based on a detection device that satisfies the trigger condition. Therefore, in the embodiment of the present application, the monitoring result of the first corner trigger signal can be that the trigger condition is met to generate the first corner The trigger signal can also be that the trigger condition is not met and the first corner trigger signal is not generated. These two monitoring results can respectively represent the relative positional relationship or size relationship between the cleaning robot and the window to be cleaned.
  • the working path of the cleaning robot may also be called a window cleaning path, a walking path or a cleaning path.
  • the window cleaning path of the cleaning robot can be a horizontal cleaning path, that is, a Z-shaped cleaning path for cleaning the windows to be cleaned, or a vertical cleaning path, that is, an N-shaped cleaning path for cleaning the windows to be cleaned.
  • the cleaning robot in response to the cleaning instruction of the cleaning robot, the cleaning robot is controlled to rotate based on the target rotation direction, and during the rotation, it is monitored whether it generates the first corner trigger signal, and finally the window cleaning of the cleaning robot is determined according to the monitoring results.
  • the application automatically determines the window cleaning path based on the monitoring results of the first corner trigger signal, compared with the prior art In terms of relying on the artificial selection of the window cleaning path, it can ensure the compatibility between the window cleaning path and the window to be cleaned, ensure the normal operation of the cleaning robot, improve the working efficiency and cleaning effect of the cleaning robot, and improve the reliability of the cleaning robot. sex.
  • the cleaning robot is controlled to rotate based on the target rotation direction.
  • the window cleaning path determination method may further include: controlling the cleaning robot to rotate back to normal, so that the cleaning robot rotates from the current orientation to the first preset orientation.
  • a preset orientation can be configured for it first, and when the cleaning robot is placed on the window to be cleaned, the rotation of the cleaning robot can be controlled first so that the cleaning robot rotates to the first preset orientation. Set the orientation, and then perform subsequent cleaning actions based on the first preset orientation; and when the cleaning robot finishes cleaning this time, it can also control the cleaning robot to rotate to the first preset orientation, so that it returns to before cleaning the initial state of .
  • the face where the head of the cleaning robot is located is used as the reference surface, and the orientation or direction of the head of the cleaning robot is used as the orientation or direction of the cleaning robot.
  • the first preset orientation can be set as a vertical upward direction. When controlling the rotation of the cleaning robot back to the normal direction, the head of the cleaning robot is rotated from the current orientation to the vertical upward direction.
  • a certain side or tail of the cleaning robot can also be used as a reference surface to determine a reference direction. For example, if the surface where the tail of the cleaning robot is located is used as the reference surface, then At this time, the orientation or direction of the tail of the cleaning robot may represent the orientation or direction of the cleaning robot.
  • the first preset orientation of the cleaning robot can also be horizontal to the left, horizontal to the right, or vertical downward, etc.
  • the choice of the first preset orientation can be selected according to the actual application scenario , not limited here.
  • the cleaning robot When the cleaning robot rotates back to normal, it can control the cleaning robot to rotate based on the target rotation direction. Specifically, after the cleaning robot is back to normal, its head can be vertically upward. At this time, the target rotation direction can be left or It can also be to the right, which can be selected according to the actual application scenario.
  • the cleaning robot can be controlled to rotate to the left from the vertical upward state
  • the cleaning robot can be controlled to rotate from the vertical upward state to the right.
  • the cleaning robot is controlled to rotate based on the target rotation direction.
  • the window cleaning path determination method may include: acquiring the initial orientation of the cleaning robot on the window to be cleaned; determining the target rotation direction according to the initial orientation.
  • the initial orientation in the embodiment of the present application may be the orientation of the cleaning robot when it is placed on the window to be cleaned, or the orientation after its movement, or the final orientation of the cleaning robot when it was used last time , in the embodiment of the present application, the status of the initial orientation may be determined according to the actual application scenario, and the details are not limited here.
  • the initial orientation of the cleaning robot can be acquired through any combination of one or more existing motion sensors, for example, a three-axis gyro sensor, a three-axis acceleration sensor, or a three-axis electronic compass.
  • the target rotation direction of the cleaning robot can be determined based on the initial orientation. Specifically, when the cleaning robot cleans the window to be cleaned based on the horizontal cleaning path, it needs to rotate to change the rotation direction of the cleaning robot head. Orientation, and if a horizontal cleaning path is used on a narrow window to be cleaned, the cleaning robot may not be able to rotate and change the orientation of the head. Therefore, before the cleaning robot works, it can first judge the width of the window to be cleaned to understand the width of the window Whether the window to be cleaned is wide enough for the cleaning robot to rotate on it.
  • the target rotation direction of the cleaning robot can be determined according to the initial orientation, so as to indirectly determine the specification of the window to be cleaned through the rotation of the cleaning robot based on the target rotation direction.
  • the cleaning robot can also be set to adjust the posture of the cleaning robot after determining the initial orientation, so that the cleaning robot returns to the normal state.
  • the state can refer to the state where the head of the cleaning robot is vertically upward, that is, no matter what the initial orientation of the cleaning robot is, before the cleaning robot starts to work, the head of the cleaning robot will return to the vertically upward state.
  • the head is vertically upward as the initial orientation of the cleaning robot.
  • the target rotation direction can be the preset default rotation direction, or a specified rotation direction included in the cleaning instruction. Specifically, the target rotation direction can be left or It is to the right, that is, the cleaning robot can rotate to the left or to the right to indirectly judge the specification of the window to be cleaned.
  • the target rotation direction can be It can be left rotation or right rotation, and the target rotation direction can be the same direction as the initial orientation, or it can be opposite to the initial orientation.
  • the target rotation direction can be the same direction as the initial orientation, that is, rotate to the left, or it can be opposite to the initial orientation, that is, rotate to the right; another example is the initial orientation of the cleaning robot. If the orientation is horizontal to the head, the target rotation direction can also be right rotation or left rotation.
  • acquiring the initial orientation of the cleaning robot on the window to be cleaned may further include: acquiring an attitude signal of the cleaning robot; and obtaining the initial orientation of the cleaning robot on the window to be cleaned according to the attitude signal.
  • attitude detection devices such as attitude sensors and motion sensors can be configured on the cleaning robot.
  • the attitude detection device can generate an attitude signal representing the attitude change according to the attitude change of the cleaning robot, and the processor of the cleaning robot can generate an attitude signal according to the attitude signal
  • the orientation information represented by the attitude signal is obtained through conversion, so that the initial orientation of the cleaning robot on the window to be cleaned can be obtained.
  • the cleaning robot can be equipped with a three-axis acceleration sensor.
  • the three-axis acceleration sensor can detect the three axes of the cleaning robot, namely the X-axis, Y-axis and Z-axis. Since most of the three-axis acceleration sensors use piezoresistive, piezoelectric and capacitive working principles, the acceleration values generated on the three axes are proportional to the changes in resistance, voltage and capacitance, and through the corresponding amplification circuit and filter circuit to collect changes in resistance, voltage and capacitance to generate an attitude signal and output it to the processor, and the processor can analyze the change to obtain the initial orientation of the cleaning robot.
  • the cleaning robot can also be equipped with three uniaxial acceleration sensors, and the three uniaxial acceleration sensors can be used to detect acceleration values in three mutually perpendicular directions in space.
  • the processing method and process of the acceleration value of the single-axis acceleration sensor are similar to the processing of the acceleration value of a three-axis acceleration sensor, and will not be repeated here.
  • controlling the rotation of the cleaning robot based on the target rotation direction may be to rotate the cleaning robot at a preset angle.
  • the preset angle may be set to 45°. For example, if the cleaning robot returns to normal, If its current orientation is vertical upward, the cleaning robot can be controlled to rotate 45° to the left from the current orientation.
  • the first corner trigger signal is monitored.
  • determining the target rotation direction of the cleaning robot according to the initial orientation may further include: if the angle between the initial orientation and the preset direction is smaller than the preset angle, determining that the target rotation direction is in the same direction as the initial orientation ; Otherwise, determine that the target rotation direction is opposite to the initial orientation.
  • the initial orientation of the cleaning robot can be any orientation, therefore, the angle between the initial orientation and the preset direction can be in the range of 0° to 180°, and since the cleaning robot rotates based on its own center point , the maximum range in the rotation process is the diagonal length of the body of the cleaning robot. Therefore, when the angle between the initial orientation and the preset direction is smaller than the preset angle, it can be determined that the target rotation direction is in the same direction as the initial orientation, and the control The cleaning robot rotates around its own center point based on the target rotation direction until the angle between the current orientation of the cleaning robot and the preset direction is greater than the preset angle.
  • the cleaning robot has rotated through the maximum length required for rotation; and
  • the angle between the initial orientation and the preset direction is greater than the preset angle, it can be determined that the target rotation direction is opposite to the initial orientation, and the cleaning robot is controlled to rotate around its own center point based on the target rotation direction until the current orientation of the cleaning robot is in line with the preset orientation.
  • the angle between the directions is smaller than the preset angle, at this time, it can also be determined that the cleaning robot has rotated through the maximum length required for rotation.
  • Figure 2 is a schematic diagram of a posture change of the cleaning robot based on the rotation of the target rotation direction provided in the embodiment of the present application.
  • the preset angle can be set to 45°, and the target rotation direction is to rotate to the left.
  • the cleaning robot rotates from state G to state F, that is, the control
  • the cleaning robot rotates 45° to the left around its own center point O.
  • state F the angle f between the cleaning robot and the preset direction, that is, the vertical upward direction, is 45°.
  • Whether there is a first corner trigger signal during the rotation can be Determine if the window to be cleaned is wide enough for the cleaning robot to rotate and change direction.
  • Figure 3 is another schematic diagram of the posture change of the cleaning robot based on the target rotation direction provided in the embodiment of the application.
  • the cleaning robot rotates from state A to state B.
  • the preset The direction is set to the vertical upward direction
  • the preset angle is set to 45°
  • the initial orientation of the head of the cleaning robot in state A is towards the left.
  • the included angle is a. It can be seen from Figure 3 that a is less than the preset angle of 45°. At this time, it can be determined that the target rotation direction is the same as the initial orientation.
  • the cleaning robot can be controlled to rotate leftward around its own center point O to state B , at this time, the angle between the orientation of the head of the cleaning robot and the vertical upward direction is b, as can be seen from Figure 3, b is greater than 45°, because when the cleaning robot rotates from state A to state B, the cleaning robot's The diagonal of the fuselage has turned over the width of the window to be cleaned. Therefore, the first corner trigger signal during the rotation can be used to determine whether the width of the window to be cleaned is enough for the cleaning robot to rotate and change direction.
  • Figure 4 is a schematic diagram of another posture change of the cleaning robot based on the rotation of the target rotation direction provided in the embodiment of the present application.
  • the cleaning robot rotates from state B to state A, and the cleaning robot in state B
  • the initial orientation of the head is toward the left.
  • the angle between the initial orientation and the preset direction is b.
  • b is greater than 45°.
  • the cleaning robot can be controlled to rotate rightward around its own center point O to state A.
  • the angle between the head of the cleaning robot and the preset direction is a. It can be seen from Figure 4 that a is less than 45°.
  • the window to be cleaned can also be determined by the first corner trigger signal in the rotation process Whether the width is clean enough for the robot to rotate and change direction.
  • the diagonal line of the body of the cleaning robot is just in the horizontal position at this time, that is, at this time, It can be directly determined that the width of the window to be cleaned can accommodate the rotation and change of direction of the cleaning robot when cleaning in the horizontal cleaning path.
  • Figure 5 is a schematic diagram of another posture change of the cleaning robot based on the rotation of the target rotation direction provided in the embodiment of the present application.
  • the cleaning robot rotates from state C to state D.
  • the preset The direction is set to the horizontal left direction, and the preset angle is also set to 45°.
  • state C the initial orientation of the head of the cleaning robot is to the left.
  • the cleaning robot can be controlled to rotate leftward around its own center point O to the state D, at this time, the angle between the head of the cleaning robot and the horizontal left direction is d, as can be seen from Figure 5, d is equal to 45°, because when the cleaning robot rotates from state C to state D, the cleaning robot The diagonal of the fuselage just turns to be parallel to the width direction of the window to be cleaned. Therefore, the first corner trigger signal during the rotation process can be used to determine whether the width of the window to be cleaned is enough for the cleaning robot to rotate and change direction.
  • the target rotation direction can also be opposite to the initial orientation.
  • the initial orientation of the head of the cleaning robot in state C is to the left.
  • the initial orientation is the same as the preset
  • the angle between the directions, that is, the horizontal and left directions, is c. It can be seen from Figure 5 that c is less than the preset angle, which is 45°.
  • the cleaning robot can be controlled to revolve around its own center Point O rotates to the right to state E. At this time, the angle between the head of the cleaning robot and the horizontal left direction is e.
  • the preset angle can also be other angle values except 45°, as long as the diagonal line of the fuselage of the cleaning robot is turned over the width of the window to be cleaned during the rotation process, whether There is a first corner trigger signal to determine if the window to be cleaned is wide enough for the cleaning robot to rotate and change direction.
  • monitoring whether the cleaning robot generates the first corner trigger signal during the rotation of the cleaning robot may further include:
  • the cleaning robot If the cleaning robot is exposed from the edge of the window to be cleaned or touches the frame of the window to be cleaned during the rotation process, it is detected that the cleaning robot generates the first corner trigger signal; otherwise, it is detected that the cleaning robot does not generate the first corner trigger signal Signal.
  • FIG. 6 is a schematic structural diagram of the cleaning robot provided in the embodiment of the present application.
  • a ball sensor 201 can be respectively set on the four vertices, that is, the four corners, of the cleaning robot.
  • two striker button sensors 202 can be respectively arranged on the four sides of the cleaning robot, and the striker button sensor 202 on each side can be close to the ball sensor 201 on the adjacent vertex.
  • the window to be cleaned is a window with a frame
  • the corresponding bumper button sensor 202 on the corresponding side of the cleaning robot will be pressed and triggered due to being bumped, thereby sending out Corresponding first corner trigger signal; If the panel button sensor 202 does not touch the frame of the window to be cleaned, the panel button sensor 202 will not generate the first corner trigger signal;
  • the window to be cleaned is a frameless window
  • the ball sensor 201 on a certain vertex of the cleaning robot is exposed by the edge of the window to be cleaned, the ball sensor 201 will pop up, so that the level signal of the ball sensor 201 will be A transition occurs, and the transition generates a corresponding first corner trigger signal.
  • the ball sensor 201 rolls on the window to be cleaned in conjunction with the movement of the cleaning robot, the ball sensor 201 produces a low-level signal, and when the upper left apex of the cleaning robot exposes the edge of the window to be cleaned, the upper left apex The ball sensor 201 on the screen will pop up because there is no pressure on the window to be cleaned. At this moment, the level of the ball sensor 201 jumps from a low level signal to a high level signal, and jumps to a high level signal according to the low level signal.
  • the rising edge of the high-level signal can generate the first edge trigger signal, which is used to represent the upper left vertex of the cleaning robot exposing the edge of the window to be cleaned.
  • determining the window-cleaning path of the cleaning robot on the window to be cleaned may further include:
  • the window cleaning path of the cleaning robot on the window to be cleaned is a horizontal cleaning path; if the first corner trigger signal is detected, then the positioning control according to the first corner trigger signal
  • the cleaning robot moves based on the preset motion trajectory, and at the same time monitors whether the cleaning robot generates a second corner trigger signal during the movement, and determines the cleaning robot's wiping effect on the window to be cleaned according to the monitoring result of the second corner trigger signal. window path.
  • the width of the window to be cleaned is greater than L/sin45°, where L is the machine speed of the cleaning robot.
  • Body length for example, if the body length L of the cleaning robot is 27cm, the width of the window to be cleaned is greater than 38cm, and the width of the window to be cleaned is enough for the cleaning robot to rotate and change direction, then it can be determined that the window cleaning path at this time is horizontal
  • the cleaning path is a Z-shaped cleaning path.
  • the first corner trigger signal can be monitored.
  • the location of the first corner trigger signal can be Determine the specific triggered ball sensor 201 or strike plate button sensor 202, so as to control the cleaning robot to move based on the preset motion trajectory to further confirm the relative size relationship between the window to be cleaned and the cleaning robot.
  • determining the window cleaning path of the cleaning robot on the window to be cleaned may further include:
  • the cleaning robot is controlled to move vertically down the preset first distance on the window to be cleaned; if the second corner trigger signal is detected during the movement, Then it is determined that the cleaning robot cannot rotate on the window to be cleaned, so it cannot work, and sends a corresponding alarm message.
  • the bumper button sensor 202 or the ball head 201 located on the right side of the head of the cleaning robot is triggered when the cleaning robot rotates along the target rotation direction, it indicates that the cleaning robot Touch the upper frame of the window to be cleaned or expose the upper edge of the window to be cleaned.
  • the cleaning robot can be controlled to move vertically downward on the window to be cleaned for a preset first distance and then rotate along the target rotation direction.
  • the preset first distance can be 12cm, 15cm or 18cm, etc.
  • the preset first distance can be selected according to the actual application scene, and can be specifically determined according to empirical values or according to the body length of the cleaning robot.
  • the second corner trigger signal can be the strike plate button sensor 202 or the ball sensor located at the tail of the cleaning robot 201 is triggered to send a signal, which can indicate that the cleaning robot encounters the lower border of the window to be cleaned or exposes the lower edge of the window to be cleaned during the vertical downward movement, indicating that the height of the window to be cleaned is very high.
  • the head of the cleaning robot is upward and it cannot rotate, so that the cleaning robot cannot perform cleaning work.
  • the buzzer and alarm indicator light on the cleaning robot can be controlled to send corresponding alarm information.
  • the cleaning robot can be controlled to rotate the preset angle based on the target rotation direction and the opposite direction of the target rotation direction respectively, and Monitor whether the cleaning robot generates the fourth corner trigger signal during the two rotations, and if the fourth corner trigger signal is detected during the two rotations, then determine that the cleaning robot's cleaning path on the window to be cleaned is longitudinal cleaning path; otherwise, determine that the window cleaning path of the cleaning robot on the window to be cleaned is a horizontal cleaning path.
  • the cleaning robot can be controlled to rotate 45° to the left and 45° to the right respectively. If the cleaning robot detects the fourth side during the process of rotating right and left
  • the corner trigger signal means that during the two rotations, the side of the cleaning robot collides with the frame of the window to be cleaned.
  • the window to be cleaned is a window with a narrow width, because the cleaning robot cannot Therefore, it can be determined that the window cleaning path of the cleaning robot is a longitudinal cleaning path; on the contrary, if the cleaning robot detects the trigger signal of the fourth corner only once or does not detect the fourth side during the process of rotating right and left If the corner trigger signal indicates that only one side of the cleaning robot collides with the frame of the window to be cleaned during the two rotations, or there is no collision at all, then it can be determined that the window cleaning path of the cleaning robot is a horizontal cleaning path.
  • the cleaning robot is controlled to move based on a preset motion track according to the positioning of the first corner trigger signal, and at the same time, it is monitored whether the cleaning robot generates a second corner trigger signal during the movement.
  • the monitoring result of the corner trigger signal determines the window cleaning path of the cleaning robot on the window to be cleaned, and may further include:
  • the cleaning robot is controlled to move vertically downward on the window to be cleaned for a preset second distance or at After colliding with the lower frame of the window to be cleaned, rotate around its own center point in the opposite direction of the target rotation direction or rotate around its own center point in the opposite direction of the target rotation direction and perform walking motion until the current orientation of the cleaning robot is in line with the vertical downward direction.
  • the angle between the directions is greater than the preset angle threshold;
  • the window cleaning path of the cleaning robot on the window to be cleaned is a horizontal cleaning path
  • the window cleaning path of the cleaning robot on the window to be cleaned is a longitudinal cleaning path.
  • the bumper button sensor 202 or the ball head sensor 201 located on the left side of the cleaning robot is triggered when the cleaning robot rotates to the left along the target rotation direction, it indicates that the cleaning robot has encountered the window to be cleaned.
  • the left frame of the window or the left edge of the window to be cleaned is exposed, and the cleaning robot is near the left frame or left edge of the window to be cleaned.
  • the right frame or right edge of the window to be cleaned needs to be detected. If the cleaning robot is detected If the left border/left edge and the right border/right edge of the window to be cleaned are approached at the same time, it can be determined that the width of the window to be cleaned is narrow.
  • the cleaning robot Since it has been detected that the cleaning robot is close to the left frame of the window to be cleaned, if the detection of the right frame is still performed using the rotation method with the center point as the circle point, it will not be able to continue to rotate due to the existence of the left frame. Therefore, it can be controlled at this time.
  • the cleaning robot moves vertically downward for a preset second distance on the window to be cleaned, it rotates around its own center point in the opposite direction of the target rotation direction or rotates around its own center point in the opposite direction of the target rotation direction and performs walking motion until The angle between the current orientation of the head of the cleaning robot and the preset direction is greater than the preset angle threshold.
  • the preset second distance can be the same as the preset first distance, or can be different from the preset first distance , the preset second distance can also be selected according to the actual application scenario, specifically, it can be determined according to empirical values or according to the body length reference of the cleaning robot.
  • FIG. 7 is a schematic diagram of the motion track of the cleaning robot provided in the embodiment of the present application.
  • the cleaning robot can be controlled to move vertically downward for a preset second distance on the window to be cleaned, and then control the cleaning robot to rotate around its own center point in the opposite direction of the target rotation direction and do Walking movement, that is, while rotating around its own center point in the opposite direction of the target rotation direction, it also walks forward until the angle between the current orientation of the cleaning robot's head and the direction of vertical downward movement is greater than the preset angle threshold Such as 45°.
  • the cleaning robot is only at the starting position close to the left frame or left edge of the window to be cleaned, and the width of the window to be cleaned is enough for the cleaning robot to rotate and change direction. At this time, it can be determined that the window cleaning path of the cleaning robot on the window to be cleaned is a horizontal cleaning path.
  • the cleaning robot rotates around its own center point based on the opposite side of the target rotation direction.
  • the direction rotates and walks forward at the same time, if you bump into the bumper button sensor 202 on the right side of the cleaning robot or expose the ball sensor 201 in the upper right corner, it means that the width of the window to be cleaned is narrow, and the cleaning robot may not be able to clean the window.
  • Rotate and change direction above, at this time it can be determined that the window cleaning path of the cleaning robot on the window to be cleaned is a longitudinal cleaning path, so as to improve the cleaning efficiency of the cleaning robot on the window to be cleaned.
  • the rotating cleaning robot can first Returning to normal, here, returning to normal is to return the head of the cleaning robot to a preset orientation, for example, if the preset orientation is upward, then returning to normal is to control the rotation of the cleaning robot so that its head is facing upward. It is worth noting that in some application scenarios, the cleaning robot can also be controlled to move vertically downward on the window to be cleaned by a preset first distance or a preset second distance without returning to the normal position.
  • it can be set according to the actual application scenario, and no specific limitation is made here.
  • Figure 8 is a schematic diagram of the positional relationship of the two sides of the cleaning robot provided in the embodiment of the application being triggered.
  • the cleaning robot is controlled to rotate on the window to be cleaned based on the target rotation direction , before, the cleaning robot window cleaning path determination method can further include:
  • the user when placing the cleaning robot, the user can pre-position the head of the cleaning robot in the direction of the shorter side, so that the cleaning robot can walk forward and backward along the direction of the longer side.
  • the second preset orientation can be set as the direction of the longer side.
  • the initial orientation may be towards the height direction, as shown in Figure 8.
  • the initial orientation of the cleaning robot is towards the left, at this time , the cleaning robot can be rotated to determine the height of the short window to be cleaned, that is, to control the cleaning robot to rotate from the current initial orientation to the second preset orientation.
  • the second preset orientation can refer to the head of the cleaning robot
  • the direction of orientation that is, in the application scenario shown in Figure 8, is to turn the cleaning robot to the right in situ, and then monitor the ball sensor 201 or the bumper button sensor 202 on the corner of the cleaning robot during the rotation process Whether it is triggered to generate the third corner trigger signal, if the ball sensor 201 and the strike plate button sensor 202 are not triggered during the rotation, it can be determined that the height of the short window to be cleaned is enough for the cleaning robot to rotate back to normal, then Now it can be determined that the window cleaning path of the cleaning robot on the short window to be cleaned is a horizontal cleaning path, and when starting to clean, the cleaning robot can be moved vertically upwards to the upper frame of the short window to be cleaned, and then Then rotate the head of the cleaning robot to the horizontal direction, and then start cleaning based on the horizontal cleaning path.
  • the third corner trigger signal is monitored, and the location of the third corner trigger signal is the two sides of the cleaning robot, that is, the impact plate on the left side of the cleaning robot as shown in Figure 8
  • the button sensor 202 and the bumper button sensor 202 on the right side are triggered simultaneously, it shows that the height of the short window to be cleaned is not enough for the cleaning robot to rotate.
  • the window cleaning path of the cleaning robot on the short window to be cleaned is Horizontal cleaning path, and in the current state, the cleaning robot is already close to the upper frame, there is no need to move the cleaning robot vertically upward to the upper frame of the short window to be cleaned and then rotate to the horizontal direction for horizontal cleaning, you can directly follow the upper frame With lateral sweeping, the cleaning steps are optimized for small windows to be cleaned, thus improving cleaning efficiency.
  • this application also provides a cleaning path determination system, as shown in Figure 9, which is provided in the embodiment of this application.
  • a schematic diagram of a functional module of the cleaning path determination system, the cleaning path determination system 900 includes:
  • the rotation control unit 902 is configured to control the cleaning robot to rotate a preset angle based on the target rotation direction on the surface to be cleaned in response to the cleaning instruction of the cleaning robot;
  • a signal monitoring unit 903, configured to monitor whether the cleaning robot generates a first corner trigger signal during the rotation of the cleaning robot
  • the path determination unit 904 is configured to determine the working path of the cleaning robot on the surface to be cleaned according to the monitoring result of the first corner trigger signal.
  • the rotation control unit 902 controls the cleaning robot to rotate based on the target rotation direction in response to the cleaning instruction of the cleaning robot, and during the rotation process, the signal monitoring unit 903 monitors whether it generates the first corner trigger signal, and finally the path The determining unit 904 determines the working path of the cleaning robot according to the monitoring results. Since the size and specification of the surface to be cleaned can be reflected according to whether the cleaning robot generates the first corner trigger signal, the present application automatically Determining the working path can ensure the adaptability of the working path to the surface to be cleaned compared with the prior art relying on artificially selecting the working path, ensuring the normal operation of the cleaning robot, and improving the working efficiency and cleaning efficiency of the cleaning robot. As a result, the reliability of the cleaning robot is improved.
  • the cleaning path determination system 900 also includes an orientation acquisition unit 901, and the rotation control unit 902 controls the rotation of the cleaning robot based on the target rotation direction.
  • the orientation acquisition unit 901 can be specifically used for:
  • the target rotation direction is determined according to the initial orientation.
  • the rotation control unit 902 controls the rotation of the cleaning robot on the surface to be cleaned based on the target rotation direction. Before that, the rotation control unit 902 is also used to:
  • the cleaning robot is controlled to rotate back to normal, so that the cleaning robot rotates from the current orientation to a first preset orientation, and the first preset orientation is used as the initial orientation of the cleaning robot.
  • the orientation acquisition unit 901 can be specifically used for:
  • the initial orientation of the cleaning robot on the surface to be cleaned is obtained.
  • the signal monitoring unit 903 can be specifically used for:
  • the cleaning robot If the cleaning robot is exposed from the edge of the surface to be cleaned or touches the frame of the surface to be cleaned during the rotation process, it is detected that the cleaning robot generates a first corner trigger signal
  • the path determining unit 904 may be specifically configured to:
  • the working path of the cleaning robot on the surface to be cleaned is a horizontal cleaning path.
  • the path determination unit 904 may also be specifically configured to:
  • the cleaning robot is controlled to move based on the preset motion track according to the positioning of the first corner trigger signal, and at the same time, it is monitored whether the cleaning robot generates a second corner trigger signal during the movement, according to Based on the monitoring result of the second corner trigger signal, the working path of the cleaning robot on the surface to be cleaned is determined.
  • the path determination unit 904 may also be specifically configured to:
  • the cleaning robot is controlled to move vertically downward to a preset first distance on the surface to be cleaned;
  • the path determination unit 904 may also be specifically configured to:
  • the cleaning robot is controlled to move vertically downward to a preset first distance on the surface to be cleaned;
  • corner trigger signal If the second corner trigger signal is not detected during the movement, control the cleaning robot to rotate the preset angle based on the target rotation direction and the opposite direction of the target rotation direction respectively, and monitor whether the cleaning robot generates a fourth corner during the two rotations. corner trigger signal;
  • the fourth corner trigger signal is detected during the two rotations, it is determined that the working path of the cleaning robot on the surface to be cleaned is a longitudinal cleaning path;
  • the working path of the cleaning robot on the surface to be cleaned is a horizontal cleaning path.
  • the path determination unit 904 may also be specifically configured to:
  • the cleaning robot If the location of the first corner trigger signal is one side of the cleaning robot, then control the cleaning robot to move vertically downward on the surface to be cleaned for a preset second distance, then rotate around its center point in the opposite direction of the target rotation direction, Until the angle between the current orientation of the cleaning robot and the vertical downward direction is greater than the preset angle threshold;
  • the working path of the cleaning robot on the surface to be cleaned is a horizontal cleaning path.
  • the path determination unit 904 may also be specifically configured to:
  • the working path of the cleaning robot on the surface to be cleaned is a longitudinal cleaning path.
  • the window cleaning path determination system 900 may also include a path optimization unit 905.
  • the rotation control unit 902 controls the cleaning robot to rotate on the window to be cleaned based on the target rotation direction.
  • the cleaning robot path optimization unit 905 may specifically Used for:
  • the working path of the cleaning robot on the surface to be cleaned is determined.
  • the path optimization unit 905 can also be specifically used to:
  • the working path of the cleaning robot on the surface to be cleaned is a horizontal cleaning path.
  • the relevant content of the orientation acquisition unit 901, the rotation control unit 902, the signal monitoring unit 903, the path determination unit 904, and the path optimization unit 905 are in one-to-one correspondence with the above, and those skilled in the art can clearly It is understood that, for the convenience and brevity of the description, the specific working process of the window cleaning path determination system and its corresponding unit modules described above can refer to the description of the method for determining the window cleaning path in any embodiment as shown in Figure 1 to Figure 8, specifically I won't repeat them here.
  • the present application also provides a cleaning route determination device, which integrates any cleaning route determination system 900 provided in the present application, and the cleaning route determination device may include a processor 1001 And the memory 1002, the memory 1002 can be used to store a computer program, and when the computer program is executed by the processor 1001, it can be used to realize the following functions:
  • control the cleaning robot In response to the cleaning instruction of the cleaning robot, control the cleaning robot to rotate a preset angle based on the target rotation direction on the surface to be cleaned;
  • the working path of the cleaning robot on the surface to be cleaned is determined according to the monitoring result of the first corner trigger signal.
  • FIG. 10 shows a schematic structural diagram of the cleaning path determination device involved in the present application, specifically:
  • the cleaning path determination device may include a processor 1001 of one or more processing cores, a memory 1002 of one or more computer-readable storage media, a power supply 1003, an input unit 1004 and other components.
  • a processor 1001 of one or more processing cores may include a processor 1001 of one or more processing cores, a memory 1002 of one or more computer-readable storage media, a power supply 1003, an input unit 1004 and other components.
  • the cleaning path determination device may also include more or less components than shown in the illustration, or combine certain components, or use different Part placement. in:
  • the processor 1001 is the control center of the device, and uses various interfaces and lines to connect various parts of the entire device, by running or executing software programs and/or unit modules stored in the memory 1002, and calling data stored in the memory 1002 , perform various functions of the equipment and process data, thereby performing overall monitoring of the cleaning path determination equipment.
  • the processor 1001 can include one or more processing cores; the processor 1001 can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP ), Application Specific Integrated Circuit (ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., preferably, the processor 1001 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, User interface and application programs, etc., modem processor mainly handles wireless communication. It can be understood that the foregoing modem processor may not be integrated into the processor 1001 .
  • the memory 1002 can be used to store software programs and modules, and the processor 1001 executes various functional applications and data processing by running the software programs and modules stored in the memory 1002 .
  • the memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function, etc.; the data storage area may store data created according to the use of the cleaning path determination device, etc. .
  • the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.
  • the memory 1002 may further include a memory controller to provide the processor 1001 with access to the memory 1002 .
  • the cleaning path determining device may also include a power supply 1003 for supplying power to each component.
  • the power supply 1003 may be logically connected to the processor 1001 through a power management system, so as to realize functions such as managing charging, discharging, and power consumption management through the power management system .
  • the power supply 1003 may also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators and other arbitrary components.
  • the cleaning path determination device can also include an input unit 1004 and an output unit 1005, the input unit 1004 can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or track related to user settings and function control Ball signal input.
  • the device for determining the cleaning path may further include a display unit, etc., which will not be described in detail here.
  • the processor 1001 in the cleaning path determination device will load the executable file corresponding to the process of one or more application programs into the memory 1002 according to the following instructions, and the processor 1001 will run the stored The application program in memory 1002, thus realizes various functions, as follows:
  • control the cleaning robot In response to the cleaning instruction of the cleaning robot, control the cleaning robot to rotate a preset angle based on the target rotation direction on the surface to be cleaned;
  • the working path of the cleaning robot on the surface to be cleaned is determined according to the monitoring result of the first corner trigger signal.
  • the application provides a kind of computer-readable storage medium, and this computer-readable storage medium can comprise: Read Only Memory (Read Only Memory, ROM), Random Access Memory (Random Access Memory, RAM), magnetic disk or optical disk wait.
  • Computer instructions are stored thereon, and the computer instructions are loaded by the processor 1001 to execute the steps in any cleaning path determination method provided in this application.
  • the computer instructions implement the following functions when executed by the processor 1001:
  • control the cleaning robot In response to the cleaning instruction of the cleaning robot, control the cleaning robot to rotate a preset angle based on the target rotation direction on the surface to be cleaned;
  • the working path of the cleaning robot on the surface to be cleaned is determined according to the monitoring result of the first corner trigger signal.
  • the computer instructions stored in the computer-readable storage medium can execute the steps in the method for determining the cleaning path in any embodiment of this application as shown in Figures 1 to 8 corresponding to each other, therefore, the application can be implemented as shown in Figures 1 to 8 corresponding to any
  • the beneficial effects that can be achieved by the method for determining the cleaning path in the embodiment refer to the foregoing description for details, and will not be repeated here.
  • each of the above units or structures can be implemented as an independent entity, or can be combined arbitrarily as the same or several entities.
  • the specific implementation of each of the above units or structures can refer to the previous embodiments, and will not be described here. Let me repeat.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种清洁路径确定方法、系统(900)、设备及存储介质(1002)，清洁路径确定方法包括：响应于清洁机器人的清洁指令，控制清洁机器人在待清洁表面上基于目标旋转方向旋转预设角度（S101）；在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号（S102）；根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径（S103）。基于对第一边角触发信号的监测结果自动确定工作路径，相较于现有技术中依赖于人为选择工作路径来说，能够确保工作路径与待清洁表面的适配性，保证了清洁机器人的正常工作，提高了清洁机器人的工作效率和清洁效果，提升了清洁机器人的可靠性。

Description

清洁路径确定方法、系统、设备及存储介质
交叉引用
本申请引用于2021年12月10日递交的名称为“清洁路径确定方法、系统、设备及存储介质”的第2021115100661号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及智能家居技术领域，具体涉及一种清洁路径确定方法、系统、设备及存储介质。
背景技术
擦窗机器人是智能家用电器的一种，它能凭借自身底部的真空泵或者风机装置，牢牢地吸附在玻璃上，然后借助一定的人工智能，自动探测窗户的边角距离，规划擦窗路径。擦窗机器人一般会利用自身吸附在玻璃上的力度来带动机身底部的抹布擦掉玻璃上的脏污。
目前，擦窗机器人的擦窗路径一般有两种，一种是延横向擦拭即呈Z字形的清扫路径，另一种是延纵向擦拭即呈N字形的清扫路径。由于延纵向擦拭竖直向上运动时，擦窗机器人需要克服自身重力，行走比较吃力且更容易打滑，因此，现有的擦窗机器人大多默认采用延横向擦拭的擦窗路径。而为了能够对窗户的边角进行清洁，配合窗户的形状，擦窗机器人通常被设计为方形结构，若在宽度较窄的玻璃上采用横向擦拭的擦窗路径，则由于擦窗机器人自身结构的限制，可能导致其无法在窄玻璃上旋转改变方向，此时，便只能采用纵向擦拭的擦窗路径，并且，即使擦窗机器人能够在窄玻璃上旋转 改变方向，采用横向擦拭的擦拭路径时也需要频繁改变方向进行下探清洁，清洁效率远不如采用纵向擦拭的擦窗路径。
因此，现有技术中，用户需要在使用前根据窗户的大小规格调整擦窗机器人的擦窗路径，若用户忘记调整擦窗路径或者所选择的擦窗路径与待清洁窗户的结构不适配，则容易导致擦窗机器人无法正常工作或工作效率较低。
发明内容
本申请提供一种清洁路径确定方法、系统、设备及存储介质，旨在解决现有技术中清洁机器人的清洁路径与待清洁表面的结构不适配时，导致清洁机器人无法正常工作或工作效率较低的问题。
第一方面，本申请提供一种清洁路径确定方法，该清洁路径确定方法包括：响应于清洁机器人的清洁指令，控制清洁机器人在待清洁表面上基于目标旋转方向旋转预设角度；在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号；根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
在本申请一种可能的实现方式中，控制清洁机器人基于目标旋转方向旋转，之前，方法包括：获取清洁机器人在待清洁表面上的初始朝向；根据初始朝向确定目标旋转方向。
在本申请一种可能的实现方式中，控制清洁机器人基于目标旋转方向旋转，之前，方法包括：控制清洁机器人旋转回正，以使得清洁机器人由当前朝向旋转至第一预设朝向，以第一预设朝向作为清洁机器人的初始朝向。
在本申请一种可能的实现方式中，获取清洁机器人在待清洁表面上的初始朝向，包括：获取清洁机器人的姿态信号；根据姿态信号，得到清洁机器人在待清洁表面上的初始朝向。
在本申请一种可能的实现方式中，在清洁机器人的旋转过程中监测清洁 机器人是否生成第一边角触发信号，包括：若清洁机器人在旋转过程中，由待清洁表面的边缘露出或碰到待清洁表面的边框，则监测到清洁机器人生成第一边角触发信号；否则，监测到清洁机器人未生成第一边角触发信号。
在本申请一种可能的实现方式中，根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径，包括：若未监测到第一边角触发信号，则确定清洁机器人在待清洁表面上的工作路径为横向清扫路径。
在本申请一种可能的实现方式中，根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径，包括：若监测到第一边角触发信号，则根据第一边角触发信号的定位控制清洁机器人基于预设的运动轨迹运动，并同时监测清洁机器人在运动过程中是否生成第二边角触发信号，根据对第二边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
在本申请一种可能的实现方式中，根据第一边角触发信号的定位控制清洁机器人基于预设的运动轨迹运动，并同时监测清洁机器人在运动过程中是否生成第二边角触发信号，根据对第二边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径，包括：若第一边角触发信号的定位为清洁机器人的头部，则控制清洁机器人在待清洁表面上竖直向下运动预设第一距离；若在运动过程中监测到第二边角触发信号，则确定清洁机器人无法在待清洁表面上工作，发出对应的报警信息。
在本申请一种可能的实现方式中，根据第一边角触发信号的定位控制清洁机器人基于预设的运动轨迹运动，并同时监测清洁机器人在运动过程中是否生成第二边角触发信号，根据对第二边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径，包括：若第一边角触发信号的定位为清洁机器人的头部，则控制清洁机器人在待清洁表面上竖直向下运动预设第一距离；若在运动过程中未监测到第二边角触发信号，则控制清洁机器人分别基于目标旋转方向和目标旋转方向的反方向旋转预设角度，并监测清洁机器 人在两次旋转过程中是否生成第四边角触发信号；若在两次旋转过程中均监测到第四边角触发信号，则确定清洁机器人在待清洁表面上的工作路径为纵向清扫路径；否则，确定清洁机器人在待清洁表面上的工作路径为横向清扫路径。
在本申请一种可能的实现方式中，根据第一边角触发信号的定位控制清洁机器人基于预设的运动轨迹运动，并同时监测清洁机器人在运动过程中是否生成第二边角触发信号，根据对第二边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径，包括：若第一边角触发信号的定位为清洁机器人的一侧面，则控制清洁机器人在待清洁表面上竖直向下运动预设第二距离后，绕自身中心点基于所述目标旋转方向的反方向旋转或者绕自身中心点基于目标旋转方向的反方向旋转并做行走运动，直到清洁机器人的当前朝向与竖直向下时的方向之间的夹角大于预设角度阈值；若在运动过程中未监测到第二边角触发信号，则确定清洁机器人在待清洁表面上的工作路径为横向清扫路径。
在本申请一种可能的实现方式中，根据对第二边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径，还包括：若在运动过程中监测到第二边角触发信号，且该第二边角触发信号的定位为清洁机器人的另一侧面，则确定清洁机器人在待清洁表面上的工作路径为纵向清扫路径。
在本申请一种可能的实现方式中，控制清洁机器人在待清洁表面上基于目标旋转方向旋转，之前，方法还包括：控制清洁机器人由当前朝向转动到第二预设朝向；在清洁机器人的转动过程中监测清洁机器人是否生成第三边角触发信号；根据对第三边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
在本申请一种可能的实现方式中，根据对第三边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径，包括：若监测到第三边角触发信号，且第三边角触发信号的定位为清洁机器人的两侧面，则确定清洁机器 人在待清洁表面上的工作路径为横向清扫路径。
第二方面，本申请还提供一种路径确定系统，该路径确定系统包括：旋转控制单元，用于响应于清洁机器人的清洁指令，控制清洁机器人在待清洁表面上基于目标旋转方向旋转预设角度；信号监测单元，用于在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号；路径确定单元，用于根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
第三方面，本申请还提供一种路径确定设备，该路径确定设备包括存储器和处理器，该存储器用于存储计算机程序，该计算机程序被处理器执行时，用于实现以下功能：响应于清洁机器人的清洁指令，控制清洁机器人在待清洁表面上基于目标旋转方向旋转；在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号；根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
第四方面，本申请还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机指令，该计算机指令被处理器执行时实现第一方面的清洁路径确定方法中的步骤。
从以上内容可得出，本申请具有以下的有益效果：
本申请中，响应于清洁机器人的清洁指令，控制清洁机器人基于目标旋转方向旋转，并在旋转过程中，监测其是否生成第一边角触发信号，最后根据监测结果确定清洁机器人的工作路径，由于根据清洁机器人是否生成第一边角触发信号可以反映待清洁表面的大小规格，因此，本申请基于对第一边角触发信号的监测结果自动确定工作路径，相较于现有技术中依赖于人为选择工作路径来说，能够确保工作路径与待清洁表面的适配性，保证了清洁机器人的正常工作，提高了清洁机器人的工作效率和清洁效果，提升了清洁机器人的可靠性。
附图说明
为了更清楚地说明本申请中的技术方案，下面将对本申请描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例中提供的清洁路径确定方法的一个流程示意图；
图2是本申请实施例中提供的清洁机器人基于目标旋转方向旋转的一个姿态变化示意图；
图3是本申请实施例中提供的清洁机器人基于目标旋转方向旋转的又一个姿态变化示意图；
图4是本申请实施例中提供的清洁机器人基于目标旋转方向旋转的另一个姿态变化示意图；
图5是本申请实施例中提供的清洁机器人基于目标旋转方向旋转的再一个姿态变化示意图；
图6是本申请实施例中提供的清洁机器人的一个结构示意图；
图7是本申请实施例中提供的清洁机器人的一个运动轨迹示意图；
图8是本申请实施例中提供的清洁机器人的两侧面被触发的一个位置关系示意图；
图9是本申请实施例中提供的清洁路径确定系统的一个功能模块示意图；
图10是本申请实施例中提供的清洁路径确定设备的一个结构示意图。
具体实施方式
下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有作出创造性劳动前提 下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，“示例性”一词用来表示“用作例子、例证或说明”。本申请中被描述为“示例性”的任何实施例不一定被解释为比其它实施例更优选或更具优势。为了使本领域任何技术人员能够实现和使用本申请，给出了以下描述。在以下描述中，为了解释的目的而列出了细节。应当明白的是，本领域普通技术人员可以认识到，在不使用这些特定细节的情况下也可以实现本申请。在其它实例中，不会对公知的结构和过程进行详细阐述，以避免不必要的细节使本申请的描述变得晦涩。因此，本申请并非旨在限于所示的实施例，而是与符合本申请所公开的原理和特征的最广范围相一致。
本申请提供一种清洁路径确定方法、系统、设备及存储介质，以下分别进行详细说明。
首先，本申请提供一种清洁路径确定方法，该清洁路径确定方法的执行主体可以是清洁路径确定系统，该路径确定方法可以应用于清洁机器人等具有清洁功能的智能设备中。本申请实施例中的清洁机器人可以用于清洁玻璃表面、大理石介质的墙面、瓷砖等。以清洁窗户玻璃为例，该清洁路径确定方法包括：
响应于清洁机器人的清洁指令，控制清洁机器人在待清洁窗户上基于目标旋转方向旋转预设角度；在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号；根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁窗户上的工作路径。
如图1所示，图1是本申请实施例中提供的清洁路径确定方法的一个流程示意图。需要说明的是，虽然在流程示意图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。该工作路径确定方法可以包括以下多个步骤。
步骤S101、响应于清洁机器人的清洁指令，控制清洁机器人在待清洁窗户上基于目标旋转方向旋转预设角度。
可以理解的，本申请实施例中，清洁机器人的清洁指令，可以是由用户通过通信网络发送至清洁机器人的清洁指令，以通过该清洁指令启动清洁机器人运行。
本申请实施例中，用户可以通过终端设备控制清洁机器人的运行，具体的，终端设备可以是手机终端、电脑终端、专用遥控器、万能遥控器等终端设备，终端设备与清洁机器人之间可以通过任何通信方式实现网络通信，包括但不限于，基于第三代合作伙伴计划(3rd Generation Partnership Project，3GPP)、长期演进(Long Term Evolution，LTE)、全球互通微波访问(Worldwide Interoperability for Microwave Access，WiMAX)的移动通信等。
由于目标旋转方向是清洁机器人在待清洁窗户上的旋转方向，可以理解的，在一个平面上旋转的方向可以是向左旋转，也可以是向右旋转，因此，本申请实施例中，目标旋转方向可以是向左，也可以是向右，该目标旋转方向可以是用户在向清洁机器人发送清洁指令时，包含在该清洁指令中的一个指定旋转方向，也可以是在清洁机器人初始化配置时，预先为清洁机器人配置的一个默认旋转方向，还可以是清洁机器人根据自身的当前姿态所推算得 到的一个旋转方向。
控制清洁机器人基于目标旋转方向旋转，可以是以清洁机器人的自身中心点为旋转基点，控制清洁机器人的机身以该旋转基点为圆点进行旋转，由于为了配合窗户的形状，清洁机器人的机身通常都被设计为正方形的方形结构，因此，当清洁机器人的机身以其自身的中心点为圆点进行旋转时，相当于以该中心点为圆心，以清洁机器人机身的对角线长度为直径画圆，此时，该清洁机器人机身的对角线长度则为清洁机器人旋转所需的最小宽度。
当待清洁窗户的宽度大于或者等于清洁机器人机身的对角线长度时，可以确保清洁机器人可以在该待清洁窗户上旋转以改变方向，而当待清洁窗户的宽度小于清洁机器人机身的对角线长度时，则清洁机器人无法在该待清洁窗户上旋转以改变方向。
步骤S102、在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号。
本申请实施例中，为了检测清洁机器人是否能够在待清洁窗户上旋转以改变方向，可以在清洁机器人的边角即清洁机器人的机身的顶点与侧面/侧边上配置多个检测器件，举例来说，检测器件可以是压力传感器、球头传感器、按键传感器等。
在清洁机器人的旋转过程或工作过程中，上述的检测器件可以始终处于检测状态，一旦检测器件满足触发条件被触发，则会响应于该触发条件生成第一边角触发信号，以通过该第一边角触发信号表征旋转过程或工作过程中，清洁机器人与待清洁窗户之间的相对位置关系。
步骤S103、根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁窗户上的工作路径。
根据步骤S102可以知道，第一边角触发信号的产生是基于满足触发条件的检测器件，因此，本申请实施例中，第一边角触发信号的监测结果可以是满足触发条件生成第一边角触发信号，也可以是不满足触发条件未生成第一 边角触发信号，该两种监测结果可以分别表征清洁机器人与待清洁窗户之间的相对位置关系或大小关系，因此，可以间接反映待清洁窗户的规格与清洁机器人的工作路径之间的适配度，从而根据该待清洁窗户的规格可以确定清洁机器人在该待清洁窗户上的工作路径，以使得清洁机器人可以在待清洁窗户上正常行走进行脏污清扫，可以理解，本实施例中，清洁机器人的工作路径也可以称为擦窗路径、行走路径或者清洁路径。
可以理解的，清洁机器人的擦窗路径可以是横向清扫路径即呈Z字形的清扫路径对待清洁窗户进行清扫，也可以是纵向清扫路径即呈N字形的清扫路径对待清洁窗户进行清扫。
本申请实施例中，响应于清洁机器人的清洁指令，控制清洁机器人基于目标旋转方向旋转，并在旋转过程中，监测其是否生成第一边角触发信号，最后根据监测结果确定清洁机器人的擦窗路径，由于根据清洁机器人是否生成第一边角触发信号可以反映待清洁窗户的大小规格，因此，本申请基于对第一边角触发信号的监测结果自动确定擦窗路径，相较于现有技术中依赖于人为选择擦窗路径来说，能够确保擦窗路径与待清洁窗户的适配性，保证了清洁机器人的正常工作，提高了清洁机器人的工作效率和清洁效果，提升了清洁机器人的可靠性。
在本申请一些实施例中，控制清洁机器人基于目标旋转方向旋转，之前，擦窗路径确定方法还可以包括：控制清洁机器人旋转回正，以使得清洁机器人由当前朝向旋转至第一预设朝向。
可以理解的，在使用清洁机器人之前，可以首先为其配置一个预设朝向，当清洁机器人被放置到待清洁窗户上之后，首先可以控制该清洁机器人旋转，以使得清洁机器人转动到该第一预设朝向，然后再基于该第一预设朝向进行后续的清扫动作；以及当清洁机器人结束本次清扫时，也可以控制清洁机器人旋转到该第一预设朝向，以使其回到开始清扫之前的初始状态。
本申请实施例中，以清洁机器人的头部所在的一面作为参考面，清洁机 器人头部的朝向或方向作为清洁机器人的朝向或方向，第一预设朝向可以设置为竖直向上的方向，此时，控制清洁机器人旋转回正，则是使清洁机器人的头部由当前朝向旋转至竖直向上的方向上。
值得注意的是，在一些应用场景中，也可以以清洁机器人的某一侧面或尾部作为参考面，来确定一个参考方向，举例来说，若以清洁机器人的尾部所在的面作为基准面，则此时清洁机器人的尾部的朝向或方向可以表征清洁机器人的朝向或方向。
另外，在其他的一些应用场景中，清洁机器人的第一预设朝向也可以是水平向左、水平向右或竖直向下等，该第一预设朝向的选择可以根据实际应用场景进行选择，具体此处不做限定。
当清洁机器人旋转回正后，可以控制清洁机器人再基于目标旋转方向旋转，具体的，清洁机器人回正后，其头部可以是竖直向上的，此时，目标旋转方向既可以是向左，也可以是向右，具体可以根据实际应用场景进行选择。
举例来说，若目标旋转方向为向左，则可以控制清洁机器人由竖直向上的状态向左旋转，若目标旋转方向为向右，则可以控制清洁机器人由竖直向上的状态向右旋转。
在本申请一些实施例中，控制清洁机器人基于目标旋转方向旋转，之前，擦窗路径确定方法可以包括：获取清洁机器人在待清洁窗户上的初始朝向；根据初始朝向确定目标旋转方向。
可以理解的，本申请实施例中的初始朝向可以是清洁机器人被放置在待清洁窗户上时的朝向，也可以是其运动后的朝向，还可以是上一次结束使用时该清洁机器人的最终朝向，本申请实施例中，初始朝向的状况可以根据实际应用场景进行确定，具体此处不做限定。
本申请实施例中，可以通过现有的任一种或多种运动传感器的组合来获取清洁机器人的初始朝向，例如，三轴陀螺仪传感器、三轴加速度传感器或三轴电子罗盘等。
在获取到清洁机器人的初始朝向之后，可以基于该初始朝向确定清洁机器人的目标旋转方向，具体的，由于清洁机器人在基于横向清扫路径对待清洁窗户进行清扫时，需要旋转以改变清洁机器人头部的朝向，而若在较窄的待清洁窗户上采用横向清扫路径可能会导致清洁机器人无法旋转改变头部的朝向，因此，清洁机器人在工作之前，首先可以判断该待清洁窗户的宽度，以了解该待清洁窗户的宽度是否能够使清洁机器人在上面旋转。
基于此，本申请实施例中，可以根据初始朝向确定清洁机器人的目标旋转方向，以通过清洁机器人基于目标旋转方向的旋转情况来间接判断待清洁窗户的规格。
在一些应用场景中，还可以设置清洁机器人在确定初始朝向后，调整清洁机器人的姿态，使得该清洁机器人回到回正状态，以头部所在的一面为清洁机器人的参考面为例，回正状态则可以是指清洁机器人的头部竖直向上的状态，即无论清洁机器人的初始朝向如何，在清洁机器人开始工作之前，清洁机器人的头部都会回到竖直向上的状态，此时，以头部竖直向上作为清洁机器人初始朝向，目标旋转方向可以是预先设置的默认旋转方向，也可以是清洁指令中包括的一个指定旋转方向，具体的，该目标旋转方向可以是向左，也可以是向右，即清洁机器人可以向左旋转或者向右旋转来间接判断待清洁窗户的规格。
可以理解的，由于清洁机器人的初始朝向可以是竖直向上、斜向左上、水平向右等多种类型，而目标旋转方向是清洁机器人在待清洁窗户上的旋转方向，因此，目标旋转方向可以是向左旋转也可以是向右旋转，该目标旋转方向可以与初始朝向同向，也可以与初始朝向反向。
例如，清洁机器人的初始朝向为头部斜向左上方，则目标旋转方向可以是与初始朝向同向即向左旋转，也可以是与初始朝向反向即向右旋转；再例如清洁机器人的初始朝向为头部水平向右，则目标旋转方向同样可以是向右旋转，也可以是向左旋转。
在本申请一些实施例中，获取清洁机器人在待清洁窗户上的初始朝向，可以进一步包括：获取清洁机器人的姿态信号；根据姿态信号，得到清洁机器人在待清洁窗户上的初始朝向。
可以理解的，清洁机器人上可以配置有姿态传感器、运动传感器等姿态检测器件，姿态检测器件可以根据清洁机器人的姿态变化，生成表征该姿态变化的姿态信号，清洁机器人的处理器可以根据该姿态信号换算得到姿态信号所表征的朝向信息，如此便可以得到清洁机器人在待清洁窗户上的初始朝向。
在一种具体实现中，清洁机器人可以配置有三轴加速度传感器，当清洁机器人吸附到待清洁窗户上之后，该三轴加速度传感器可以分别检测得到清洁机器人在X轴、Y轴和Z轴三个轴上的加速度值，由于三轴加速度传感器大多采用压阻式、压电式和电容式工作原理，因此，三个轴上产生的加速度值正比于电阻、电压和电容的变化，通过相应的放大电路和滤波电路对电阻、电压和电容的变化进行采集生成姿态信号输出至处理器，处理器便可以根据变化情况分析得到清洁机器人的初始朝向。
在另一种具体实现中，清洁机器人还可以分别配置三个单轴加速度传感器，且该三个单轴加速度传感器可以分别用于检测空间三个相互垂直的方向上的加速度值，由于对三个单轴加速度传感器的加速度值的处理方法和过程与对一个三轴加速度传感器的加速度值的处理类似，此处不再赘述。
在本申请一些实施例中，控制清洁机器人基于目标旋转方向旋转可以是使清洁机器人旋转一个预设角度，此处，预设角度可以设定为45°，举例来说，若清洁机器人回正，其当前朝向是竖直向上，则可以控制清洁机器人从当前朝向向左旋转45°，在旋转过程中，对第一边角触发信号进行监测。
在本申请一些实施例中，根据初始朝向确定清洁机器人的目标旋转方向，可以进一步包括：若初始朝向与预设方向之间的夹角小于预设角度，则确定目标旋转方向与初始朝向同向；否则，确定目标旋转方向与初始朝向反向。
可以理解的，清洁机器人的初始朝向可以是任意朝向，因此，初始朝向与预设方向之间的夹角可以在0°到180°的范围内，又由于清洁机器人是基于其自身中心点旋转的，旋转过程中的最大范围为清洁机器人的机身对角线长度，因此，当初始朝向与预设方向之间的夹角小于预设角度时，可以确定目标旋转方向与初始朝向同向，控制清洁机器人绕自身中心点基于目标旋转方向旋转，直到清洁机器人的当前朝向与预设方向之间的夹角大于预设角度，此时，可以确定清洁机器人旋转经过了转动所需的最大长度；而当初始朝向与预设方向之间的夹角大于预设角度时，可以确定目标旋转方向与初始朝向反向，控制清洁机器人绕自身中心点基于目标旋转方向旋转，直到清洁机器人的当前朝向与预设方向之间的夹角小于预设角度，此时，同样可以确定清洁机器人旋转经过了转动所需的最大长度。
如图2所示，图2是本申请实施例中提供的清洁机器人基于目标旋转方向旋转的一个姿态变化示意图，对于初始朝向为竖直向上的清洁机器人，假设预设方向为竖直向上，则其初始朝向与预设方向同向，此时可以设定预设角度为45°，目标旋转方向为向左旋转，则在一种具体实现中，清洁机器人由状态G旋转到状态F，即控制清洁机器人绕自身中心点O向左旋转45°，状态F时清洁机器人与预设方向即竖直向上方向之间的夹角f为45°，通过转动过程中是否存在第一边角触发信号可以确定待清洁窗户的宽度是否足够清洁机器人旋转改变方向。
在另一种具体实现中，还可以控制清洁机器人绕自身中心点向右旋转45°，然后同样可以通过转动过程中的第一边角触发信号确定待清洁窗户的宽度是否足够清洁机器人旋转改变方向。
如图3所示，图3是本申请实施例中提供的清洁机器人基于目标旋转方向旋转的又一个姿态变化示意图，图3中，清洁机器人由状态A旋转为状态B，举例来说，预设方向设定为竖直向上方向，预设角度设定为45°，状态A时清洁机器人的头部的初始朝向为朝左，此时，该初始朝向与预设方向即竖直 向上方向之间的夹角为a，由图3可知，a小于预设角度即45°，此时可以确定目标旋转方向与初始朝向相同，因此，可以控制清洁机器人绕其自身中心点O向左旋转至状态B，此时，清洁机器人的头部的朝向与竖直向上方向之间的夹角为b，由图3可知，b大于45°，由于当清洁机器人由状态A旋转为状态B时，清洁机器人的机身的对角线转过了待清洁窗户的宽度，因此，可以通过转动过程中的第一边角触发信号确定待清洁窗户的宽度是否足够清洁机器人旋转改变方向。
如图4所示，图4是本申请实施例中提供的清洁机器人基于目标旋转方向旋转的另一个姿态变化示意图，图4中，清洁机器人由状态B旋转为状态A，状态B时清洁机器人的头部的初始朝向为朝左，此时，该初始朝向与预设方向之间的夹角为b，由图3可知，b大于45°，此时可以确定目标旋转方向与初始朝向相反，因此，可以控制清洁机器人绕其自身中心点O向右旋转至状态A，此时，清洁机器人的头部的朝向与预设方向之间的夹角为a，由图4可知，a小于45°，由于当清洁机器人由状态B旋转为状态A时，清洁机器人的机身的对角线转过了待清洁窗户的宽度，因此，同样可以通过转动过程中的第一边角触发信号确定待清洁窗户的宽度是否足够清洁机器人旋转改变方向。
而若清洁机器人的头部的初始朝向为朝左，且其与预设方向之间的夹角为45°，则此时清洁机器人的机身的对角线恰好位于水平位置上，即此时可以直接确定待清洁窗户的宽度能够容纳清洁机器人在横向清扫路径清扫时旋转改变方向。
如图5所示，图5是本申请实施例中提供的清洁机器人基于目标旋转方向旋转的再一个姿态变化示意图，图5中，清洁机器人由状态C旋转为状态D，举例来说，预设方向设定为水平向左方向，预设角度同样设定为45°，状态C时清洁机器人的头部的初始朝向为朝左，此时，该初始朝向与预设方向即水平向左方向之间的夹角为c，由图5可知，c小于预设角度即45°，此时可以 确定目标旋转方向与初始朝向相同，因此，可以控制清洁机器人绕其自身中心点O向左旋转至状态D，此时，清洁机器人的头部的朝向与水平向左方向之间的夹角为d，由图5可知，d等于45°，由于当清洁机器人由状态C旋转为状态D时，清洁机器人的机身的对角线恰好转到与待清洁窗户的宽度方向平行，因此，可以通过转动过程中的第一边角触发信号确定待清洁窗户的宽度是否足够清洁机器人旋转改变方向。
请继续参阅图5，在一些应用场景中，目标旋转方向也可以与初始朝向相反，图5中，状态C时清洁机器人的头部的初始朝向为朝左，此时，该初始朝向与预设方向即水平向左方向之间的夹角为c，由图5可知，c小于预设角度即45°，此时可以确定目标旋转方向与初始朝向相反，因此，可以控制清洁机器人绕其自身中心点O向右旋转至状态E，此时，清洁机器人的头部的朝向与水平向左方向之间的夹角为e，由图5可知，e大于45°，由于当清洁机器人由状态C旋转为状态E时，清洁机器人的机身的对角线转过了待清洁窗户的宽度，因此，可以通过转动过程中的第一边角触发信号确定待清洁窗户的宽度是否足够清洁机器人旋转改变方向。
可以理解的，预设角度还可以是除45°外的其他角度值，只要在转动过程中，使清洁机器人的机身的对角线转过待清洁窗户的宽度，便可以通过转动过程中是否存在第一边角触发信号来确定待清洁窗户的宽度是否足够清洁机器人旋转改变方向。
在本申请一些实施例中，在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号，可以进一步包括：
若清洁机器人在旋转过程中，由待清洁窗户的边缘露出或碰到待清洁窗户的边框，则监测到清洁机器人生成第一边角触发信号；否则，监测到清洁机器人未生成第一边角触发信号。
如图6所示，图6是本申请实施例中提供的清洁机器人的一个结构示意图，在一种具体实现中，清洁机器人的四个顶点即四个角上，可以分别设置 一个球头传感器201，清洁机器人的四个侧面上可以分别设置两个撞板按键传感器202，每个侧面上的撞板按键传感器202可以与相邻顶点上的球头传感器201相靠近。需要说明的是，考虑到实际生产中的成本问题和检测准确度，本实施例优选为设置四个球头传感器201和八个撞板按键传感器202，在其他的应用场景中，清洁机器人上还可以设置比图6所示更多或更少的检测器件。
当待清洁窗户是有框窗户时，若清洁机器人的某一侧面碰到待清洁窗户的边框，则清洁机器人相应侧面上对应的撞板按键传感器202会因被碰撞而被按下触发，从而发出相应的第一边角触发信号；若撞板按键传感器202没有碰到待清洁窗户的边框，则撞板按键传感器202不会产生第一边角触发信号；
当待清洁窗户是无框窗户时，若清洁机器人某个顶点上的球头传感器201由待清洁窗户的边缘露出，则该球头传感器201会弹出，从而该球头传感器201的电平信号会发生跳变，该跳变则会生成相应的第一边角触发信号。
例如，若球头传感器201在待清洁窗户上配合着清洁机器人的运动而滚动时，球头传感器201产生低电平信号，而当清洁机器人的左上顶点露出待清洁窗户的边缘时，该左上顶点上的球头传感器201则会由于没有了待清洁窗户的压力而弹出，此时，球头传感器201的电平由低电平信号跳转为高电平信号，根据低电平信号跳转为高电平信号时的上升沿便可以生成第一边角触发信号，用于表征清洁机器人的左上顶点露出待清洁窗户的边缘。
在本申请一些实施例中，根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁窗户上的擦窗路径，可以进一步包括：
若未监测到第一边角触发信号，则确定清洁机器人在待清洁窗户上的擦窗路径为横向清扫路径；若监测到第一边角触发信号，则根据第一边角触发信号的定位控制清洁机器人基于预设的运动轨迹运动，并同时监测清洁机器人在运动过程中是否生成第二边角触发信号，根据对第二边角触发信号的监测结果，确定清洁机器人在待清洁窗户上的擦窗路径。
可以理解的，若上述实施例中的球头传感器201和撞板按键传感器202均未被触发，则根据勾股定理可以确定待清洁窗户的宽度大于L/sin45°，其中L为清洁机器人的机身长度，举例来说，若清洁机器人的机身长度L为27cm，则待清洁窗户的宽度大于38cm，待清洁窗户的宽度足够清洁机器人旋转改变方向，则可以确定此时的擦窗路径为横向清扫路径即呈Z字形的清扫路径。
而若是上述实施例中的球头传感器201或撞板按键传感器202中的一个或多个被触发，则可以监测到第一边角触发信号，此时，可以根据第一边角触发信号的定位确定具体被触发的球头传感器201或撞板按键传感器202，从而控制清洁机器人基于预设的运动轨迹运动来进一步确认待清洁窗户与清洁机器人的相对大小关系。
因此，进一步的，在一种应用场景中，根据第一边角触发信号的定位控制清洁机器人基于预设的运动轨迹运动，并同时监测清洁机器人在运动过程中是否生成第二边角触发信号，根据对第二边角触发信号的监测结果，确定清洁机器人在待清洁窗户上的擦窗路径，可以进一步包括：
若第一边角触发信号的定位为清洁机器人的头部，则控制清洁机器人在待清洁窗户上竖直向下运动预设第一距离；若在运动过程中监测到第二边角触发信号，则确定清洁机器人在待清洁窗户上无法旋转，因而无法工作，发出对应的报警信息。
请继续参照图3和图6，本实施例中，若在清洁机器人沿目标旋转方向旋转时，位于清洁机器人的头部右侧的撞板按键传感器202或者球头201被触发，则表明清洁机器人碰到待清洁窗户的上边框或者露出待清洁窗户的上边缘，此时，可以控制清洁机器人在待清洁窗户上竖直向下运动预设第一距离后再沿目标旋转方向旋转，本实施例中，预设第一距离可以是12cm、15cm或18cm等，预设第一距离可以根据实际应用场景选择，具体可以根据经验值或根据清洁机器人的机身长度参考确定。
若在清洁机器人竖直向下运动预设第一距离的过程中监测到第二边角触 发信号，该第二边角触发信号可以是位于清洁机器人的尾部的撞板按键传感器202或者球头传感器201被触发所发出的信号，此时可以表明清洁机器人在竖直向下运动的过程中，碰到待清洁窗户的下边框或者露出待清洁窗户的下边缘，则说明该待清洁窗户的高度很矮，而此时清洁机器人头部向上导致其无法旋转，从而清洁机器人无法进行清洁工作，此时可以控制清洁机器人上的蜂鸣器、报警指示灯等发出对应的报警信息。
若在清洁机器人竖直向下运动预设第一距离的过程中没有监测到第二边角触发信号，则可以控制清洁机器人分别基于目标旋转方向和目标旋转方向的反方向旋转预设角度，并监测清洁机器人在两次旋转过程中是否生成第四边角触发信号，若在两次旋转过程中均监测到第四边角触发信号，则确定清洁机器人在待清洁窗户上的擦窗路径为纵向清扫路径；否则，确定清洁机器人在待清洁窗户上的擦窗路径为横向清扫路径。
具体的，预设角度设置为45°，则可以是控制清洁机器人分别向左旋转45°和向右旋转45°，如果清洁机器人在向右旋转和向左旋转的过程中都监测到第四边角触发信号，即说明两次旋转过程中，清洁机器人的侧面都与待清洁窗户的边框发生的碰撞，因此，说明该待清洁窗户是一宽度较窄的窗户，由于在该窗户上清洁机器人无法旋转，因此，可以确定清洁机器人的擦窗路径为纵向清扫路径；反之，如果清洁机器人在向右旋转和向左旋转的过程中只有一次监测到了第四边角触发信号或者没有监测到第四边角触发信号，则说明在两次旋转过程中，清洁机器人仅有一侧与待清洁窗户的边框发生了碰撞，或者都没有发生碰撞，则可以确定清洁机器人的擦窗路径为横向清扫路径。
在本申请一些实施例中，根据第一边角触发信号的定位控制清洁机器人基于预设的运动轨迹运动，并同时监测清洁机器人在运动过程中是否生成第二边角触发信号，根据对第二边角触发信号的监测结果，确定清洁机器人在待清洁窗户上的擦窗路径，还可以进一步包括：
若第一边角触发信号的定位为清洁机器人的一侧面，说明清洁机器人碰到了窗户的左边框或右边框，则控制清洁机器人在待清洁窗户上竖直向下运动预设第二距离或者在碰撞到待清洁窗户下边框后，绕自身中心点基于目标旋转方向的反方向旋转或者绕自身中心点基于目标旋转方向的反方向旋转并做行走运动，直到清洁机器人的当前朝向与竖直向下的方向之间的夹角大于预设角度阈值；
若在运动过程中未监测到第二边角触发信号，则确定清洁机器人在待清洁窗户上的擦窗路径为横向清扫路径；
若在运动过程中监测到第二边角触发信号，且该第二边角触发信号的定位为清洁机器人的另一侧面，则确定清洁机器人在待清洁窗户上的擦窗路径为纵向清扫路径。
本实施例中，若在清洁机器人沿目标旋转方向如向左旋转时，位于清洁机器人的左侧面上边的撞板按键传感器202或球头传感器201被触发，则表明清洁机器人碰到待清洁窗户的左边框或露出待清洁窗户的左边缘，清洁机器人在靠近待清洁窗户的左边框或左边缘的位置上，此时，需要对待清洁窗户的右边框或右边缘进行检测，若检测到清洁机器人同时靠近待清洁窗户的左边框/左边缘和右边框/右边缘，则可以确定该待清洁窗户的宽度较窄。
由于已经检测到清洁机器人靠近待清洁窗户的左边框，若依旧采用以中心点为圆点的旋转方式进行右边框的检测，则会由于左边框的存在而无法继续旋转，因此，此时可以控制清洁机器人在待清洁窗户上竖直向下运动预设第二距离后，绕自身中心点基于目标旋转方向的反方向旋转或者绕自身中心点基于目标旋转方向的反方向旋转并做行走运动，直到清洁机器人头部的当前朝向与预设方向之间的夹角大于预设角度阈值，本实施例中，预设第二距离可以与预设第一距离相同，也可以与预设第一距离不同，预设第二距离同样可以根据实际应用场景选择，具体可以根据经验值或根据清洁机器人的机身长度参考确定。
请结合图3和图6并参阅图7，图7是本申请实施例中提供的清洁机器人的一个运动轨迹示意图，图7中，当清洁机器人沿目标旋转方向旋转触发左侧面上边的撞板按键传感器202或球头传感器201时，可以控制该清洁机器人在待清洁窗户上竖直向下运动预设第二距离，然后控制该清洁机器人绕自身中心点基于目标旋转方向的反方向旋转并做行走运动，即绕自身中心点基于目标旋转方向的反方向旋转的同时，还向前行走，直到清洁机器人头部的当前朝向与竖直向下运动的方向之间的夹角大于预设角度阈值如45°。
若在上述的运动过程中未监测到第二边角触发信号，则可以确定清洁机器人仅是起始位置靠近待清洁窗户的左边框或左边缘，待清洁窗户的宽度足够清洁机器人旋转改变方向，此时，可以确定清洁机器人在待清洁窗户上的擦窗路径为横向清扫路径。
反之，若在上述的运动过程中监测到第二边角触发信号，且该第二边角触发信号的定位为清洁机器人的另一侧面，即清洁机器人在绕自身中心点基于目标旋转方向的反方向旋转并同时向前行走时，碰到清洁机器人的右侧面上边的撞板按键传感器202或露出右上角的球头传感器201，则说明该待清洁窗户的宽度较窄，清洁机器人可能无法在上面进行旋转变向，此时则可以确定清洁机器人在待清洁窗户上的擦窗路径为纵向清扫路径，以提高清洁机器人在待清洁窗户上的清洁效率。
可以理解的，在监测到第一边角触发信号后，以及控制该清洁机器人在待清洁窗户上竖直向下运动预设第一距离或者预设第二距离之前，首先可以使旋转的清洁机器人回正，此处，回正即是使清洁机器人的头部回到预设朝向上，例如，若预设朝向为向上，则回正即是控制清洁机器人转动，以使得其头部朝上。值得注意的是，在一些应用场景中，也可以在不回正的情况下控制该清洁机器人在待清洁窗户上竖直向下运动预设第一距离或者预设第二距离，具体移动前是否回正可以根据实际应用场景进行设定，此处不做具体限定。
如图8所示，图8是本申请实施例中提供的清洁机器人的两侧面被触发的一个位置关系示意图，在本申请一些实施例中，控制清洁机器人在待清洁窗户上基于目标旋转方向旋转，之前，清洁机器人擦窗路径确定方法还可以进一步包括：
控制清洁机器人由当前朝向转动到第二预设朝向；在清洁机器人的转动过程中监测清洁机器人是否生成第三边角触发信号；根据对第三边角触发信号的监测结果，确定清洁机器人在待清洁窗户上的擦窗路径。
可以理解的，针对于规格矮小的窗户来说，用户可以在放置清洁机器人时，预先将清洁机器人的头部朝向较短边所在的方向，使得清洁机器人能够沿着较长边的方向前后行走进行清扫，此时，可以设置第二预设朝向为较长边所在的方向。
例如，对于宽度稍大于高度的矮小待清洁窗户来说，清洁机器人放置在该矮小待清洁窗户上时，初始朝向可以是朝向高度方向，如图8中清洁机器人的初始朝向为朝左，此时，可以转动清洁机器人来判断该矮小待清洁窗户的高度，即控制清洁机器人由当前的初始朝向转动到第二预设朝向，本实施例中，第二预设朝向可以是指清洁机器人的头部朝向的方向，即图8所示的应用场景中，则是将清洁机器人原地向右转动，然后在该转动过程中，监测清洁机器人边角上的球头传感器201或撞板按键传感器202是否被触发生成第三边角触发信号，若在转动过程中，球头传感器201和撞板按键传感器202均未被触发，则可以确定该矮小待清洁窗户的高度足够清洁机器人旋转回正，则此时可以确定清洁机器人在该矮小待清洁窗户上的擦窗路径为横向清扫路径，并且，在开始清洁时，可以首先将该清洁机器人竖直向上运动到矮小待清洁窗户的上边框处，然后再将清洁机器人的头部旋转到水平方向上，再开始基于横向清扫路径的清洁。
而若在转动过程中，监测到第三边角触发信号，且第三边角触发信号的定位为清洁机器人的两侧面，即如图8中示出的清洁机器人的左侧面下边的 撞板按键传感器202和右侧面上边的撞板按键传感器202被同时触发，则表明该矮小待清洁窗户的高度不够清洁机器人旋转，此时，可以确定清洁机器人在矮小待清洁窗户上的擦窗路径为横向清扫路径，并且当前状态下，清洁机器人已经靠近上边框，则无需将该清洁机器人竖直向上运动到矮小待清洁窗户的上边框处后再旋转到水平方向进行横向清扫，可以直接沿上边框进行横向清扫，优化了针对矮小待清洁窗户的清扫步骤，从而提高了清扫效率。
为了更好实施本申请中的清洁路径确定方法，在清洁路径确定方法的基础之上，本申请还提供一种清洁路径确定系统，如图9所示，图9是本申请实施例中提供的清洁路径确定系统的一个功能模块示意图，清洁路径确定系统900包括：
旋转控制单元902，用于响应于清洁机器人的清洁指令，控制清洁机器人在待清洁表面上基于目标旋转方向旋转预设角度；
信号监测单元903，用于在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号；
路径确定单元904，用于根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
本申请实施例中，旋转控制单元902响应于清洁机器人的清洁指令，控制清洁机器人基于目标旋转方向旋转，并在旋转过程中，信号监测单元903监测其是否生成第一边角触发信号，最后路径确定单元904根据监测结果确定清洁机器人的工作路径，由于根据清洁机器人是否生成第一边角触发信号可以反映待清洁表面的大小规格，因此，本申请基于对第一边角触发信号的监测结果自动确定工作路径，相较于现有技术中依赖于人为选择工作路径来说，能够确保工作路径与待清洁表面的适配性，保证了清洁机器人的正常工作，提高了清洁机器人的工作效率和清洁效果，提升了清洁机器人的可靠性。
在本申请一些实施例中，清洁路径确定系统900还包括朝向获取单元901，旋转控制单元902控制所述清洁机器人基于目标旋转方向旋转，之前，朝向 获取单元901具体可以用于：
获取所述清洁机器人在所述待清洁表面上的初始朝向；
根据所述初始朝向确定所述目标旋转方向。
在本申请一些实施例中，旋转控制单元902控制清洁机器人在待清洁表面上基于目标旋转方向旋转，之前，旋转控制单元902还用于：
控制所述清洁机器人旋转回正，以使得所述清洁机器人由当前朝向旋转至第一预设朝向，以第一预设朝向作为清洁机器人的初始朝向。
在本申请一些实施例中，朝向获取单元901具体可以用于：
获取清洁机器人的姿态信号；
根据姿态信号，得到清洁机器人在待清洁表面上的初始朝向。
在本申请一些实施例中，信号监测单元903具体可以用于：
若清洁机器人在旋转过程中，由待清洁表面的边缘露出或碰到待清洁表面的边框，则监测到清洁机器人生成第一边角触发信号；
否则，监测到清洁机器人未生成第一边角触发信号。
在本申请一些实施例中，路径确定单元904具体可以用于：
若未监测到第一边角触发信号，则确定清洁机器人在待清洁表面上的工作路径为横向清扫路径。
在本申请一些实施例中，路径确定单元904具体还可以用于：
若监测到第一边角触发信号，则根据第一边角触发信号的定位控制清洁机器人基于预设的运动轨迹运动，并同时监测清洁机器人在运动过程中是否生成第二边角触发信号，根据对第二边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
在本申请一些实施例中，路径确定单元904具体还可以用于：
若第一边角触发信号的定位为清洁机器人的头部，则控制清洁机器人在待清洁表面上竖直向下运动预设第一距离；
若在运动过程中监测到第二边角触发信号，则确定清洁机器人无法在待 清洁表面上工作，发出对应的报警信息。
在本申请一些实施例中，路径确定单元904具体还可以用于：
若第一边角触发信号的定位为清洁机器人的头部，则控制清洁机器人在待清洁表面上竖直向下运动预设第一距离；
若在运动过程中未监测到第二边角触发信号，则控制清洁机器人分别基于目标旋转方向和目标旋转方向的反方向旋转预设角度，并监测清洁机器人在两次旋转过程中是否生成第四边角触发信号；
若在两次旋转过程中均监测到第四边角触发信号，则确定清洁机器人在待清洁表面上的工作路径为纵向清扫路径；
否则，确定清洁机器人在待清洁表面上的工作路径为横向清扫路径。
在本申请一些实施例中，路径确定单元904具体还可以用于：
若第一边角触发信号的定位为清洁机器人的一侧面，则控制清洁机器人在待清洁表面上竖直向下运动预设第二距离后，绕自身中心点基于目标旋转方向的反方向旋转，直到清洁机器人的当前朝向与竖直向下时的方向之间的夹角大于预设角度阈值；
若在运动过程中未监测到第二边角触发信号，则确定清洁机器人在待清洁表面上的工作路径为横向清扫路径。
在本申请一些实施例中，路径确定单元904具体还可以用于：
若在运动过程中监测到第二边角触发信号，且该第二边角触发信号的定位为清洁机器人的另一侧面，则确定清洁机器人在待清洁表面上的工作路径为纵向清扫路径。
在本申请一些实施例中，擦窗路径确定系统900还可以包括路径优化单元905，旋转控制单元902控制清洁机器人在待清洁窗户上基于目标旋转方向旋转，之前，清洁机器人路径优化单元905具体可以用于：
控制清洁机器人由当前朝向转动到第二预设朝向；
在清洁机器人的转动过程中监测清洁机器人是否生成第三边角触发信 号；
根据对第三边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
在本申请一些实施例中，路径优化单元905具体还可以用于：
若监测到第三边角触发信号，且第三边角触发信号的定位为清洁机器人的两侧面，则确定清洁机器人在待清洁表面上的工作路径为横向清扫路径。
需要说明的是，本申请中，朝向获取单元901、旋转控制单元902、信号监测单元903、路径确定单元904和路径优化单元905的相关内容与上述一一对应，所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的擦窗路径确定系统及其相应单元模块的具体工作过程，可以参考如图1至图8对应任意实施例中擦窗路径确定方法的说明，具体在此不再赘述。
为了更好实施本申请的清洁路径确定方法，本申请还提供一种清洁路径确定设备，其集成了本申请所提供的任一种清洁路径确定系统900，该清洁路径确定设备可以包括处理器1001和存储器1002，该存储器1002可以用于存储计算机程序，该计算机程序被处理器1001执行时，可以用于实现以下功能：
响应于清洁机器人的清洁指令，控制清洁机器人在待清洁表面上基于目标旋转方向旋转预设角度；
在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号；
根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
如图10所示，其示出了本申请所涉及的清洁路径确定设备的一个结构示意图，具体来讲：
该清洁路径确定设备可以包括一个或者一个以上处理核心的处理器1001、一个或一个以上计算机可读存储介质的存储器1002、电源1003和输入单元1004等部件。本领域技术人员可以理解，图10中示出的设备结构并不 构成对设备的限定，清洁路径确定设备还可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。其中：
处理器1001是该设备的控制中心，利用各种接口和线路连接整个设备的各个部分，通过运行或执行存储在存储器1002内的软件程序和/或单元模块，以及调用存储在存储器1002内的数据，执行设备的各种功能和处理数据，从而对清洁路径确定设备进行整体监控。可选的，处理器1001可包括一个或多个处理核心；处理器1001可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，优选的，处理器1001可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器1001中。
存储器1002可用于存储软件程序以及模块，处理器1001通过运行存储在存储器1002的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器1002可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序等；存储数据区可存储根据清洁路径确定设备的使用所创建的数据等。此外，存储器1002可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器1002还可以包括存储器控制器，以提供处理器1001对存储器1002的访问。
该清洁路径确定设备还可以包括给各个部件供电的电源1003，优选的，电源1003可以通过电源管理系统与处理器1001逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。电源1003还可以包括一 个或一个以上的直流或交流电源、再充电系统、电源故障检测电路、电源转换器或者逆变器、电源状态指示器等任意组件。
该清洁路径确定设备还可以包括输入单元1004和输出单元1005，该输入单元1004可用于接收输入的数字或字符信息，以及产生与用户设置以及功能控制有关的键盘、鼠标、操作杆、光学或者轨迹球信号输入。
尽管未示出，该清洁路径确定设备还可以包括显示单元等，在此不再赘述。具体在本申请中，清洁路径确定设备中的处理器1001会按照如下的指令，将一个或一个以上的应用程序的进程对应的可执行文件加载到存储器1002中，并由处理器1001来运行存储在存储器1002中的应用程序，从而实现各种功能，如下：
响应于清洁机器人的清洁指令，控制清洁机器人在待清洁表面上基于目标旋转方向旋转预设角度；
在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号；
根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
本领域普通技术人员可以理解，上述的各种方法中的全部或部分步骤可以通过指令来完成，或通过指令控制相关的硬件来完成，该指令可以存储于一计算机可读存储介质中，并由处理器1001进行加载和执行。
为此，本申请提供一种计算机可读存储介质，该计算机可读存储介质可以包括：只读存储器(Read Only Memory，ROM)、随机存取记忆体(Random Access Memory，RAM)、磁盘或光盘等。其上存储有计算机指令，计算机指令被处理器1001进行加载，以执行本申请所提供的任一种清洁路径确定方法中的步骤。例如，计算机指令被处理器1001执行时实现以下功能：
响应于清洁机器人的清洁指令，控制清洁机器人在待清洁表面上基于目标旋转方向旋转预设角度；
在清洁机器人的旋转过程中监测清洁机器人是否生成第一边角触发信号；
根据对第一边角触发信号的监测结果，确定清洁机器人在待清洁表面上的工作路径。
该计算机可读存储介质中所存储的计算机指令，可以执行本申请如图1至图8对应任意实施例中清洁路径确定方法中的步骤，因此，可以实现本申请如图1至图8对应任意实施例中清洁路径确定方法所能实现的有益效果，详见前面的说明，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见上文针对其他实施例的详细描述，此处不再赘述。
具体实施时，以上各个单元或结构可以作为独立的实体来实现，也可以进行任意组合，作为同一或若干个实体来实现，以上各个单元或结构的具体实施可参见前面的实施例，在此不再赘述。
以上对本申请所提供的一种清洁路径确定方法、系统、设备及存储介质进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本申请的限制。

Claims (16)

  1. 一种清洁路径确定方法，其特征在于，所述方法包括：
    响应于清洁机器人的清洁指令，控制所述清洁机器人在待清洁表面上基于目标旋转方向旋转预设角度；
    在所述清洁机器人的旋转过程中监测所述清洁机器人是否生成第一边角触发信号；
    根据对所述第一边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径。
  2. 根据权利要求1所述的方法，其特征在于，所述控制所述清洁机器人基于目标旋转方向旋转，之前，所述方法包括：
    获取所述清洁机器人在所述待清洁表面上的初始朝向；
    根据所述初始朝向确定所述目标旋转方向。
  3. 根据权利要求2所示的方法，其特征在于，所述控制所述清洁机器人基于目标旋转方向旋转，之前，所述方法包括：
    控制所述清洁机器人旋转回正，以使得所述清洁机器人由当前朝向旋转至第一预设朝向，以所述第一预设朝向作为所述清洁机器人的初始朝向。
  4. 根据权利要求2所述的方法，其特征在于，所述获取所述清洁机器人在所述待清洁表面上的初始朝向，包括：
    获取所述清洁机器人的姿态信号；
    根据所述姿态信号，得到所述清洁机器人在所述待清洁表面上的初始朝向。
  5. 根据权利要求1所述的方法，其特征在于，所述在所述清洁机器人的旋转过程中监测所述清洁机器人是否生成第一边角触发信号，包括：
    若所述清洁机器人在旋转过程中，由所述待清洁表面的边缘露出或碰到所述待清洁表面的边框，则监测到所述清洁机器人生成所述第一边角触发信号；
    否则，监测到所述清洁机器人未生成所述第一边角触发信号。
  6. 根据权利要求1所述的方法，其特征在于，所述根据对所述第一边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径，包括：
    若未监测到所述第一边角触发信号，则确定所述清洁机器人在所述待清洁表面上的工作路径为横向清扫路径。
  7. 根据权利要求1所述的方法，其特征在于，所述根据对所述第一边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径，包括：
    若监测到所述第一边角触发信号，则根据所述第一边角触发信号的定位控制所述清洁机器人基于预设的运动轨迹运动，并同时监测所述清洁机器人在运动过程中是否生成第二边角触发信号，根据对所述第二边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述第一边角触发信号的定位控制所述清洁机器人基于预设的运动轨迹运动，并同时监测所述清洁机器人在运动过程中是否生成第二边角触发信号，根据对所述第二边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径，包括：
    若所述第一边角触发信号的定位为所述清洁机器人的头部，则控制所述清洁机器人在所述待清洁表面上竖直向下运动预设第一距离；
    若在运动过程中监测到所述第二边角触发信号，则确定所述清洁机器人无法在所述待清洁表面上工作，发出对应的报警信息。
  9. 根据权利要求7所述的方法，其特征在于，所述根据所述第一边角触发信号的定位控制所述清洁机器人基于预设的运动轨迹运动，并同时监测所述清洁机器人在运动过程中是否生成第二边角触发信号，根据对所述第二边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上 的工作路径，包括：
    若所述第一边角触发信号的定位为所述清洁机器人的头部，则控制所述清洁机器人在所述待清洁表面上竖直向下运动预设第一距离；
    若在运动过程中未监测到所述第二边角触发信号，则控制所述清洁机器人分别基于所述目标旋转方向和所述目标旋转方向的反方向旋转预设角度，并监测所述清洁机器人在两次旋转过程中是否生成第四边角触发信号；
    若在两次旋转过程中均监测到所述第四边角触发信号，则确定所述清洁机器人在所述待清洁表面上的工作路径为纵向清扫路径；
    否则，确定所述清洁机器人在所述待清洁表面上的工作路径为横向清扫路径。
  10. 根据权利要求7所述的方法，其特征在于，所述根据所述第一边角触发信号的定位控制所述清洁机器人基于预设的运动轨迹运动，并同时监测所述清洁机器人在运动过程中是否生成第二边角触发信号，根据对所述第二边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径，包括：
    若所述第一边角触发信号的定位为所述清洁机器人的一侧面，则控制所述清洁机器人在所述待清洁表面上竖直向下运动预设第二距离后，绕自身中心点基于所述目标旋转方向的反方向旋转或者绕自身中心点基于所述目标旋转方向的反方向旋转并做行走运动，直到所述清洁机器人的当前朝向与竖直向下时的方向之间的夹角大于预设角度阈值；
    若在运动过程中未监测到所述第二边角触发信号，则确定所述清洁机器人在所述待清洁表面上的工作路径为横向清扫路径。
  11. 根据权利要求10所述的方法，其特征在于，所述根据对所述第二边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径，还包括：
    若在运动过程中监测到所述第二边角触发信号，且该第二边角触发信 号的定位为所述清洁机器人的另一侧面，则确定所述清洁机器人在所述待清洁表面上的工作路径为纵向清扫路径。
  12. 根据权利要求1所述的方法，其特征在于，所述控制所述清洁机器人在待清洁表面上基于目标旋转方向旋转，之前，所述方法还包括：
    控制所述清洁机器人由当前朝向转动到第二预设朝向；
    在所述清洁机器人的转动过程中监测所述清洁机器人是否生成第三边角触发信号；
    根据对所述第三边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径。
  13. 根据权利要求12所述的方法，其特征在于，所述根据对所述第三边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径，包括：
    若监测到所述第三边角触发信号，且所述第三边角触发信号的定位为所述清洁机器人的两侧面，则确定所述清洁机器人在所述待清洁表面上的工作路径为横向清扫路径。
  14. 一种清洁路径确定系统，其特征在于，所述系统包括：
    旋转控制单元，用于响应于清洁机器人的清洁指令，控制所述清洁机器人基于目标旋转方向旋转预设角度；
    信号监测单元，用于在所述清洁机器人的旋转过程中监测所述清洁机器人是否生成第一边角触发信号；
    路径确定单元，用于根据对所述第一边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径。
  15. 一种清洁路径确定设备，其特征在于，所述路径确定设备包括存储器和处理器，所述存储器用于存储计算机程序，所述计算机程序被所述处理器执行时，用于实现以下功能：
    响应于清洁机器人的清洁指令，控制所述清洁机器人在待清洁表面上 基于目标旋转方向旋转预设角度；
    在所述清洁机器人的旋转过程中监测所述清洁机器人是否生成第一边角触发信号；
    根据对所述第一边角触发信号的监测结果，确定所述清洁机器人在所述待清洁表面上的工作路径。
  16. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机指令，所述计算机指令被处理器执行时实现权利要求1-13中任一项所述的清洁路径确定方法的步骤。
PCT/CN2022/137341 2021-12-10 2022-12-07 清洁路径确定方法、系统、设备及存储介质 WO2023104118A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US18/677,493 US20240310856A1 (en) 2021-12-10 2024-05-29 Cleaning path determination method and system, and device and storage medium

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111510066.1 2021-12-10
CN202111510066.1A CN116250755A (zh) 2021-12-10 2021-12-10 清洁路径确定方法、系统、设备及存储介质

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/677,493 Continuation US20240310856A1 (en) 2021-12-10 2024-05-29 Cleaning path determination method and system, and device and storage medium

Publications (1)

Publication Number Publication Date
WO2023104118A1 true WO2023104118A1 (zh) 2023-06-15

Family

ID=86678012

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/137341 WO2023104118A1 (zh) 2021-12-10 2022-12-07 清洁路径确定方法、系统、设备及存储介质

Country Status (3)

Country Link
US (1) US20240310856A1 (zh)
CN (1) CN116250755A (zh)
WO (1) WO2023104118A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117315508A (zh) * 2023-08-24 2023-12-29 北京智盟信通科技有限公司 基于数据处理的电网设备监测方法及系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140034084A1 (en) * 2011-04-29 2014-02-06 Ilshim Global Co., Ltd. Window cleaning apparatus and method for controlling movement thereof
WO2018056492A1 (ko) * 2016-09-26 2018-03-29 (주)알에프 유리창 청소 로봇 및 제어 방법
CN108309139A (zh) * 2018-04-24 2018-07-24 珠海市微半导体有限公司 一种智能擦窗机器人及其控制方法
CN108720709A (zh) * 2018-06-12 2018-11-02 西南大学 基于激光测距行走的玻璃清洁装置及其控制方法
CN109129499A (zh) * 2018-07-18 2019-01-04 广东宝乐机器人股份有限公司 控制擦窗机器人行走的方法、擦窗机器人及存储介质
JP2020000356A (ja) * 2018-06-26 2020-01-09 シャープ株式会社 窓掃除ロボット
CN111839328A (zh) * 2019-04-26 2020-10-30 科沃斯家用机器人有限公司 清洁方法、擦窗机器人及存储介质

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140034084A1 (en) * 2011-04-29 2014-02-06 Ilshim Global Co., Ltd. Window cleaning apparatus and method for controlling movement thereof
WO2018056492A1 (ko) * 2016-09-26 2018-03-29 (주)알에프 유리창 청소 로봇 및 제어 방법
CN108309139A (zh) * 2018-04-24 2018-07-24 珠海市微半导体有限公司 一种智能擦窗机器人及其控制方法
CN108720709A (zh) * 2018-06-12 2018-11-02 西南大学 基于激光测距行走的玻璃清洁装置及其控制方法
JP2020000356A (ja) * 2018-06-26 2020-01-09 シャープ株式会社 窓掃除ロボット
CN109129499A (zh) * 2018-07-18 2019-01-04 广东宝乐机器人股份有限公司 控制擦窗机器人行走的方法、擦窗机器人及存储介质
CN111839328A (zh) * 2019-04-26 2020-10-30 科沃斯家用机器人有限公司 清洁方法、擦窗机器人及存储介质

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117315508A (zh) * 2023-08-24 2023-12-29 北京智盟信通科技有限公司 基于数据处理的电网设备监测方法及系统
CN117315508B (zh) * 2023-08-24 2024-05-14 北京智盟信通科技有限公司 基于数据处理的电网设备监测方法及系统

Also Published As

Publication number Publication date
US20240310856A1 (en) 2024-09-19
CN116250755A (zh) 2023-06-13

Similar Documents

Publication Publication Date Title
US11389040B2 (en) Cleaning mode control method and cleaning robot
US10750918B2 (en) Cleaning robot and controlling method thereof
US20240310856A1 (en) Cleaning path determination method and system, and device and storage medium
EP2511782A2 (en) Robot cleaner, and remote monitoring system and method of the same
EP2671492B1 (en) Robot cleaner, controlling method of the same, and robot cleaning system
US9052719B2 (en) Robot cleaner and controlling method of the same
CN110051289B (zh) 扫地机器人语音控制方法、装置、机器人和介质
JP2017511549A (ja) 自走式ロボットの障害物回避歩行方法
KR101331952B1 (ko) 로봇 청소기 및 이의 제어 방법
AU2022350408B2 (en) Cleaning control method and device, cleaning robot and storage medium
US20210068604A1 (en) Cleaner and control method thereof
KR20150107398A (ko) 로봇 청소기 및 그의 제어 방법
CN113729545A (zh) 一种机器人控制方法、存储介质和机器人
US20230009863A1 (en) Autonomous cleaning device, method for travel control for autonomous cleaning device, and storage medium
WO2024140713A1 (zh) 上下水模块状态的检测方法、系统、基座及存储介质
US20240206693A1 (en) Child lock control method and apparatus, robot, storage medium, and electronic device
WO2022218177A1 (zh) 机器人避障方法及装置、机器人、存储介质、电子设备
KR20180129179A (ko) 로봇 청소기, 로봇 청소기를 제어하는 방법 및 로봇 청소기의 제어 방법
WO2023179328A1 (zh) 清洁设备、清洁设备的控制方法及存储介质
WO2023138368A1 (zh) 清洁设备的自清洁方法、清洁装置、设备及存储介质
WO2023155556A1 (zh) 自移动设备、自移动设备的控制方法、设备及存储介质
TWI519271B (zh) A self-cleaning machine with a wireless transmission function connected to the cloud network
TWI849407B (zh) 童鎖控制方法及其相關裝置、機器人、儲存介質及電子設備
WO2022171090A1 (zh) 地图显示方法及装置、介质及电子设备
WO2024188080A1 (zh) 自移清洁设备及其控制方法、装置和存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22903538

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2022903538

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2022903538

Country of ref document: EP

Effective date: 20240710