WO2024037260A1 - 清洁设备的控制方法、清洁设备及存储介质 - Google Patents

清洁设备的控制方法、清洁设备及存储介质 Download PDF

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Publication number
WO2024037260A1
WO2024037260A1 PCT/CN2023/107042 CN2023107042W WO2024037260A1 WO 2024037260 A1 WO2024037260 A1 WO 2024037260A1 CN 2023107042 W CN2023107042 W CN 2023107042W WO 2024037260 A1 WO2024037260 A1 WO 2024037260A1
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WIPO (PCT)
Prior art keywords
distance
cleaning equipment
boundary
starting
target
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PCT/CN2023/107042
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English (en)
French (fr)
Inventor
贺敏
陈荣
丁民权
Original Assignee
科沃斯家用机器人有限公司
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Publication of WO2024037260A1 publication Critical patent/WO2024037260A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/32—Carpet-sweepers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • 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
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • 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
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • 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
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • 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
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G05D1/633—Dynamic obstacles
    • 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

Definitions

  • the present application relates to the technical field of cleaning equipment, and in particular to a control method of cleaning equipment, cleaning equipment and storage media.
  • window cleaning robots can overcome the various limitations of traditional manual window cleaning, avoid the dangers of cleaning windows at high places, easily solve the daily wiping problems of large areas or high-rise windows, and then automatically complete the window cleaning task, freeing the user's hands.
  • a sweeping robot can automatically complete floor cleaning tasks, freeing the user's hands.
  • a carpet cleaning machine sprays clean water from a clean water bucket onto the carpet in real time to clean the carpet. At the same time, it recycles the sewage generated during the cleaning process into the recycling bucket, thereby automatically completing the carpet cleaning task and freeing the user's hands.
  • some users may want the cleaning equipment to automatically return to the starting position after completing the cleaning task.
  • a user needs to clean a window, he places the window cleaning robot on the glass window.
  • the position where he places it is the starting position, and the starting position is where the user can conveniently take the window cleaning robot.
  • the window cleaning robot After the window cleaning robot completes the window cleaning task, it may stay at any position on the glass window.
  • the arbitrary position may be far away from the starting position. For example, it is close to the upper frame of the glass window. The user then takes the It is quite difficult to install a window cleaning robot. Therefore, it is necessary to control the cleaning equipment to return to the starting position accurately and efficiently.
  • Various aspects of this application provide a cleaning equipment control method, cleaning equipment and storage medium to accurately and efficiently control the cleaning equipment to return to the starting position, thereby improving the use experience of the cleaning equipment.
  • Embodiments of the present application provide a control method for cleaning equipment.
  • the working area of the cleaning equipment includes a first boundary and a third boundary arranged oppositely along a first direction, and a second boundary and a fourth boundary arranged oppositely along a second direction.
  • the first boundary, the second boundary, the third boundary and the fourth boundary are connected end to end in order to form a work area;
  • the above method includes: obtaining the starting position of the cleaning equipment placed in the work area and the first boundary between the first boundary and the starting position of the cleaning equipment. at least one distance information among the distance, the second distance to the third boundary, the third distance to the fourth boundary, and the fourth distance to the second boundary; controlling the cleaning equipment according to at least one distance information Return from current position to starting position.
  • Embodiments of the present application also provide a cleaning device, including: a device body, with a memory and a processor disposed on the device body; the memory is used to store a computer program; the processor is coupled to the memory to execute the computer program. Steps in a controlled method for cleaning equipment.
  • Embodiments of the present application also provide a computer storage medium storing a computer program.
  • the processor can implement the steps in the control method of the cleaning equipment.
  • Figure 1 is a flow chart of a control method for cleaning equipment provided by an embodiment of the present application
  • Figure 2 is an exemplary cleaning equipment ranging scene diagram
  • Figure 3 is an exemplary arcuate path
  • Figures 4 to 15 are respectively schematic diagrams of scenes in which a cleaning device returns to the starting position
  • Figure 16 is a schematic structural diagram of a cleaning device provided by this application.
  • embodiments of the present application provide a control method for cleaning equipment, a cleaning equipment, and a storage medium.
  • the cleaning equipment according to the distance information between the starting position of the cleaning equipment placed in the work area and each boundary line of the work area, the cleaning equipment is accurately and efficiently controlled to return to the starting position, which improves the use of the cleaning equipment. experience.
  • Figure 1 is a flow chart of a control method for cleaning equipment provided by an embodiment of the present application. Referring to Figure 1, the method may include the following steps:
  • cleaning equipment includes, for example, but is not limited to: window cleaning robots, floor sweeping robots, carpet cleaning machines and other self-moving equipment that can perform cleaning tasks for the work area.
  • the self-moving equipment can be highly autonomous in its environment. move in space.
  • the working area of the cleaning equipment can be a working environment with real borders or a working environment without real borders, and there is no restriction on this. Examples of working areas include but are not limited to: glass surfaces of windows, table tops or floors, etc.
  • the cleaning equipment has boundary detection capabilities and can detect the boundary lines that define the work area. In practical applications, cleaning equipment can use several sensors such as collision sensors, Global Positioning System (GPS), ultrasonic, lidar, and visual sensors for boundary detection. For more information on boundary detection, see Related Technologies.
  • GPS Global Positioning System
  • the cleaning equipment can detect the first boundary and the third boundary of the working area that are oppositely arranged along the first direction, and the second boundary and the fourth boundary that are oppositely arranged along the second direction.
  • the boundary, the second boundary, the third boundary and the fourth boundary are connected end to end in order to form a working area.
  • the angle between the second direction and the first direction is not limited.
  • the angle between the second direction and the first direction is 45°, 30°, or 90°.
  • the angle between the second direction and the first direction is 90°, the second direction and the first direction are perpendicular to each other.
  • the first boundary is above the third boundary, and the third boundary is below the first boundary; the second boundary and the fourth boundary are relative, and the second boundary is above the third boundary.
  • the border is to the right of the fourth border, and the fourth border is to the left of the second border.
  • the cleaning device when the user needs cleaning, he places the cleaning device at any position in the work area.
  • This position can be regarded as the initial position of the cleaning device in the work area, that is, the starting position.
  • the user adjusts the current position of the cleaning equipment to be offset relative to the initial position, and uses the adjusted position as the starting position, etc., without any restriction.
  • the cleaning equipment can record relevant information about the starting position, such as the coordinate information of the starting position and the distance information between the starting position and each boundary line. There is no limit to this.
  • the cleaning device can start to perform the cleaning task from the starting position; the cleaning device can also move from the starting position to other positions, and then start to perform the cleaning task from other positions, and there is no limit to this.
  • the cleaning equipment can move in the work area in a random collision manner while performing cleaning tasks; the cleaning equipment can also move in the work area in a path planning manner and perform cleaning tasks, for example, in an arc shape, a Z shape, an N shape, and a return shape. Glyph paths perform cleaning tasks without restrictions.
  • the cleaning equipment may need to return to the starting position anytime and anywhere.
  • cleaning equipment After the equipment starts moving from the starting position, the cleaning equipment needs to return to the starting position before the cleaning equipment performs the cleaning task.
  • the cleaning equipment After the cleaning equipment completes the cleaning task, there is a need to return to the starting position.
  • the cleaning equipment after the cleaning equipment completes the path planning task, there is a need to return to the starting position.
  • the cleaning equipment may be at any position in the work area when there is a need to return to the starting position. This position may be anywhere in the work area except the vertex position, or it may be the vertex position.
  • the vertex position refers to the position of the vertex, and the vertex may be, for example, any one of the lower right corner vertex, the upper right corner vertex, the lower left corner vertex, and the upper left corner vertex.
  • the lower right corner vertex refers to the intersection formed by the intersection of the second boundary and the third boundary; the upper right corner vertex refers to the intersection formed by the intersection of the second boundary and the first boundary; the lower left corner vertex refers to the intersection of the second boundary and the first boundary.
  • the intersection point formed by the intersection of the two boundary lines, the fourth boundary and the third boundary; the upper left corner vertex refers to the intersection point formed by the intersection of the two boundary lines, the fourth boundary and the first boundary.
  • the current position may refer to the current position of the cleaning equipment when the need to return to the starting position occurs, or it may refer to the position where the cleaning equipment moves a certain distance after the need to return to the starting position occurs, and there is no limit to this.
  • At least one distance information between the starting position and one or more boundary lines can be determined at any time. Specifically, determine a first distance between the starting position of the cleaning equipment placed in the work area and the first boundary, a second distance between the third boundary, and a third distance between the fourth boundary and At least one of the fourth distances to the second boundary.
  • the first distance and the second distance respectively refer to the distance between the starting point along the second direction and the first boundary and the third boundary respectively.
  • the first distance and the second distance can be understood as the vertical distance between the starting position and the first boundary and the third boundary respectively;
  • the third distance and the fourth distance respectively refer to the starting position along the first direction and the fourth boundary and the second boundary respectively.
  • the third distance and the third distance can be understood as the horizontal distances between the starting position and the fourth boundary and the second boundary respectively.
  • the user can manually measure the first distance and the second distance along the second direction or the third distance and the fourth distance along the first direction between the starting position and each boundary line, and Provided to cleaning equipment. If the cleaning equipment stores an environmental map recording the work area, based on the spatial position coordinates of the starting position recorded in the environmental map and the spatial position coordinates of the position points on each boundary line, the distance between the starting position and each boundary line can be automatically measured. a first distance and a second distance along the second direction or a third distance and a fourth distance along the first direction.
  • An environment map refers to a map that describes the spatial position coordinates and attributes of each location point in the work area.
  • the environment map can be a map based on Simultaneous Localization and Mapping (SLAM), but it does not Not limited to this.
  • SLAM Simultaneous Localization and Mapping
  • the cleaning equipment is controlled to move from the starting position toward each boundary line. According to the moving speed and movement time of the cleaning equipment from the starting position to the boundary line, the starting position to each boundary line can be calculated. Distance information for boundary lines.
  • a grating encoder installed on the drive motor of the cleaning equipment can be used to detect the moving speed of the cleaning equipment. Among them, every time the drive motor rotates, the grating encoder sends out several pulse signals. By periodically detecting and recording the pulse signals, the moving speed of the cleaning equipment can be calculated.
  • a speed sensor installed on the cleaning equipment can also be used to detect the moving speed of the cleaning equipment.
  • the first direction and the second direction respectively have two direction categories: forward direction category and reverse direction category.
  • the first direction belonging to the forward direction category and the first direction belonging to the reverse direction category are opposite to each other, for example , the first direction belonging to the forward direction category is the horizontal right direction, and the first direction belonging to the reverse direction category is the horizontal left direction.
  • the first direction belonging to the forward direction category is the horizontal left direction
  • the first direction belonging to the negative direction category is the horizontal right direction.
  • the second direction belonging to the positive direction category is the vertical upward direction
  • the first direction belonging to the negative direction category is the vertical downward direction.
  • the second direction belonging to the positive direction category is the vertical downward direction
  • the first direction belonging to the negative direction category is the vertical upward direction.
  • the cleaning equipment is respectively controlled to move in the second direction belonging to the positive direction category from the starting position until it reaches the first position on the first boundary, and to move in the first direction starting from the first position. until reaching the first vertex position on the first target boundary, and starting from the first vertex position and moving along the first direction until reaching the second vertex position on the second target boundary, wherein the first target boundary is the fourth boundary or The second boundary, the second target boundary is set opposite to the first target boundary; the first distance between the starting position and the first boundary is determined according to the moving speed and moving time of the cleaning equipment between the starting position and the first position.
  • the second distance between the starting position and the third boundary determines the second distance between the starting position and the third boundary; according to the cleaning device between the first position and the first vertex position and between the first vertex position and the second
  • the moving speed and moving time between the vertex positions determine a third distance between the starting position and the fourth boundary and a fourth distance between the starting position and the second boundary.
  • the position on the first boundary reached by the cleaning equipment starting from the starting position is called the first position. If the starting position of the cleaning equipment is different, the first position will also be different. different.
  • the first position may fall on the first boundary, or may be a position whose distance from the first boundary falls within the allowable error range, and there is no limit to this. For example, when the working area is a glass window with a real frame, when the window cleaning robot collides with the upper frame, it is confirmed that the position of the window cleaning robot is the first position on the upper frame.
  • the cleaning equipment adjusts the traveling direction at the starting position to the second direction belonging to the positive direction category (for example, the vertical upward direction), and advances from the starting position along the second direction belonging to the positive direction category, and Boundary detection is performed during the advancement process to detect in real time whether the current position of the cleaning equipment falls at the first position on the first boundary; when it is detected that the current position of the cleaning equipment falls at the first position on the first boundary , it can be confirmed that the cleaning equipment has reached the first boundary from the starting position.
  • the positive direction category for example, the vertical upward direction
  • Boundary detection is performed during the advancement process to detect in real time whether the current position of the cleaning equipment falls at the first position on the first boundary; when it is detected that the current position of the cleaning equipment falls at the first position on the first boundary , it can be confirmed that the cleaning equipment has reached the first boundary from the starting position.
  • the moving distance from the starting position to the first position can be calculated, that is, the first distance between the starting position and the first boundary , as shown in Figure 2, the first distance can be Record it as s1.
  • the first distance is subtracted from the length of the fourth boundary or the second boundary to obtain the second distance between the starting position and the third boundary.
  • the second distance can be Marked as s4.
  • the cleaning device may receive the length of the fourth boundary or the second boundary input by the user.
  • the cleaning equipment can also be controlled to move from the first boundary to the third boundary along the second direction (for example, the vertical direction).
  • the second direction for example, the vertical direction.
  • the length of the fourth boundary or the second boundary can also be obtained based on the boundary information of the first boundary and the third boundary in the environment map of the work area.
  • the length of the fourth boundary or the second boundary can also be determined based on the planned path information of the cleaning equipment.
  • the fourth arcuate can be determined based on the number of arcuate shapes that the cleaning equipment walks when performing the cleaning task according to the arcuate path and the corresponding descent distance of each arcuate shape.
  • the dotted straight lines in Figure 3 show multiple arcuate-shaped routes, and the multiple arcuate-shaped routes are parallel to each other.
  • the next arcuate-shaped route can continue in any direction. Move in a bow shape.
  • a bow-shaped route consists of five line segments: long side, short side, long side, short side, and long side.
  • the descending distance of the bow-shaped route is the length of the two short sides.
  • the length of the short side is denoted as s5.
  • the number of arcuate shapes that the cleaning equipment walks when performing cleaning tasks is recorded as n, and the corresponding penetrating distance of each arcuate shape is recorded as 2 ⁇ s5, then the length of the fourth boundary or the second boundary is 2 ⁇ s4 ⁇ n .
  • n can be 0.5, 1, 1.5, 2, etc. That is to say, the cleaning equipment can walk an integral number of arcuate paths in the work area, or a half arcuate path, or a half arcuate path based on an integer number of arcuate paths.
  • the cleaning equipment after the cleaning equipment reaches the first position, it starts to move along the first direction (for example, the horizontal direction) from the first position until it reaches the first vertex position on the first target boundary, and starts from the first vertex position along the Move in the first direction until reaching the second vertex position on the second target boundary.
  • the first target boundary is the fourth boundary
  • the first vertex position is the upper left vertex position
  • the second target boundary is the second boundary
  • the second vertex position is the upper right vertex position.
  • the first target boundary is the second boundary
  • the first vertex position is the upper right vertex position
  • the second target boundary is the fourth boundary
  • the second target boundary is the fourth boundary.
  • the vertex position is the upper left vertex position.
  • the starting position and the fourth boundary may be determined based on the moving speed and moving time of the cleaning device between the first position and the first vertex position and between the first vertex position and the second vertex position. and a fourth distance between the starting position and the second boundary. As shown in Figure 2, the third distance can be recorded as s2, and the fourth distance can be recorded as s3.
  • the fifth distance between the starting position and the first target boundary is determined according to the moving speed and moving time of the cleaning device between the first position and the first vertex position;
  • the moving speed and moving time between the second vertex positions are used to determine the length of the first boundary;
  • the sixth distance between the starting position and the second target boundary is determined;
  • the fifth distance is determined One of the distance and the sixth distance is used as the third distance, and the other is used as the fourth distance.
  • the length of the first boundary minus the fifth distance can get the sixth distance Leave.
  • the starting position of the cleaning equipment placed in the work area is a first distance from the first boundary, a second distance from the third boundary, and a third distance from the fourth boundary.
  • the cleaning equipment can be controlled to return from the current position to the starting position anytime and anywhere by using at least one distance information of the distance and the fourth distance to the second boundary.
  • controlling the cleaning device to return from the current position to the starting position according to at least one distance information includes: controlling the cleaning device to move from the current position along the second direction belonging to the positive direction category until reaching the first boundary. The second position; control the cleaning equipment to move in the second direction belonging to the reverse direction category from the second position until it reaches the third position that is a first distance away from the second position; control the cleaning equipment to move in the forward direction category starting from the third position move in the first direction until it reaches the fourth position on the second boundary; the cleaning equipment is controlled to move in the first direction belonging to the negative direction category from the fourth position until it reaches a starting position that is a fourth distance away from the fourth position.
  • the second position may fall on the first boundary, or may be a position whose distance from the first boundary falls within an allowable error range, and there is no limit to this.
  • the fourth position may fall on the second boundary, and may be a position whose distance from the second boundary falls within the allowable error range, and there is no limit to this.
  • the cleaning equipment can be controlled to rotate at the current position so that the current traveling direction is adjusted to the second direction belonging to the positive direction category, and the cleaning equipment can be controlled to start from the current position along the direction belonging to the positive direction category. in the second direction until reaching the second position on the first boundary.
  • the cleaning can be controlled
  • the device starts from the current position and adjusts the traveling direction until the traveling direction is parallel to the second direction belonging to the positive direction category, and continues to move along the second direction belonging to the positive direction category until it reaches the second position on the first boundary.
  • the cleaning equipment is controlled to rotate at the second position so that the current traveling direction is adjusted to the second direction belonging to the reverse direction category. (e.g. vertically downward). Then, the cleaning equipment is controlled to move the first distance S1 from the second position along the second direction belonging to the reverse direction category to the third position; the cleaning equipment is controlled to rotate at the third position to adjust the current traveling direction to the forward direction category.
  • controlling the cleaning device to return from the current position to the starting position according to at least one distance information includes: controlling the cleaning device to move from the current position in the second direction belonging to the reverse direction category until reaching the third boundary.
  • the fifth position the cleaning equipment is controlled to move in the second direction belonging to the positive direction category from the fifth position until it reaches the sixth position that is a second distance away from the fifth position; the cleaning equipment is controlled to move in the positive direction category starting from the sixth position.
  • the first direction moves until it reaches the seventh position on the second boundary; the cleaning device is controlled to move in the first direction belonging to the negative direction category starting from the seventh position until it reaches a starting position that is a fourth distance away from the seventh position.
  • the cleaning equipment can be controlled to rotate at the current position so that the current traveling direction is adjusted to a second direction belonging to the reverse direction category (for example, a vertical downward direction), and the cleaning equipment can be controlled to automatically
  • the current position starts moving in the second direction belonging to the reverse direction category until it reaches the fifth position on the third boundary.
  • the cleaning equipment is controlled to move from the current position while adjusting the traveling direction until the traveling direction is parallel to the second direction belonging to the reverse direction category, and continues to move along the second direction belonging to the reverse direction category until it reaches the third boundary on the third boundary. Five positions.
  • the cleaning equipment is controlled to rotate at the fifth position so that the current traveling direction is adjusted to the second one belonging to the positive direction category.
  • direction e.g. vertical upward direction
  • the cleaning equipment is controlled to move the second distance S4 from the fifth position along the second direction belonging to the forward direction category to the sixth position; the cleaning equipment is controlled to rotate at the sixth position to adjust the current traveling direction to the forward direction category.
  • controlling the cleaning device to return from the current position to the starting position according to at least one distance information includes: controlling the cleaning device to start from the current position along the The second direction of the forward direction category moves until it reaches the eighth position on the first boundary; the cleaning equipment is controlled to move from the eighth position along the second direction belonging to the reverse direction category until it reaches the ninth position that is a first distance away from the eighth position. position; control the cleaning equipment to move in the first direction belonging to the negative direction category starting from the ninth position until reaching the tenth position on the fourth boundary; control the cleaning equipment to move in the first direction belonging to the positive direction category starting from the tenth position until Reach the starting position third distance from the tenth position.
  • the eighth position may fall on the first boundary, and may be a position whose distance from the first boundary falls within the allowable error range, and there is no limit to this.
  • the tenth position may fall on the fourth boundary, and may be a position whose distance from the fourth boundary falls within the allowable error range, and there is no limit to this.
  • the cleaning equipment can be controlled to rotate at the current position so that the current traveling direction is adjusted to the second direction belonging to the positive direction category, and the cleaning equipment can be controlled to start from the current position along the direction belonging to the positive direction category. in the second direction until reaching the eighth position on the first boundary.
  • taking the current position as the lower left corner vertex position on the fourth boundary is For example, to control the cleaning equipment to start from the current position Adjust the traveling direction while initially moving until the traveling direction is parallel to the second direction belonging to the positive direction category, and continue to move along the second direction belonging to the positive direction category until reaching the eighth position on the first boundary.
  • the cleaning equipment that ends the cleaning task reaches the eighth position on the first boundary from the lower left corner vertex position
  • the cleaning equipment is controlled to rotate at the eighth position so that the current traveling direction is adjusted to the second one belonging to the reverse direction category. direction.
  • the cleaning equipment is controlled to move the first distance S1 from the eighth position along the second direction belonging to the reverse direction category (for example, the vertical downward direction) to the ninth position; the cleaning equipment is controlled to rotate at the ninth position to make the current travel
  • the direction is adjusted to the first direction belonging to the negative direction category; then, the cleaning equipment is controlled to move from the ninth position along the first direction belonging to the negative direction category until it reaches the tenth position on the fourth boundary; then, the cleaning equipment is controlled at the tenth position Rotate on the position to adjust the current traveling direction to the first direction belonging to the positive direction category; control the cleaning equipment to move a third distance S2 along the first direction belonging to the positive direction category starting from the tenth position to reach the starting position.
  • controlling the cleaning device to return from the current position to the starting position according to at least one distance information includes: controlling the cleaning device to move from the current position in the second direction belonging to the reverse direction category until reaching the third boundary. Eleventh position; control the cleaning equipment to move from the eleventh position along the second direction belonging to the positive direction category until reaching the twelfth position that is a second distance away from the eleventh position; control the cleaning equipment to start from the twelfth position Move along the first direction belonging to the negative direction category until reaching the thirteenth position on the fourth boundary; control the cleaning equipment to move from the thirteenth position along the first direction belonging to the positive direction category until reaching the thirteenth position away from the thirteenth position. Three-distance starting position.
  • the cleaning equipment can be controlled to rotate at the current position so that the current traveling direction is adjusted to the second direction belonging to the reverse direction category, and the cleaning equipment can be controlled to start from the current position along the direction belonging to the reverse direction category. move in the second direction until reaching the eleventh position on the third boundary.
  • the cleaning equipment is controlled to move from the current position while adjusting the traveling direction until the traveling direction is parallel to the second direction belonging to the reverse direction category, and continues to move along the second direction belonging to the reverse direction category until it reaches the third boundary on the third boundary. Eleven position.
  • the cleaning equipment is controlled to move vertically upward by the second distance S4 from the eleventh position to the twelfth position; the cleaning equipment is controlled to rotate at the twelfth position so that the current traveling direction is adjusted to the first direction belonging to the negative direction category; then , the cleaning equipment is controlled to move along the first direction belonging to the negative direction category from the twelfth position until it reaches the thirteenth position on the fourth boundary; then, the cleaning equipment rotates at the thirteenth position to adjust the current traveling direction to The first direction belonging to the positive direction category; controlling the cleaning equipment to move the third distance S2 in the first direction belonging to the positive direction category starting from the thirteenth position to reach the starting position.
  • the technical solution provided by the embodiment of the present application accurately and efficiently controls the return of the cleaning equipment to the starting position according to the distance information between the starting position of the cleaning equipment placed in the work area and the boundary lines of the work area, thereby improving the efficiency of the cleaning equipment. equipment usage experience.
  • the cleaning equipment after the cleaning equipment triggers an event to return to the starting position, if the current position of the cleaning equipment is not the vertex position, the cleaning equipment can be controlled to move to the vertex position, and start from the vertex position based on the boundaries of the starting position and the work area.
  • the distance information between the lines controls the return of the cleaning equipment to the starting position.
  • the event of returning to the starting position can also be triggered when the cleaning device is at the vertex position, and there is no restriction on this.
  • controlling the cleaning equipment to return from the current position to the starting position based on at least one distance information includes: controlling the cleaning equipment to be at the current position Rotate in place so that the angle between the current traveling direction and the first direction is the first target angle; determine the first movement distance according to the first target angle and the fourth distance; control the cleaning equipment to move the first movement from the current position according to the current traveling direction distance to the first target position; control the cleaning equipment to rotate in situ at the first target position so that the current traveling direction is adjusted to the second direction belonging to the positive direction category; control the cleaning equipment to move from the first target position along the third direction belonging to the positive direction category.
  • the cleaning equipment Move in two directions until reaching the second target position on the first boundary; control the cleaning equipment to move from the second target position along the second direction belonging to the reverse direction category until reaching a starting position that is a first distance away from the second target position.
  • the first target position is an arbitrary position, and the first target position changes as the first target angle and the fourth distance change.
  • the second target position may fall on the first boundary, or may be a position whose distance from the first boundary falls within the allowable error range, and there is no limit to this.
  • control the cleaning equipment to move the first moving distance
  • control the cleaning equipment to move the first moving distance
  • controlling the cleaning equipment to return from the current position to the starting position includes: controlling the cleaning equipment to rotate in situ at the current position so that the angle between the current traveling direction and the first direction is the second target angle; according to the second target The angle and the third distance determine the second moving distance; control the cleaning equipment to move the second moving distance from the current position to the third target position according to the current traveling direction; control the cleaning equipment to rotate in place at the third target position to adjust the current traveling direction to The second direction belonging to the positive direction category; controlling the cleaning equipment to move from the third target position along the second direction belonging to the positive direction category until reaching the fourth target position on the first boundary; controlling the cleaning equipment to move from the fourth target position along the The second direction belonging to the reverse direction category moves until reaching a starting position that is a first distance away from the fourth target position.
  • the positive direction category for example, vertical upward direction
  • control the cleaning equipment to move from the third target position along the second direction belonging to the positive direction category until it reaches
  • controlling the cleaning device to return to the starting position from the current position based on at least one distance information includes: controlling the cleaning device to rotate in situ at the current position so that The angle between the current traveling direction and the first direction is the third target angle; determine the third moving distance and the fourth moving distance based on the third target angle and the fourth distance, and subtract the fourth moving distance from the second distance to obtain the seventh distance; control the cleaning equipment to move the third movement distance from the current position to the fifth target position according to the current traveling direction; control the cleaning equipment to rotate in place at the fifth target position so that the current traveling direction is adjusted to the second direction belonging to the positive direction category; The cleaning equipment is controlled to move from the fifth target position along the second direction belonging to the positive direction category until it reaches a starting position that is a seventh distance away from the fifth target position.
  • Control the cleaning equipment to move the third movement distance s6 from the lower right corner vertex position to the fifth target position; and control the cleaning equipment to move the seventh distance from the fifth target position along the second direction belonging to the positive direction category (for example, the vertical upward direction) s9 to reach the starting position.
  • the positive direction category for example, the vertical upward direction
  • controlling the cleaning device to return to the starting position from the current position based on at least one distance information includes: controlling the cleaning device to rotate in situ at the current position so that The angle between the current traveling direction and the first direction is the fourth target angle; the fifth target angle is determined based on the fourth target angle and the fourth distance.
  • the moving distance and the sixth moving distance, and the eighth distance is obtained by subtracting the sixth moving distance from the first distance; controlling the cleaning equipment to move the fifth moving distance from the current position to the sixth target position according to the current traveling direction; controlling the cleaning equipment to move at the sixth target position.
  • the six target positions are rotated in situ to adjust the current traveling direction to the second direction belonging to the reverse direction category; the cleaning equipment is controlled to move from the sixth target position along the second direction belonging to the reverse direction category until it reaches the sixth target position. Eight-distance starting position.
  • Control the cleaning equipment to move the fifth moving distance s6 from the upper right corner vertex position to the sixth target position; and control the cleaning equipment to move eighth from the sixth target position along the second direction belonging to the reverse direction category (for example, the vertical downward direction) distance s11 to reach the starting position.
  • the reverse direction category for example, the vertical downward direction
  • controlling the cleaning device to return to the starting position from the current position based on at least one distance information includes: controlling the cleaning device to rotate in place at the current position to adjust the current traveling direction.
  • the angle with the first direction is the fifth target angle; determine the seventh moving distance and the eighth moving distance based on the fifth target angle and the third distance, and subtract the eighth moving distance from the second distance to obtain the ninth distance; control
  • the cleaning equipment moves the seventh movement distance from the current position to the seventh target position according to the current traveling direction; controls the cleaning equipment to rotate in place at the seventh target position so that the current traveling direction is adjusted to the second direction belonging to the positive direction category; controls the cleaning equipment Move from the seventh target position along the second direction belonging to the positive direction category until reaching a starting position that is a ninth distance away from the seventh target position.
  • Control the cleaning equipment to move the seventh moving distance s7 from the lower left corner vertex position to the seventh target position; and control the cleaning equipment to move the ninth distance from the seventh target position along the second direction belonging to the positive direction category (for example, the vertical upward direction) s13 to reach the starting position.
  • the positive direction category for example, the vertical upward direction
  • controlling the cleaning device to return to the starting position from the current position based on at least one distance information includes: controlling the cleaning device to rotate in situ at the current position to adjust the current traveling direction.
  • the angle between the first direction and the first direction is the sixth target angle; determine the ninth moving distance and the tenth moving distance based on the sixth target angle and the third distance, and subtract the tenth moving distance from the first distance to obtain the tenth distance; control
  • the cleaning equipment moves the ninth movement distance from the current position to the eighth target position according to the current traveling direction; controls the cleaning equipment to rotate in situ at the eighth target position so that the current traveling direction is adjusted to the second direction belonging to the reverse direction category; controls the cleaning equipment Move from the eighth target position along the second direction belonging to the reverse direction category until reaching a starting position that is tenth distance away from the eighth target position.
  • Control the cleaning equipment to move the eighth movement distance s7 from the lower left corner vertex position to the eighth target position; and control the cleaning equipment to move tenth from the eighth target position along the second direction belonging to the reverse direction category (for example, the vertical downward direction) distance s15 to reach the starting position.
  • the reverse direction category for example, the vertical downward direction
  • the user turns on the window cleaning robot and places the window cleaning robot on the glass window with a real frame.
  • the window cleaning robot records the current position as the starting position.
  • the window cleaning robot automatically measures the distance from the starting position to the upper, lower, right and left borders of the glass window.
  • the window cleaning robot adjusts its traveling direction to the second direction belonging to the positive direction category (for example, the vertical upward direction).
  • the window cleaning robot moves from the starting position along the second direction belonging to the positive direction category. If it collides with the upper Border, confirm reaching the upper border, and calculate the first distance from the starting position to the upper border based on the movement speed and movement time from the starting position to the upper border.
  • the window cleaning robot rotates in place to adjust the traveling direction to the first direction belonging to the negative direction category (for example, horizontally to the left), and moves in the first direction belonging to the negative direction category. If it collides with the left border, the arrival is confirmed For the left border, calculate the third distance from the starting position to the left border based on the movement speed and movement time during horizontal movement to the left. Then, the window cleaning robot rotates in place to adjust the traveling direction to the first direction belonging to the positive direction category (for example, horizontally to the right), and moves in the first direction belonging to the positive direction category. If it collides with the right frame, the arrival is confirmed For the right border, calculate the length from the upper border based on the moving speed and moving time during horizontal movement to the right.
  • the second distance can be obtained by subtracting the first distance from the length of the left border obtained when the window cleaning robot performs the window cleaning task. Then, the window cleaning robot performs the window cleaning task in the glass window according to the arcuate path from the upper right corner vertex position on the right frame side until it reaches the lower right corner vertex position on the right frame side and stops the window cleaning task.
  • the window cleaning robot can perform multiple window cleaning tasks and stop the window cleaning task at any position in the glass window.
  • the window cleaning robot first control the window cleaning robot to move to a vertex position, for example, the lower right corner vertex position. And starting from the vertex position of the lower right corner, based on one or more of the third distance, the fourth distance, the first distance or the second distance, the window cleaning robot is controlled to return from the vertex position to the starting position.
  • a vertex position for example, the lower right corner vertex position.
  • the window cleaning robot is controlled to return from the vertex position to the starting position.

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Abstract

一种清洁设备的控制方法、清洁设备及存储介质。控制方法包括：获取清洁设备放置在工作区域中的起始位置分别与第一边界之间的第一距离、与第三边界之间的第二距离、与第四边界之间的第三距离以及与第二边界之间的第四距离中的至少一个距离信息（101）；根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置（102）。按照清洁设备放置在工作区域的起始位置与工作区域的各边界线之间的距离信息，准确、高效地控制清洁设备返回至起始位置，提高了清洁设备的使用体验。

Description

清洁设备的控制方法、清洁设备及存储介质
交叉引用
本申请引用于2022年08月18日递交的名称为“清洁设备的控制方法、清洁设备及存储介质”的第2022109938110号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及清洁设备技术领域，尤其涉及一种清洁设备的控制方法、清洁设备及存储介质。
背景技术
随着计算机技术、传感器技术以及人工智能技术等不断的发展，清洁设备的功能越来越完善。越来越多的家庭选择清洁设备替代传统的人工清洁方式来完成家庭环境的清洁任务。例如，擦窗机器人能够克服传统人工擦窗的各种局限，规避高处擦窗的危险，轻松解决大面积或高层窗户的日常擦拭难题，进而自动完成擦窗任务，解放用户双手。又例如，扫地机器人可以自动完成地面清洁任务，解放用户双手。又例如，地毯清洗机实时将清水桶中的清水到喷洒到地毯上以清洗地毯，同时将清洗过程中产生的污水回收至回收桶中，进而自动完成地毯清洁任务，解放用户双手。
实际应用中，有些用户可能希望清洁设备完成清洁任务后能够自动返回起点位置。例如，用户在有擦窗需求时，将擦窗机器人放置在玻璃窗上，所放置的位置即为起始位置，该起始位置是用户方便拿取擦窗机器人的位置。擦窗机器人完成擦窗任务后，可能会停留在玻璃窗的任意位置上，任意位置可能是离起始位置很远，例如，靠近玻璃窗的上边框的位置上，则用户从玻璃窗上取下擦窗机器人存在较大难度。因此，很有必要控制清洁设备准确、高效地返回起始位置。
发明内容
本申请的多个方面提供一种清洁设备的控制方法、清洁设备及存储介质，用以准确、高效地控制清洁设备返回至起始位置，提高了清洁设备的使用体验。
本申请实施例提供一种清洁设备的控制方法，清洁设备的工作区域包括沿第一方向相对设置的第一边界和第三边界，以及沿第二方向相对设置的第二边界和第四边界，第一边界、第二边界、第三边界和第四边界顺次首尾连接围成工作区域；上述方法包括：获取清洁设备放置在工作区域中的起始位置分别与第一边界之间的第一距离、与第三边界之间的第二距离、与第四边界之间的第三距离以及与第二边界之间的第四距离中的至少一个距离信息；根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置。
本申请实施例还提供一种清洁设备，包括：设备本体，设备本体上设置有存储器和处理器；存储器，用于存储计算机程序；处理器耦合至存储器，用于执行计算机程序，以用于执行清洁设备的控制方法中的步骤。
本申请实施例还提供一种存储有计算机程序的计算机存储介质，当计算机程序被处理器执行时，致使处理器能够实现清洁设备的控制方法中的步骤。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本申请实施例提供的一种清洁设备的控制方法的流程图；
图2为示例性的清洁设备测距场景图；
图3为示例性的弓字形路径；
图4至图15分别为一种清洁设备返回起始位置的场景示意图；
图16为本申请提供的一种清洁设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例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，本领域普通技术人员在没有做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。
实际应用中，很有必要控制清洁设备准确、高效地返回起始位置。为此，本申请实施例提供一种清洁设备的控制方法、清洁设备及存储介质。在本申请实施例中，按照清洁设备放置在工作区域的起始位置与工作区域的各边界线之间的距离信息，准确、高效地控制清洁设备返回至起始位置，提高了清洁设备的使用体验。
以下结合附图，详细说明本申请各实施例提供的技术方案。
图1为本申请实施例提供的一种清洁设备的控制方法的流程图。参见图1，该方法可以包括以下步骤：
101、获取清洁设备放置在工作区域中的起始位置分别与第一边界之间的第一距离、与第三边界之间的第二距离、与第四边界之间的第三距离以及与第二边界之间的第四距离中的至少一个距离信息。
102、根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置。
在本实施例中，清洁设备例如包括但不限于：擦窗机器人、扫地机器人和地毯清洗机等各种能够针对工作区域执行清洁任务的自移动设备，自移动设备能够在其所在环境中高度自主地进行空间移动。清洁设备的工作区域可以是有真实边框的工作环境，也可以是无真实边框的工作环境，对此不做限制。工作区域例如包括但不限于：窗户的玻璃面、桌子面或地面等等。清洁设备具备边界探测能力，能够探测界定工作区域的边界线。实际应用中，清洁设备可以借助碰撞传感器、全球定位系统(Global Positioning System，GPS)、超声波、激光雷达、视觉传感器等若干种传感器进行边界探测。关于边界探测的更多介绍可以参见相关技术。具体而言，清洁设备在工作区域移动过程中，可以探测工作区域沿第一方向相对设置的第一边界和第三边界，以及沿第二方向相对设置的第二边界和第四边界，第一边界、第二边界、第三边界和第四边界顺次首尾连接围成工作区域。其中，第二方向与第一方向之间的夹角不做限制，例如，第二方向与第一方向之间的夹角为45°或30°，90°。在第二方向与第一方向之间的夹角为90°时，第二方向与第一方向相互垂直。在一些场景中，第一边界相对第三边界而言，第一边界在第三边界的上方，第三边界在第一边界的下方；第二边界和第四边界是相对而言的，第二边界在第四边界的右边，第四边界在第二边界的左边。
在本实施例中，用户在有清洁需求时，将清洁设备放置在工作区域的任一位置，该位置可以视为清洁设备在工作区域中的初始位置，也即起始位置。当然，用户在将清洁设备放置在工作区域的初始位置后，再调整清洁设备的当前位置相对于初始位置发生位置偏移，将调整后的位置作为起始位置等等，对此不做限制。清洁设备可以记录起始位置的相关信息，例如，起始位置的坐标信息、起始位置与各个边界线之间的距离信息，对此不做限制。
在本实施例中，清洁设备可以自起始位置开始执行清洁任务；清洁设备也可以从起始位置移动到其他位置，再从其他位置开始执行清洁任务，对此不做限制。清洁设备可以按照随机碰撞方式在工作区域中边移动边执行清洁任务；清洁设备也可以按照路径规划方式在工作区域中边移动边执行清洁任务，例如，按照弓字形、Z字形、N字形、回字形路径执行清洁任务，对此不做限制。
在本实施例中，清洁设备可能随时随地出现返回起始位置的返回需求。例如，清洁设 备从起始位置开始移动后，在清洁设备尚未执行清洁任务之前，清洁设备出现返回起始位置的需求。又例如，清洁设备结束清洁任务后，出现出现返回起始位置的需求。又例如，清洁设备结束路径规划任务后，出现出现返回起始位置的需求。实际应用中，清洁设备出现返回起始位置的需求时可能处于工作区域中的任一位置上。该位置可能是工作区域中除顶点位置之外的任一位置，也可能是顶点位置。
在本实施例中，顶点位置是指顶点的位置，顶点例如可以是右下角顶点、右上角顶点、左下角顶点和左上角顶点中任一个。右下角顶点是指第二边界和第三边界这两条边界线相交形成的交点；右上角顶点是指第二边界和第一边界这两条边界线相交形成的交点；左下角顶点是指第四边界和第三边界这两条边界线相交形成的交点；左上角顶点是指第四边界和第一边界这两条边界线相交形成的交点。
在本实施例中，为了准确快速地从当前位置开始控制清洁设备返回起点位置，获取起始位置与一个或多个边界线之间的至少一个距离信息，根据这些距离信息控制清洁设备从当前位置返回至起始位置。值得注意的是，该当前位置可以是指清洁设备出现返回起点位置需求时当前所在的位置，也可以是指清洁设备出现返回起点位置需求后移动一段距离所在的位置，对此不再限制。
实际应用中，在清洁设备放置到工作区域的起始位置后，可以随时确定起始位置与一个或多个边界线之间的至少一个距离信息。具体而言，确定清洁设备放置在工作区域中的起始位置分别与第一边界之间的第一距离、与第三边界之间的第二距离、与第四边界之间的第三距离以及与第二边界之间的第四距离中的至少一个距离信息。
在本实施例中，第一距离和第二距离分别是指沿着第二方向起点位置分别与第一边界、第三边界之间的距离，以第二方向为垂直方向为例，第一距离和第二距离可以分别理解为起点位置分别与第一边界、第三边界之间的垂直距离；第三距离和第四距离分别是指沿着第一方向起点位置分别与第四边界、第二边界之间的距离，以第一方向为水平方向为例，第三距离和第室距离可以分别理解为起点位置分别与第四边界、第二边界之间的水平距离。
在本实施例中，可以由用户手动测量起始位置与各边界线之间的沿着第二方向的第一距离和第二距离或沿着第一方向的第三距离和第四距离，并提供给清洁设备。若清洁设备存储有记录工作区域的环境地图，基于环境地图中记录的起始位置的空间位置坐标、以及各边界线上位置点的空间位置坐标，可以自动测量出起始位置与各边界线之间的沿着第二方向的第一距离和第二距离或沿着第一方向的第三距离和第四距离。环境地图是指对工作区域的各个位置点的空间位置坐标及其属性等进行描述的地图，环境地图可以是基于即时定位与地图构建(Simultaneous Localization and Mapping，简称SLAM)方式得到的地图，但并不限于此。进一步可选的，为了准确获取起始位置到各边界线的距离信息，在清洁设 备放置在工作区域的起始位置之后，控制清洁设备自起始位置朝着各个边界线进行移动，根据清洁设备自起始位置到边界线的移动速度和移动时间可以计算出起始位置到各边界线的距离信息。实际应用中，可以利用安装在清洁设备的驱动电机上的光栅编码器检测清洁设备的移动速度。其中，驱动电机每转一圈，光栅编码器发发出若干个脉冲信号，通过周期性检测并记录脉冲信号便可换算出清洁设备的移动速度。当然，也可以利用安装在清洁设备上的速度传感器检测清洁设备的移动速度。
在本实施例中，第一方向和第二方向分别具有正方向类别和反方向类别这两个方向类别，属于正方向类别的第一方向和属于反方向类别的第一方向之间相反，例如，属于正方向类别的第一方向为水平向右方向，属于反方向类别的第一方向为水平向左方向。或者，属于正方向类别的第一方向为水平向左方向，属于反方向类别的第一方向为水平向右方向。例如，属于正方向类别的第二方向为垂直向上方向，属于反方向类别的第一方向为垂直向下方向。或者，属于正方向类别的第二方向为垂直向下方向，属于反方向类别的第一方向为垂直向上方向。
在一些可选的实施例中，分别控制清洁设备自起始位置开始沿属于正方向类别的第二方向移动直至到达第一边界上的第一位置，以及自第一位置开始沿第一方向移动直至到达第一目标边界上的第一顶点位置，以及自第一顶点位置开始沿着第一方向移动直至到达第二目标边界上的第二顶点位置，其中，第一目标边界为第四边界或第二边界，第二目标边界与第一目标边界相对设置；根据清洁设备在起始位置和第一位置之间的移动速度和移动时间，确定起始位置与第一边界之间的第一距离；根据第四边界的长度和第一距离，确定起始位置与第三边界之间的第二距离；根据清洁设备在第一位置和第一顶点位置之间以及在第一顶点位置和第二顶点位置之间的移动速度和移动时间，确定起始位置和第四边界之间的第三距离以及起始位置和第二边界之间的第四距离。
在本实施例中，为了便于理解和区分，将清洁设备从起始位置开始移动所到达第一边界上的位置称作为第一位置，清洁设备出发的起始位置不同，第一位置也随之不同。第一位置可以落在第一边界上，可以是与第一边界之间的距离落在允许误差范围内的一个位置，对此不做限制。例如，在工作区域为有真实边框的玻璃窗时，当擦窗机器人碰撞到上边框时，此时确认擦窗机器人所在的位置为上边框上的第一位置。以图2为例，清洁设备在起始位置处调整行进方向为属于正方向类别的第二方向(例如垂直向上方向)，并自起始位置沿着属于正方向类别的第二方向前进，以及在前进过程中进行边界探测，实时检测清洁设备当前所处的位置是否落在第一边界上的第一位置，在检测出清洁设备当前所处的位置落在第一边界上的第一位置时，可以确认清洁设备已经从起始位置到达第一边界。这时，根据清洁设备从起始位置到第一位置的移动速度和移动时间，可以计算出起始位置到第一位置的移动距离，也即起始位置与第一边界之间的第一距离，如图2所示，第一距离可以 记为s1。
在一些可选的实施例中，将第四边界或第二边界的长度减去第一距离，得到起始位置与第三边界之间的第二距离，如图2所示，第二距离可以记为s4。
实际应用中，清洁设备可以接收用户输入的第四边界或第二边界的长度。也可以控制清洁设备沿着第二方向(例如垂直方向)从第一边界移动至第三边界，根据清洁设备从第一边界到第三边界的移动速度和移动时间，可以计算出第四边界或第二边界的长度；也可以根据工作区域的环境地图中第一边界和第三边界的边界信息，获取第四边界或第二边界的长度。进一步可选的，还可以根据清洁设备的规划路径信息确定第四边界或第二边界的长度。例如，在清洁设备可以按照弓字形规划路径在工作区域中移动时，可以根据清洁设备按照弓字形路径执行清洁任务时所行走的弓字形个数和每个弓字形对应的下探距离，确定第四边界或第二边界的长度。参见图3，图3中虚直线所示为多个弓字形路线，多个弓字形路线相互平行，当然，清洁设备在移动任意个弓字形路线之后的下一个弓字形路线可以沿任意方向继续以弓字形路线移动。一个弓字形路线由长边、短边、长边、短边、长边等五条线段组成，于是，弓字形路线的下探距离为两个短边的长度。参见图3，短边的长度记为s5。假设清洁设备的执行清洁任务时所行走的弓字形个数记为n，每个弓字形对应的下探距离记为2×s5，则第四边界或第二边界的长度为2×s4×n。其中，n可以为0.5个、1个、1.5个、2个等等。也即清洁设备可以在工作区域中行走整数个弓字形路径，或者，半个弓字形路径，或者在整数个弓字形路径的基础上在走半个弓字形路径。
在本实施例中，清洁设备到达第一位置后，自第一位置开始沿第一方向(例如水平方向)移动直至到达第一目标边界上的第一顶点位置，以及自第一顶点位置开始沿着第一方向移动直至到达第二目标边界上的第二顶点位置。具体而言，若清洁设备自第一位置开始沿着属于负方向类别的第一方向移动，则第一目标边界为第四边界，第一顶点位置为左上顶点位置，第二目标边界为第二边界，第二顶点位置为右上顶点位置。若清洁设备自第一位置开始沿着属于正方向类别的第一方向移动，则第一目标边界为第二边界，第一顶点位置为右上顶点位置，第二目标边界为第四边界，第二顶点位置为左上顶点位置。
在本实施例中，可以根据清洁设备在第一位置和第一顶点位置之间以及在第一顶点位置和第二顶点位置之间的移动速度和移动时间，确定起始位置和第四边界之间的第三距离以及起始位置和第二边界之间的第四距离。如图2所示，第三距离可以记为s2，第四距离可以记为s3。具体而言，根据清洁设备在第一位置和第一顶点位置之间的移动速度和移动时间，确定起始位置和第一目标边界之间的第五距离；根据清洁设备在第一顶点位置和第二顶点位置之间的移动速度和移动时间，确定第一边界的长度；根据第一边界的长度和第五距离，确定起始位置和第二目标边界之间的第六距离；将第五距离和第六距离中一个作为第三距离，另一个作为第四距离。其中，第一边界的长度减去第五距离可以得到第六距 离。
在本实施例中，根据清洁设备放置在工作区域中的起始位置分别与第一边界之间的第一距离、与第三边界之间的第二距离、与第四边界之间的第三距离以及与第二边界之间的第四距离中的至少一个距离信息，便可控制清洁设备随时随地地从当前位置返回至起始位置。
在一些实施例中，根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备自当前位置开始沿属于正方向类别的第二方向移动直至到达第一边界上的第二位置；控制清洁设备自第二位置开始沿属于反方向类别的第二方向移动直至到达与第二位置相距第一距离的第三位置；控制清洁设备自第三位置开始沿属于正方向类别的第一方向移动直至到达第二边界上的第四位置；控制清洁设备自第四位置开始沿属于负方向类别的第一方向移动直至到达与第四位置相距第四距离的起始位置。其中，第二位置可以落在第一边界上，可以是与第一边界之间的距离落在允许误差范围内的一个位置，对此不做限制。另外，第四位置可以落在第二边界上，可以是与第二边界之间的距离落在允许误差范围内的一个位置，对此不做限制。
实际应用中，在清洁设备到达当前位置后，可以控制清洁设备在当前位置上旋转以使当前行进方向调整为属于正方向类别的第二方向，以及控制清洁设备自当前位置开始沿属于正方向类别的第二方向移动直至到达第一边界上的第二位置。进一步可选的，为了提高清洁设备的返回效率，在清洁设备到达当前位置后，特别是当前位置为顶点位置的情况下，参见图4，以当前位置为右下角顶点位置为例，可以控制清洁设备自当前位置开始边移动边调整行进方向直至行进方向平行与属于正方向类别的第二方向，以及继续保持沿属于正方向类别的第二方向移动直至到达第一边界上的第二位置。
继续参见图4，结束清洁任务的清洁设备从右下角顶点位置到达第一边界的第二位置后，控制清洁设备在第二位置上旋转以使当前行进方向调整为属于反方向类别的第二方向(例如为垂直向下方向)。接着，控制清洁设备从第二位置沿着属于反方向类别的第二方向移动第一距离S1到达第三位置；控制清洁设备在第三位置上旋转以使当前行进方向调整为属于正方向类别的第一方向；接着，控制清洁设备自第三位置开始沿属于正方向类别的第一方向移动直至到达第二边界上的第四位置；接着，清洁设备在第四位置上旋转以使当前行进方向调整为属于负方向类别的第一方向；控制清洁设备自第四位置开始沿属于负方向类别的第一方向移动第四距离S3以到达起始位置。
在一些实施例中，根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备自当前位置开始沿属于反方向类别的第二方向移动直至到达第三边界上的第五位置；控制清洁设备自第五位置开始沿属于正方向类别的第二方向移动直至到达与第五位置相距第二距离的第六位置；控制清洁设备自第六位置开始沿属于正方向类别的 第一方向移动直至到达第二边界上的第七位置；控制清洁设备自第七位置开始沿属于负方向类别的第一方向移动直至到达与第七位置相距第四距离的起始位置。
实际应用中，在清洁设备到达当前位置后，可以控制清洁设备在当前位置上旋转以使当前行进方向调整为属于反方向类别的第二方向(例如为垂直向下方向)，以及控制清洁设备自当前位置开始沿属于反方向类别的第二方向移动直至到达第三边界上的第五位置。进一步可选的，为了提高清洁设备的返回效率，在清洁设备到达当前位置后，特别是当前位置为顶点位置的情况下，参见图5，以当前位置为第二边界上的右上角顶点位置为例，控制清洁设备自当前位置开始边移动边调整行进方向直至行进方向平行与属于反方向类别的第二方向，以及继续保持沿属于反方向类别的第二方向移动直至到达第三边界上的第五位置。
继续参见图5，结束清洁任务的清洁设备从右上角顶点位置到达第三边界上的第五位置后，控制清洁设备在第五位置上旋转以使当前行进方向调整为属于正方向类别的第二方向(例如为垂直向上方向)。接着，控制清洁设备从第五位置沿着属于正方向类别的第二方向移动第二距离S4到达第六位置；控制清洁设备在第六位置上旋转以使当前行进方向调整为属于正方向类别的第一方向；接着，控制清洁设备自第六位置开始沿属于正方向类别的第一方向移动直至到达第二边界上的第七位置；接着，清洁设备在第七位置上旋转以使当前行进方向调整为属于负方向类别的第一方向；控制清洁设备自第七位置开始沿属于负方向类别的第一方向移动第四距离S3以到达起始位置。
在一些实施例中，若当前位置为第四边界上的左下角顶点位置，则根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备自当前位置开始沿属于正方向类别的第二方向移动直至到达第一边界上的第八位置；控制清洁设备自第八位置开始沿属于反方向类别的第二方向移动直至到达与第八位置相距第一距离的第九位置；控制清洁设备自第九位置开始沿属于负方向类别的第一方向移动直至到达第四边界上的第十位置；控制清洁设备自第十位置开始沿属于正方向类别的第一方向移动直至到达与第十位置相距第三距离的起始位置。其中，第八位置可以落在第一边界上，可以是与第一边界之间的距离落在允许误差范围内的一个位置，对此不做限制。另外，第十位置可以落在第四边界上，可以是与第四边界之间的距离落在允许误差范围内的一个位置，对此不做限制。
实际应用中，在清洁设备到达当前位置后，可以控制清洁设备在当前位置上旋转以使当前行进方向调整为属于正方向类别的第二方向，并控制清洁设备自当前位置开始沿属于正方向类别的第二方向移动直至到达第一边界上的第八位置。进一步可选的，为了提高清洁设备的返回效率，在清洁设备到达当前位置后，特别是当前位置为顶点位置的情况下，参见图6，以当前位置为第四边界上的左下角顶点位置为例，控制清洁设备自当前位置开 始边移动边调整行进方向直至行进方向平行与属于正方向类别的第二方向，以及继续保持沿属于正方向类别的第二方向移动直至到达第一边界上的第八位置。
继续参见图6，结束清洁任务的清洁设备从左下角顶点位置到达第一边界上的第八位置后，控制清洁设备在第八位置上旋转以使当前行进方向调整为属于反方向类别的第二方向。接着，控制清洁设备从第八位置沿着属于反方向类别的第二方向(例如为垂直向下方向)移动第一距离S1到达第九位置；控制清洁设备在第九位置上旋转以使当前行进方向调整为属于负方向类别的第一方向；接着，控制清洁设备自第九位置开始沿属于负方向类别的第一方向移动直至到达第四边界上的第十位置；接着，清洁设备在第十位置上旋转以使当前行进方向调整为属于正方向类别的第一方向；控制清洁设备自第十位置开始沿属于正方向类别的第一方向移动第三距离S2以到达起始位置。
在一些实施例中，根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备自当前位置开始沿属于反方向类别的第二方向移动直至到达第三边界上的第十一位置；控制清洁设备自第十一位置开始沿属于正方向类别的第二方向移动直至到达与第十一位置相距第二距离的第十二位置；控制清洁设备自第十二位置开始沿属于负方向类别的第一方向移动直至到达第四边界上的第十三位置；控制清洁设备自第十三位置开始沿属于正方向类别的第一方向移动直至到达与第十三位置相距第三距离的起始位置。
实际应用中，在清洁设备到达当前位置后，可以控制清洁设备在当前位置上旋转以使当前行进方向调整为属于反方向类别的第二方向，并控制清洁设备自当前位置开始沿属于反方向类别的第二方向移动直至到达第三边界上的第十一位置。进一步可选的，为了提高清洁设备的返回效率，在清洁设备到达当前位置后，特别是当前位置为顶点位置的情况下，参见图7，以当前位置为第四边界上的左上角顶点位置为例，控制清洁设备自当前位置开始边移动边调整行进方向直至行进方向平行与属于反方向类别的第二方向，以及继续保持沿属于反方向类别的第二方向移动直至到达第三边界上的第十一位置。
继续参见图7，结束清洁任务的清洁设备从左上角顶点位置到达第三边界上的第十一位置后，控制清洁设备在第十一位置上旋转以使当前行进方向调整为属于正方向类别的第二方向。接着，控制清洁设备从第十一位置垂直向上移动第二距离S4到达第十二位置；控制清洁设备在第十二位置上旋转以使当前行进方向调整为属于负方向类别的第一方向；接着，控制清洁设备自第十二位置开始沿属于负方向类别的第一方向移动直至到达第四边界上的第十三位置；接着，清洁设备在第十三位置上旋转以使当前行进方向调整为属于正方向类别的第一方向；控制清洁设备自第十三位置开始沿属于正方向类别的第一方向移动第三距离S2以到达起始位置。
本申请实施例提供的技术方案，按照清洁设备放置在工作区域的起始位置与工作区域的各边界线之间的距离信息，准确、高效地控制清洁设备返回至起始位置，提高了清洁设 备的使用体验。
实际应用中，在清洁设备触发返回起始位置的事件后，若清洁设备所在当前位置不是顶点位置，可以控制清洁设备移动到顶点位置，并从顶点位置开始基于起始位置与工作区域的各边界线之间的距离信息控制清洁设备返回起始位置。当然，也可以在清洁设备位于顶点位置时触发返回起始位置的事件，对此不做限制。
在一些可选的实施例中，若当前位置为右下角顶点位置和右上角顶点位置，则根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备在当前位置原地旋转以使当前行进方向与第一方向的夹角为第一目标角度；根据第一目标角度和第四距离确定第一移动距离；控制清洁设备按照当前行进方向自当前位置移动第一移动距离到第一目标位置；控制清洁设备在第一目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向；控制清洁设备自第一目标位置沿着属于正方向类别的第二方向移动直至到达第一边界上的第二目标位置；控制清洁设备自第二目标位置沿着属于反方向类别的第二方向移动直至到达与第二目标位置相距第一距离的起始位置。其中，第一目标位置是任意位置，第一目标位置随着第一目标角度和第四距离改变而改变。第二目标位置可以落在第一边界上，可以是与第一边界之间的距离落在允许误差范围内的一个位置，对此不做限制。
以当前位置为右下角顶点位置为例，参见图8，清洁设备在右下角顶点位置开始原地旋转直至当前行进方向与第一方向的夹角为第一目标角度θ，θ为任一角度；假设第一移动距离记为s6，s6＝s3/cosθ，控制清洁设备从右下角顶点位置开始移动第一移动距离s6到第一目标位置；控制清洁设备在第一目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向(例如垂直向上方向)；控制清洁设备自第一目标位置沿着属于正方向类别的第二方向(例如垂直向上方向)移动直至到达第一边界上的第二目标位置；控制清洁设备自第二目标位置沿着属于反方向类别的第二方向(例如垂直向下方向)移动第一距离s3以到达起始位置。
以当前位置为右上角顶点位置为例，参见图9，清洁设备在右上角顶点位置开始原地旋转直至当前行进方向与第一方向的夹角为第一目标角度θ，θ为任一角度；假设第一移动距离记为s6，s6＝s3/cosθ，控制清洁设备从右上角顶点位置开始移动第一移动距离s6到第一目标位置；控制清洁设备在第一目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向(例如垂直向上方向)；控制清洁设备自第一目标位置沿着属于正方向类别的第二方向(例如垂直向上方向)移动直至到达第一边界上的第二目标位置；控制清洁设备自第二目标位置沿着属于反方向类别的第二方向(例如垂直向下方向)移动第一距离s3以到达起始位置。
在一些可选的实施例中，若当前位置为左下角顶点位置和左上角顶点位置，则根据至 少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备在当前位置原地旋转以使当前行进方向与第一方向的夹角为第二目标角度；根据第二目标角度和第三距离确定第二移动距离；控制清洁设备按照当前行进方向自当前位置移动第二移动距离到第三目标位置；控制清洁设备在第三目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向；控制清洁设备自第三目标位置沿着属于正方向类别的第二方向移动直至到达第一边界上的第四目标位置；控制清洁设备自第四目标位置沿着属于反方向类别的第二方向移动直至到达与第四目标位置相距第一距离的起始位置。
以当前位置为左上角顶点位置为例，参见图11，清洁设备在左上角顶点位置原地旋转以使当前行进方向与第一方向(例如水平方向)的夹角为第二目标角度β，β为任一角度；假设第二移动距离记为s7，s7＝s7/cosβ，控制清洁设备按照当前行进方向自当前位置移动第二移动距离s7到第三目标位置；控制清洁设备在第三目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向(例如垂直向上方向)；控制清洁设备自第三目标位置沿着属于正方向类别的第二方向移动直至到达第一边界上的第四目标位置；控制清洁设备自第四目标位置沿着属于反方向类别的第二方向(例如垂直向下方向)移动第一距离s1以到达起始位置。
在一些可选的实施例中，若当前位置为右下角顶点位置，则根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备在当前位置原地旋转以使当前行进方向与第一方向的夹角为第三目标角度；根据第三目标角度和第四距离确定第三移动距离和第四移动距离，以及将第二距离减去第四移动距离得到第七距离；控制清洁设备按照当前行进方向自当前位置移动第三移动距离到第五目标位置；控制清洁设备在第五目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向；控制清洁设备自第五目标位置沿着属于正方向类别的第二方向移动直至到达与第五目标位置相距第七距离的起始位置。
以当前位置为右下角顶点位置为例，参见图12，清洁设备在右下角顶点位置开始原地旋转直至当前行进方向与第一方向(例如水平方向)的夹角为第三目标角度θ，θ为任一角度；假设第三移动距离记为s6，第四移动距离记为s8，第二距离记为s4,第七距离记为s9，s6＝s3/cosθ，s8＝s3×tanθ，s9＝s4-s8。
控制清洁设备从右下角顶点位置开始移动第三移动距离s6到第五目标位置；以及控制清洁设备自第五目标位置沿着属于正方向类别的第二方向(例如垂直向上方向)移动第七距离s9以到达起始位置。
在一些可选的实施例中，若当前位置为右上角顶点位置，则根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备在当前位置原地旋转以使当前行进方向与第一方向的夹角为第四目标角度；根据第四目标角度和第四距离确定第五 移动距离和第六移动距离，以及将第一距离减去第六移动距离得到第八距离；控制清洁设备按照当前行进方向自当前位置移动第五移动距离到第六目标位置；控制清洁设备在第六目标位置原地旋转以使当前行进方向调整至属于反方向类别的第二方向；控制清洁设备自第六目标位置沿着属于反方向类别的第二方向移动直至到达与第六目标位置相距第八距离的起始位置。
以当前位置为右上角顶点位置为例，参见图13，清洁设备在右上角顶点位置开始原地旋转直至当前行进方向与第一方向(例如水平方向)的夹角为第四目标角度θ，θ为任一角度；假设第五移动距离记为s6，第六移动距离记为s10，第一距离记为s1,第八距离记为s11，s6＝s3/cosθ，s10＝s3×tanθ，s11＝s1-s10。控制清洁设备从右上角顶点位置开始移动第五移动距离s6到第六目标位置；以及控制清洁设备自第六目标位置沿着属于反方向类别的第二方向(例如垂直向下方向)移动第八距离s11以到达起始位置。
在一些实施例中，若当前位置为左下角顶点位置，则根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备在当前位置原地旋转以使当前行进方向与第一方向的夹角为第五目标角度；根据第五目标角度和第三距离确定第七移动距离和第八移动距离，以及将第二距离减去第八移动距离得到第九距离；控制清洁设备按照当前行进方向自当前位置移动第七移动距离到第七目标位置；控制清洁设备在第七目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向；控制清洁设备自第七目标位置沿着属于正方向类别的第二方向移动直至到达与第七目标位置相距第九距离的起始位置。
以当前位置为左下角顶点位置为例，参见图14，清洁设备在左下角顶点位置开始原地旋转直至当前行进方向与第一方向(例如水平方向)的夹角为第五目标角度β，β为任一角度；假设第七移动距离记为s7，第八移动距离记为s12，第二距离记为s4,第九距离记为s13，s7＝s2/cosβ，s12＝s2×tanβ，s13＝s4-s12。控制清洁设备从左下角顶点位置开始移动第七移动距离s7到第七目标位置；以及控制清洁设备自第七目标位置沿着属于正方向类别的第二方向移动(例如垂直向上方向)第九距离s13以到达起始位置。
在一些实施例中，若当前位置为左上角顶点位置，则根据至少一个距离信息，控制清洁设备从当前位置返回至起始位置，包括：控制清洁设备在当前位置原地旋转以使当前行进方向与第一方向的夹角为第六目标角度；根据第六目标角度和第三距离确定第九移动距离和第十移动距离，以及将第一距离减去第十移动距离得到第十距离；控制清洁设备按照当前行进方向自当前位置移动第九移动距离到第八目标位置；控制清洁设备在第八目标位置原地旋转以使当前行进方向调整至属于反方向类别的第二方向；控制清洁设备自第八目标位置沿着属于反方向类别的第二方向移动直至到达与第八目标位置相距第十距离的起始位置。
以当前位置为左上角顶点位置为例，参见图15，清洁设备在右上角顶点位置开始原地旋转直至当前行进方向与第一方向(例如水平方向)的夹角为第六目标角度β，β为任一角度；假设第九移动距离记为s7，第十移动距离记为s14，第一距离记为s1,第十距离记为s15，s7＝s2/cosβ，s14＝s2×tanβ，s15＝s1-s14。控制清洁设备从左下角顶点位置开始移动第八移动距离s7到第八目标位置；以及控制清洁设备自第八目标位置沿着属于反方向类别的第二方向(例如垂直向下方向)移动第十距离s15以到达起始位置。
为了更好理解本申请实施例提供的技术方案，下面进行场景实施例说明。
场景实施例：
用户开机启动擦窗机器人，并将擦窗机器人放置在带真实边框的玻璃窗上。擦窗机器人记录当前所在的位置为起始位置。接着，擦窗机器人自动测量起始位置到玻璃窗的上边框、下边框、右边框和左边框的距离。具体而言，擦窗机器人将行进方向调整至属于正方向类别的第二方向(例如垂直向上方向)，擦窗机器人从起始位置沿着属于正方向类别的第二方向移动，若碰撞到上边框，确认到达上边框，根据从起始位置到上边框的移动速度和移动时间计算从起始位置到上边框之间的第一距离。接着，擦窗机器人原地旋转以将行进方向调整至属于负方向类别的第一方向(例如水平向左方向)，并按照属于负方向类别的第一方向移动，若碰撞到左边框，确认到达左边框，根据水平向左移动过程中的移动速度和移动时间计算从起始位置到左边框之间的第三距离。接着，擦窗机器人原地旋转以将行进方向调整至属于正方向类别的第一方向(例如水平向右方向)，并按照属于正方向类别的第一方向移动，若碰撞到右边框，确认到达右边框，根据水平向右移动过程中的移动速度和移动时间计算从上边框的长度，将上边框的长度减去第三距离得到从起始位置到右边框之间的第四距离。至于从起始位置到下边框之间的第二距离，可以将擦窗机器人执行擦窗任务过程中获取的左边框的长度减去第一距离得到第二距离。接着，擦窗机器人从右边框侧的右上角顶点位置按照弓字形路径在玻璃窗中执行擦窗任务，直至到达右边框侧的右下角顶点位置停止擦窗任务。当然，擦窗机器人可以执行多次擦窗任务，并在玻璃窗中任意位置停止擦窗任务。接着，针对结束擦窗任务的擦窗机器人，首先控制擦窗机器人移动到一个顶点位置，例如，右下角顶点位置。并自右下角顶点位置开始，基于第三距离、第四距离、第一距离或第二距离中一个或多个，控制擦窗机器人从顶点位置返回至起始位置。参见图4至15，可以有多种返回方案。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (16)

  1. 一种清洁设备的控制方法，其特征在于，所述清洁设备的工作区域包括沿第一方向相对设置的第一边界和第三边界，以及沿第二方向相对设置的第二边界和第四边界，所述第一边界、所述第二边界、所述第三边界和所述第四边界顺次首尾连接围成所述工作区域；所述方法包括：
    获取所述清洁设备放置在所述工作区域中的起始位置分别与所述第一边界之间的第一距离、与所述第三边界之间的第二距离、与所述第四边界之间的第三距离以及与所述第二边界之间的第四距离中的至少一个距离信息；
    根据所述至少一个距离信息，控制所述清洁设备从当前位置返回至所述起始位置。
  2. 根据权利要求1所述的方法，其特征在于，还包括：
    在所述清洁设备执行清洁任务之前，分别控制所述清洁设备自所述起始位置开始沿属于正方向类别的第二方向移动直至到达所述第一边界上的第一位置，以及自所述第一位置开始沿第一方向移动直至到达第一目标边界上的第一顶点位置，以及自所述第一顶点位置开始沿着第一方向移动直至到达第二目标边界上的第二顶点位置，其中，所述第一目标边界为第四边界或第二边界，所述第二目标边界与所述第一目标边界相对设置；
    根据所述清洁设备在所述起始位置和所述第一位置之间的移动速度和移动时间，确定所述起始位置与所述第一边界之间的第一距离；
    根据所述第四边界的长度和所述第一距离，确定所述起始位置与所述第三边界之间的第二距离；
    根据所述清洁设备在所述第一位置和所述第一顶点位置之间以及在所述第一顶点位置和所述第二顶点位置之间的移动速度和移动时间，确定所述起始位置和所述第四边界之间的第三距离以及所述起始位置和所述第二边界之间的第四距离。
  3. 根据权利要求2所述的方法，其特征在于，确定所述起始位置和所述第四边界之间的第三距离以及所述起始位置和所述第二边界之间的第四距离，包括：
    根据所述清洁设备在所述第一位置和所述第一顶点位置之间的移动速度和移动时间，确定所述起始位置和所述第一目标边界之间的第五距离；
    根据所述清洁设备在所述第一顶点位置和所述第二顶点位置之间的移动速度和移动时间，确定所述第一边界的长度；
    根据所述第一边界的长度和所述第五距离，确定所述起始位置和所述第二目标边界之间的第六距离；
    将所述第五距离和所述第六距离中一个作为所述第三距离，另一个作为所述第四距离。
  4. 根据权利要求1至3任一项所述的方法，其特征在于，根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备自所述当前位置开始沿属于正方向类别的第二方向移动直至到达所述第一边界上的第二位置；
    控制所述清洁设备自所述第二位置开始沿属于反方向类别的第二方向移动直至到达与所述第二位置相距所述第一距离的第三位置；
    控制所述清洁设备自所述第三位置开始沿属于正方向类别的第一方向移动直至到达所述第二边界上的第四位置；
    控制所述清洁设备自所述第四位置开始沿属于负方向类别的第一方向移动直至到达与所述第四位置相距所述第四距离的所述起始位置。
  5. 根据权利要求4所述的方法，其特征在于，控制所述清洁设备自所述当前位置开始沿属于正方向类别的第二方向移动直至到达所述第一边界上的第二位置，包括：
    控制所述清洁设备自所述当前位置开始边移动边调整行进方向直至所述行进方向平行与所述属于正方向类别的第二方向，以及继续保持所述沿属于正方向类别的第二方向移动直至到达所述第一边界上的第二位置。
  6. 根据权利要求1至3任一项所述的方法，其特征在于，根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备自所述当前位置开始沿属于反方向类别的第二方向移动直至到达所述第三边界上的第五位置；
    控制所述清洁设备自所述第五位置开始沿属于正方向类别的第二方向移动直至到达与所述第五位置相距所述第二距离的第六位置；
    控制所述清洁设备自所述第六位置开始沿属于正方向类别的第一方向移动直至到达所述第二边界上的第七位置；
    控制所述清洁设备自所述第七位置开始沿属于负方向类别的第一方向移动直至到达与所述第七位置相距所述第四距离的所述起始位置。
  7. 根据权利要求1至3任一项所述的方法，其特征在于，根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备自所述当前位置开始沿属于正方向类别的第二方向移动直至到达所述第一边界上的第八位置；
    控制所述清洁设备自所述第八位置开始沿属于反方向类别的第二方向移动直至到达与所述第八位置相距所述第一距离的第九位置；
    控制所述清洁设备自所述第九位置开始沿属于负方向类别的第一方向移动直至到达所述第四边界上的第十位置；
    控制所述清洁设备自所述第十位置开始沿属于正方向类别的第一方向移动直至到达与所述第十位置相距所述第三距离的所述起始位置。
  8. 根据权利要求1至3任一项所述的方法，其特征在于，根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备自所述当前位置开始沿属于反方向类别的第二方向移动直至到达所述第三边界上的第十一位置；
    控制所述清洁设备自所述第十一位置开始沿属于正方向类别的第二方向移动直至到达与所述第十一位置相距所述第二距离的第十二位置；
    控制所述清洁设备自所述第十二位置开始沿属于负方向类别的第一方向移动直至到达所述第四边界上的第十三位置；
    控制所述清洁设备自所述第十三位置开始沿属于正方向类别的第一方向移动直至到达与所述第十三位置相距所述第三距离的所述起始位置。
  9. 根据权利要求1至3任一项所述的方法，其特征在于，若所述当前位置为右下角顶点位置和右上角顶点位置，则根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备在所述当前位置原地旋转以使当前行进方向与第一方向的夹角为第一目标角度；
    根据所述第一目标角度和所述第四距离确定第一移动距离；
    控制所述清洁设备按照所述当前行进方向自所述当前位置移动第一移动距离到第一目标位置；
    控制所述清洁设备在所述第一目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向；
    控制所述清洁设备自所述第一目标位置沿着所述属于正方向类别的第二方向移动直至到达所述第一边界上的第二目标位置；
    控制所述清洁设备自所述第二目标位置沿着所述属于反方向类别的第二方向移动直至到达与所述第二目标位置相距所述第一距离的起始位置。
  10. 根据权利要求1至3任一项所述的方法，其特征在于，若所述当前位置为左下角顶点位置和左上角顶点位置，则根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备在所述当前位置原地旋转以使当前行进方向与第一方向的夹角为第二目标角度；
    根据所述第二目标角度和所述第三距离确定第二移动距离；
    控制所述清洁设备按照所述当前行进方向自所述当前位置移动第二移动距离到第三 目标位置；
    控制所述清洁设备在所述第三目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向；
    控制所述清洁设备自所述第三目标位置沿着所述属于正方向类别的第二方向移动直至到达所述第一边界上的第四目标位置；
    控制所述清洁设备自所述第四目标位置沿着所述属于反方向类别的第二方向移动直至到达与所述第四目标位置相距所述第一距离的起始位置。
  11. 根据权利要求1至3任一项所述的方法，其特征在于，若所述当前位置为右下角顶点位置，则根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备在所述当前位置原地旋转以使当前行进方向与第一方向的夹角为第三目标角度；
    根据所述第三目标角度和所述第四距离确定第三移动距离和第四移动距离，以及将所述第二距离减去所述第四移动距离得到第七距离；
    控制所述清洁设备按照所述当前行进方向自所述当前位置移动第三移动距离到第五目标位置；
    控制所述清洁设备在所述第五目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向；
    控制所述清洁设备自所述第五目标位置沿着所述属于正方向类别的第二方向移动直至到达与所述第五目标位置相距所述第七距离的起始位置。
  12. 根据权利要求1至3任一项所述的方法，其特征在于，若所述当前位置为右上角顶点位置，则根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备在所述当前位置原地旋转以使当前行进方向与第一方向的夹角为第四目标角度；
    根据所述第四目标角度和所述第四距离确定第五移动距离和第六移动距离，以及将所述第一距离减去所述第六移动距离得到第八距离；
    控制所述清洁设备按照所述当前行进方向自所述当前位置移动第五移动距离到第六目标位置；
    控制所述清洁设备在所述第六目标位置原地旋转以使当前行进方向调整至属于反方向类别的第二方向；
    控制所述清洁设备自所述第六目标位置沿着所述属于反方向类别的第二方向移动直至到达与所述第六目标位置相距所述第八距离的起始位置。
  13. 根据权利要求1至3任一项所述的方法，其特征在于，若所述当前位置为左下角顶点位置，则根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备在所述当前位置原地旋转以使当前行进方向与第一方向的夹角为第五目标角度；
    根据所述第五目标角度和所述第三距离确定第七移动距离和第八移动距离，以及将所述第二距离减去所述第八移动距离得到第九距离；
    控制所述清洁设备按照所述当前行进方向自所述当前位置移动第七移动距离到第七目标位置；
    控制所述清洁设备在所述第七目标位置原地旋转以使当前行进方向调整至属于正方向类别的第二方向；
    控制所述清洁设备自所述第七目标位置沿着所述属于正方向类别的第二方向移动直至到达与所述第七目标位置相距所述第九距离的起始位置。
  14. 根据权利要求1至3任一项所述的方法，其特征在于，若所述当前位置为左上角顶点位置，则根据所述至少一个距离信息，控制所述清洁设备从所述当前位置返回至所述起始位置，包括：
    控制所述清洁设备在所述当前位置原地旋转以使当前行进方向与第一方向的夹角为第六目标角度；
    根据所述第六目标角度和所述第三距离确定第九移动距离和第十移动距离，以及将所述第一距离减去所述第十移动距离得到第十距离；
    控制所述清洁设备按照所述当前行进方向自所述当前位置移动第九移动距离到第八目标位置；
    控制所述清洁设备在所述第八目标位置原地旋转以使当前行进方向调整至属于反方向类别的第二方向；
    控制所述清洁设备自所述第八目标位置沿着所述属于反方向类别的第二方向移动直至到达与所述第八目标位置相距所述第十距离的起始位置。
  15. 一种清洁设备，其特征在于，包括：设备本体，所述设备本体上设置有存储器和处理器；
    所述存储器，用于存储计算机程序；
    所述处理器耦合至所述存储器，用于执行所述计算机程序，以用于执行权利要求1-14任一项所述方法中的步骤。
  16. 一种存储有计算机程序的计算机存储介质，其特征在于，当所述计算机程序被处理器执行时，致使所述处理器能够实现权利要求1-14任一项所述方法中的步骤。
PCT/CN2023/107042 2022-08-18 2023-07-12 清洁设备的控制方法、清洁设备及存储介质 WO2024037260A1 (zh)

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