CN112022011B - Control method, equipment, system and storage medium of sweeping robot - Google Patents
Control method, equipment, system and storage medium of sweeping robot Download PDFInfo
- Publication number
- CN112022011B CN112022011B CN202011024719.0A CN202011024719A CN112022011B CN 112022011 B CN112022011 B CN 112022011B CN 202011024719 A CN202011024719 A CN 202011024719A CN 112022011 B CN112022011 B CN 112022011B
- Authority
- CN
- China
- Prior art keywords
- area
- sweeping
- track
- sweeping robot
- cleaning
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method, equipment, a system and a storage medium of a sweeping robot, wherein the method comprises the steps of controlling the sweeping robot to sweep along the edge if an edge instruction is monitored, and recording an edge sweeping track; if the edgewise cleaning track forms a closed track, judging whether an inner area corresponding to the closed track is a target cleaning area; if the inner area is the target cleaning area, the sweeping robot is controlled according to a preset walking route so as to clean the target cleaning area, the cleaning under the maximum coverage rate of the current space is realized, the area which is not swept is effectively reduced, the repeated cleaning is avoided, and the cleaning efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of sweeping robots, and particularly relates to a control method, equipment, a system and a storage medium of a sweeping robot.
Background
With the continuous improvement of the living standard of people, the sweeping robot has more and more entered into the families of residents. Such a sweeping robot generally drives a traveling wheel provided at the bottom through a driving unit in a body, and performs a sweeping operation of a surface to be swept in a traveling process.
In general, a relatively common operation mode of a sweeping robot is a random direction sweeping mode, which means that the sweeping robot does not adopt path planning, and when the sweeping robot runs and encounters an obstacle, the sweeping robot randomly turns a certain angle to continue running and sweeping. The mode control is simple, and a sensor with high precision is not needed, so the cost is low. But some places are easy to be cleaned, while other places are cleaned repeatedly, and the cleaning efficiency is low.
Disclosure of Invention
The invention mainly aims to provide a control method, equipment, a system and a storage medium of a sweeping robot, and aims to solve the problems of low coverage rate and low sweeping efficiency of the sweeping robot in the prior art.
In order to solve the above problems, the present invention provides a control method for a floor sweeping robot, including:
if an edgewise command is monitored, controlling the sweeping robot to carry out edgewise sweeping, and recording an edgewise sweeping track;
if the edgewise cleaning track forms a closed track, judging whether an inner area corresponding to the closed track is a target cleaning area;
and if the internal area is the target cleaning area, controlling the sweeping robot to clean the target cleaning area according to a preset walking route.
The invention also provides control equipment of the sweeping robot, which comprises a memory and a controller;
the memory stores thereon a computer program which, when executed by the controller, implements the steps of the control method of the sweeping robot as described above.
Further, in the control method of the sweeping robot, determining whether an inner area corresponding to the closed trajectory is a target sweeping area includes:
determining an area of the interior region;
if the area of the inner area is larger than a preset area threshold value, judging that the inner area is the target cleaning area;
and if the area of the inner area is smaller than or equal to a preset area threshold value, judging that the inner area is not the target cleaning area.
Further, in the control method of the sweeping robot, determining whether an inner area corresponding to the closed trajectory is a target sweeping area includes:
determining a trajectory direction of the closed trajectory;
if the track direction is the same as the designated direction, judging that the internal area is the target cleaning area;
and if the track direction is different from the designated direction, judging that the inner area is not the target cleaning area.
Further, in the control method of the sweeping robot, the designated direction is a counterclockwise direction.
Further, in the control method of the sweeping robot, before determining whether an inner area corresponding to the closed trajectory is a target cleaning area if the edgewise cleaning trajectory forms the closed trajectory, the method further includes:
if the edgewise cleaning track is a non-coincident track, determining the distance between the starting point of the edgewise cleaning track and the current point of the edgewise cleaning track;
and if the distance is smaller than or equal to a preset distance threshold value, determining that the edgewise sweeping track forms a closed track.
Further, in the control method of the sweeping robot, before controlling the sweeping robot to sweep the target sweeping area according to a preset walking route, the method includes:
controlling the sweeping robot to continue sweeping along the edge, and controlling the sweeping robot to stop sweeping along the edge if the current point of the sweeping track is located outside a preset range outside the target sweeping area;
and if the current point of the edgewise cleaning track is located in the preset range outside the target cleaning area, controlling the sweeping robot to stop edgewise cleaning after the sweeping robot walks to the edgewise initial position.
Further, in the control method of the sweeping robot, after the cleaning of the target cleaning area, the method further includes:
and if the global area still has an uncleaned area, continuously monitoring the edge instruction so as to clean the uncleaned area.
The invention also provides a control system of the sweeping robot, which comprises the following components:
the controller is arranged in the sweeping robot and used for controlling the sweeping robot to sweep along the edge and recording an edge sweeping track if an edge instruction is monitored;
the remote control equipment is used for judging whether an internal area corresponding to the closed track is a target cleaning area or not if the edgewise cleaning track forms the closed track; and if the internal area is the target cleaning area, controlling the sweeping robot to clean the target cleaning area according to a preset walking route.
The present invention also provides a storage medium having stored thereon a computer program which, when executed by a controller, implements the steps of the control method of the sweeping robot as described above.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
according to the control method, the equipment, the system and the storage medium of the sweeping robot, if the edgewise instruction is monitored, the sweeping robot is controlled to carry out edgewise sweeping, and an edgewise sweeping track is recorded; if a closed track is formed along the edge cleaning track, judging whether an inner area corresponding to the closed track is a target cleaning area; if this interior region cleans the region for the target, control robot of sweeping the floor according to predetermined walking route to clean the region to the target, realized carrying out cleaning under the maximum coverage to current space, effectively reduced the area of leaking sweeping, and avoided repeatedly cleaning, improved and cleaned efficiency.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a control method of a sweeping robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the sweeping robot for finding edges;
fig. 3 is a schematic structural diagram of a control device of the sweeping robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control system of the sweeping robot according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Example one
In order to solve the technical problems in the prior art, the embodiment of the invention provides a control method for a sweeping robot.
Fig. 1 is a flowchart of a control method of a sweeping robot according to an embodiment of the present invention, and as shown in fig. 1, the control method of the sweeping robot of the embodiment may specifically include the following steps:
100. if an edgewise command is monitored, controlling the sweeping robot to carry out edgewise sweeping, and recording an edgewise sweeping track;
in general, an outline formed at an edge of a certain space is a maximum coverage area of the space, and therefore, in this embodiment, in order to improve the coverage rate of the sweeping robot, when the sweeping is required, an edge instruction may be generated, so that if the edge instruction is monitored, the sweeping robot may be controlled to find an edge, so that the sweeping may be performed along the edge, and in the sweeping process, an edge sweeping track is recorded. For example, the edgewise sweeping trajectory may be formed by a plurality of trajectory points.
In practical application, if an edgewise instruction is monitored, it needs to be determined whether the edgewise instruction is sent for the first time or not. If the edgewise command is sent for the first time, the sweeping robot starts to move, resets the odometer coordinate system from when the robot moves to the edge position of the current space, starts Simultaneous positioning and Mapping (SLAM), then performs edgewise sweeping, and records the sweeping track points along the edge to form an edgewise sweeping track. If the edge command is not sent for the first time, the edge can be directly cleaned, and the cleaning track points of the edge are recorded to form an edge cleaning track.
The edge finding principle of the embodiment is as follows:
normally, the structured light is located right in front of the sweeping robot, and the structured light has a blind area of about 20cm, so that an object right in front can be detected. Fig. 2 is a schematic diagram of the sweeping robot for finding edges. As shown in fig. 2, if the direction 1 is directly ahead and the inclination angles are 50 degrees (direction 2), 60 degrees (direction 3), and 70 degrees (direction 4) to the right, the detection distance is gradually increased. The problem of the blind zone of the structured light detecting the object directly in front can be avoided by the measurement of the directions 2, 3, 4.
For example, if the distance in the direction 1 directly ahead is 20cm, the distance in the direction 2 is 20cm tan (50) ≈ 23.8cm, the distance in the direction 3 is 20cm tan (60) ≈ 34.6cm, and the distance in the direction 4 is 20cm tan (70) ≈ 54.9 cm.
The sensor real-time supervision is right ahead data, carries out filtering process to the data of sensor, and the distance that detects apart from the barrier constantly reduces, when being less than 20cm, no longer detects the distance of direction 1 this moment, detects the data of direction 2, when the data of direction 2 is less than blind area 20cm, detects the distance of direction 3, and so on. And when the data in the maximum angle direction is less than a certain threshold value, the mark is close to the object and needs to be rotated.
101. If a closed track is formed along the edge cleaning track, judging whether an inner area corresponding to the closed track is a target cleaning area;
in this embodiment, while the edgewise cleaning trajectory is recorded, it is determined whether the edgewise cleaning trajectory forms a closed trajectory. Specifically, if the edgewise cleaning track is a misaligned track, determining the distance between the starting point of the edgewise cleaning track and the current point of the edgewise cleaning track; and if the distance is smaller than or equal to the preset distance threshold value, determining that the edgewise sweeping track forms a closed track. In this embodiment, the distance between the entrance and the exit is preferably used as the preset distance threshold, so that it is not necessary to determine that the starting point of the edgewise cleaning track and the current point of the edgewise cleaning track are completely overlapped, and it can be determined that the edgewise cleaning track forms a closed track, thereby effectively reducing the error of the determination result.
In practical application, although the sweeping robot forms the closed track along the edge cleaning track, since the sweeping robot may not directly walk from the edge of the space, in the process of finding the edge, the robot may find the edge of the obstacle first and walk along the edge of the obstacle, and the sweeping robot can also form the closed track along the edge cleaning track, but an internal area corresponding to the closed track is not an area to be cleaned, and therefore, in this embodiment, it is further necessary to determine whether the internal area corresponding to the closed track is the target cleaning area.
Specifically, whether the inner area corresponding to the closed trajectory is the target cleaning area may be determined as follows:
the first mode is as follows:
because the area of the general occupied space of the obstacle is not very large, in this embodiment, the area of the inner region corresponding to the closed trajectory can be determined, so that whether the sweeping robot forms the closed trajectory along the sweeping trajectory due to the obstacle detouring behavior is determined by using the area of the inner region corresponding to the closed trajectory. If the area of the inner area is larger than a preset area threshold value, judging that the inner area is a target cleaning area; and if the area of the inner area is smaller than or equal to the preset area threshold value, judging that the inner area is not the target cleaning area. The preset area threshold may be set according to an actual requirement, and may be set to 1 square meter, for example.
The second mode is as follows:
in practical application, due to the installation position of the sensor of the sweeping robot, the direction of the sweeping robot when the sweeping robot walks around the obstacle is often opposite to the direction of the sweeping robot when the sweeping robot walks along the edge, so that in the embodiment, the track direction of the closed track can be determined, the track direction of the closed track is compared with the specified direction, and if the track direction of the closed track is the same as the specified direction, the inner area is judged to be the target sweeping area, namely, obstacle-surrounding behaviors do not exist; if the track direction of the closed track is different from the specified direction, the inner area is judged not to be the target cleaning area, namely obstacle detouring action exists, the obstacle detouring track needs to be cleared, and then the edge is found again. In the present embodiment, the designated direction is preferably a counterclockwise direction.
102. And if the inner area corresponding to the closed track is the target cleaning area, controlling the sweeping robot to clean the target cleaning area according to a preset walking route.
In this embodiment, after it is determined that the internal area corresponding to the closed trajectory is the target cleaning area, it is described that when the target cleaning area is cleaned, cleaning can be performed on the current space at the maximum coverage rate, at this time, the target cleaning area can be planned, and the cleaning robot is controlled to clean the target cleaning area according to the preset walking route.
For example, the sweeping robot may be controlled to travel according to an arcuate route, a zigzag route, a double-Z route, and the like, and to sweep the target sweeping area during the travel process until the target sweeping area is traversed, and then the sweeping robot is controlled to stop sweeping.
In practical application, a user often cleans all rooms by using the sweeping robot, and the user can directly send a global cleaning instruction for the convenience of the user, so that the sweeping robot cleans all rooms one by one. Therefore, in this embodiment, after the target cleaning area is traversed, after the sweeping robot is controlled to stop cleaning, a waiting instruction may be sent to the sweeping robot, for example, a right-edge-wall command is used to rotate or move the sweeping machine to a right-edge-wall state instruction, and whether global cleaning is completed is detected, if global cleaning is completed, the operation is ended, otherwise, if global cleaning is not completed, that is, an uncleaned area still exists in the global area, the edgewise instruction is continuously monitored, so that the uncleaned area is cleaned according to the steps of step 100 and step 102.
According to the control method of the sweeping robot, if the edgewise instruction is monitored, the sweeping robot is controlled to carry out edgewise sweeping, and an edgewise sweeping track is recorded; if a closed track is formed along the edge cleaning track, judging whether an inner area corresponding to the closed track is a target cleaning area; if this interior region cleans the region for the target, control robot of sweeping the floor according to predetermined walking route to clean the region to the target, realized carrying out cleaning under the maximum coverage to current space, effectively reduced the area of leaking sweeping, and avoided repeatedly cleaning, improved and cleaned efficiency.
In one implementation, two adjacent rooms are typically communicated through a doorway, such as room a and room B. If the sweeping robot determines the target cleaning area in the room a, the sweeping robot may enter the room B due to a doorway, and thus the target cleaning area in the room B is first determined, and the route in the room a needs to be temporarily stored, and the target cleaning area in the room a can be determined only after the room B enters the room a again, which often results in low cleaning efficiency. Therefore, in order to solve the above technical problems, the present invention further provides the following technical solutions.
Specifically, after determining the target cleaning area, the robot that sweeps the floor can also be controlled to continue to sweep edgewise, if the current point of the edgewise cleaning track is located outside the preset range outside the target cleaning area, it has explained that the robot that sweeps the floor has walked to the gate, in order to prevent determining the target cleaning area after, can't in time sweep the target cleaning area that determines, in this embodiment, when the current point of the edgewise cleaning track is located outside the preset range outside the target cleaning area, then control the robot that sweeps the floor to stop sweeping edgewise cleaning, and return to the target cleaning area that determines after, sweep the target cleaning area that determines.
In this embodiment, if the current point of the edgewise cleaning track is located inside the preset range outside the target cleaning area, it is indicated that the current space is a closed space, that is, the entrance and exit are in a closed state, and at this time, after the sweeping robot is controlled to travel to the edgewise starting position, the sweeping robot is controlled to stop edgewise cleaning, and the determined target cleaning area is cleaned.
It should be noted that the method of the embodiment of the present invention may be executed by a single device, such as the sweeping robot itself, a terminal or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In the case of such a distributed scenario, one device of the multiple devices may only perform one or more steps of the method according to the embodiment of the present invention, and the multiple devices interact with each other to complete the method.
Example two
In order to solve the technical problems in the prior art, the embodiment of the invention provides a control device of a sweeping robot.
Fig. 3 is a schematic structural diagram of a control device of a sweeping robot according to an embodiment of the present invention. As shown in fig. 3, the control device of the sweeping robot of the present embodiment may include an edge control module 30, a judgment module 31 and a route control module 32.
The edge control module 30 is used for controlling the sweeping robot to sweep along the edge if the edge instruction is monitored, and recording an edge sweeping track;
the judging module 31 is configured to judge whether an internal area corresponding to a closed track is a target cleaning area if the closed track is formed along the edge cleaning track;
specifically, the determining module 31 is further configured to determine a distance between a starting point of the edge cleaning track and a current point of the edge cleaning track if the edge cleaning track is determined to be a non-coincident track; and if the distance is smaller than or equal to the preset distance threshold, determining that the edge cleaning track forms a closed track, and further judging whether the inner area corresponding to the closed track is the target cleaning area.
In this embodiment, the area of the inner region may be determined; if the area of the inner area is larger than a preset area threshold value, judging that the inner area is a target cleaning area; and if the area of the inner area is smaller than or equal to the preset area threshold value, judging that the inner area is not the target cleaning area. The track direction of the closed track can also be determined; if the track direction is the same as the designated direction, judging that the inner area is the target cleaning area; and if the track direction is different from the designated direction, judging that the inner area is not the target cleaning area. Wherein the designated direction is counterclockwise.
And the route control module 32 is configured to control the sweeping robot to sweep the target sweeping area according to a preset walking route if the internal area is the target sweeping area, and continue to monitor the edgewise instruction when detecting that an uncleaned area still exists in the global area, so as to sweep the uncleaned area.
According to the control device of the sweeping robot, if the edgewise instruction is monitored, the sweeping robot is controlled to carry out edgewise sweeping, and an edgewise sweeping track is recorded; if a closed track is formed along the edge cleaning track, judging whether an inner area corresponding to the closed track is a target cleaning area; if this interior region cleans the region for the target, control robot of sweeping the floor according to predetermined walking route to clean the region to the target, realized carrying out cleaning under the maximum coverage to current space, effectively reduced the area of leaking sweeping, and avoided repeatedly cleaning, improved and cleaned efficiency.
Further, in the above embodiment, after the determining module determines that the internal area is the target cleaning area, the edge control module 30 is further configured to control the sweeping robot to continue to perform the edge cleaning, and if the current point of the edge cleaning track is located outside the preset range outside the target cleaning area, control the sweeping robot to stop the edge cleaning; and if the current point of the edgewise cleaning track is positioned in the preset range outside the target cleaning area, controlling the sweeping robot to stop edgewise cleaning after the sweeping robot travels to the edgewise initial position.
The apparatus in the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and specific implementation schemes thereof may refer to the method described in the foregoing embodiment and relevant descriptions in the method embodiment, and have beneficial effects of the corresponding method embodiment, which are not described herein again.
EXAMPLE III
In order to solve the technical problems in the prior art, the embodiment of the invention provides a control system of a sweeping robot.
Fig. 3 is a schematic structural diagram of a control system of a sweeping robot according to an embodiment of the present invention, and as shown in fig. 3, the control system of the sweeping robot according to the embodiment may include a remote control device 41 and a controller 40 disposed in the sweeping robot. The remote control device 41 in this embodiment may include a server 411 and a terminal 412, and the controller 40 is connected to the terminal 412 through the server 411 to implement data interaction between the controller 40 and the terminal 412.
In this embodiment, the controller 40 arranged in the sweeping robot is configured to control the sweeping robot to sweep along the edge and record an edge sweeping track if an edge instruction is monitored; the remote control device 41 is configured to, if a closed trajectory is formed along the edge cleaning trajectory, determine whether an internal area corresponding to the closed trajectory is a target cleaning area; and if the inner area is the target cleaning area, controlling the sweeping robot to clean the target cleaning area according to a preset walking route.
It should be noted that, in this embodiment, the remote control device may also include only a terminal, and the terminal and the controller may be connected through bluetooth, Wireless-Fidelity (WiFi), and the like.
Example four
In order to solve the technical problems in the prior art, the embodiment of the invention provides control equipment for a sweeping robot. The control device of the sweeping robot can comprise a memory and a controller, wherein the memory is stored with a computer program, and the computer program is executed by the controller to realize the control method of the sweeping robot of the embodiment.
EXAMPLE five
In order to solve the above technical problems in the prior art, embodiments of the present invention provide a storage medium.
The storage medium of this embodiment stores thereon a computer program, and the computer program is executed by the controller to implement the control method of the sweeping robot of the above embodiment.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module 33, or each unit may exist alone physically, or two or more units are integrated in one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A control method of a sweeping robot is characterized by comprising the following steps:
if an edgewise command is monitored, controlling the sweeping robot to carry out edgewise sweeping, and recording an edgewise sweeping track;
if the edgewise cleaning track forms a closed track, judging whether an inner area corresponding to the closed track is a target cleaning area;
if the inner area is the target cleaning area, controlling the sweeping robot to continue sweeping along the edge, and if the current point of the sweeping track is located outside a preset range outside the target cleaning area, controlling the sweeping robot to stop sweeping along the edge; if the current point of the edgewise cleaning track is located in the preset range outside the target cleaning area, controlling the sweeping robot to stop edgewise cleaning after the sweeping robot is controlled to walk to the edgewise starting position; and after controlling the sweeping robot to stop sweeping along the edge, controlling the sweeping robot to sweep the target sweeping area according to a preset walking route.
2. The method for controlling the sweeping robot according to claim 1, wherein the step of judging whether the inner area corresponding to the closed track is the target sweeping area comprises the steps of:
determining an area of the interior region;
if the area of the inner area is larger than a preset area threshold value, judging that the inner area is the target cleaning area;
and if the area of the inner area is smaller than or equal to a preset area threshold value, judging that the inner area is not the target cleaning area.
3. The method for controlling the sweeping robot according to claim 1, wherein the step of judging whether the inner area corresponding to the closed track is the target sweeping area comprises the steps of:
determining a trajectory direction of the closed trajectory;
if the track direction is the same as the designated direction, judging that the internal area is the target cleaning area;
and if the track direction is different from the designated direction, judging that the inner area is not the target cleaning area.
4. The method of claim 3, wherein the designated direction is counterclockwise.
5. The method for controlling the sweeping robot according to claim 1, wherein if the edgewise sweeping trajectory forms a closed trajectory, before determining whether an inner area corresponding to the closed trajectory is a target sweeping area, the method further comprises:
if the edgewise cleaning track is a non-coincident track, determining the distance between the starting point of the edgewise cleaning track and the current point of the edgewise cleaning track;
and if the distance is smaller than or equal to a preset distance threshold value, determining that the edgewise sweeping track forms a closed track.
6. The method for controlling a sweeping robot according to claim 1, further comprising, after sweeping the target sweeping area:
and if the global area still has an uncleaned area, continuously monitoring the edge instruction so as to clean the uncleaned area.
7. The control equipment of the sweeping robot is characterized by comprising a memory and a controller;
the memory has stored thereon a computer program which, when executed by the controller, carries out the steps of the method of controlling a sweeping robot according to any one of claims 1 to 6.
8. A control system of a floor sweeping robot is characterized by comprising:
the controller is arranged in the sweeping robot and used for controlling the sweeping robot to sweep along the edge and recording an edge sweeping track if an edge instruction is monitored;
the remote control equipment is used for judging whether an internal area corresponding to the closed track is a target cleaning area or not if the edgewise cleaning track forms the closed track; if the inner area is the target cleaning area, controlling the sweeping robot to continue sweeping along the edge, and if the current point of the sweeping track is located outside a preset range outside the target cleaning area, controlling the sweeping robot to stop sweeping along the edge; if the current point of the edgewise cleaning track is located in the preset range outside the target cleaning area, controlling the sweeping robot to stop edgewise cleaning after the sweeping robot is controlled to walk to the edgewise starting position; and after controlling the sweeping robot to stop sweeping along the edge, controlling the sweeping robot to sweep the target sweeping area according to a preset walking route.
9. A storage medium on which a computer program is stored, wherein the computer program, when executed by a controller, implements the steps of a control method of a sweeping robot according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011024719.0A CN112022011B (en) | 2020-09-25 | 2020-09-25 | Control method, equipment, system and storage medium of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011024719.0A CN112022011B (en) | 2020-09-25 | 2020-09-25 | Control method, equipment, system and storage medium of sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112022011A CN112022011A (en) | 2020-12-04 |
| CN112022011B true CN112022011B (en) | 2021-09-17 |
Family
ID=73575173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011024719.0A Active CN112022011B (en) | 2020-09-25 | 2020-09-25 | Control method, equipment, system and storage medium of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112022011B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114794986B (en) * | 2022-05-05 | 2024-05-14 | 深圳市无限动力发展有限公司 | Method and device for breaking continuous sweeping along wall of sweeper, computer equipment and storage medium |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10613541B1 (en) * | 2016-02-16 | 2020-04-07 | AI Incorporated | Surface coverage optimization method for autonomous mobile machines |
| CN105739500B (en) * | 2016-03-29 | 2020-06-30 | 海尔优家智能科技（北京）有限公司 | Interactive control method and device of intelligent sweeping robot |
| WO2018086612A1 (en) * | 2016-11-11 | 2018-05-17 | 苏州宝时得电动工具有限公司 | Automatic work system and control method therefor |
| CN110275515A (en) * | 2018-03-15 | 2019-09-24 | 北京智行鸿远汽车有限公司 | A method of improving closed path precision |
| CN109077672B (en) * | 2018-09-28 | 2023-03-14 | 北京奇虎科技有限公司 | Method and device for selecting block by floor sweeping robot |
| CN111214179A (en) * | 2018-11-23 | 2020-06-02 | 北京奇虎科技有限公司 | Method and device for determining cleanable area, electronic equipment and readable storage medium |
| CN111436861B (en) * | 2018-12-27 | 2023-02-17 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN109597420B (en) * | 2019-01-22 | 2021-06-08 | 重庆润通智能装备有限公司 | Automatic boundary closing processing system and method for intelligent mower |
-
2020
- 2020-09-25 CN CN202011024719.0A patent/CN112022011B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112022011A (en) | 2020-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109997089B (en) | Ground processing machine and ground processing method | |
| CN108553041B (en) | Method for judging trapped robot | |
| JP6410704B2 (en) | Mobile device and method for navigating a surface with a mobile device | |
| CN111830970B (en) | Regional cleaning planning method for robot walking along edge, chip and robot | |
| WO2020140860A1 (en) | Dynamic region division and region channel identification method, and cleaning robot | |
| US9808137B2 (en) | Floor treatment machine and method for treating floor surfaces | |
| US11966227B2 (en) | Mapping for autonomous mobile robots | |
| CN109381122B (en) | Method for operating an automatically advancing cleaning device | |
| WO2021063174A1 (en) | Spray painting robot controlling method and device, and spray painting robot having same | |
| CN112137512B (en) | Sweeping robot sweeping area detection method, device, equipment, system and medium | |
| WO2014135008A1 (en) | Edge-to-center cleaning method used by robot cleaner | |
| CN110870721A (en) | Control method and device for cleaning robot, cleaning robot and storage medium | |
| CN107678429B (en) | Robot control method and chip | |
| WO2022041236A1 (en) | Traveling control method and path planning method for mobile robot, and mobile robot | |
| CN112022011B (en) | Control method, equipment, system and storage medium of sweeping robot | |
| CN113475977B (en) | Robot path planning method and device and robot | |
| EP4388961A1 (en) | Cleaning robot, control method and apparatus therefor, and electronic device and storage medium | |
| WO2024067852A1 (en) | Ground medium detection method and apparatus and cleaning device | |
| CN112137528B (en) | Sweeping robot sweeping area detection method, device, equipment, system and medium | |
| EP3516470A1 (en) | Robotic cleaning device and a method of controlling movement of the robotic cleaning device | |
| CN115344034A (en) | Intelligent cleaning robot path planning method and intelligent cleaning device | |
| CN115316887B (en) | Robot control method, robot, and computer-readable storage medium | |
| CN111624989B (en) | Control method and self-mobile device | |
| JP2024503269A (en) | Mobile robot docking verification | |
| CN117707125A (en) | Navigation abnormality recovery method for robot, robot and cleaning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 7-605, 6th floor, building 1, yard a, Guanghua Road, Chaoyang District, Beijing 100026 Patentee after: Beijing dog vacuum cleaner Group Co.,Ltd. Address before: 7-605, 6th floor, building 1, yard a, Guanghua Road, Chaoyang District, Beijing 100026 Patentee before: PUPPY ELECTRONIC APPLIANCES INTERNET TECHNOLOGY (BEIJING) Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |