CN114343503A - Sweeping robot, moving method and device thereof and storage medium - Google Patents
Sweeping robot, moving method and device thereof and storage medium Download PDFInfo
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- CN114343503A CN114343503A CN202210074338.6A CN202210074338A CN114343503A CN 114343503 A CN114343503 A CN 114343503A CN 202210074338 A CN202210074338 A CN 202210074338A CN 114343503 A CN114343503 A CN 114343503A
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Abstract
The invention discloses a sweeping robot, a moving method and a moving device thereof and a storage medium, wherein the moving method of the sweeping robot comprises the following steps: responding to the position returning instruction, and controlling the sweeping robot to move to a first preset position; if the sweeping robot is determined to move to a first preset position, controlling the sweeping robot to rotate by a preset angle based on the slope, wherein the first preset position is located on the slope; and controlling the sweeping robot to move to a second preset position. The moving method of the sweeping robot can enable the sweeping robot to smoothly move to the corresponding position to execute work, ensures that the sweeping robot can achieve a good cleaning effect, and improves user experience and bidding capability of products.
Description
Technical Field
The present invention relates to the field of robot control technologies, and in particular, to a method and an apparatus for moving a sweeping robot, and a computer-readable storage medium.
Background
Along with market development, the sweeping and mopping integrated robot is more and more favored by consumers, and the sweeping and mopping integrated machine is characterized in that a mop horizontal to the ground is arranged behind the front part of the existing sweeping robot. When the sweeping and mopping integrated machine is used for returning to charge or self-cleaning, the orientation of a mop needs to be adjusted on the horizontal ground, and then the mop enters the base station in a retreating mode so as to align the rear functional part of the robot to the corresponding matching position of the base station, and the base station can clean the mop. However, be provided with the slope before the basic station holding chamber, sweep and drag the machine and need pass through this slope when getting into the basic station, so sweep and drag the machine after the adjustment mop orientation, need climb earlier and then get into the basic station, sweep and drag in integrative robot, the mop all is provided with certain pressure in order to realize better clean effect, and then leads to the robot mop and the slope to produce the extrusion when entering the station, make the robot difficult to smoothly get into the basic station holding intracavity, the user has to operate with the hand, greatly reduced user's use experience.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a moving method for a sweeping robot, which enables the sweeping robot to smoothly move to a corresponding position to perform work, ensures that the sweeping robot can achieve a better cleaning effect, and improves user experience and bidding capability of a product.
The second objective of the present invention is to provide a moving device of a sweeping robot.
The third purpose of the invention is to provide a sweeping robot.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, the present invention provides a moving method of a sweeping robot, including: responding to the position returning instruction, and controlling the sweeping robot to move to a first preset position; if the sweeping robot is determined to move to the first preset position, controlling the sweeping robot to rotate for a preset angle based on a slope, wherein the first preset position is located on the slope; and controlling the sweeping robot to move to a second preset position.
The moving method of the sweeping robot in the embodiment of the invention can be executed on a controller, firstly, a response homing instruction is responded, then the sweeping robot is controlled to move to a first preset position, wherein the first preset position is located on a slope, when the sweeping robot is determined to move to the first preset position, the sweeping robot is controlled to rotate for a preset angle based on the slope, and after the sweeping robot completes the rotation of the preset angle, the sweeping robot is controlled to move to a second preset position, so that the sweeping robot can smoothly move to the corresponding position to execute work, the sweeping robot can realize a better cleaning effect, and the user experience and the bidding capability of a product are improved.
In some embodiments of the present invention, determining that the sweeping robot moves to the first preset position comprises: after the floor sweeping robot is determined to be located in a preset position area, and the distance between the floor sweeping robot and the first preset position meets a preset distance range, it is determined that the floor sweeping robot moves to the first preset position.
In some embodiments of the invention, before the controlling the sweeping robot to rotate by a preset angle based on a slope, the method further includes: determining that the front and rear inclination angles of the sweeping robot are all in a first angle range and the front and rear inclination angles are kept unchanged for a continuous preset time; and/or determining that the distances between the left side and the right side of the sweeping robot and the ground are the same; and/or determining that the material of the ground where the sweeping robot is located currently meets a preset material condition.
In some embodiments of the present invention, while controlling the sweeping robot to rotate by a preset angle based on a slope, the method further includes: and detecting that the sweeping robot collides, and controlling the sweeping robot to move towards the direction far away from the first preset position.
In some embodiments of the invention, before the controlling the sweeping robot to move to the second preset position, the method further includes: and adjusting the left and right inclination angle of the sweeping robot so that the left and right inclination angle of the sweeping robot after adjustment is the same as the left and right inclination angle of the sweeping robot before rotation.
In some embodiments of the present invention, the preset location area includes an area where the first signal area and the second signal area overlap.
In some embodiments of the present invention, the homing instruction is generated according to at least one of a water tank water shortage signal, a dust box full storage signal and a power shortage signal, and/or the homing instruction is obtained based on a preset terminal device.
In order to achieve the above object, a second aspect of the present invention provides a moving device of a cleaning robot, where the slope homing device includes a receiving module, configured to receive a homing instruction; and the control module is used for controlling the sweeping robot to move to a first preset position in the direction of the base station according to the homing instruction, determining that the sweeping robot moves to the first preset position, controlling the sweeping robot to rotate by a preset angle based on a slope, and controlling the sweeping robot to move to a second preset position, wherein the first preset position is located on the slope.
The moving device of the sweeping robot in the embodiment of the invention comprises a receiving module and a control module, wherein after the receiving module receives the homing instruction, the control module can control the sweeping robot according to the homing instruction so as to move the sweeping robot to a first preset position, the first preset position is located on a slope, when the sweeping robot is determined to be located on the slope, namely the first preset position, the sweeping robot is controlled to rotate by a preset angle based on the slope, and the sweeping robot is controlled to move to a corresponding position after the sweeping robot completes the rotation of the preset angle, so that the sweeping robot can smoothly move to the corresponding position to execute work, the sweeping robot can realize a better cleaning effect, and the user experience and the bidding capability of a product are improved.
In order to achieve the above object, a third aspect of the present invention provides a sweeping robot, where the sweeping robot includes a memory, a processor, and a moving program of the sweeping robot, the moving program of the sweeping robot being stored in the memory and being executable on the processor, and when the processor executes the moving program of the sweeping robot, the moving method of the sweeping robot according to the above embodiment is implemented.
The sweeping robot comprises the memory and the processor, and the processor executes the moving program of the sweeping robot stored in the memory, so that the sweeping robot can smoothly move to a corresponding position to execute work, the sweeping robot can achieve a good cleaning effect, and user experience and bidding capability of products are improved.
In order to achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium, on which a moving program of a sweeping robot is stored, and the moving program of the sweeping robot, when executed by a processor, implements the moving method of the sweeping robot according to the above embodiments.
The computer-readable storage medium of the embodiment of the invention executes the moving program of the sweeping robot stored on the computer-readable storage medium through the processor, so that the sweeping robot can smoothly move to a corresponding position to execute work, a better cleaning effect of the sweeping robot can be realized, and the user experience and the bidding capability of a product are improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a moving method of a sweeping robot according to an embodiment of the present invention;
fig. 2 is a schematic view of a turning position of a sweeping robot according to a related art;
figure 3 is a schematic view of the movement of a sweeping robot according to one embodiment of the present invention;
fig. 4 is a schematic movement diagram of a sweeping robot according to another embodiment of the present invention;
fig. 5 is a block diagram of a mobile device of a sweeping robot according to an embodiment of the present invention;
fig. 6 is a block diagram of a sweeping robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a sweeping robot, a slope homing method and device thereof, and a storage medium according to embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a moving method of a sweeping robot according to an embodiment of the present invention.
As shown in fig. 1, the present invention provides a moving method of a sweeping robot, which includes the following steps:
and S10, responding to the positioning command, and controlling the sweeping robot to move to a first preset position.
First, it should be noted that the execution main body of the moving method of the sweeping robot in the embodiment of the present invention may be a control device provided on the body of the sweeping robot, or may be a control device provided on the base station and wirelessly connected to the sweeping robot, or may be another control device except for the above two cases, and the installation position of the control device is not limited in the embodiment.
After the control device responds to the homing instruction of the sweeping robot, the sweeping robot can be controlled to move to the first preset position for homing operation.
The homing instruction can be sent by the sweeping robot according to the state condition of the sweeping robot, or sent by a user, and if the user needs to occupy the ground, the sweeping robot can be controlled by the remote controller to homing, so that the sweeping robot is not used for sweeping, mopping and the like temporarily.
In this embodiment, the homing instruction of the sweeping robot is generated according to at least one of a water tank water shortage signal, a dust box full storage signal and a power shortage signal, and/or the homing instruction is obtained based on a preset terminal device.
Specifically, the sweeping robot in the invention can be a sweeping and mopping integrated machine, so that a water tank can be designed on the body of the sweeping robot for cleaning mops, and when the water tank is lack of water, the sweeping robot can automatically send a homing instruction to the control device, so that the control device responds to the homing instruction and controls the sweeping robot after receiving the homing instruction. It can be understood that the dust box in the sweeping robot can also send a homing instruction when the sweeping robot is full, or can send a homing instruction when the sweeping robot is in power shortage, so that the control device can control the sweeping robot to return to the base station, and the operations of changing water, cleaning the dust box and charging are carried out for state replenishment. In this embodiment, the homing instruction may also be obtained based on a preset terminal device, for example, the homing instruction may be sent by operating a remote controller, a mobile phone, an iPad, or a device such as a recharge button on a base station.
Alternatively, when the control device controls the sweeping robot to move towards the base station, the sweeping robot can select the route closest to the base station to move without considering the current situation of the cleaned or not cleaned floor.
And S20, if the sweeping robot is determined to move to the first preset position, the sweeping robot is controlled to rotate by a preset angle based on the slope.
The first preset position may be on any slope, and in some examples, a slope is provided in front of a base station (a charging station, a dust collecting station, and a cleaning/sewage station of the sweeping robot), and the first preset position is located on the slope.
When the sweeping robot moves to the slope position of the base station, the sweeping robot is controlled to rotate by a preset angle based on the slope, namely the sweeping robot rotates by the preset angle on the slope, the preset angle can be any angle, the fine adjustment angle of the sweeping robot can be realized, and the steering of the sweeping robot can also be realized. The sweeping robot can rotate by taking an axis which is projected on the slope surface and is vertical to the slope surface as an axis, the axis position is obtained according to the positions of driving wheels of the sweeping robot, and by taking two driving wheels as an example, if the connecting line of the two driving wheels is positioned on the central axis of the sweeping robot, the sweeping robot can realize pivot steering; if the connecting line of the two driving wheels is not located on the central axis of the sweeping robot, the sweeping robot can achieve steering at all, but in the example, the position of the sweeping robot which is steered back and forth moves and pivot steering cannot be achieved.
It can be understood that the turning of the sweeping robot is realized based on the driving wheels, when the driving wheels of the sweeping robot uniformly move in a clockwise or counterclockwise direction, the in-situ turning of the sweeping robot can be realized, of course, the turning angle is realized based on the traveling path condition of the driving wheels around the center of the connecting line of the driving wheels, for example, when the sweeping robot has two driving wheels, the in-situ turning of the sweeping robot can be realized when the two driving wheels move 180 degrees, and when the sweeping robot has three driving wheels, the in-situ turning of the sweeping robot can be realized when the three driving wheels move 120 degrees around the center of the connecting line of the three driving wheels.
The preset angle of the step S20 may be any angle, that is, the sweeping robot may deflect in different directions and angles, and optionally, the preset angle may be 180 degrees with respect to the dual driving wheels, that is, the sweeping robot is controlled to turn around in situ. That is to say, the sweeping robot is controlled to turn around after moving to the slope, and in the related art, the mop is turned around first and climbs the slope, so that the climbing of the sweeping robot is greatly influenced, and even the phenomenon that the robot cannot climb the slope or the robot turns over due to the fact that the mop blocks the grains on the slope sometimes can occur.
More specifically, referring to fig. 2, in the related art, before the sweeping robot 10 climbs the slope, the robot turns around so that the mop 11 directly faces the base station 20 and climbs the slope. In the embodiment, the sweeping robot 10 is controlled to normally run on the slope 21, and then the head of the sweeping robot is turned over on the slope 21, and the side provided with the mop 11 faces the base station 20 and runs into the base station 20.
In this embodiment, determining whether the sweeping robot moves to the first preset position, that is, the slope position in front of the base station may include: and determining that the sweeping robot is located in a preset position area, and determining that the distance between the sweeping robot and the first preset position meets a preset distance range, and then determining that the sweeping robot moves to the first preset position.
Specifically, as shown in fig. 3, the sweeping robot 10 may be provided with one identification unit 12, in the embodiment shown in fig. 3, the sweeping robot 10 may be circular, the identification unit 12 is disposed at a central position of the sweeping robot 10, and the identification unit 12 may identify whether the current sweeping robot 10 enters a preset position area, where the preset position area may be an effective identification area of the base station 20, if it is determined that the sweeping robot 10 enters the preset position area, it is further determined whether a distance between the current sweeping robot 10 and a first preset position meets a preset distance range, that is, whether a distance between the current sweeping robot 10 and the base station 20 is within a preset distance range, and if so, it may be determined that the current sweeping robot 10 has moved to the first preset position, that is, the slope 21 shown in fig. 2.
It should be noted that the preset distance range in the embodiment is determined according to the distance between the identification unit 12 and the base station 20 arranged on the sweeping robot 10 and the distance between the sweeping robot 10 and the slope 21, and the preset distance range is required to ensure that the sweeping robot 10 does not cross the slope 21, and the distance between the identification unit 12 and the base station 20 is less than or equal to L preset. In this embodiment, L is greater than L null in advance, so as to ensure that when the sweeping robot 10 is located in the preset position region, it can be satisfied that the distance between the sweeping robot 10 and the base station 20 is less than or equal to L in advance, that is, it can be ensured that the sweeping robot 10 is located in the slope position in front of the base station 20.
Optionally, L in this embodiment is pre-equal to twice L null, and the specific value may be determined according to the size of the base station slope and the length L base and the width H base of the base station.
In this embodiment, as shown in fig. 3, the base station 20 is provided with a first signal emitter 22 and a second signal emitter 23, and an overlapping area formed by signals emitted from the first signal emitter 22 and the second signal emitter 23 is taken as a preset position area.
Specifically, as shown in fig. 3, a first signal transmitter 22 and a second signal transmitter 23 are disposed on the base station 20, wherein the first signal transmitter 22 and the second signal transmitter 23 are disposed on the base station 20 in parallel and emit signals in the same direction. The first signal emitter 22 and the second signal emitter 23 may be infrared emitters, and respectively emit infrared signals having a certain area, wherein the beam angles emitted by the first signal emitter 22 and the second signal emitter 23 may be the same or different. In the area formed by the signals emitted by the two signal emitters, the overlapping area is taken as the preset position area, i.e. the shaded part in fig. 3. When the signal transmitter 22 is an infrared transmitter, the identification unit 12 disposed on the sweeping robot 10 may be an infrared receiving module, and the identification unit 12 may determine whether the sweeping robot 10 is currently located in the preset position area according to the received infrared intensity, and it is understood that the infrared intensity identified by the identification unit 12 in the preset position area is higher than other areas.
Alternatively, as shown in fig. 3, the preset position area in the present embodiment is a sector area with an angle of 8 °, and the sweeping robot 10 is located in the preset position area on the inner part or the edge line in the sector area.
In other embodiments, the identification unit disposed on the sweeping robot may also be a radar laser range finder, an intelligent camera, or the like, and determines whether the sweeping robot is located at the first preset position, that is, on the slope of the base station, by identifying the distance between the sweeping robot and the base station.
And S30, controlling the sweeping robot to move to a second preset position.
Specifically, after the sweeping robot completes rotation, the sweeping robot is in a state of being on a slope of the base station and the mop cloth faces the base station, and in this state, the sweeping robot can be controlled to move to a second preset position so as to complete homing control of the sweeping robot. In this embodiment of the application, the second preset position is a position of the sweeping robot in the base station, and in the second position, in some examples, the sweeping robot may implement charging, in some examples, the sweeping robot may implement discharging the stain in the dust box to the base station, and in other examples, the sweeping robot may implement supplementary sweeping, discharging sewage, and the like.
In some embodiments of the present invention, before controlling the sweeping robot to rotate by a preset angle based on the slope, the method further includes: determining that the front and rear inclination angles of the sweeping robot are all in a first angle range and the front and rear inclination angles are kept unchanged for a continuous preset time; and/or determining that the distances between the left side and the right side of the sweeping robot and the ground are the same; and/or determining that the material of the ground where the sweeping robot is located currently meets a preset material condition.
Specifically, in this embodiment, when the sweeping robot is located at the first preset position and does not rotate yet, it may be further determined and confirmed whether the sweeping robot is currently located at the first preset position, that is, on the slope of the base station, if so, the sweeping robot may perform a rotation operation, otherwise, the sweeping robot may be controlled to exit from the slope, and the homing instruction may be re-executed.
In the first mode, whether the front and back inclination angles of the sweeping robot are all in the first angle range or not is judged, and the front and back inclination angles are kept unchanged for a continuous preset time.
Specifically, the sweeping robot in this embodiment may be provided with an angle sensor, for example, a gyroscope or other devices, and then detect the front and back tilt angles of the current sweeping robot through the angle sensor, when the sweeping robot is climbing, the front and back tilt angles of the sweeping robot detected by the angle sensor are always in a change state, and when the sweeping robot completes climbing and is located on a slope of the base station, the front and back tilt angles are in a stable state, and ideally, the front and back tilt angles are fixed in the first angle range, so that when the front and back tilt angles of the angle sensor are all located in the first angle range and the front and back tilt angles are continuously preset for a certain time, it may be determined that the current sweeping robot is located on the slope. Alternatively, the first angle range may be determined according to the inclination angle of the slope, such as a range obtained after the inclination angle of the slope is increased or decreased by 3 degrees, and the preset time may be set empirically, such as 3 seconds.
And the second mode is to judge whether the distances between the left side and the right side of the sweeping robot and the ground are the same.
Specifically, the sweeping robot in this embodiment may be provided with a cliff sensor, for example, an infrared sensor, and then whether the distances from the left and right sides of the sweeping robot to the ground are the same through the cliff sensor, specifically, one cliff sensor may be respectively disposed on the left and right sides of the sweeping robot, and is used to detect the distances from the left and right sides of the sweeping robot to the ground, and when detecting that the distances from the left and right sides of the sweeping robot to the ground are not equal, it may be determined that the current sweeping robot has a left-right inclination condition, and if directly rotating, it is highly likely to turn over, so that an alarm may be issued to remind the user. And if the distance between the left side and the right side of the sweeping robot and the ground is determined to be the same, the sweeping robot can directly rotate. Alternatively, the cliff sensor may also be an ultrasonic sensor. In the present embodiment, the installation heights of the left and right cliff sensors may be the same or different, and when the installation heights of the left and right cliff sensors are the same, the height signals detected by the left and right cliff sensors may be directly compared, whereas when the installation heights of the left and right cliff sensors are different, the height signals detected by the left and right cliff sensors may be compared with the preset signals.
And in the third mode, whether the material of the ground where the sweeping robot is currently located meets the preset material condition is judged.
Specifically, the material that the slope of basic station adopted in this embodiment is different from the material on ground, can be through setting up material identification sensor, for example ultrasonic sensor on sweeping the floor the robot, then detect that the material that is in sweeping the floor the robot below position at present is certain material (for example, plastics, wooden) that predetermines through this material identification sensor, or have certain texture (such as many stripes, a plurality of lugs etc.) on the material on the ground that is located at present to further judge whether the robot of sweeping the floor is in the slope top.
It can be understood that, whether the sweeping robot is located at the first preset position, namely above the slope of the base station, is further judged through the three modes, so that the position of the sweeping robot and the current state of the sweeping robot can be judged more accurately, and the sweeping robot can be better controlled.
In some embodiments of the invention, before controlling the sweeping robot to move to the second preset position, the method further comprises: and adjusting the left-right inclination angle of the sweeping robot so that the left-right inclination angle of the sweeping robot after adjustment is the same as the left-right inclination angle of the sweeping robot before rotation.
Specifically, after the sweeping robot completes rotating on the slope, the sweeping robot may be further controlled to move to the second preset position, and it is understood that, in this embodiment, the second preset position may be to move the sweeping robot into the base station. Before controlling the sweeping robot to move to the second preset position, the left-right inclination angle of the sweeping robot is also adjusted, specifically, the left-right inclination angle of the sweeping robot can be detected by an angle sensor arranged on the body of the sweeping robot, for example, a gyroscope, and then the position of the sweeping robot is adjusted by controlling a driving wheel according to the detected left-right inclination angle of the sweeping robot. Specifically, the position of the sweeping robot before rotation is used as a reference position, and then the position after rotation is adjusted.
In some embodiments of the present invention, the method further comprises controlling the sweeping robot to rotate by a preset angle based on the slope, and the method further comprises: and if the collision of the sweeping robot is detected, controlling the sweeping robot to move towards the direction far away from the first preset position.
Specifically, in this embodiment, when the sweeping robot has determined to be on the slope, the sweeping robot may be further controlled to rotate, and whether the sweeping robot collides during the rotation process is detected. Specifically, a collision sensor is arranged on a body of the sweeping robot, and in the rotating process of the sweeping robot, if the collision sensor is triggered, the current position is proved to be not suitable for rotating operation, or the current sweeping robot is not matched with the base station in size, so that the sweeping robot is controlled to move towards a direction far away from the first preset position to exit from the slope position, and the homing instruction is executed again. Optionally, when a collision occurs, the sweeping robot may also alarm to inform the user of the current condition of the sweeping robot.
In order to ensure that the robot performs the rotation operation on the slope with as few collisions as possible, the radius of the sweeping robot is further defined in the embodiment, as shown in fig. 3, assuming that the shape of the sweeping robot 10 in the embodiment is circular, the radius of the sweeping robot 10 must be smaller than or equal to the length of the base station, that is, L base/2, so as to ensure that the sweeping robot 10 can smoothly enter the base station. Furthermore, as shown in fig. 3, in this embodiment, it is further defined that when the sweeping robot 10 is located at the edge of the preset location area, the closest distance M between the identification unit 12 and the base station 20 is still greater than the radius of the sweeping robot, and in the embodiment shown in fig. 3, the calculation formula of the distance M is as follows:
wherein the content of the first and second substances,
theta is the angle of the fan-shaped preset position area. The radius of the sweeping robot is set to be smaller than the distance M, so that when the sweeping robot is located at the maximum deviation position (namely, the recognition unit 21 is located at the edge of the preset position area), the robot can still turn around smoothly on site on the slope. It should be noted that, in some embodiments, as shown in fig. 4, the identification unit 21 may also be disposed not in the center of the sweeping robot 10, that is, in another position away from the center of the sweeping robot 10, and then the calculation formula of the distance M is as follows:
wherein the content of the first and second substances,
theta is the angle of the fan-shaped preset position area.
In summary, the moving method of the sweeping robot in the embodiment of the invention can enable the sweeping robot to smoothly move to the corresponding position to execute work, ensure that the sweeping robot can achieve a better cleaning effect, and improve user experience and bidding capability of products.
Fig. 5 is a block diagram of a mobile device of a sweeping robot according to an embodiment of the present invention.
Further, as shown in fig. 5, the present invention provides a moving device 100 of a sweeping robot, where the moving device 100 includes a receiving module 101 and a control module 102.
The receiving module 101 is configured to receive a homing instruction; the control module 102 is configured to control the sweeping robot to move to a first preset position according to the homing instruction, determine that the sweeping robot moves to the first preset position, control the sweeping robot to rotate by a preset angle based on a slope, and control the sweeping robot to move to a second preset position, wherein the first preset position is located on the slope.
In some embodiments of the present invention, the control module 102 is further configured to determine that the sweeping robot is located in a preset location area, and when a distance between the sweeping robot and the first preset location meets a preset distance range, determine that the sweeping robot moves to the first preset location.
In some embodiments of the present invention, before controlling the sweeping robot to rotate by a preset angle based on the slope, the control module 102 is further configured to determine that the front and rear inclination angles of the sweeping robot are all within the first angle range and the front and rear inclination angles are kept unchanged for a continuous preset time; and/or determining that the distances between the left side and the right side of the sweeping robot and the ground are the same; and/or determining that the material of the ground where the sweeping robot is located currently meets a preset material condition.
In some embodiments of the present invention, the control module 102 is further configured to, when the sweeping robot is controlled to rotate by a preset angle based on the slope, control the sweeping robot to move in a direction away from the first preset position if it is detected that the sweeping robot collides with the first preset position.
In some embodiments of the present invention, before controlling the sweeping robot to move to the second preset position, the control module 102 is further configured to adjust the left-right inclination angle of the sweeping robot, so that the adjusted left-right inclination angle of the sweeping robot is the same as the left-right inclination angle of the sweeping robot before rotating.
In some embodiments of the present invention, the preset location area includes an area where the first signal area and the second signal area overlap.
In some embodiments of the invention, the homing instruction is generated based on at least one of a water tank out-of-water signal, a dust box full signal, and an out-of-power signal; and/or the homing instruction is obtained based on the preset terminal equipment.
It should be noted that, for a specific implementation of the moving device of the sweeping robot in the embodiment of the present invention, reference may be made to the specific implementation of the moving method of the sweeping robot in the foregoing embodiment, and details are not described herein again.
In summary, the moving device of the sweeping robot in the embodiment of the invention can enable the sweeping robot to smoothly move to the corresponding position to execute work, ensure that the sweeping robot can achieve a better cleaning effect, and improve user experience and bidding capability of products.
Fig. 6 is a block diagram of a sweeping robot according to an embodiment of the present invention.
Further, as shown in fig. 6, the present invention provides a sweeping robot 200, where the sweeping robot 200 includes a memory 201, a processor 202, and a moving program of the sweeping robot stored in the memory 201 and operable on the processor 202, and when the processor 202 executes the moving program of the sweeping robot, the moving method of the sweeping robot according to the above embodiment is implemented.
The sweeping robot comprises the memory and the processor, and the processor executes the moving program of the sweeping robot stored in the memory, so that the sweeping robot can smoothly move to a corresponding position to execute work, the sweeping robot can achieve a good cleaning effect, and user experience and bidding capability of products are improved.
Further, the present invention provides a computer-readable storage medium, on which a moving program of the sweeping robot is stored, which when executed by a processor implements the moving method of the sweeping robot according to the above embodiments.
The computer-readable storage medium of the embodiment of the invention executes the moving program of the sweeping robot stored on the computer-readable storage medium through the processor, so that the sweeping robot can smoothly move to a corresponding position to execute work, a better cleaning effect of the sweeping robot can be realized, and the user experience and the bidding capability of a product are improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
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.
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.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second", and the like used in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in the embodiments. Thus, a feature of an embodiment of the present invention that is defined by the terms "first," "second," etc. may explicitly or implicitly indicate that at least one of the feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or two and more, such as two, three, four, etc., unless specifically limited otherwise in the examples.
In the present invention, unless otherwise explicitly stated or limited by the relevant description or limitation, the terms "mounted," "connected," and "fixed" in the embodiments are to be understood in a broad sense, for example, the connection may be a fixed connection, a detachable connection, or an integrated connection, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, they may be directly connected or indirectly connected through intervening media, or they may be interconnected within one another or in an interactive relationship. Those of ordinary skill in the art will understand the specific meaning of the above terms in the present invention according to their specific implementation.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A moving method of a sweeping robot is characterized by comprising the following steps:
responding to a positioning instruction, and controlling the sweeping robot to move to a first preset position, wherein the first preset position is located on a slope;
if the sweeping robot is determined to move to the first preset position, controlling the sweeping robot to rotate by a preset angle based on the slope;
and controlling the sweeping robot to move to a second preset position.
2. The method of moving of claim 1, wherein determining that the sweeping robot is moving to the first preset position comprises:
determining that the sweeping robot is located in a preset position area, determining that the sweeping robot moves to the first preset position if the distance between the sweeping robot and the first preset position meets a preset distance range.
3. The method of claim 2, wherein the predetermined location area comprises an area where the first signal area and the second signal area overlap.
4. The moving method according to claim 1, wherein before the controlling the sweeping robot to rotate by a preset angle based on the slope, the method further comprises:
determining that the front and rear inclination angles of the sweeping robot are all in a first angle range and the front and rear inclination angles are kept unchanged for a continuous preset time; and/or
Determining that the distances between the left side and the right side of the sweeping robot and the ground are the same; and/or
And determining that the material of the ground where the sweeping robot is located currently meets a preset material condition.
5. The moving method of the sweeping robot according to any one of claims 1 to 4, wherein the method further comprises, while controlling the sweeping robot to rotate by a preset angle based on the slope:
and if the collision of the sweeping robot is detected, controlling the sweeping robot to move towards the direction far away from the first preset position.
6. The method for moving the sweeping robot according to claims 1-4, wherein before controlling the sweeping robot to move to the second preset position, the method further comprises:
and adjusting the left and right inclination angle of the sweeping robot so that the left and right inclination angle of the sweeping robot after adjustment is the same as the left and right inclination angle of the sweeping robot before rotation.
7. The moving method of the sweeping robot according to claims 1-4, wherein the homing command is generated according to at least one of a water tank water shortage signal, a dust box full storage signal and a power shortage signal;
and/or the homing instruction is obtained based on preset terminal equipment.
8. The utility model provides a mobile device of robot sweeps floor which characterized in that includes:
the receiving module is used for receiving a homing instruction;
and the control module is used for controlling the sweeping robot to move to a first preset position according to the homing instruction, determining that the sweeping robot moves to the first preset position, controlling the sweeping robot based on the slope rotating preset angle, and controlling the sweeping robot to move to a second preset position, wherein the first preset position is located on the slope.
9. A sweeping robot is characterized by comprising a memory, a processor and a moving program of the sweeping robot, wherein the moving program of the sweeping robot is stored in the memory and can run on the processor, and when the processor executes the moving program of the sweeping robot, the moving method of the sweeping robot is realized according to any one of claims 1-7.
10. A computer-readable storage medium, on which a movement program of a sweeping robot is stored, which when executed by a processor implements the movement method of the sweeping robot according to any one of claims 1-7.
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| CN114343503B (en) | 2023-08-01 |
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