CN114587210A - Cleaning robot control method and control device - Google Patents
Cleaning robot control method and control device Download PDFInfo
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- CN114587210A CN114587210A CN202111354798.6A CN202111354798A CN114587210A CN 114587210 A CN114587210 A CN 114587210A CN 202111354798 A CN202111354798 A CN 202111354798A CN 114587210 A CN114587210 A CN 114587210A
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- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The embodiment of the application discloses a cleaning robot control method and a control device, wherein the method comprises the following steps: acquiring carpet information according to a cleaning map; determining that a carpet exists on the cleaning path according to the detected carpet identification information; and adjusting a cleaning path to avoid the carpet at least based on the position on the cleaning map corresponding to the position where the carpet is detected to be marked with the carpet. The cleaning robot control method can improve the influence of the carpet on the cleaning speed.
Description
Technical Field
The application relates to the technical field of ground cleaning, in particular to a cleaning robot control method and a cleaning robot control device.
Background
The statements in this application as background to the related art related to this application are merely provided to illustrate and facilitate an understanding of the contents of the present application and are not to be construed as an admission that the applicant expressly or putatively admitted the prior art of the filing date of the present application at the first filing date.
With the development of the cleaning robot, the function of the cleaning robot is more and more perfect. For example, some cleaning robots have both sweeping and mopping functions. The complexity of the environment in the cleaning area also makes the cleaning robot more and more challenging during the cleaning process.
For example, some cleaning areas are carpeted. When the robot is in the mopping mode, the carpet is put on, the carpet can be wetted, the walking of the robot is influenced, and the cleaning speed is influenced.
Disclosure of Invention
The embodiment of the application provides a cleaning robot control method and a cleaning robot control device, which can solve the problem that a carpet influences cleaning speed.
In a first aspect, an embodiment of the present application provides a cleaning robot control method, including:
acquiring carpet information according to a cleaning map;
determining that a carpet exists on the cleaning path according to the detected carpet identification information;
and adjusting a cleaning path to avoid the carpet at least based on the position on the cleaning map corresponding to the position where the carpet is detected to be marked with the carpet.
In an optional embodiment, the adjusting the cleaning path to avoid the carpet includes marking a carpet at a position on the cleaning map corresponding to the position where the carpet identification information is detected, and at least one of:
the area of the cleaning robot passing through the same carpet is larger than a first threshold value;
the area of the carpet marked on the cleaning and sweeping map is larger than a second threshold value;
and determining that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning and sweeping map is not greater than a third threshold value.
In an optional embodiment, the method further comprises:
and acquiring the area of the cleaning robot penetrating through the same carpet according to the detected carpet identification information.
In an alternative embodiment, obtaining the area of the cleaning robot passing through the same carpet according to the detected carpet identification information includes:
acquiring the area of the cleaning robot passing through the same carpet according to the detected carpet identification information;
and obtaining the area of the cleaning robot passing through the same carpet according to the grids covered by the cleaning robot passing through the area of the same carpet in the sweeping map.
In an optional embodiment, the method further comprises:
and updating the carpet marking information in the cleaning map based on the fact that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is larger than a third threshold value.
In alternative embodiments, the carpet identifying information comprises at least one of:
the ground reflection signal of the ultrasonic sensor, the driving current signal of the cleaning roller brush, the image information shot by the camera and the line laser reflection signal.
In an alternative embodiment, adjusting the sweeping path to avoid the carpet includes:
the area where the carpet is located is marked as cleaned.
In a second aspect, an embodiment of the present application provides a cleaning robot control apparatus, including:
a detection unit for detecting carpet identification information;
the information acquisition unit is used for acquiring carpet information according to the cleaning map;
and the control unit is used for adjusting a cleaning path to avoid the carpet at least based on the position marked with the carpet on the cleaning map corresponding to the position where the carpet identification information is detected.
In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the method according to any one of the above embodiments.
In a fourth aspect, embodiments of the present application provide a cleaning robot, on which a computer program is stored, and the program is executed to implement the method of any of the above embodiments.
The embodiment of the application provides a cleaning robot control method. According to the method, whether the carpet exists on the cleaning path can be determined in real time according to the detected carpet identification information in the cleaning process, and the carpet information of the cleaning area can be obtained according to the cleaning map. When the carpet is detected, the position on the cleaning map corresponding to the position where the carpet is identified is determined to be marked with the carpet according to the carpet information, and then the cleaning path can be adjusted to avoid the carpet. The number of times and the length of the cleaning robot driving on the carpet can be reduced by avoiding the carpet, and the influence of the carpet on the cleaning speed can be relieved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a schematic flow chart of a cleaning robot control method according to an embodiment of the present application;
fig. 2 is a schematic structural view illustrating a cleaning robot control device according to an embodiment of the present application;
fig. 3 is a schematic diagram illustrating an operation of the cleaning robot in which the cleaning robot control method according to the embodiment of the present application is implemented.
Fig. 4 shows a schematic structural diagram of a cleaning robot provided in an embodiment of the present application.
Detailed Description
In order to make the technical solutions in the embodiments of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The embodiment of the application provides a cleaning robot control method. By adopting the method of the embodiment of the application, the cleaning robot can avoid the carpet when meeting the carpet in the cleaning process under certain conditions, so that the problem that the carpet affects the cleaning speed is solved. The carpet described herein is a broad concept and can be understood as a floor material different from hard materials such as wood floors and ceramic tiles, and the floor material that the cleaning robot walking on the carpet may cause the output power of the rolling brush motor or the driving wheel motor to change or is not suitable for the cleaning robot to clean in the mopping mode; specifically, it may be, for example: short blankets, long blankets, plush pads, etc. The cleaning robot may be a cleaning robot including a sweeping mechanism and a mopping mechanism. The cleaning robot related to the embodiment of the application can contact with the cleaning surface by one of the sweeping mechanism and the mopping mechanism or both the sweeping mechanism and the mopping mechanism during the cleaning process so as to clean the cleaning surface. Mopping mechanisms are commonly used to clean floors. Water sprayed by the mopping mechanism during cleaning or accumulated by the mopping mechanism itself can wet or damage the carpet. Due to the difference in floor and carpet, even the sweeping mechanism may damage the carpet or cause damage to the cleaning machine person when the same strategy is used.
As shown in fig. 1, a cleaning robot control method according to an embodiment of the present application includes:
acquiring carpet information according to a cleaning map;
determining that a carpet exists on the cleaning path according to the detected carpet identification information;
and adjusting the cleaning path to avoid the carpet at least based on the position of the cleaning map corresponding to the detected position with the carpet marked with the carpet.
According to the cleaning robot control method provided by the embodiment of the application, whether a carpet exists on a cleaning path can be determined in real time according to the detected carpet identification information in the cleaning process, and the carpet information of a cleaning area can be obtained according to a cleaning map. When the carpet is detected, the position on the cleaning map corresponding to the position where the carpet is identified is determined to be marked with the carpet according to the carpet information, and then the cleaning path can be adjusted to avoid the carpet. The number of times and the length of the cleaning robot driving on the carpet can be reduced by avoiding the carpet, and the influence of the carpet on the cleaning speed can be relieved.
The cleaning map in the embodiment of the application can be a map drawn by a cleaning robot cleaning for the first time in a new environment, the process of drawing the map can adopt an existing method, in the drawing process, the combination of various sensors can mark obstacle information, carpet information and the like in the environment in the map and store the obstacle information, the carpet information and the like in the map so that the robot can call the map in the subsequent cleaning process, and in the subsequent cleaning process, the map can be updated based on the requirements of a user or the preset mode of the robot.
In some embodiments, the carpet identification information includes at least one of: the ground reflection signal of the ultrasonic sensor, the driving current signal of the cleaning roller brush, the image information shot by the camera and the reflection signal of the line laser. In addition, any other information that can identify the carpet is also possible. In the embodiment of the present application, the floor reflection signal received by the carpet sensor may be used as the carpet identification information, the driving current signal of the cleaning roller brush may be used as the carpet identification information, or an image signal captured by one or more forward/forward tilting cameras, or a reflection signal of a line laser sensor, etc. may be used as the carpet identification information, and of course, the carpet identification information may also include a combination of one or more of the foregoing. The determination of whether a carpet is present in the cleaning path can be made based on a combination of one or more of the above signals.
In one embodiment, the cleaning robot may have a carpet sensor thereon. The carpet sensor is arranged on the bottom surface of the front part of the cleaning robot. Because the surface of the carpet has different signal reflection to the sensor than the surface of the floor (wood floor, ceramic tile, etc.), the carpet can be identified according to the reflection signal received by the carpet sensor. In an exemplary embodiment, the carpet sensor may be an ultrasonic sensor, such as a linear laser sensor, or the like, which transmits an ultrasonic signal to the floor and receives a signal reflected from the floor to identify the carpet when the cleaning robot cleans the cleaning area along the cleaning path. When driving from the floor to the carpet, the reflected ultrasonic signal emission changes, from which it can be determined that the carpet is identified.
The driving signal of the cleaning roller brush is changed when the cleaning roller brush enters the carpet from the hard floor, so that whether the cleaning robot enters the carpet is determined according to the driving signal of the cleaning roller brush. For example, since the friction coefficient of the floor surface is smaller than that of the carpet floor, when the cleaning robot crosses the boundary from the floor into the carpet surface, the friction resistance of the cleaning roller brush or the driving wheel becomes large, and thus can be fed back by the driving signal of the cleaning roller brush or the driving wheel, which includes a driving current, a rotation speed of the driving motor, PWM (pulse width modulation), and the like.
In an exemplary embodiment, on a cleaning robot provided with a camera, a front camera of the cleaning robot can shoot ground images in real time during traveling and analyze and recognize the ground images so as to determine whether a carpet exists in front of the traveling or identify whether the robot crosses surfaces of different materials during traveling.
Some cleaning robots in exemplary embodiments may also have a line laser sensor that is computationally analyzed by the controller by a reflected signal swept toward the bottom or front floor to determine whether the area to which the robot is currently or will be traveling has a carpet.
The above detection of carpet information is exemplary, and in practice, the detection may be performed by sensors such as an infrared sensor and a gyroscope, for example, the gyroscope may monitor longitudinal displacement or rotation of the robot during traveling, and the cleaning surface may have a height difference between different material plates in general, so the gyroscope may feed back this to some extent, or may be used as an auxiliary detection means.
In the embodiment of the application, the cleaning robot cleans according to a cleaning map. During the first cleaning, a cleaning map can be constructed by slam (instant positioning And Mapping) in combination with carpet identification information (e.g., signals acquired by carpet sensors/current detectors), And after the map is constructed, carpet area information is marked on the cleaning map.
In the control method of the embodiment of the application, when the cleaning map is established, the cleaning map can firstly travel for a circle along the wall, and then traverse the whole cleaning area in a turn-back mode.
According to the cleaning map, carpet information can be acquired. The carpet information includes carpet location, carpet boundaries, carpet area, and the like.
In the embodiment of the application, when the avoiding condition is met, the cleaning path is adjusted to avoid the carpet. In a specific implementation, the avoidance condition, that is, the condition for adjusting the cleaning path to avoid the carpet, may be to determine that the cleaning path has a carpet according to the carpet identification information. When the cleaning path is determined to have the carpet according to the carpet identification information, the cleaning path is adjusted to avoid the carpet. The cleaning path is determined to have the carpet as the avoidance condition according to the carpet identification information, the cleaning path can be adjusted in time under the condition that the carpet arrangement condition in the cleaning area is changed, such as increasing or decreasing the carpet or the movement of the carpet position, and the like, so that the times of cleaning the carpet on the robot and the walking length on the carpet or the area of the carpet which should not be cleaned are reduced.
In some embodiments, adjusting the cleaning path to avoid the condition of the carpet includes: the position on the cleaning map corresponding to the position where the carpet is detected is marked with the carpet. When the carpet is detected to be on the cleaning path and the corresponding position on the cleaning map is marked with the carpet, the cleaning path can be adjusted to avoid the carpet. The carpet is marked on the cleaning map, information such as carpet boundary, area and the like can be obtained according to the cleaning map, and meanwhile, when the cleaning robot detects the carpet boundary in real time, whether the carpet boundary detected in real time coincides with the carpet boundary in the cleaning map or is in a preset threshold range or not is determined by comparing the carpet boundary detected in real time with the carpet boundary in the cleaning map, so that the carpet can be avoided simply and conveniently, and the cleaning path is adjusted.
In some embodiments, adjusting the cleaning path to avoid the condition of the carpet includes: the position on the cleaning map corresponding to the position where the carpet is detected is marked with the carpet, and the cleaning method further comprises at least one of the following conditions:
the area of the cleaning robot passing through the same carpet is larger than a first threshold value;
the area of the carpet marked on the cleaning and sweeping map is larger than a second threshold value;
and determining that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning and sweeping map is not greater than a third threshold value.
When the area of the cleaning robot passing through the same carpet is larger than the first threshold value, the influence of the carpet on cleaning of the cleaning robot can be considered to be large, the carpet is avoided, and the influence of the carpet on the cleaning speed of the cleaning robot can be effectively relieved. When the area of the cleaning robot passing through the same carpet does not reach the first threshold value, the carpet can be considered to have less influence on sweeping of the cleaning robot, and the carpet can be avoided. The first threshold may be, for example, 0.16 square meters.
When the area of the carpet marked on the cleaning map is larger than the second threshold value, the influence of the carpet on cleaning of the cleaning robot can be considered to be large, the carpet is avoided, and the influence of the carpet on the cleaning speed of the cleaning robot can be effectively relieved. When the area of the carpet marked on the cleaning map does not reach the second threshold value, the influence of the carpet on cleaning of the cleaning robot can be considered to be small, and the carpet does not need to be avoided. The second threshold may be, for example, 0.25 square meters. In some cases, the condition may be a prerequisite condition for the robot to avoid an existing carpet during one cleaning process, the area of the carpet in the area may be determined during the first cleaning process of the robot, if it is determined that the area of the existing carpet in a certain sub-area is less than or equal to a second threshold, the normal sweeping or mopping action performed on the carpet is ignored during any subsequent cleaning process, and if the area is greater than the second threshold, it is only necessary to determine whether other avoidance conditions are met. The determination of such a prerequisite is necessary, and a carpet large enough affects the cleaning speed of the robot more, and when the area of the carpet is small, the robot avoids the carpet with a plurality of complicated combinations of actions, which may otherwise reduce the traveling efficiency of the robot.
In an exemplary embodiment, after obtaining the carpet information according to the cleaning map, it may be determined whether the area of the carpet marked on the cleaning map reaches a second threshold according to the carpet information, and when the area of the carpet marked on the cleaning map does not reach the second threshold, the cleaning path is not adjusted. When the area of the carpet marked on the cleaning map reaches a second threshold value, the cleaning path is adjusted to avoid the carpet, or the cleaning path is further adjusted according to other conditions to avoid the carpet.
When the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is not greater than the third threshold value, the carpet can be considered as not moving, the carpet is avoided, and the influence of the carpet on the cleaning speed of the cleaning robot can be effectively relieved.
In some embodiments, the cleaning robot control method further includes: and updating the carpet marking information in the cleaning map based on the fact that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is larger than a third threshold value.
And when the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is greater than a third threshold value, updating the carpet information marked on the cleaning map according to the detected carpet identification information. When the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is greater than the third threshold, it can be considered that the position of the carpet moves, the cleaning map needs to be updated, and the information of the carpet on the cleaning map is marked again. The third threshold may be a size of a half body of the cleaning robot. When the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning and sweeping map is not larger than the half body of the cleaning robot, the carpet can be considered as not moving, and the carpet is avoided. And when the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is larger than half of the body of the cleaning robot, updating the carpet information marked on the cleaning map according to the detected carpet identification information.
In some embodiments, determining that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is greater than a third threshold includes: and determining that the distance between at least one of the two boundaries of the carpet along the travel path of the cleaning robot and the corresponding carpet boundary marked on the cleaning map is greater than a third threshold value according to the detected carpet identification information.
In an exemplary embodiment, the detection of the carpet boundary by the cleaning robot may be based on a travel path of the cleaning robot, and when the cleaning robot travels to a carpet for the first time along the travel path, it may be indicated that the carpet boundary is detected (referred to as a carpet entrance boundary for short), and at this time, it may be determined whether a distance between the detected carpet entrance boundary and a corresponding carpet boundary in the cleaning map is greater than a third threshold. In other cases, the determination may be made based on a carpet boundary (carpet exit boundary for short) when the cleaning robot is detected to leave from a carpet, and in this embodiment, it is determined whether the distance between the detected carpet exit boundary and a corresponding carpet boundary in the cleaning map is greater than a third threshold. In some cases, the cleaning robot may determine the carpet boundary by recognizing the carpet boundary when the carpet is installed and when the carpet is installed, respectively, in this embodiment, it is determined whether the detected distance between the carpet entrance boundary and the carpet exit boundary and the corresponding carpet boundary in the cleaning map is greater than a third threshold, and when the distance between any one of the detected carpet entrance boundary or the detected carpet exit boundary and the corresponding carpet boundary in the cleaning map is greater than the third threshold, the carpet information indicated by the cleaning map is updated according to the detected carpet recognition information. Since the cleaning robot can only monitor and indicate the covered area clearly during one travel, the boundary characterization in the first two cases, although it can substantially determine the carpet condition of the area, does not exclude that in the same area, the carpet is changed, they have the same starting or ending boundary, and the two measurements of the boundary can avoid this condition.
In some embodiments, when the position on the cleaning map corresponding to the position where the carpet is detected is not marked with the carpet, the carpet information marked on the cleaning map is updated according to the detected carpet identification information. When the position on the cleaning map corresponding to the position where the carpet is detected is not marked with the carpet, the carpet can be considered as a newly laid carpet, and therefore, the carpet information marked on the cleaning map is updated according to the detected carpet identification information.
In some embodiments, the cleaning robot control method further includes: and acquiring the area of the cleaning robot penetrating through the same carpet according to the detected carpet identification information. In the embodiment of the application, the area of the cleaning robot passing through the same carpet can be used as a condition for adjusting the cleaning path and avoiding the carpet. The area of the cleaning robot passing through the same carpet may be obtained based on the detected carpet identification information. In the walking process of the cleaning robot, the information such as the boundary of the carpet, the walking distance on the carpet and the like can be obtained according to the detected carpet identification information. The area of the cleaning robot passing through the same carpet can be obtained according to the related information. When the area of a single pass through the carpet does not reach the threshold, the area of the carpet passed through by the cleaning robot may continue to be accumulated until the first threshold is reached or cleaning of the area in which the carpet is located is completed. The accumulated area is calculated because the robot determines whether the robot is currently located on the carpet or not in the manner described above in the instant cleaning process, or determines how much area cleaning has been completed in the cleaning process, or determines the cleaning area completed by walking the same carpet area for many times.
In the embodiment of the application, before the cleaning path is adjusted to avoid the carpet, other carpet strategies, such as raising the cleaning assembly or stopping the cleaning assembly, can be adopted to reduce the influence of the carpet on the cleaning robot.
In some embodiments, obtaining the area of the cleaning robot passing through the same carpet according to the detected carpet identification information includes: acquiring the area of the cleaning robot passing through the same carpet according to the detected carpet identification information; and obtaining the area of the cleaning robot passing through the same carpet according to the grids covered by the cleaning robot passing through the area of the same carpet in the sweeping map. The cleaning area is divided into a plurality of grids in the cleaning map, the grids covered in the cleaning map when the cleaning robot passes through the carpet can be obtained according to the detected carpet identification information, and the area of all the covered grids is the area of the cleaning robot passing through the carpet. The embodiment obtains the area of the cleaning robot penetrating through the carpet, and is simple and quick.
In some embodiments, adjusting the sweeping path to avoid the carpet comprises: the area where the carpet is located is marked as cleaned. By marking the area where the carpet is located as cleaned, the cleaning robot can automatically adjust the cleaning path to avoid the carpet. Simple, convenient and quick.
Of course, in other embodiments, the sweeping path may be adjusted in other ways to avoid the carpet. For example, when a carpet is detected based on the carpet identification information, the cleaning robot is controlled to adjust the traveling direction under the avoidance condition. Or a carpet edgewise strategy.
Embodiments of the present application provide a cleaning robot control device capable of implementing the method of the above embodiments, which can be used for understanding the control device of the embodiments of the present application, and the following embodiments of the control device can also be used for understanding the method of the above embodiments. Referring to fig. 2, the cleaning robot control device according to the embodiment of the present application includes a detection unit, an information acquisition unit, and a control unit.
The detection unit is used for determining that a carpet exists on the cleaning path according to the detected carpet identification information. The information acquisition unit is used for acquiring carpet information according to the cleaning map. The control unit is used for adjusting the cleaning path to avoid the carpet at least based on the position of the cleaning map corresponding to the detected carpet, wherein the position is marked with the carpet.
In the cleaning robot control device provided by the embodiment of the application, the detection unit can determine whether a carpet exists on a cleaning path in real time according to the detected carpet identification information in the cleaning process, and the information acquisition unit can acquire the carpet information of a cleaning area according to a cleaning map. When the carpet is detected, the control unit determines that the position corresponding to the position where the carpet is identified on the cleaning map is also marked with the carpet according to the carpet information, so that the cleaning path can be adjusted to avoid the carpet. The number of times and the length of the cleaning robot driving on the carpet can be reduced by avoiding the carpet, and the influence of the carpet on the cleaning speed can be relieved.
The cleaning map in the embodiment of the application can be a map drawn by a cleaning robot cleaning for the first time in a new environment, the process of drawing the map can adopt an existing method, in the drawing process, the combination of various sensors can mark obstacle information, carpet information and the like in the environment in the map and store the obstacle information, the carpet information and the like so that the map can be called by the robot in the subsequent cleaning process, and in the subsequent cleaning process, the map can be updated based on the requirements of a user or a preset mode of the robot.
In some embodiments, the detection unit includes one or more of a carpet sensor, a camera, a driving signal sensor, and the like. The carpet sensor may be, for example, an ultrasonic sensor or a line laser sensor. The carpet identification information includes at least one of: the ground reflection signal of the ultrasonic sensor, the driving current signal of the cleaning roller brush, the image information shot by the camera and the reflection signal of the line laser. The detection unit detects at least one of the above information. In the embodiment of the present application, the ground reflected signal received by the carpet sensor may be used as the carpet identification information, or the driving signal of the cleaning roller brush or the driving wheel may be used as the carpet identification information, where the driving signal of the cleaning roller brush or the driving wheel includes a driving current signal of a driving motor of the cleaning roller brush or the driving wheel, a rotation speed signal or a PWM signal of the driving motor, and the like. The carpet identifying information may also be one or more of the above. The driving signal sensor includes a current sensor, a rotational speed sensor, and a PWM signal sensor. When judging whether a carpet exists on the sweeping path, the driving signal can be determined according to the combination of the ground reflection signal received by the carpet sensor and the driving signal of the cleaning rolling brush or the driving wheel.
The cleaning robot may have a carpet sensor, a camera, a driving signal sensor, and the like thereon. The carpet sensor is arranged on the bottom surface of the front part of the cleaning robot. Because the surface of the carpet has different signal reflection to the sensor than the surface of the floor (wood floor, ceramic tile, etc.), the carpet can be identified according to the reflection signal received by the carpet sensor. In an exemplary embodiment, the carpet sensor may be an ultrasonic sensor or a linear laser sensor, for example, an ultrasonic sensor that transmits an ultrasonic signal to the floor and receives a signal reflected from the floor to identify the carpet when the cleaning robot cleans a cleaning area along a cleaning path. When driving from the floor to the carpet, the reflected ultrasonic signal emission changes, from which it can be determined that the carpet is recognized.
The driving signal of the cleaning rolling brush can be changed when the cleaning rolling brush enters the carpet from the hard ground, the driving signal sensor can detect the driving signal, and whether the cleaning robot enters the carpet or not can be confirmed according to the driving signal of the cleaning rolling brush detected by the driving signal sensor. For example, since the friction coefficient of the floor surface is smaller than that of the carpet floor, when the cleaning robot crosses the boundary from the floor into the carpet surface, the friction resistance of the cleaning roller brush or the driving wheel becomes large, and thus can be fed back by the driving signal of the cleaning roller brush or the driving wheel, which includes the driving current of the driving motor, the rotation speed of the driving motor, PWM (pulse width modulation) and the like.
In an exemplary embodiment, on a cleaning robot provided with a camera, the front camera of the cleaning robot can shoot images of the ground in real time during the traveling process and analyze and identify the images so as to determine whether a carpet exists in front of the traveling process or identify whether the robot spans surfaces of different materials during the traveling process.
In some exemplary embodiments, some cleaning robots may also include a line laser sensor that is computationally analyzed by the controller to determine whether a carpet is present in the area currently or about to be traveled by the robot based on reflected signals swept toward the floor at the bottom or front.
The above detection of carpet information is exemplary, and in practice, the detection may be performed by sensors such as an infrared sensor and a gyroscope, for example, the gyroscope may monitor longitudinal displacement or rotation of the robot during traveling, and a boundary between different materials on the cleaning surface generally has a height difference, so that the gyroscope may feed back this to some extent or serve as an auxiliary detection means.
In the embodiment of the application, the cleaning robot cleans according to a cleaning map. During the first cleaning, a cleaning map can be constructed by slam (instant positioning And Mapping) in combination with carpet identification information (e.g., signals acquired by carpet sensors/current detectors), And after the map is constructed, carpet area information is marked on the cleaning map.
The information acquisition unit can acquire carpet information according to the cleaning map. The carpet information includes carpet location, carpet boundaries, carpet area, and the like.
In the embodiment of the application, when the avoiding condition is met, the control unit adjusts the cleaning path to avoid the carpet. In a specific implementation, the avoiding condition, i.e., the condition of adjusting the cleaning path to avoid the carpet, may be that the detecting unit determines that the cleaning path has a carpet according to the carpet identification information. Or the detection unit only detects the carpet identification information, and the control unit drives whether the cleaning path has a carpet according to the carpet identification information. When the cleaning path is determined to have the carpet according to the carpet identification information, the control unit adjusts the cleaning path to avoid the carpet. The control unit determines that the cleaning path has the carpet as an avoidance condition according to the carpet identification information, and can adjust the cleaning path in time under the condition that the carpet arrangement condition in the cleaning area changes, such as increase or decrease of the carpet or movement of the carpet position, and the like, so that the times of cleaning the carpet on the robot and the length of walking on the carpet or the area of the carpet which should not be cleaned are reduced.
In some embodiments, the control unit adjusts the sweeping path to avoid the condition of the carpet, including: the position on the cleaning map corresponding to the position where the carpet is detected is marked with the carpet. When the carpet is detected to be on the cleaning path and the corresponding position on the cleaning map is also marked with the carpet, the control unit can adjust the cleaning path to avoid the carpet. The carpet is marked on the cleaning map, the information such as carpet boundary and area can be obtained according to the cleaning map, and meanwhile, when the cleaning robot detects the carpet boundary in real time, whether the carpet boundary detected in real time coincides with the carpet boundary in the cleaning map or is in a preset threshold range or not is determined by comparing the carpet boundary detected in real time with the carpet boundary in the cleaning map, so that the carpet can be avoided simply and conveniently, and the cleaning path is adjusted.
In some embodiments, the control unit adjusts the sweeping path to avoid the condition of the carpet, including: the position on the cleaning map corresponding to the position where the carpet is detected is marked with the carpet, and the cleaning method further comprises at least one of the following conditions:
the area of the cleaning robot passing through the same carpet is larger than a first threshold value;
the area of the carpet marked on the cleaning and sweeping map is larger than a second threshold value;
and determining that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning and sweeping map is not greater than a third threshold value.
When the area of the cleaning robot passing through the same carpet is larger than the first threshold value, the influence of the carpet on cleaning of the cleaning robot can be considered to be large, the carpet is avoided, and the influence of the carpet on the cleaning speed of the cleaning robot can be effectively relieved. When the area of the cleaning robot passing through the same carpet does not reach the first threshold value, the carpet can be considered to have less influence on sweeping of the cleaning robot, and the carpet can be avoided. The first threshold may be, for example, 0.16 square meters.
When the area of the carpet marked on the cleaning map is larger than the second threshold value, the influence of the carpet on cleaning of the cleaning robot can be considered to be large, the carpet is avoided, and the influence of the carpet on the cleaning speed of the cleaning robot can be effectively relieved. When the area of the carpet marked on the cleaning map does not reach the second threshold value, the influence of the carpet on cleaning of the cleaning robot can be considered to be small, and the carpet does not need to be avoided. The second threshold may be, for example, 0.25 square meters. In some cases, the condition may be a prerequisite condition for the robot to avoid an existing carpet during one cleaning process, the area of the carpet in the area may be determined during the first cleaning process of the robot, if it is determined that the area of the existing carpet in a certain sub-area is less than or equal to a second threshold, the normal sweeping or mopping action performed on the carpet is ignored during any subsequent cleaning process, and if the area is greater than the second threshold, it is only necessary to determine whether other avoidance conditions are met. The determination of such a prerequisite is necessary, and a carpet large enough affects the cleaning speed of the robot more, and when the area of the carpet is small, the robot avoids the carpet with a plurality of complicated combinations of actions, which may otherwise reduce the traveling efficiency of the robot.
In an exemplary embodiment, after the information obtaining unit obtains the carpet information according to the cleaning map, the control unit may determine whether the area of the carpet marked on the cleaning map reaches the second threshold according to the carpet information, and when the area of the carpet marked on the cleaning map does not reach the second threshold, the cleaning path is not adjusted. When the area of the carpet marked on the cleaning map reaches a second threshold value, the cleaning path is adjusted to avoid the carpet, or the cleaning path is further adjusted according to other conditions to avoid the carpet.
When the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is not greater than the third threshold value, the carpet can be considered as not moving, the carpet is avoided, and the influence of the carpet on the cleaning speed of the cleaning robot can be effectively relieved.
In some embodiments, the cleaning robot control method further includes: and updating the carpet marking information in the cleaning map based on the fact that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is larger than a third threshold value.
And when the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is greater than a third threshold value, updating the carpet information marked on the cleaning map according to the detected carpet identification information. When the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is greater than the third threshold, it can be considered that the position of the carpet moves, the cleaning map needs to be updated, and the information of the carpet on the cleaning map is marked again. The third threshold may be a size of a half body of the cleaning robot. When the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning and sweeping map is not larger than the half body of the cleaning robot, the carpet can be considered as not moving, and the carpet is avoided. And when the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is larger than half of the body of the cleaning robot, updating the carpet information marked on the cleaning map according to the detected carpet identification information.
In some embodiments, the determining, by the control unit, that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is greater than a third threshold includes: the control unit determines that the distance between at least one of two boundaries of the carpet along the travel path of the cleaning robot and the corresponding carpet boundary marked on the cleaning map is greater than a third threshold value according to the detected carpet identification information.
In an exemplary embodiment, the detection of the carpet boundary by the cleaning robot may be based on a travel path of the cleaning robot, and when the cleaning robot travels to a carpet for the first time along the travel path, it may be indicated that the carpet boundary is detected (referred to as a carpet entrance boundary), and at this time, it may be determined whether a distance between the detected carpet entrance boundary and a corresponding carpet boundary in the sweeping map is greater than a third threshold. In other cases, the determination may be made based on a carpet boundary (carpet exit boundary for short) when the cleaning robot is detected to leave from a carpet, and in this embodiment, it is determined whether the distance between the detected carpet exit boundary and a corresponding carpet boundary in the cleaning map is greater than a third threshold. In some cases, the cleaning robot may determine the carpet boundary by recognizing the carpet boundary when the carpet is installed and when the carpet is installed, respectively, in this embodiment, it is determined whether the detected distance between the carpet entrance boundary and the carpet exit boundary and the corresponding carpet boundary in the cleaning map is greater than a third threshold, and when the distance between any one of the detected carpet entrance boundary or the detected carpet exit boundary and the corresponding carpet boundary in the cleaning map is greater than the third threshold, the carpet information indicated by the cleaning map is updated according to the detected carpet recognition information. Since the cleaning robot can only monitor and indicate the covered area clearly during one travel, the boundary characterization in the first two cases, although it can substantially determine the carpet condition of the area, does not exclude that in the same area, the carpet is changed, they have the same starting or ending boundary, and the two measurements of the boundary can avoid this condition.
In some embodiments, when the position on the cleaning map corresponding to the position where the carpet is detected is not marked with the carpet, the carpet information marked on the cleaning map is updated according to the detected carpet identification information. When the position on the cleaning map corresponding to the position where the carpet is detected is not marked with the carpet, the carpet can be considered as a newly laid carpet, and therefore, the carpet information marked on the cleaning map is updated according to the detected carpet identification information.
In some embodiments, the cleaning robot control method further includes: the information acquisition unit acquires the area of the cleaning robot penetrating through the same carpet according to the detected carpet identification information. In the embodiment of the application, the area of the cleaning robot passing through the same carpet can be used as a condition for adjusting the cleaning path and avoiding the carpet. The area of the cleaning robot passing through the same carpet may be obtained based on the detected carpet identification information. In the walking process of the cleaning robot, the detection unit can obtain information such as the boundary of the carpet, the walking distance on the carpet and the like according to the detected carpet identification information. The area of the cleaning robot passing through the same carpet can be obtained according to the related information. When the area of a single pass through the carpet does not reach the threshold, the area of the carpet passed through by the cleaning robot may continue to be accumulated until the first threshold is reached or cleaning of the area in which the carpet is located is completed. The accumulated area is calculated because the robot determines whether the robot is currently located on the carpet or not in the manner described above in the instant cleaning process, or determines how much area cleaning has been completed in the cleaning process, or determines the cleaning area completed by walking the same carpet area for many times.
In the embodiment of the present application, before adjusting the cleaning path and avoiding the carpet, the control unit may adopt other carpet strategies, such as raising the cleaning assembly or stopping the cleaning assembly, to reduce the influence of the carpet on the cleaning robot.
In some embodiments, the obtaining, by the control unit, an area of the cleaning robot passing through the same carpet according to the detected carpet identification information includes: acquiring the area of the cleaning robot passing through the same carpet according to the detected carpet identification information; and obtaining the area of the cleaning robot passing through the same carpet according to the grids covered by the cleaning robot passing through the area of the same carpet in the sweeping map. The cleaning area is divided into a plurality of grids in the cleaning map, the grids covered in the cleaning map when the cleaning robot passes through the carpet can be obtained according to the detected carpet identification information, and the area of all the covered grids is the area of the cleaning robot passing through the carpet. The embodiment obtains the area of the cleaning robot penetrating through the carpet, and is simple and fast.
In some embodiments, the control unit adjusts the sweeping path to avoid the carpet, comprising: the area where the carpet is located is marked as cleaned. By marking the area where the carpet is located as cleaned, the cleaning robot can automatically adjust the cleaning path to avoid the carpet. Simple, convenient and fast.
Of course, in other embodiments, the sweeping path may be adjusted in other ways to avoid the carpet. For example, when a carpet is detected based on the carpet identification information, the cleaning robot is controlled to adjust the traveling direction under the avoidance condition. Or a carpet edgewise strategy.
Referring to fig. 3, the cleaning area is shown with two carpet tiles, designated first carpet 100 and second carpet 200, respectively. The lines in the figure indicate the sweeping path of the cleaning robot 300, and the arrows indicate the traveling direction of the cleaning robot 300. The cleaning robot 300 passes through the first carpet 100 and the second carpet 200 while following the wall, and in this process, the cleaning robot 300 detects the first carpet 100 and the second carpet 200 using the detecting unit, and at this time, only the boundary of the carpet may be detected, and the detection result is output to the control unit, and the area of the cleaning robot 300 passing through the first carpet 100 and the second carpet 200 may be calculated, which is obtained by calculating the grid area of the carpet area on the cleaning map corresponding to the area through which the cleaning robot 300 passes.
The cleaning robot 300 is along the wall with the carpet sensor at the bottom of the front end, the carpet is in the form of a grid in the map, the area swept by the carpet sensor is recorded as the cleaning robot 300 moves across the carpet, the area swept by the carpet sensor is calculated by calculating the area of the grid in the swept sweep map, for example, a single grid is 5cm by 5cm, and then all the grids swept by the carpet sensor on the travel path are accumulated and the total area is calculated and recorded. If the cumulative area of the grid recorded during the wall-following process is less than the threshold value, the carpet boundary is detected during the next zigzag walking and the area of the grid swept by the sensor is accumulated continuously until the sum of the previous cumulative area and the cumulative area reaches the threshold value, the control unit marks the carpet as swept, and the carpet is not put on again during the next zigzag walking to the boundary of the carpet area. For example, if the second carpet 200 does not satisfy the avoidance condition, the cleaning path is not adjusted for the second carpet 200 during cleaning. If the first carpet 100 satisfies the avoidance condition, the cleaning path is adjusted for the first carpet 100 to avoid the first carpet 100 during the cleaning process.
As shown in fig. 3, the area of the cleaning robot 300 passing through the first carpet 100 does not reach the first threshold value while following the wall, and thus, the carpet is rewound twice, and the area accumulated after the carpet is rewound twice reaches the first threshold value, and the sweeping path is adjusted while the carpet is rewound next time, avoiding the first carpet 100.
Referring to fig. 3, the avoidance condition may be satisfied when the carpet boundary detected by the carpet sensor is shifted from the boundary of the corresponding carpet in the sweeping map by a distance within a third threshold range. And if the distance of the deviation of the carpet boundary detected by the carpet sensor relative to the boundary of the corresponding carpet in the cleaning map exceeds a third threshold value, the cleaning path is not adjusted for the carpet so as to detect the carpet boundary and update the carpet information in the cleaning map.
Embodiments of the present application further provide a cleaning robot, on which a computer program is stored, and when the program is executed, the method of any of the above embodiments is implemented.
Please refer to fig. 4, which provides a schematic structural diagram of a cleaning robot according to an embodiment of the present disclosure. As shown in fig. 4, the cleaning robot 600 may include: at least one processor 601, at least one network interface 604, a user interface 603, a memory 605, at least one communication bus 602.
Wherein a communication bus 602 is used to enable the connection communication between these components.
The user interface 603 may include a Display screen (Display) and a Camera (Camera), and some of the user interfaces 603 may also include a standard wired interface and a wireless interface.
Some of the network interfaces 604 may include standard wired interfaces, wireless interfaces (e.g., WI-FI interfaces), among others.
The Memory 605 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). In some cases, the memory 605 includes non-transitory computer-readable medium. The memory 605 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 605 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. Some of the memory 605 may also be at least one storage device located remotely from the processor 601. As shown in fig. 4, the memory 605, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an application program.
In the cleaning robot 600 shown in fig. 4, the user interface 603 is mainly used as an interface for providing input for a user, and acquiring data input by the user; and the processor 601 may be adapted to invoke an application stored in the memory 605 and to perform the steps of any of the above-described method embodiments in particular.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above-described method. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any one of the cleaning robot control methods as recited in the above method embodiments.
It is clear to a person skilled in the art that the solution of the present application can be implemented by means of software and/or hardware. The term "unit" and "module" in this specification refers to software and/or hardware capable of performing a specific function independently or in cooperation with other components, wherein the hardware may be, for example, a Field-ProgrammaBLE Gate Array (FPGA), an Integrated Circuit (IC), or the like.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps of the methods of the above embodiments may be implemented by a program, which is stored in a computer-readable memory, the memory including: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above description is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure should not be limited thereby. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are intended to be included within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A cleaning robot control method comprising:
acquiring carpet information according to a cleaning map;
determining that a carpet exists on the cleaning path according to the detected carpet identification information;
and adjusting a cleaning path to avoid the carpet at least based on the position on the cleaning map corresponding to the position where the carpet is detected to be marked with the carpet.
2. The method of claim 1, wherein adjusting the cleaning path to avoid the carpet condition comprises indicating a carpet at a location on the cleaning map corresponding to the location at which the carpet was detected, and at least one of:
the area of the cleaning robot passing through the same carpet is larger than a first threshold value;
the area of the carpet marked on the cleaning and sweeping map is larger than a second threshold value;
and determining that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning and sweeping map is not greater than a third threshold value.
3. The method of claim 2, wherein the method further comprises:
and acquiring the area of the cleaning robot penetrating through the same carpet according to the detected carpet identification information.
4. The method of claim 3, wherein obtaining an area of the cleaning robot across the same carpet based on the detected carpet identification information comprises:
acquiring the area of the cleaning robot passing through the same carpet according to the detected carpet identification information;
and obtaining the area of the cleaning robot penetrating through the same carpet according to the grids covered by the cleaning robot penetrating through the area of the same carpet in the sweeping map.
5. The method of claim 2, wherein the method further comprises:
and updating the carpet marking information in the cleaning map based on the fact that the distance between the carpet boundary determined according to the detected carpet identification information and the carpet boundary marked on the cleaning map is larger than a third threshold value.
6. The method of claim 1, wherein the carpet identification information comprises at least one of:
the ultrasonic cleaning device comprises a ground reflection signal of an ultrasonic sensor, a driving current signal of a cleaning rolling brush, image information shot by a camera and a line laser reflection signal.
7. The method of claim 1, wherein adjusting the sweeping path away from the carpet comprises:
the area where the carpet is located is marked as cleaned.
8. A cleaning robot control apparatus comprising:
a detection unit for detecting carpet identification information;
the information acquisition unit is used for acquiring carpet information according to the cleaning map;
and the control unit is used for adjusting a cleaning path to avoid the carpet at least based on the position marked with the carpet on the cleaning map corresponding to the position where the carpet identification information is detected.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of the preceding claims 1 to 7.
10. A cleaning robot having a computer program stored thereon, characterized in that the program, when executed, carries out the method of any of the preceding claims 1-7.
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| CN202111354798.6A CN114587210B (en) | 2021-11-16 | 2021-11-16 | Cleaning robot control method and control device |
| PCT/CN2022/128045 WO2023088063A1 (en) | 2021-11-16 | 2022-10-27 | Control method and apparatus for cleaning robot |
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| CN202111354798.6A CN114587210B (en) | 2021-11-16 | 2021-11-16 | Cleaning robot control method and control device |
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| WO2023088063A1 (en) * | 2021-11-16 | 2023-05-25 | 北京石头创新科技有限公司 | Control method and apparatus for cleaning robot |
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| WO2023088063A1 (en) | 2023-05-25 |
| CN114587210B (en) | 2023-06-20 |
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