CN114652217A - Control method, cleaning robot, and storage medium - Google Patents
Control method, cleaning robot, and storage medium Download PDFInfo
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- CN114652217A CN114652217A CN202210200262.7A CN202210200262A CN114652217A CN 114652217 A CN114652217 A CN 114652217A CN 202210200262 A CN202210200262 A CN 202210200262A CN 114652217 A CN114652217 A CN 114652217A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 310
- 238000000034 method Methods 0.000 title claims abstract description 76
- 230000008569 process Effects 0.000 claims description 30
- 230000009471 action Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 6
- 238000002372 labelling Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 239000003550 marker Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
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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
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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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses a control method, a cleaning robot and a storage medium. The control method comprises the following steps: detecting a carpet in the marked carpet area in case that the cleaning robot is detected to enter the marked carpet area; detecting an operation mode of the cleaning robot in case of detecting a carpet; and if the cleaning robot is in a first working mode, controlling the cleaning robot to avoid obstacles according to the marked carpet. The carpet can be effectively prevented from being detected only when the cleaning robot moves to the carpet. Meanwhile, whether obstacle avoidance is carried out or not is determined according to the working mode of the cleaning robot. The obstacle avoidance efficiency and the obstacle avoidance effect of the cleaning robot can be improved.
Description
Technical Field
The present application relates to the field of smart home technology, and more particularly, to a control method, a cleaning robot, and a storage medium and a non-volatile computer-readable storage medium.
Background
With the development of smart homes, great convenience is provided for daily life of people. Cleaning robots are increasingly gaining acceptance as a domestic intelligent mobile robot. In general, for a special type of floor such as a carpet in a room, when a mopping mode is used, a cleaning robot is required to be able to accurately identify a relevant area and to effectively avoid an obstacle. However, in the related art, the cleaning robot is usually required to move to the carpet to perform carpet detection, and the obstacle avoidance efficiency and the obstacle avoidance effect for the carpet area are poor, so that the user experience is poor.
Disclosure of Invention
The application provides a control method, a cleaning robot and a storage medium.
The embodiment of the application provides a control method for a cleaning robot, which comprises the following steps:
detecting a carpet in the marked carpet area in case that the cleaning robot is detected to enter the marked carpet area;
detecting an operation mode of the cleaning robot in case a carpet is detected;
and if the cleaning robot is in a first working mode, controlling the cleaning robot to avoid obstacles according to the marked carpet.
In this way, in the case where it is detected that the cleaning robot enters the marked carpet area, the detection of the carpet in the marked carpet area is started. The carpet can be effectively prevented from being detected only when the cleaning robot moves to the carpet. And under the condition that the carpet exists in the area, detecting the working mode of the cleaning robot, and controlling the cleaning robot to avoid obstacles according to the marked carpet when the working mode of the cleaning robot is the first working mode. Therefore, whether obstacle avoidance is carried out or not can be determined according to the working mode of the cleaning robot. Therefore, the obstacle avoidance efficiency and the obstacle avoidance effect of the cleaning robot can be improved according to the method.
In some embodiments, the control method further comprises:
in the event that no carpet is detected, the carpet indicia of the noted carpet area is removed.
In this manner, in the event that the cleaning robot does not detect a carpet, the carpet indicia of the noted carpet area is removed. Thereby improving the accuracy of the marked carpet area.
In some embodiments, said removing the marking of the noted carpet area in the event that no carpet is detected comprises:
in the event that no carpet is detected, decreasing the confidence token value for the noted carpet area;
removing the carpet indicia of the noted carpet area in the event that the confidence indicia value is less than a predetermined value.
In this manner, the confidence token value for the labeled carpet area is reduced in the event that the cleaning robot does not detect a carpet. In the event that the confidence marker value is less than the predetermined value, the carpet marker of the marked carpet area is removed. By adding the confidence mark value, a buffer interval can be provided for the action of removing the marked carpet area, and the cleaning robot is prevented from mistakenly deleting the marked carpet area.
In certain embodiments, the control method further comprises:
if the cleaning robot is located in an area without a carpet and the carpet is detected, detecting the working mode of the cleaning robot;
and if the cleaning robot is in the first working mode, controlling the cleaning robot to carry out carpet obstacle avoidance, and marking the current interval as a carpet area after the obstacle avoidance is finished.
In this way, when the cleaning robot is located in an area where no carpet is marked and a carpet is detected, the detection of the operation mode of the cleaning robot is started. And if the cleaning robot is in the floor mopping mode, controlling the cleaning robot to carry out carpet obstacle avoidance, and marking the current interval as a carpet area after obstacle avoidance is finished. Thereby improving the accuracy of the marked carpet area.
In some embodiments, if the cleaning robot is in the first operating mode, controlling the cleaning robot to perform carpet obstacle avoidance, and marking the current zone as a carpet area after obstacle avoidance includes:
detecting a task mode of the cleaning robot in the first working mode;
controlling the cleaning robot to carry out carpet obstacle avoidance according to a first mode under the condition that the cleaning robot is in the first task mode;
and controlling the cleaning robot to carry out carpet obstacle avoidance according to the second mode under the condition that the cleaning robot is in the second task mode.
In this way, it is detected that the cleaning robot is in the first operation mode. And if the cleaning robot is detected to be in the first task mode, controlling the robot to carry out carpet obstacle avoidance according to the first mode. And if the cleaning robot is detected to be in the second task mode, controlling the robot to carry out carpet obstacle avoidance according to the second mode. According to different task modes, different motion modes are selected to finish the carpet obstacle avoidance, and a diversified carpet obstacle avoidance mode can be provided for a user.
In some embodiments, the controlling the cleaning robot to perform carpet obstacle avoidance according to the first mode while the robot is in the first task mode includes:
controlling the cleaning robot to travel a predetermined distance in a direction opposite to a current travel direction;
and controlling the cleaning robot to perform circular motion by taking the point after the travel is finished as a starting point so as to perform carpet obstacle avoidance.
Therefore, the cleaning robot is controlled to finish the movement after traveling for a preset distance in the direction opposite to the advancing direction, the circular motion is carried out by taking the position of finishing the movement as a starting point, and the carpet obstacle avoidance is carried out in the process of the circular motion. When the cleaning robot carries out carpet obstacle avoidance according to the first mode, the cleaning robot can avoid colliding the carpet as far as possible.
In some embodiments, the control method further comprises:
in the process that the cleaning robot performs circular motion, if a carpet is detected and an obstacle is detected or the cleaning robot returns to the starting point, the cleaning robot is confirmed to finish carpet obstacle avoidance;
and labeling the carpet area in the current interval according to the action track of the cleaning robot.
Therefore, in the process that the cleaning robot performs circular motion, the carpet and the obstacle are detected, or the carpet and the cleaning robot are detected to return to the initial point, and the cleaning robot is confirmed to finish carpet obstacle avoidance. The working process of the cleaning robot is timely promoted. Then, the current section is labeled as a carpet area according to the action track of the cleaning robot. And updating the area marked with the carpet in time.
In some embodiments, the control method further comprises:
and in the process of carrying out circular motion by the cleaning robot, if the carpet is detected but no wall body is detected or the cleaning robot does not return to the starting point, controlling the cleaning robot to carry out circular motion after the cleaning robot carries out the circular motion in the direction opposite to the current moving direction for a preset distance so as to carry out carpet obstacle avoidance.
In this way, in the process of performing the arc motion by the cleaning robot, if the carpet is detected but the wall body is not detected, or the carpet is detected but the starting point is not returned, the cleaning robot is controlled to perform the arc motion after the cleaning robot travels a preset distance in the direction opposite to the current traveling direction, so that the carpet obstacle avoidance is performed. The cleaning robot can do circular motion again when leaving the carpet, so that the obstacle avoidance of the current carpet is completed.
In some embodiments, the controlling the cleaning robot to perform carpet obstacle avoidance according to the second mode when the robot is in the second task mode includes:
and controlling the cleaning robot to travel in the direction opposite to the current travel direction after the cleaning robot collides with the carpet so as to avoid obstacles on the carpet.
Therefore, under the condition that the cleaning robot collides with the carpet, the cleaning robot is controlled to advance in the direction opposite to the current advancing direction so as to avoid the obstacle of the carpet, and the cleaning robot can be prevented from colliding with the carpet again in the retreating process as much as possible.
The embodiment of the application also provides a cleaning robot, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program realizes the control method when being executed by the processor.
The present embodiments also provide a non-transitory computer-readable storage medium of a computer program, which when executed by one or more processors, implements the control method described above.
The control method, the cleaning robot and the non-volatile computer readable storage medium start to detect the carpet in the marked carpet area when the cleaning robot is detected to enter the marked carpet area. The carpet can be effectively prevented from being detected only when the cleaning robot moves to the carpet. And under the condition that the carpet exists in the area, detecting the working mode of the cleaning robot, and controlling the cleaning robot to avoid the obstacle according to the marked carpet when the working mode of the cleaning robot is the first working mode, so that whether the obstacle is avoided can be determined according to the working mode of the cleaning robot. Therefore, the obstacle avoidance efficiency and the obstacle avoidance effect of the cleaning robot can be improved according to the method.
Additional aspects and advantages of embodiments of the present application 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 embodiments of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a control method according to certain embodiments of the present application;
FIG. 2 is a schematic flow chart of a control method according to certain embodiments of the present application;
FIG. 3 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 4 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 5 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 6 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 7 is a schematic diagram of a scenario of a control method according to some embodiments of the present application;
FIG. 8 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 9 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 10 is a schematic diagram of a scenario of a control method according to some embodiments of the present application;
FIG. 11 is a schematic flow chart diagram of a control method according to certain embodiments of the present application;
FIG. 12 is a schematic diagram of a scenario of a control method according to some embodiments of the present application;
FIG. 13 is a schematic diagram of a connection state of a non-volatile computer readable storage medium and a processor of some embodiments of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, 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 by referring to the drawings are exemplary only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the embodiments of the present application.
The cleaning robot can help a user clean the ground, and the cleaning work mode comprises sweeping, mopping and dust collection. The cleaning robot can meet obstacles such as walls, tables and chairs, pets, carpets and the like in the working process, so the cleaning robot can better complete the cleaning work by learning obstacle avoidance technology. When the cleaning robot meets different obstacles in different working modes, different obstacle avoidance technologies need to be adopted. In the working mode of sweeping or dust collection, when facing an obstacle such as a carpet, the carpet is easy to accumulate dust and garbage, and the cleaning robot can incidentally increase the working power to clean the carpet when cleaning the ground. However, in the floor mopping operation mode, since the carpet is easily wet and dirty after being wetted, the cleaning robot needs to avoid the carpet and only clean the floor. Meanwhile, the carpet is low in height relative to other obstacles, and the cleaning robot is easily moved thereon for unnecessary cleaning.
Referring to fig. 1, a control method according to an embodiment of the present application includes the following steps:
01: detecting a carpet in the marked carpet area under the condition that the cleaning robot is detected to enter the marked carpet area;
02: detecting the working mode of the cleaning robot under the condition that the carpet is detected;
03: and if the cleaning robot is in the first working mode, controlling the cleaning robot to avoid the obstacle according to the marked carpet.
The present application also provides a cleaning robot including a memory and a processor. The memory has stored therein a computer program and the processor is configured to detect a carpet in a marked carpet area in the event that the cleaning robot is detected to enter the marked carpet area. And the control module is used for detecting the working mode of the cleaning robot under the condition of detecting the carpet and controlling the cleaning robot to avoid the obstacle according to the marked carpet if the cleaning robot is in the first working mode.
Specifically, the cleaning robot includes an intelligent mobile robot including a floor-mopping function, such as a mopping all-in-one machine and a floor mopping machine. The mopping can comprise wet mopping, wherein the wet mopping refers to that the cleaning robot depends on a water seepage system of a machine body to uniformly permeate water of the machine body into the cleaning cloth, and the engine drives the machine to mop the floor.
The cleaning robot may retrieve pre-stored map information. The map information includes labeled carpet areas and information of the labeled carpet areas. The map information may be stored in a storage of the body of the cleaning robot in advance, or may be stored in a cloud server.
The carpet area refers to the spatial position of the floor surface occupied by the carpet.
The labeled carpet area is an area that can be judged to be the carpet based on the labeled historical data. That is, based on the stored labeled historical data, it can be predicted that the area has carpet. The labeled carpet areas are generated by detecting with a spatial location measuring instrument, identifying the real existing carpet, generating data from the spatial location of the carpet, labeling the data, and storing the data.
Entering the marked carpet area refers to determining that the cleaning robot enters the marked carpet area when the distance from the cleaning robot to the edge of the marked carpet area is less than or equal to a predetermined distance according to pre-stored map information. The predetermined distance may be predetermined by the manufacturer or may be set by the user himself.
It can be understood that the detection of the carpet obstacle is performed directly by an instrument for measuring the spatial position of the object, whether the cleaning robot moves to the edge of the carpet, or indirectly by acquiring the brush edge current and the change of the state of the IMU after the cleaning robot hits the carpet. It is required that the cleaning robot frequently detects the edge of the carpet and the cleaning robot easily moves to the carpet. In the mopping mode, the carpet is easily wetted. When the carpet enters the marked carpet area, the carpet is detected, so that the frequent detection of the cleaning robot at the edge of the carpet can be effectively avoided, and the probability of moving the carpet is reduced. The obstacle avoidance effect and efficiency can be improved.
The carpet can be detected by adopting instruments which can measure the space position of an object, such as an ultrasonic sensor, an infrared sensor, a camera and the like.
The working modes of the cleaning robot comprise floor mopping, sweeping, dust collection and other modes for cleaning the floor. The first mode of operation is referred to as a mopping mode.
It will be appreciated that there are a number of modes of operation of the cleaning robot and that in not all modes of operation the cleaning robot is avoided when it encounters a carpet. Firstly, the cleaning robot is judged to be in a mopping mode, and then the cleaning robot is determined to avoid the carpet, so that the obstacle avoidance effect and efficiency can be improved.
The labeled carpet is generated by detecting with a spatial position instrument measuring an object, identifying the real existing carpet, generating data from the spatial position of the carpet, and labeling the data.
Obstacle avoidance refers to a cleaning robot which recognizes obstacles, updates a path in real time and avoids the obstacles.
In one example, when it is detected that the cleaning robot enters a marked carpet area, it is started to detect whether there is a carpet in the area. If the carpet is detected in the area, then the operation mode of the cleaning robot is detected. And if the working mode of the cleaning robot is detected to be mopping, controlling the cleaning robot to avoid the marked carpet.
In this way, in the case where it is detected that the cleaning robot enters the marked carpet area, the detection of the carpet in the marked carpet area is started. The carpet can be effectively prevented from being detected only when the cleaning robot moves to the carpet. And under the condition that the carpet exists in the area, detecting the working mode of the cleaning robot, and controlling the cleaning robot to avoid the obstacle according to the marked carpet when the working mode of the cleaning robot is the first working mode, so that whether the obstacle is avoided can be determined according to the working mode of the cleaning robot. Therefore, the obstacle avoidance efficiency and the obstacle avoidance effect of the cleaning robot can be improved according to the method.
Referring to fig. 2, in some embodiments, the control method includes:
04: in the event that no carpet is detected, the carpet indicia of the noted carpet area is removed.
In certain embodiments, the processor is configured to remove the carpet indicia of the marked carpet area if no carpet is detected.
Specifically, the carpet mark of the marked carpet area is removed by detecting the carpet mark by a spatial position instrument of the measuring object, and then identifying the spatial position of the carpet without real existence. Then, the original data corresponding to the position is deleted.
It will be appreciated that the noted carpet area may be the wrong area. I.e. no carpet is present in this area. Therefore, under the condition that the carpet is not detected, the carpet mark is removed, the related historical data of the marked carpet area can be updated in time, and the accuracy of the marked carpet area is improved.
In one example, when it is detected that the cleaning robot enters a marked carpet area, it is started to detect whether there is a carpet in the area. If the area is detected as being free of carpet, the carpet indicia of the marked carpet area is removed.
In this manner, in the event that the cleaning robot does not detect a carpet, the carpet indicia of the noted carpet area is removed. Thereby improving the accuracy of the marked carpet area.
Referring to fig. 3, in some embodiments, step 04 includes:
040: in the event that no carpet is detected, decreasing the confidence token value for the noted carpet area;
041: in the event that the confidence token value is less than the predetermined value, the carpet token of the noted carpet area is removed.
In some embodiments, the processor is configured to decrease the confidence token value for the labeled carpet area if no carpet is detected. And means for removing the carpet indicia of the noted carpet area if the confidence indicia value is less than the predetermined value.
Specifically, the annotated historical data comprises confidence token values. Confidence tokens refer to the degree of truth of the token. Confidence token values may indicate how authentic the token is, e.g., the greater the confidence token value, the greater the authenticity of the token, i.e., the greater the likelihood that the token is authentic.
Decreasing the confidence token value for a labeled carpet area refers to decreasing the fidelity of this token for the labeled carpet area.
The predetermined value may be preset by the manufacturer or may be set by the user.
It will be appreciated that the confidence token value may be added to the historical data for the noted carpet area. Each time no carpet is detected in the labeled carpet area, the confidence token value is decreased once, and when the confidence token value is less than the predetermined value, the labeled carpet area is removed. The carpet cleaning robot can provide a buffer area for the action of removing the marked carpet area, and prevent the cleaning robot from mistakenly deleting the marked carpet area.
In one example, the predetermined value is 96%. Each time the cleaning robot does not detect a carpet in the marked carpet area, the value is reduced by 3%. When the cleaning robot does not detect the carpet after repeating the detection 2 times in the area, the confidence level mark value is changed from 100% to 94%, which is less than a predetermined value. The carpet indicia of the marked carpet area is removed.
In this manner, the confidence token value for the labeled carpet area is reduced in the event that the cleaning robot does not detect a carpet. In the event that the confidence token value is less than the predetermined value, the carpet token of the noted carpet area is removed. By adding the confidence mark value, a buffer interval can be provided for the action of removing the marked carpet area, and the cleaning robot is prevented from mistakenly deleting the marked carpet area.
Referring to fig. 4, in some embodiments, the control method includes:
05: if the cleaning robot is located in an area where the carpet is not marked and the carpet is detected, detecting the working mode of the cleaning robot;
06: and if the cleaning robot is in the first working mode, controlling the cleaning robot to carry out carpet obstacle avoidance, and marking the current interval as a carpet area after the obstacle avoidance is finished.
In some embodiments, the processor is configured to detect an operational mode of the cleaning robot if the cleaning robot is located in an area where no carpet is tagged and a carpet is detected. And the control unit is used for controlling the cleaning robot to carry out carpet obstacle avoidance if the cleaning robot is in the first working mode, and marking the current interval as a carpet area after the obstacle avoidance is finished.
Specifically, the area not labeled with a carpet is an area that can be determined to be not provided with a carpet based on the history data not labeled. That is, based on the stored unlabelled historical data, it can be predicted that the area is free of carpet.
The control of the cleaning robot for carpet obstacle avoidance refers to the control of the cleaning robot for carpet recognition and real-time path updating for carpet avoidance.
The current interval refers to a part which is coincident with the space position of the carpet in a path for controlling the cleaning robot to avoid the obstacle of the carpet at present.
It will be appreciated that historical data may be missing areas where carpets should be labeled, or new carpets may be added to the floor whose spatial locations have not been labeled and stored. Thus, the cleaning robot detects the carpet in the area where the carpet is not marked, and can change the area to the marked carpet area. The method can update the related historical data of the marked carpet area in time, and improve the accuracy of the marked carpet area.
In one example, if the cleaning robot is located in an area where no carpet is marked but a carpet is detected, the operation mode of the cleaning robot at that time is detected. And if the cleaning robot is detected to be in the mopping mode, controlling the cleaning robot to carry out carpet obstacle avoidance. And marking the part which is coincided with the space position of the carpet in the path for controlling the cleaning robot to carry out carpet obstacle avoidance as a carpet area after obstacle avoidance is finished.
In this way, if the cleaning robot is located in an area where no carpet is marked and a carpet is detected, the detection of the operation mode of the cleaning robot is started. And if the cleaning robot is in the floor mopping mode, controlling the cleaning robot to carry out carpet obstacle avoidance, and marking the current interval as a carpet area after obstacle avoidance is finished. Thereby improving the accuracy of the marked carpet area.
Referring to fig. 5, in some embodiments, step 06 includes:
060: detecting a task mode of the cleaning robot in a first working mode;
061: controlling the robot to carry out carpet obstacle avoidance according to the first mode under the condition that the cleaning robot is in the first task mode;
062: and controlling the cleaning robot to carry out carpet obstacle avoidance according to the second mode under the condition that the cleaning robot is in the second task mode.
In some embodiments, the processor is configured to detect a task mode of the cleaning robot in the first mode of operation. And the control unit is used for controlling the robot to carry out carpet obstacle avoidance according to the first mode under the condition that the cleaning robot is in the first task mode. And the control unit is used for controlling the cleaning robot to carry out carpet obstacle avoidance according to the second mode under the condition that the robot is in the second task mode.
Specifically, when the cleaning robot enters an area where no carpet is marked, it is easy to hit the carpet because the function of detecting the carpet is not turned on. Therefore, when the cleaning robot enters the area without the carpet to mop, the function of avoiding obstacles by the carpet can be added.
The first duty mode is referred to as a blanket-around motion mode.
The second mission mode is referred to as a collision reverse mode.
It can be understood that when a user uses the cleaning robot to mop the floor and touches the carpet, the user can select a corresponding carpet obstacle avoidance mode according to the user requirement. For example, to try to avoid the cleaning robot hitting the carpet, a carpet-winding motion pattern is chosen that moves along the edge of the carpet for mopping. In order to accelerate the cleaning speed, a collision retreating mode that the floor is dragged after the floor is contacted with a carpet and retreated for a certain distance is selected.
The first mode is a mode in which the floor is moved along the edge of the carpet to be mopped. For example, in an arc of movement around the edge of the carpet. Namely, the cleaning robot can move around the edge of the carpet in an arc moving mode in the carpet moving mode, so that the obstacle avoidance of the carpet is completed. Or along the edge of the carpet in a linear movement. That is, the cleaning robot can move along the edge of the carpet in a linear moving mode in the carpet winding movement mode, so that the obstacle avoidance of the carpet is completed.
Understandably, because the carpet is a polygonal object, the cleaning robot moves around the edge of the carpet in an arc moving mode, the area for exploring the obstacles is larger, the cleaning robot can avoid moving to the carpet as much as possible, and the cleaning robot can complete turning in a smoother moving mode. Meanwhile, the straight line distance between the two points is shortest, so that the cleaning robot can move along the edge of the carpet in a straight line moving mode, and the cleaning robot can finish carpet obstacle avoidance in the shortest moving distance.
The second mode is a mode in which the floor is mopped after being retreated by a predetermined distance immediately after the floor is touched. The direction in which the cleaning robot retreats is different from the current traveling direction, and may include a direction opposite to the current traveling direction, or a direction within 90 ° from the current traveling direction, and the like. The path of the retreat may be linear or curved.
In one example, after detecting that the cleaning robot is in a floor mopping mode, a task mode of detecting the cleaning robot is started. And if the task mode of the cleaning robot is detected to be a carpet-surrounding movement mode, controlling the robot to move around the edge of the carpet according to the moving mode of the circular arc so as to finish obstacle avoidance of the carpet, or moving along the edge of the carpet in a linear moving mode so as to finish obstacle avoidance of the carpet. If the task mode of the cleaning robot is the collision retreating mode, the robot is controlled to retreat for a certain distance and then mopping is carried out after the robot is in contact with the carpet, and therefore obstacle avoidance of the carpet is completed.
In this way, it is detected that the cleaning robot is in the first operation mode. And if the cleaning robot is detected to be in the first task mode, controlling the robot to carry out carpet obstacle avoidance according to the first mode. And if the cleaning robot is detected to be in the second task mode, controlling the robot to carry out carpet obstacle avoidance according to the second mode. According to different task modes, different motion modes are selected to finish the carpet obstacle avoidance, and a diversified carpet obstacle avoidance mode can be provided for a user.
Referring to fig. 6, in some embodiments, step 061 includes:
0610: controlling the cleaning robot to travel a predetermined distance in a direction opposite to a current travel direction;
0611: and controlling the cleaning robot to perform circular motion by taking the point after the travelling as a starting point so as to avoid the obstacle of the carpet.
In some embodiments, the processor is configured to control the cleaning robot to travel a predetermined distance in a direction opposite to a current travel direction, and to control the cleaning robot to perform an arc motion with a point after the travel is finished as a starting point to perform carpet obstacle avoidance.
Specifically, the forward direction refers to a direction in which the cleaning robot advances toward the carpet.
The predetermined distance may be preset by the manufacturer or may be set by the user himself.
The point after the travel is a position at which the cleaning robot starts to change its moving direction after moving a certain distance in the direction opposite to the traveling direction.
The cleaning robot can set the sizes of the arcs to be consistent and can also set the sizes of the arcs to be inconsistent in the process of the arc motion. The size of the arc is not limited.
It will be appreciated that, after detecting the carpet, returning a distance in the original forward direction ensures that the robot leaves the carpet without colliding with the carpet. After the carpet returns to a certain distance, the carpet starts to perform circular motion again, and the carpet is subjected to obstacle avoidance in the process of performing the circular motion.
Referring to fig. 7, in an example, when the cleaning robot drags the floor in an area where no carpet is marked, the cleaning robot moves along a path 1, detects the carpet, and then, the cleaning robot is controlled to move a certain distance to a path 2 and then reach a position of a point a, and the movement direction is changed from the point a and the cleaning robot moves according to a path 3 to perform carpet obstacle avoidance. The directions of the path 1 and the path 2 are opposite, and the path 3 is a path formed by the cleaning robot performing circular motion from the point a.
Therefore, the cleaning robot is controlled to finish the movement after traveling for a preset distance in the direction opposite to the advancing direction, the circular motion is carried out by taking the position of finishing the movement as a starting point, and the carpet obstacle avoidance is carried out in the process of the circular motion. When the cleaning robot carries out carpet obstacle avoidance according to the first mode, the cleaning robot can avoid colliding the carpet as far as possible.
Referring to fig. 8, in some embodiments, step 0611 comprises:
06110: in the process that the cleaning robot performs circular motion, if the carpet is detected and an obstacle is detected or the cleaning robot returns to a starting point, the cleaning robot is confirmed to finish carpet obstacle avoidance;
06111: and marking the carpet area in the current interval according to the action track of the cleaning robot.
In some embodiments, the processor is configured to confirm that the cleaning robot has completed carpet obstacle avoidance if a carpet is detected and an obstacle is detected or has returned to a starting point during the circular motion of the cleaning robot; and the carpet area labeling module is used for labeling the carpet area in the current interval according to the action track of the cleaning robot.
In particular, the obstacles may include walls, tables and chairs, pets, carpets, and the like.
And in the arc motion process of the cleaning robot, if the carpet is detected, starting to detect whether an obstacle exists, and if the obstacle exists, confirming that the cleaning robot finishes carpet obstacle avoidance.
And in the process of circular motion, if the carpet is detected, the cleaning robot starts to detect whether to return to the starting point for starting the circular motion, and if the carpet returns to the starting point, the cleaning robot is confirmed to finish carpet obstacle avoidance.
Understandably, in the process of carpet obstacle avoidance, the cleaning robot may encounter obstacles such as walls, tables, chairs and the like, and cannot continue to complete carpet obstacle avoidance. Therefore, the carpet obstacle avoidance is confirmed to be completed in time, the circular motion is finished, and the cleaning robot can be pushed to carry out the next working process. Meanwhile, since the cleaning robot performs the circular arc motion, the cleaning robot is likely to move back to the starting point, and if the work is not finished all the time, the cleaning robot repeatedly performs the circular arc motion having the same path all the time. Therefore, the carpet obstacle avoidance is confirmed to be completed in time, the circular motion is finished, the energy can be saved, and the working process is promoted.
The action trajectory includes an action trajectory from the start of the circular arc motion to the detection of the obstacle, and an action trajectory from the start of the circular arc motion to the return to the starting point.
In one example, if the cleaning robot is mopping in an area where no carpet is marked, a carpet is detected, and the cleaning robot is detected to be in a carpet-winding movement mode, after the cleaning robot travels a preset distance in a direction opposite to the current travel direction, circular motion is started at a position after the cleaning robot finishes, if the carpet is detected in the circular motion process, whether an obstacle exists is started to be detected, and if the obstacle exists, the cleaning robot is confirmed to finish carpet obstacle avoidance. Then, a portion coinciding with the spatial position of the carpet is labeled as a carpet area according to the movement trajectory of the cleaning machine from the start of the circular arc movement to the detection of the obstacle.
In another example, if the cleaning robot is mopping in an area where no carpet is marked, a carpet is detected, and the cleaning robot is detected to be in a carpet-winding movement mode, after the cleaning robot travels a predetermined distance in a direction opposite to the current travel direction, the cleaning robot starts to perform circular motion at a post-completion point, if the carpet is detected during the circular motion, whether the cleaning robot returns to the starting point where the circular motion starts is detected, and if the cleaning robot returns to the starting point, it is confirmed that the cleaning robot completes carpet obstacle avoidance. Then, a portion coinciding with the spatial position of the carpet is labeled as a carpet area according to the travel path of the cleaning machine from the start of the circular arc movement to the return to the starting point.
Therefore, in the process that the cleaning robot performs circular motion, the carpet and the obstacle are detected, or the carpet and the cleaning robot are detected to return to the initial point, and the cleaning robot is confirmed to finish carpet obstacle avoidance. And the working process of the cleaning robot is promoted in time. And then, according to the action track of the cleaning robot, marking the current section as a carpet area, and updating the area marked with the carpet in time.
Referring to fig. 9, in some embodiments, step 0611 includes:
06112: and in the process of carrying out circular motion by the cleaning robot, if the carpet is detected but no wall body is detected or the starting point is not returned, controlling the cleaning robot to carry out circular motion after the cleaning robot travels a preset distance in the direction opposite to the current traveling direction so as to carry out carpet obstacle avoidance.
In some embodiments, the processor is configured to control the cleaning robot to perform the arc motion after traveling a predetermined distance in a direction opposite to a current traveling direction to perform the carpet obstacle avoidance if the carpet is detected but no wall is detected or the cleaning robot does not return to a starting point during the arc motion of the cleaning robot.
Referring to fig. 10, specifically, in an example, after the cleaning robot moves forward for a distance in the circular motion process, if a carpet is detected, it starts to detect whether there is a wall or returns to the starting point, and if there is no wall or there is no returning to the starting point, the cleaning robot is controlled to move forward for a predetermined distance in the direction opposite to the forward direction and then performs the circular motion again to avoid the obstacle in the carpet. For example, as shown in the motion track of fig. 10, in the circular motion process of the cleaning robot, after detecting a carpet along the path 4, the cleaning robot starts to detect whether there is a wall, and if no wall is detected, the cleaning robot is controlled to move a certain distance to the path 5 and then reach the position of the point a, change the moving direction from the point a, and move according to the path 6 to perform carpet obstacle avoidance. The directions of the path 4 and the path 5 are opposite, and the path 6 is a path formed by the cleaning robot performing circular motion again from the point a. The circular arc path of the path 6 may be smaller than the circular arc size of the path 4, that is, after the carpet is touched during the circular arc motion, the circular arc size during the circular arc motion performed again may be smaller than the previous circular arc motion.
It is understood that, during the circular motion of the cleaning robot, the cleaning robot may detect the current carpet again, and at this time, the cleaning robot is controlled to move in the opposite direction for a distance again and then to repeat the circular motion. The cleaning robot can do circular motion again when leaving the carpet, so that the obstacle avoidance of the current carpet can be completed.
In this way, in the process of performing the arc motion by the cleaning robot, if the carpet is detected but the wall body is not detected, or the carpet is detected but the starting point is not returned, the cleaning robot is controlled to perform the arc motion after the cleaning robot travels a preset distance in the direction opposite to the current traveling direction, so that the carpet obstacle avoidance is performed. The cleaning robot can do circular motion again when leaving the carpet, so that the obstacle avoidance of the current carpet is completed.
Referring to FIG. 11, in some embodiments, step 062 includes:
0620: and controlling the cleaning robot to travel in the direction opposite to the current travel direction after the cleaning robot collides with the carpet so as to avoid the obstacle of the carpet.
In some embodiments, the processor is configured to control the cleaning robot to travel in a direction opposite to a current travel direction for carpet obstacle avoidance in the event of a collision with the carpet.
Specifically, in the collision backing mode, the cleaning robot finishes backing in a mode of traveling in a direction opposite to the current traveling direction, the backing path can be determined that no carpet exists, and the cleaning robot can be prevented from colliding with the carpet again in the backing process as much as possible. However, if the cleaning robot moves backward in another direction, the cleaning robot may not move in the other direction and may hit the carpet again.
Referring to fig. 12, in one example, when the cleaning robot enters an area without a carpet marked, collides with and detects a carpet, the detection of the working mode and the task mode of the cleaning robot is started, and the collision backing mode of the cleaning robot in the floor mopping working mode is detected. And then, controlling the cleaning robot to return for a distance according to the original advancing path, and then starting to mop the floor to avoid the obstacle of the carpet. For example, as shown in fig. 11, the cleaning robot may hit the carpet according to the path 7, and then the cleaning robot may be controlled to leave a distance according to the direction of the path 8 opposite to the direction of the path 7, and then start to drag the floor to avoid the obstacle.
Therefore, under the condition that the cleaning robot collides with the carpet, the cleaning robot is controlled to advance in the direction opposite to the current advancing direction so as to avoid the obstacle of the carpet, and the cleaning robot can be prevented from colliding with the carpet again in the retreating process as much as possible.
Referring to fig. 13, the present application further provides a non-volatile computer-readable storage medium 100 containing a computer program 101. The computer program 101, when executed by the one or more processors 200, causes the one or more processors 200 to perform the control method of any of the embodiments described above.
In the description herein, references to the description of "certain embodiments," "in one example," "exemplary," 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 application. In this specification, schematic representations of the above terms 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. Furthermore, the various embodiments or examples and features of the various embodiments or examples described in this specification can be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
Although embodiments of the present application have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present application, and that changes, 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 application.
Claims (11)
1. A control method for a cleaning robot, characterized by comprising:
detecting a carpet in the marked carpet area in case that the cleaning robot is detected to enter the marked carpet area;
detecting an operation mode of the cleaning robot in case of detecting a carpet;
and if the cleaning robot is in a first working mode, controlling the cleaning robot to avoid obstacles according to the marked carpet.
2. The control method according to claim 1, characterized by further comprising:
in the event that no carpet is detected, the carpet indicia of the noted carpet area is removed.
3. The control method of claim 2, wherein the removing the mark of the labeled carpet area in the event that no carpet is detected comprises:
in the event that no carpet is detected, decreasing the confidence token value for the noted carpet area;
removing the carpet indicia of the noted carpet area in the event that the confidence indicia value is less than a predetermined value.
4. The control method according to claim 1, characterized by further comprising:
if the cleaning robot is located in an area without a carpet and the carpet is detected, detecting the working mode of the cleaning robot;
and if the cleaning robot is in the first working mode, controlling the cleaning robot to carry out carpet obstacle avoidance, and marking the current interval as a carpet area after the obstacle avoidance is finished.
5. The control method of claim 4, wherein if the cleaning robot is in the first working mode, controlling the cleaning robot to perform carpet obstacle avoidance, and marking the current interval as a carpet area after obstacle avoidance is finished comprises:
detecting a task mode of the cleaning robot in the first working mode;
controlling the cleaning robot to carry out carpet obstacle avoidance according to a first mode under the condition that the cleaning robot is in the first task mode;
and controlling the cleaning robot to carry out carpet obstacle avoidance according to the second mode under the condition that the cleaning robot is in the second task mode.
6. The control method of claim 5, wherein controlling the cleaning robot to perform carpet obstacle avoidance according to a first mode while the robot is in the first duty mode comprises:
controlling the cleaning robot to travel a predetermined distance in a direction opposite to a current travel direction;
and controlling the cleaning robot to perform circular motion by taking the point after the travel is finished as a starting point so as to perform carpet obstacle avoidance.
7. The control method according to claim 6, characterized by further comprising:
in the process that the cleaning robot performs circular motion, if a carpet is detected and an obstacle is detected or the cleaning robot returns to the starting point, the cleaning robot is confirmed to finish carpet obstacle avoidance;
and marking the carpet area in the current interval according to the action track of the cleaning robot.
8. The control method according to claim 6, characterized by further comprising:
and in the process of carrying out circular motion by the cleaning robot, if the carpet is detected but no wall body is detected or the cleaning robot does not return to the starting point, controlling the cleaning robot to carry out circular motion after the cleaning robot carries out the circular motion in the direction opposite to the current moving direction for a preset distance so as to carry out carpet obstacle avoidance.
9. The control method of claim 5, wherein controlling the cleaning robot to perform carpet obstacle avoidance according to a second mode when the robot is in a second mission mode comprises:
and controlling the cleaning robot to travel in the direction opposite to the current travel direction after the cleaning robot collides with the carpet so as to avoid obstacles on the carpet.
10. A cleaning robot, characterized in that the cleaning robot comprises a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, implements the control method of any one of claims 1-9.
11. A non-transitory computer-readable storage medium of a computer program, wherein the computer program, when executed by one or more processors, implements the control method of any one of claims 1-9.
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