CN115005714A

CN115005714A - Floor sweeping robot control method and system, storage medium and intelligent terminal

Info

Publication number: CN115005714A
Application number: CN202210711968.XA
Authority: CN
Inventors: 赵磊; 曹一波; 王崇江; 刘好新; 肖应旺; 傅民善; 冯希; 刘宇鹏
Original assignee: Ningbo Guolang Robot Technology Co ltd
Current assignee: Ningbo Guolang Robot Technology Co ltd
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-09-06
Anticipated expiration: 2042-06-22
Also published as: CN115005714B

Abstract

The application relates to a sweeping robot control method, a system, a storage medium and an intelligent terminal, relating to the field of intelligent furniture technology and comprising the steps of obtaining surrounding distance information around a sweeping robot; determining surrounding distance information with the minimum corresponding numerical value according to a sorting rule, defining the corresponding direction of the surrounding distance information as an initial direction, and acquiring initial distance information in the initial direction; controlling the sweeping robot to move towards the initial direction until the initial distance information is a fixed value, and controlling the sweeping robot to move along the fixed direction to divide the area; acquiring the information of the inclined downward distance around the sweeping robot when the sweeping robot is divided into areas; judging whether the information of the downward inclination distance is larger than a permissible value; if the floor sweeping speed is not greater than the allowable value, controlling the floor sweeping robot to move continuously; if the current value is larger than the allowable value, an abnormal signal is output and the sweeping robot is controlled to stop moving towards the fixed direction. The application has the effect of improving the operation safety in the dividing process of the floor sweeping robot area.

Description

Floor sweeping robot control method and system, storage medium and intelligent terminal

Technical Field

The application relates to the field of intelligent furniture technology, in particular to a floor sweeping robot control method, a floor sweeping robot control system, a storage medium and an intelligent terminal.

Background

The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence.

In the related art, when the sweeping robot is used for the first time, the sweeping area needs to be divided so as to facilitate the subsequent sweeping operation. During the area division process, the sweeping robot often uses infrared ranging or laser ranging to determine the condition of surrounding obstacles so as to determine the edge condition and move along the edge to divide the edge line.

In view of the above-mentioned related technologies, the inventor thinks that when the sweeping robot moves to a step section, because the distance measuring distance in front is far, the sweeping robot can default that the front is a movable area, which may cause the sweeping robot to fall down from the step and damage the robot, and thus the operation safety is low in the dividing process of the sweeping robot area, and there is still an improvement space.

Disclosure of Invention

In order to improve the operation safety of the sweeping robot in the process of dividing the area, the application provides a sweeping robot control method, a sweeping robot control system, a storage medium and an intelligent terminal.

In a first aspect, the application provides a control method for a sweeping robot, which adopts the following technical scheme:

a control method of a sweeping robot comprises the following steps:

obtaining the peripheral distance information around the sweeping robot;

determining surrounding distance information with the minimum corresponding numerical value according to a preset sorting rule, defining the corresponding direction of the surrounding distance information as an initial direction, and acquiring the initial distance information in the initial direction in real time;

controlling the sweeping robot to move towards the initial direction until the distance value corresponding to the initial distance information is a preset fixed value, and controlling the sweeping robot to move along the preset fixed direction to divide the area;

acquiring the information of the inclined downward distance around the sweeping robot when the sweeping robot is divided into areas;

judging whether the distance value corresponding to the downward-inclined distance information is larger than a preset allowable value or not;

if the distance value corresponding to the downward-inclined distance information is not greater than the allowable value, controlling the sweeping robot to move continuously;

and if the distance value corresponding to the downward-inclined distance information is larger than the allowable value, outputting an abnormal signal and controlling the sweeping robot to stop moving towards the fixed direction.

Through adopting above-mentioned technical scheme, when the robot of sweeping the floor first operation, the control robot of sweeping the floor removes and carries out the regionalization operation to nearest lateral wall, at the regionalization removal in-process, detect the unsettled condition in order to judge moving direction the place ahead to the oblique distance information that descends of oblique downward direction, thereby can not continue to move forward when making the robot of sweeping the floor remove to unsettled area and take place in order to reduce the condition that the robot of sweeping the floor dropped the damage, the operation security of the robot regionalization in-process of sweeping the floor has been improved.

Optionally, the moving method for dividing the area of the sweeping robot comprises the following steps:

obtaining obstacle distance information of the sweeping robot in the fixed direction;

judging whether the distance value corresponding to the obstacle distance information is larger than a fixed value or not;

if the distance value corresponding to the obstacle distance information is not larger than the fixed value, updating the original fixed direction to be the initial direction, and rotating the original fixed direction to the preset offset direction by a preset offset angle to correct the original fixed direction to be the new fixed direction;

if the distance value corresponding to the obstacle distance information is larger than the fixed value, judging whether the distance value corresponding to the initial distance information changes;

if the distance value corresponding to the initial distance information is not changed, controlling the sweeping robot to continuously move along the fixed direction;

and if the distance value corresponding to the initial distance information changes, controlling the sweeping robot to move by a fixed value along the initial direction, updating the initial direction and the initial distance information according to the sorting rule again, and correcting the original initial direction to a new fixed direction so as to enable the sweeping robot to move.

By adopting the technical scheme, the sweeping robot can automatically turn in the moving process of the sweeping robot, and the sweeping robot can move along the side wall to divide the area.

Optionally, the moving method of the sweeping robot moving to the initial direction includes:

controlling the sweeping robot to move towards the initial direction for a preset fixed time length by using a preset maximum driving force, and acquiring the moving distance information of the sweeping robot after the sweeping robot stops;

calculating according to the maximum driving force, the fixed time length and the moving distance information to determine resistance information;

calculating a difference value between the current initial distance information and a fixed value when the moving distance information is acquired so as to determine difference distance information;

calculating according to the maximum driving force, the difference distance information and the resistance information to determine upper limit speed information;

judging whether the numerical value corresponding to the upper limit speed information is larger than a preset upper limit allowable value or not;

if the numerical value corresponding to the upper limit speed information is not larger than the upper limit allowable value, controlling the sweeping robot to accelerate to the speed corresponding to the upper limit speed information after the moving distance information is determined, and cutting off the supply of the driving force after the speed is reached;

if the numerical value corresponding to the upper limit speed information is larger than the upper limit allowable value, calculating according to the upper limit allowable value, the maximum driving force and the resistance information to determine the speed change distance information;

and calculating a difference value according to the difference value distance information and the speed change distance information to determine uniform speed distance information, controlling the sweeping robot to accelerate to an upper limit allowable value after the moving distance information is determined, and cutting off the supply of the driving force after the speed is maintained to move for the distance corresponding to the uniform speed distance information.

By adopting the technical scheme, the sweeping robot is used for the first time and moves towards the nearest side wall, the moving speed of the sweeping robot is determined according to the distance between the sweeping robot and the side wall, so that the sweeping robot can move to a destination quickly and stop, and the working efficiency is improved.

Optionally, the moving method of the sweeping robot moving along the fixed direction includes:

judging whether the distance value corresponding to the obstacle distance information is larger than a preset first reference distance or not;

if the distance value corresponding to the obstacle distance information is larger than the first reference distance, controlling the sweeping robot to move at a preset first speed;

if the distance value corresponding to the obstacle distance information is not larger than the first reference distance, judging whether the distance value corresponding to the obstacle distance information is smaller than a preset second reference distance, wherein the second reference distance is smaller than the first reference distance;

if the distance value corresponding to the obstacle distance information is not smaller than a second reference distance, controlling the sweeping robot to move at a preset second speed, wherein the second speed is smaller than the first speed;

and if the distance value corresponding to the obstacle distance information is smaller than the second reference distance, controlling the sweeping robot to move at a preset third speed, wherein the third speed is greater than the first speed.

By adopting the technical scheme, whether the sweeping robot is possibly positioned in the suspended road section or not can be determined according to the front obstacle condition when the sweeping robot moves along the fixed direction, when the distance is large, the possibility that the suspended road section is possible at the moment is general, at the moment, the sweeping robot moves at the first speed to ensure that the operation speed of the sweeping robot is not slow, when the distance is not small, the suspended road section is very possible at the moment, the sweeping robot moves at the second speed to ensure the safety of the moving operation of the sweeping robot, when the distance is small, the situation that the suspended road section is possible does not exist basically, at the moment, the sweeping robot is controlled to move at the third speed to enable the sweeping robot to move quickly, and the overall operation time is shortened.

Optionally, the determining method of the third speed includes:

calculating a difference between the second reference distance and the fixed value to determine required distance information;

calculating according to the second speed, the maximum driving force and the resistance information to determine the information of the distance up to standard;

calculating a sum of the qualifying distance information and the second reference distance to determine sum distance information;

judging whether the distance corresponding to the current obstacle distance information is larger than the sum value distance information or not when the sweeping robot starts to move along the fixed direction;

if the distance corresponding to the current obstacle distance information is larger than the sum distance information, calculating according to the second speed, the maximum driving force, the resistance information and the required distance information to determine a third speed;

if the distance corresponding to the current obstacle distance information is not greater than the sum distance information, judging whether the distance corresponding to the current obstacle distance information is greater than a second reference distance;

if the distance corresponding to the current obstacle distance information is larger than the second reference distance, calculating a difference value between the distance corresponding to the current obstacle distance information and the second reference distance to determine acceleration distance information, determining initial speed information according to the acceleration distance information, the maximum driving force and the resistance information, and calculating according to the initial speed information, the maximum driving force, the resistance information and the required distance information to determine a third speed;

and if the distance corresponding to the current obstacle distance information is not greater than the second reference distance, calculating a difference value between the current obstacle distance information and a fixed value to determine required distance information, and calculating according to the maximum driving force, the resistance information and the required distance information to determine a third speed.

By adopting the technical scheme, different third speeds are selected according to different front obstacle distances, so that the sweeping robot can move rapidly and cannot collide with the front obstacle, and the moving safety of the sweeping robot is improved.

Optionally, after the abnormal signal is output, the control method of the sweeping robot further includes:

controlling the floor sweeping robot to decelerate by using a preset maximum deceleration force and judging whether an abnormal signal still exists when the speed is zero;

if the abnormal signal still exists, outputting a recess signal;

if the abnormal signal does not exist, controlling the sweeping robot to continuously move along the fixed direction, and timing according to the abnormal signal to determine abnormal duration information;

acquiring instantaneous speed information and deceleration position information of the sweeping robot before deceleration;

calculating according to the instantaneous speed information, the abnormal duration information, the maximum deceleration force and the resistance information to determine crack distance information;

and determining the crack range according to the deceleration position information and the crack distance information.

Through adopting above-mentioned technical scheme, when the robot of sweeping the floor detects the place ahead and has unsettled highway section, the robot of sweeping the floor slows down to stopping, judge whether the robot of sweeping the floor has passed through unsettled highway section this moment, if pass through unsettled highway section, then this unsettled highway section is the crack on the floor, can not remove the robot of sweeping the floor and cause the influence, control the robot of sweeping the floor this moment continue to remove can, simultaneously can be according to unsettled highway section condition in order to rule out the scope of crack, so that the establishment of floor map, be convenient for follow-up to this region clean the processing.

Optionally, after the output of the recess signal, the control method of the sweeping robot further includes:

controlling a distance measuring assembly which is preset on the sweeping robot and used for obtaining the information of the inclined downward distance to rotate towards the horizontal direction, and obtaining unit change information of distance change corresponding to the information of the inclined downward distance in preset unit time in the rotating process;

judging whether unit change information larger than a preset sudden change value exists in the rotating process;

if unit change information larger than the sudden change value exists in the rotating process, updating the opposite direction of the initial direction into a new fixed direction so that the sweeping robot moves along the new fixed direction;

if unit change information larger than the sudden change value does not exist in the rotating process, determining the maximum value in all the downward-inclined distance information in the rotating process, defining the downward-inclined distance information as the maximum downward-inclined length information, and acquiring the inclination angle information of the ranging assembly when the maximum downward-inclined length information is obtained;

calculating according to the inclination angle information and the maximum inclination length information to determine transverse distance information;

judging whether the distance value corresponding to the transverse distance information is larger than a preset upper limit crack value or not;

if the distance value corresponding to the transverse distance information is larger than the upper limit crack value, outputting a defect signal, and updating the opposite direction of the initial direction into a new fixed direction so as to enable the sweeping robot to move along the new fixed direction;

and if the distance value corresponding to the transverse distance information is not greater than the upper limit crack value, controlling the sweeping robot to move continuously along the fixed direction.

By adopting the technical scheme, when the sweeping robot is still in the suspended road section after stopping, the distance measuring assembly is controlled to rotate to determine whether the suspended road section is a step, and when the step is determined, the sweeping robot can be controlled to adjust the fixed direction so as to continue to divide the area, so that the operation stability of the sweeping robot is improved.

In a second aspect, the present application provides a robot control system for sweeping floor, which adopts the following technical scheme:

a sweeping robot control system comprising:

the acquisition module is used for acquiring the peripheral distance information around the sweeping robot;

the processing module is connected with the acquisition module and the judgment module and used for storing and processing information;

the processing module determines surrounding distance information with the minimum corresponding numerical value according to a preset sorting rule, defines the corresponding direction of the surrounding distance information as an initial direction, and acquires the initial distance information in the initial direction in real time;

the processing module controls the sweeping robot to move towards the initial direction until the distance value corresponding to the initial distance information is a preset fixed value, and controls the sweeping robot to move along the preset fixed direction to divide the area;

the acquisition module acquires the downward inclined distance information around the sweeping robot when the sweeping robot is divided into areas;

the judging module is used for judging whether the distance value corresponding to the downward-inclined distance information is larger than a preset permission value or not;

if the judging module judges that the distance value corresponding to the downward-inclined distance information is not greater than the allowable value, the processing module controls the sweeping robot to move continuously;

if the judging module judges that the distance value corresponding to the downward-inclined distance information is larger than the allowable value, the processing module outputs an abnormal signal and controls the sweeping robot to stop moving towards the fixed direction.

Through adopting above-mentioned technical scheme, when the robot of sweeping the floor for the first time operation, processing module control robot of sweeping the floor moves and carries out the region division operation to nearest lateral wall, at the region division removal in-process, processing module control robot of sweeping the floor detects so that the judgement module judges the unsettled condition whether appear in moving direction the place ahead to the distance information that descends to one side to make the robot of sweeping the floor can not continue to move forward when removing to unsettled area and take place in order to reduce the condition that the robot of sweeping the floor dropped and falls the damage, the operation security of robot regional division in-process of sweeping the floor has been improved.

In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:

an intelligent terminal comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute any one of the sweeping robot control methods.

Through adopting above-mentioned technical scheme, through intelligent terminal's use, when the robot of sweeping the floor for the first time operation, control the robot of sweeping the floor and remove and carry out the region division operation to nearest lateral wall, at the region division removal in-process, detect the unsettled condition in order to judge moving direction the place ahead to the distance information that descends to the slope, thereby make the robot of sweeping the floor can not continue to move forward when removing to unsettled area and take place in order to reduce the condition that the robot of sweeping the floor dropped and falls the damage, the operation security of the robot region division in-process of sweeping the floor has been improved.

In a fourth aspect, the present application provides a computer storage medium, which can store a corresponding program, and has a feature of improving the operation safety in the dividing process of the floor sweeping robot region, and adopts the following technical scheme:

a computer readable storage medium storing a computer program that can be loaded by a processor and executed to perform any of the above-described methods of controlling a sweeping robot.

By adopting the technical scheme, the storage medium is provided with the computer program of the sweeping robot control method, when the sweeping robot works for the first time, the sweeping robot is controlled to move to the nearest side wall to carry out area division work, and in the area division moving process, the downward-inclined distance information in the downward-inclined direction is detected to judge whether the front of the moving direction is suspended or not, so that the sweeping robot can not move forward when moving to a suspended zone to reduce the falling and falling loss of the sweeping robot, and the work safety in the area division process of the sweeping robot is improved.

In summary, the present application includes at least one of the following beneficial technical effects:

1. in the process of moving the sweeping robot in the area division manner, the downward oblique distance is judged to determine whether a suspended road section appears in front or not, the robot can stop moving when the suspended road section appears so as to reduce the occurrence of the falling damage of the robot, and the safety in the process of the area division operation is improved;

2. the sweeping robot can move at a proper moving speed according to the distance condition of the obstacles in the moving direction of the sweeping robot, so that the overall efficiency of the area division operation of the sweeping robot is high;

3. the suspended road sections can be distinguished, so that the sweeping robot can continue to move when small cracks appear on the floor, and the operation stability of the sweeping robot is improved.

Drawings

Fig. 1 is a flowchart of a robot sweeper control method.

Fig. 2 is a flowchart of a floor sweeping robot area dividing and moving method.

Fig. 3 is a schematic diagram of a moving method of the sweeping robot.

Fig. 4 is a flowchart of a method for determining the moving speed of the sweeping robot leaving the charging pile.

Fig. 5 is a flowchart of a speed determination method of the sweeping robot in the area division process.

Fig. 6 is a flowchart of a third speed determination method.

FIG. 7 is a flow chart of a fracture zone size determination method.

Fig. 8 is a flowchart of a step situation determination method.

Fig. 9 is a schematic diagram of the step situation determination process.

Fig. 10 is a block flow diagram of a robot sweeper control method.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-10 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The embodiments of the present invention will be described in further detail with reference to the drawings attached hereto.

The embodiment of the application discloses robot control method of sweeping floor, when the robot of sweeping floor divides the region, the robot of sweeping floor can carry out range finding to the oblique downward direction in moving direction place ahead and judge in order to confirm whether unsettled highway section appears, can judge unsettled highway section particular case when unsettled highway section appears, so that the robot of sweeping floor can be controlled to turn to the removal in order to reduce the condition emergence that the robot of sweeping floor falls from the step when the step condition appears, thereby the operation security of the robot of sweeping floor in the regional division operation in-process has been improved.

Referring to fig. 1, the flow of the method for controlling the sweeping robot comprises the following steps:

step S100: and acquiring the peripheral distance information around the sweeping robot.

The distance corresponding to the surrounding distance information is the distance between the corresponding charging pile and each surrounding obstacle of the sweeping robot, and a plurality of laser range finders are arranged on the sweeping robot at intervals along the circumferential direction of the sweeping robot to achieve the sweeping.

Step S101: and determining the peripheral distance information with the minimum corresponding numerical value according to a preset sorting rule, defining the direction corresponding to the peripheral distance information as an initial direction, and acquiring the initial distance information in the initial direction in real time.

The sorting rule is a method which is set by a worker in advance and can sort the numerical values, such as a bubbling method, the peripheral distance information with the minimum corresponding numerical value in all the peripheral distance information can be determined according to the sorting rule, namely, the obstacle in the direction corresponding to the peripheral distance information of the sweeping robot is the closest, and at the moment, the direction is defined as the initial direction for carrying out identification recording so as to conveniently carry out movement control on the sweeping robot in the follow-up process; the distance corresponding to the initial distance information is the real-time distance between the sweeping robot and the obstacle in the initial direction, and the distance information is obtained by the laser range finder for obtaining the surrounding distance information.

Step S102: and controlling the sweeping robot to move towards the initial direction until the distance value corresponding to the initial distance information is a preset fixed value, and controlling the sweeping robot to move along the preset fixed direction so as to divide the area.

The robot of sweeping the floor is controlled to move in order to be close to wall body edge lateral wall to initial direction, the fixed value is the minimum spacing value that needs to keep between staff's settlement and the barrier, when the robot of sweeping the floor moves to and the interval between the barrier is the fixed value to initial direction, explain the robot of sweeping the floor has been in the one point on regional edge, control this moment sweep the robot along fixed direction remove in order to begin carry out the region division operation can, wherein the fixed direction is followed clockwise or anticlockwise rotation 90 by the initial direction and is in order to confirm, concrete rotation direction is set up in advance by the staff, do not describe in detail.

Step S103: and acquiring the information of the inclined downward distance around the sweeping robot when the sweeping robot is divided into areas.

The distance corresponding to the downward-inclined distance information is the distance between the obstacle and the distance obtained by the downward-inclined distance measurement component which is arranged on the peripheral side wall of the sweeping robot and faces away from the center of the sweeping robot, and the distance measurement component can be a laser distance meter.

Step S104: and judging whether the distance value corresponding to the downward-inclined distance information is larger than a preset allowable value or not.

The permission value is the distance between the distance measuring component and the floor when the sweeping robot moves on the flat floor, and the purpose of judgment is to know whether the road section is suspended.

Step S1041: and if the distance value corresponding to the downward-inclined distance information is not greater than the allowable value, controlling the sweeping robot to move continuously.

When the distance value corresponding to the downward-inclined distance information is not greater than the allowable value, the floor is smooth, and the sweeping robot is controlled to move continuously.

Step S1042: and if the distance value corresponding to the downward-inclined distance information is larger than the allowable value, outputting an abnormal signal and controlling the sweeping robot to stop moving towards the fixed direction.

When the distance value corresponding to the downward-inclined distance information is larger than the allowable value, it is indicated that a suspended road section appears in front of the moving direction of the sweeping robot, and at this time, the road section is possibly a step road section, and at this time, an abnormal signal is output to perform identification recording on the condition, so that subsequent processing is facilitated; meanwhile, the sweeping robot is controlled to stop moving towards a fixed direction so as to reduce the occurrence of damage caused by the fact that the sweeping robot falls from a suspension part, and the safety of the sweeping robot in the operation process is improved.

Referring to fig. 2, the moving method for dividing the sweeping robot area includes:

step S200: and acquiring obstacle distance information of the sweeping robot in the fixed direction.

The distance corresponding to the obstacle distance information is the real-time distance between the obstacle in the fixed direction and the sweeping robot when the sweeping robot moves along the fixed direction, and the distance information is obtained through the laser range finder for obtaining the surrounding distance information.

Step S201: and judging whether the distance value corresponding to the obstacle distance information is larger than a fixed value.

The purpose of the judgment is to know whether the sweeping robot can hit the front obstacle or not and whether the area edge in the current initial direction is determined to be finished or not.

Step S2011: and if the distance value corresponding to the obstacle distance information is not larger than the fixed value, updating the original fixed direction to the initial direction, and rotating the original fixed direction to the preset offset direction by a preset offset angle to correct the original fixed direction to the new fixed direction.

When the distance value corresponding to the obstacle distance information is not larger than a fixed value, the situation that the sweeping robot collides a front obstacle if the sweeping robot continues to move along the fixed direction at the moment and the area edge in the current initial direction is determined is shown, the original fixed direction is updated to be a new initial direction at the moment so that the sweeping robot can determine the new area edge, and meanwhile, the controller rotates the offset angle to the offset direction in the fixed direction so as to determine the fixed direction, so that the sweeping robot can continue to move along the fixed direction to perform area division; wherein the offset direction is the same as the direction of the initial direction rotation when the first fixed direction is determined, and the offset angle is 90 degrees.

Step S2012: and if the distance value corresponding to the obstacle distance information is larger than the fixed value, judging whether the distance value corresponding to the initial distance information changes.

When the distance value corresponding to the obstacle distance information is larger than the fixed value, it is indicated that the sweeping robot has not moved to a new area edge in the fixed direction, and the purpose of the judgment at this time is to know whether the area edge in the initial direction changes.

Step S20121: and if the distance value corresponding to the initial distance information is not changed, controlling the sweeping robot to continuously move along the fixed direction.

When the distance value corresponding to the initial distance information is not changed, it is indicated that the area edge in the initial direction is not changed, and at this time, the sweeping robot is controlled to continue to move along the fixed direction so as to determine the area edge in the initial direction.

Step S20122: and if the distance value corresponding to the initial distance information changes, controlling the sweeping robot to move by a fixed value along the initial direction, updating the initial direction and the initial distance information according to the sorting rule again, and correcting the original initial direction to a new fixed direction so as to enable the sweeping robot to move.

When the distance value corresponding to the initial distance information changes, the area edge in the initial direction changes, at this time, the sweeping robot is controlled to move by a fixed value along the initial direction so as to eliminate the interference of the original area edge in the initial direction, the initial direction and the initial distance information are updated by re-determining the direction with the nearest distance according to the sorting rule, and referring to fig. 3, the position of the sweeping robot can be adjusted again, and the original water outlet direction is corrected to be a new fixed direction so as to enable the sweeping robot to continue to move along the fixed direction, so that the area edge can be further divided.

Referring to fig. 4, the moving method of the sweeping robot moving to the initial direction includes:

step S300: and controlling the sweeping robot to move towards the initial direction for a preset fixed time length by using a preset maximum driving force, and acquiring the moving distance information of the sweeping robot after the sweeping robot stops.

The maximum driving force provided by the internal driving assembly of the maximum driving force sweeping robot is a fixed value in fixed time length and is set by a worker according to the actual condition; the distance corresponding to the moving distance information is the distance moved by the sweeping robot after accelerating for a fixed time length by the maximum driving force and cutting off the driving force until stopping, and the moving distance can be obtained by positioning the position of the sweeping robot.

Step S301: the resistance information is determined by performing calculation based on the maximum driving force, the fixed time period, and the moving distance information.

The numerical value corresponding to the resistance information is the mean friction force applied to the sweeping robot when the sweeping robot moves on the floor, the self weight of the sweeping robot is fixed, and the calculation formula of the numerical value corresponding to the resistance information is

Wherein

The distance value corresponding to the moving distance information,

in order to be the maximum driving force,

the numerical value corresponding to the resistance information is,

in order to set the time duration for the fixed time duration,

in order to reduce the impact of the sweeping robot on the barrier in the initial direction, the fixed time length value can be reduced according to the actual situation.

Step S302: and calculating the difference between the current initial distance information and a fixed value when the moving distance information is acquired so as to determine the difference distance information.

And the distance value corresponding to the difference distance information is the distance value from the sweeping robot to the destination in the initial direction after the sweeping robot stops, and a fixed value is subtracted from the value corresponding to the current initial distance information to obtain the difference distance information.

Step S303: a calculation is made based on the maximum driving force, the difference distance information, and the resistance information to determine upper limit speed information.

The numerical value corresponding to the upper limit speed information is the maximum speed when the sweeping robot moves through the difference distance information at the fastest speed and can stop at a destination, and the calculation formula is

Wherein

The distance corresponding to the difference distance information is obtained,

is the speed corresponding to the upper limit speed information，

The acceleration time period for accelerating the sweeping robot with the maximum driving force.

Step S304: and judging whether the numerical value corresponding to the upper limit speed information is larger than a preset upper limit allowable value or not.

The upper limit allowable value is the maximum moving speed which can be reached by the sweeping robot in the moving process, and the purpose of judgment is to know whether the current required speed exceeds the speed range which can be reached by the sweeping robot.

Step S3041: and if the numerical value corresponding to the upper limit speed information is not greater than the upper limit allowable value, controlling the sweeping robot to accelerate to the speed corresponding to the upper limit speed information after the moving distance information is determined, and cutting off the supply of the driving force after the speed is reached.

When the numerical value corresponding to the upper speed limit information is not larger than the upper limit allowable value, the sweeping robot can be accelerated to the numerical value corresponding to the upper speed limit information, and the sweeping robot is controlled to cut off the driving force supply after being accelerated to the speed corresponding to the upper speed limit information, so that the sweeping robot can rapidly move to the initial direction and can stop at the required stop position, the moving time length of the sweeping robot in the process of moving to the edge of the area for the first time is reduced, and the operation efficiency is improved.

Step S3042: and if the numerical value corresponding to the upper limit speed information is larger than the upper limit allowable value, calculating according to the upper limit allowable value, the maximum driving force and the resistance information to determine the speed change distance information.

When the numerical value corresponding to the upper speed limit information is larger than the upper limit allowable value, the sweeping robot cannot be accelerated to the numerical value corresponding to the upper limit speed information, and the moving speed of the sweeping robot needs to be re-planned at the moment; the distance corresponding to the speed change distance information is the distance moved by the sweeping robot after the sweeping robot is accelerated to an upper limit allowable value and the driving force is cut off until the sweeping robot stops, and the calculation formula is

Wherein

Is the distance corresponding to the speed change distance information,

is an upper limit allowable value.

Step S305: and calculating a difference value according to the difference value distance information and the speed change distance information to determine uniform speed distance information, controlling the sweeping robot to accelerate to an upper limit allowable value after the moving distance information is determined, and cutting off the supply of the driving force after the speed is maintained to move for the distance corresponding to the uniform speed distance information.

The distance corresponding to the allowed distance information is a distance path for the robot to move at the upper limit allowed value, the distance value corresponding to the variable speed distance information is subtracted from the distance value corresponding to the difference distance information to determine the distance, the robot can accelerate to the upper limit allowed value and then move one end path at a constant speed, and then the robot performs deceleration operation, so that the robot can rapidly move to a required stop position, the moving time of the robot moving to the edge of the area for the first time is shortened, and the operation efficiency is improved.

Referring to fig. 5, the moving method of the sweeping robot moving in a fixed direction includes:

step S400: and judging whether the distance value corresponding to the obstacle distance information is greater than a preset first reference distance.

The first reference distance is the distance which is set by the operator and is still far away from the suspended road section, the specific numerical value is set by the operator according to the actual condition, and the purpose of judgment is to know whether the distance is close to the suspended road section.

Step S4001: and if the distance value corresponding to the obstacle distance information is greater than the first reference distance, controlling the sweeping robot to move at a preset first speed.

When the distance value corresponding to the obstacle distance information is greater than the first reference distance, it is described that the probability that the road section driven at the moment meets the suspension road section is low, and the sweeping robot is controlled to move at the first speed at the moment so as to control the speed of the sweeping robot, wherein the first speed is the maximum speed at which the distance from the deceleration of the sweeping robot to the stop of the moving robot when meeting the suspension road section cannot fall into the suspension road section, and is set by a worker according to the actual situation, which is not described in detail.

Step S4002: and if the distance value corresponding to the obstacle distance information is not greater than the first reference distance, judging whether the distance value corresponding to the obstacle distance information is smaller than a preset second reference distance, wherein the second reference distance is smaller than the first reference distance.

When the distance value corresponding to the obstacle distance information is not greater than the first reference distance, a suspended road section may appear at this time, the second reference distance is a numerical value smaller than the first reference distance, the distance between the obstacle and the suspended road section when the suspended road section is determined to be impossible to appear is set by the operator, and the purpose of judgment is to know whether the suspended road section is impossible to appear.

Step S40021: and if the distance value corresponding to the obstacle distance information is not less than the second reference distance, controlling the sweeping robot to move at a preset second speed, wherein the second speed is less than the first speed.

When the distance value corresponding to the obstacle distance information is not less than the second reference distance, it is described that a suspended road section is very easy to appear on the road section moved by the sweeping robot at the moment, the sweeping robot is controlled to move at the second speed so as to control the speed of the sweeping robot, the moving distance is reduced to a stop when the ground friction coefficient is reduced due to the second speed being less than the first speed, the sweeping robot cannot fall into the suspended road section, specific numerical values are set by workers according to actual conditions, and the detailed description is omitted.

Step S40022: and if the distance value corresponding to the obstacle distance information is smaller than the second reference distance, controlling the sweeping robot to move at a preset third speed, wherein the third speed is greater than the first speed.

When the distance value corresponding to the obstacle distance information is smaller than the second reference distance, the fact that the sweeping robot is close to the obstacle at the moment is shown, the possibility that the suspended road section with the step is almost zero at the moment is shown, and the sweeping robot is controlled to move at a third speed which is higher than the first speed at the moment, so that the sweeping robot moves fast, and the overall efficiency of the dividing operation of the sweeping robot area is improved.

Referring to fig. 6, the third speed determination method includes:

step S500: the difference between the second reference distance and the fixed value is calculated to determine the required distance information.

The distance corresponding to the required distance information is the maximum distance value of the sweeping robot which needs to move at the third speed, and the fixed value is subtracted from the second reference distance to obtain the distance.

Step S501: a calculation is made from the second speed, the maximum driving force, and the resistance information to determine reach distance information.

The distance corresponding to the distance information reaching the standard is the distance that the sweeping robot needs to pass when adjusting the speed to the second speed, and the calculation method is consistent with the speed change distance information and is not described in detail.

Step S502: the sum of the qualifying distance information and the second reference distance is calculated to determine sum distance information.

And the distance corresponding to the sum distance information is a minimum distance value at least to be ensured between the sweeping robot and the obstacle when the sweeping robot drives into a path needing to move at a third speed at a second speed, and the minimum distance value is determined by adding a second reference distance to the distance value corresponding to the standard distance information.

Step S503: and judging whether the distance corresponding to the current obstacle distance information is larger than the sum value distance information or not when the sweeping robot starts to move along the fixed direction.

The purpose of the judgment is to know whether the sweeping robot can enter a road section which needs to move at a third speed at a moving speed of a second speed.

Step S5031: and if the distance corresponding to the current obstacle distance information is greater than the sum distance information, calculating according to the second speed, the maximum driving force, the resistance information and the required distance information to determine a third speed.

When the distance corresponding to the current obstacle distance information is greater than the sum distance information, it is indicated that the sweeping robot can enter a road segment which needs to move at a third speed at a moving speed of the second speed, and at this time, the corresponding third speed can be determined according to the initial speed, the acceleration condition and the route condition, and the calculation method is consistent with the upper limit speed information and is not repeated.

Step S5032: and if the distance corresponding to the current obstacle distance information is not greater than the sum distance information, judging whether the distance corresponding to the current obstacle distance information is greater than a second reference distance.

When the distance corresponding to the current obstacle distance information is not larger than the sum distance information, it is indicated that the sweeping robot cannot enter the road section needing to move at the third speed at the moving speed of the second speed, and at the moment, whether the sweeping robot is in the road section needing to move at the third speed is judged.

Step S50321: if the distance corresponding to the current obstacle distance information is larger than the second reference distance, calculating a difference value between the distance corresponding to the current obstacle distance information and the second reference distance to determine acceleration distance information, determining initial speed information according to the acceleration distance information, the maximum driving force and the resistance information, and calculating according to the initial speed information, the maximum driving force, the resistance information and the required distance information to determine a third speed.

When the distance corresponding to the current obstacle distance information is greater than the second reference distance, it is indicated that the sweeping robot is not located in a road section requiring the third speed for moving, but the distance is short, and the requirement for accelerating the road section to the second speed cannot be provided, the distance corresponding to the acceleration distance information is the distance capable of accelerating the road section requiring the second speed of the sweeping robot, the distance corresponding to the current obstacle distance information is determined by subtracting the second reference distance from the distance corresponding to the current obstacle distance information, the speed corresponding to the initial speed information is the initial speed of the sweeping robot when entering the road section requiring the third speed for moving, the third speed can be determined according to the initial speed, the determination method is the same as the above, and the description is omitted.

Step S50322: and if the distance corresponding to the current obstacle distance information is not greater than the second reference distance, calculating a difference value between the current obstacle distance information and a fixed value to determine required distance information, and calculating according to the maximum driving force, the resistance information and the required distance information to determine a third speed.

When the distance corresponding to the current obstacle distance information is not greater than the second reference distance, it is indicated that the sweeping robot is located at a road section where the third speed is needed to move, at this time, the initial speed of the sweeping robot is zero, the determination of the third speed is performed according to the corresponding acceleration and distance conditions, and the determination method is the same as that described above and is not repeated.

Referring to fig. 7, after the abnormal signal is output, the method for controlling the robot cleaner further includes:

step S600: and controlling the floor sweeping robot to decelerate by using the preset maximum deceleration force and judging whether an abnormal signal still exists when the speed is zero.

When an abnormal signal is output, the numerical value measured by the distance measuring component of the sweeping robot in the fixed direction is larger, and a suspended road section exists on the floor at the moment; the maximum deceleration force is the maximum deceleration acting force which can be improved when the braking control is carried out on the sweeping robot, and when the robot decelerates to stop, the purpose of judging whether an abnormal signal exists is to know whether the distance measuring assembly passes through a suspended road section; the abnormal signal which is judged is the ranging assembly which initially sends the abnormal signal, and the conditions of other ranging assemblies are not judged.

Step S6001: if the abnormal signal still exists, outputting a recess signal.

When the abnormal signal still exists, the abnormal signal indicates that the abnormal signal does not pass through the suspension road section, and at the moment, the suspension road section has a wider suspension road section, and the concave signal is output to record the situation so as to control the movement of the sweeping robot in the follow-up process.

Step S600: if no abnormal signal exists, the sweeping robot is controlled to continuously move along the fixed direction, and the abnormal duration information is determined according to the abnormal signal timing.

When the abnormal signal does not exist, the robot passes through the suspension road section in the deceleration process of the sweeping robot, namely the suspension road section is a crack with narrower width on the floor, and the sweeping robot is controlled to move continuously along the fixed direction so that the region division operation can be normally carried out; and the value corresponding to the abnormal duration information is the duration of the abnormal signal output by the first distance measuring equipment for detecting the abnormal signal, and the abnormal duration information is recorded and acquired through a timer.

Step S6002: and acquiring instantaneous speed information and deceleration position information of the sweeping robot before deceleration.

The speed corresponding to the instantaneous speed information is the speed of the sweeping robot when the sweeping robot outputs an abnormal signal but does not start to decelerate, and the position corresponding to the deceleration position information is the position of the sweeping robot under the condition.

Step S601: and calculating according to the instantaneous speed information, the abnormal time length information, the maximum deceleration force and the resistance information to determine the fracture distance information.

The distance corresponding to the crack distance information is the width of the crack on the floor in the fixed direction of the sweeping robot, and the calculation formula is

Wherein

The distance corresponding to the crack distance information,

the speed corresponding to the instantaneous speed information is the speed,

is the time length corresponding to the abnormal time length information,

is the maximum retarding force.

Step S602: and determining the crack range according to the deceleration position information and the crack distance information.

And determining the crack range according to the position corresponding to the deceleration position information and the crack width, so that the cleaning acting force can be improved when the subsequent sweeping robot moves to the position, and impurities in the crack can be cleaned.

Referring to fig. 8, after the output of the recess signal, the method for controlling the sweeping robot further includes:

step S700: the distance measurement assembly which is arranged on the sweeping robot in advance and used for obtaining the information of the inclined downward distance is controlled to rotate towards the horizontal direction, and unit change information of the distance change corresponding to the information of the inclined downward distance in the preset unit time is obtained in the rotating process.

When the sinking signal is output, it is indicated that a suspended road section exists in front and the width of the suspended road section is larger, and whether the suspended road section is a step needs to be judged; according to the method for controlling the distance measurement assembly to rotate towards the horizontal direction, the end part of the distance measurement assembly, which is close to the center of the sweeping robot, is taken as a rotating point, and the distance measurement assembly rotates towards the horizontal direction far away from the center of the sweeping robot, referring to fig. 9, the rotation of the distance measurement assembly can be realized by driving an internal motor of the sweeping robot, and the method is a conventional technical means of a person skilled in the art and is not described in detail; the value corresponding to the unit change information is the change amount of the value corresponding to the downward slope distance information in the unit time length, and the unit time length is set by a worker according to the actual situation, preferably judged in 0.01 s.

Step S701: and judging whether unit change information larger than a preset sudden change value exists in the rotation process.

The sudden change value is the minimum value when the numerical value determined by the staff has great change; the purpose of the judgment is to know whether the current numerical value has a great change or not so as to determine whether the current numerical value is a step condition or not.

Step S7011: if unit change information larger than the sudden change value exists in the rotating process, the reverse direction of the initial direction is updated to be a new fixed direction, so that the sweeping robot moves along the new fixed direction.

When unit change information larger than the sudden change value exists in the rotating process, the front direction is indicated as a step, and at the moment, the reverse direction of the initial direction is updated to be a new fixed direction, so that the sweeping robot moves along the new fixed direction, and the sweeping robot can continuously divide the area.

Step S7012: if unit change information larger than the sudden change value does not exist in the rotating process, determining the maximum value in all the downward-inclined distance information in the rotating process, defining the downward-inclined distance information as the maximum downward-inclined length information, and acquiring the inclination angle information of the ranging assembly when the maximum downward-inclined length information is obtained.

When unit change information larger than a sudden change value does not exist in the rotating process, the front suspended road section is indicated as a crack, the downhill distance information with the largest value in the rotating process is determined, the obstacle position corresponding to the downhill distance information is indicated to be farthest away from the sweeping robot, and the downhill distance information is defined as the largest downhill length information to be identified, so that the farthest situation can be determined subsequently; the angle value corresponding to the inclination angle information is an angle value of the ranging component relative to the horizontal direction when the maximum inclination length information is obtained, and can be obtained through the angle rotation condition of the ranging component, which is a conventional technical means for those skilled in the art and is not described in detail.

Step S702: and calculating to determine the transverse distance information according to the inclination angle information and the maximum inclination length information.

The distance corresponding to the transverse distance information is the distance between the position farthest away from the sweeping robot in the crack and the sweeping robot in the horizontal direction, and the transverse distance information is calculated through a trigonometric function to determine the distance.

Step S703: and judging whether the distance value corresponding to the transverse distance information is larger than the preset upper limit crack value or not.

The upper limit crack value is the maximum crack width which can be passed by the sweeping robot and is not easy to tip over, and the purpose of judgment is to know whether the current crack can be passed by the sweeping robot.

Step S7031: and if the distance value corresponding to the transverse distance information is larger than the upper limit crack value, outputting a defect signal, and updating the reverse direction of the initial direction into a new fixed direction so as to enable the sweeping robot to move along the new fixed direction.

When the distance value corresponding to the transverse distance information is larger than the upper limit crack value, the sweeping robot cannot pass through the area, and a defect signal is output to mark the situation so as to record the position, so that the sweeping robot can judge the position again when moving to the position subsequently, and the sweeping robot can correct the corresponding area range after crack repair; and updating the reverse direction of the initial direction to a new fixed direction so that the sweeping robot moves along the new fixed direction, and the sweeping robot can continue to divide the area edge.

Step S7032: and if the distance value corresponding to the transverse distance information is not greater than the upper limit crack value, controlling the sweeping robot to move continuously along the fixed direction.

When the distance value corresponding to the transverse distance information is not larger than the upper limit crack value, the sweeping robot can pass through the crack, and at the moment, the sweeping robot is controlled to move continuously along the fixed direction.

Referring to fig. 10, based on the same inventive concept, an embodiment of the present invention provides a robot control system for sweeping a floor, including:

the processing module is connected with the acquisition module and the judgment module and used for storing and processing the information;

if the judging module judges that the distance value corresponding to the downward-inclined distance information is larger than the allowable value, the processing module outputs an abnormal signal and controls the sweeping robot to stop moving towards the fixed direction;

the area division moving module is used for controlling the switching of the moving direction of the sweeping robot in the area division process;

the initial movement determining module is used for controlling the speed of the sweeping robot in the process of moving to the nearest side wall so that the sweeping robot can move to a destination quickly and stably;

the operation movement determining module is used for controlling the movement speed of the sweeping robot in the area dividing process so as to enable the overall efficiency of the area dividing to be high;

the third speed determining module is used for determining the third speed according to different obstacle conditions in front of the moving direction;

the crack demarcating module is used for demarcating cracks appearing on the floor;

and the step condition determining module is used for determining whether the suspended road section is a step or not so that the sweeping robot can turn to move when the step appears.

It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.

An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute a control method for a sweeping robot.

Computer storage media include, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, which includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a control method of a sweeping robot.

The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.

Claims

1. A control method of a sweeping robot is characterized by comprising the following steps:

obtaining the peripheral distance information around the sweeping robot;

2. The sweeping robot control method according to claim 1, wherein the moving method of sweeping robot zone division comprises:

3. The sweeper robot control method of claim 1, wherein the moving method of the sweeper robot to the initial direction comprises:

controlling the sweeping robot to move towards the initial direction for a preset fixed time length by using a preset maximum driving force, and acquiring moving distance information of the sweeping robot after the sweeping robot stops;

4. The sweeping robot control method according to claim 3, wherein the moving method of the sweeping robot moving in a fixed direction comprises:

and if the distance value corresponding to the obstacle distance information is smaller than the second reference distance, controlling the sweeping robot to move at a preset third speed, wherein the third speed is higher than the first speed.

5. The sweeper robot control method of claim 4, wherein the third speed determination method comprises:

calculating a difference between the second reference distance and a fixed value to determine required distance information;

6. The robot sweeper control method of claim 3, wherein after the abnormal signal is output, the robot sweeper control method further comprises:

if the abnormal signal still exists, outputting a recess signal;

7. The method of claim 6, wherein after the output of the recess signal, the method further comprises:

controlling a distance measuring assembly which is preset on the sweeping robot and used for obtaining the information of the distance from the inclined downwards to rotate towards the horizontal direction, and obtaining unit change information of the distance change corresponding to the information of the distance from the inclined downwards in the preset unit time in the rotating process;

if the distance value corresponding to the transverse distance information is larger than the upper limit crack value, outputting a defect signal, and updating the opposite direction of the initial direction to a new fixed direction so as to enable the sweeping robot to move along the new fixed direction;

8. A robot control system sweeps floor, its characterized in that includes:

9. An intelligent terminal, comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.