CN115177186A - Sweeping method, sweeping device, sweeping robot and computer readable storage medium - Google Patents
Sweeping method, sweeping device, sweeping robot and computer readable storage medium Download PDFInfo
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- CN115177186A CN115177186A CN202210859833.8A CN202210859833A CN115177186A CN 115177186 A CN115177186 A CN 115177186A CN 202210859833 A CN202210859833 A CN 202210859833A CN 115177186 A CN115177186 A CN 115177186A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 281
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000003860 storage Methods 0.000 title claims abstract description 12
- 230000007613 environmental effect Effects 0.000 claims abstract description 10
- 238000004140 cleaning Methods 0.000 claims description 30
- 238000004590 computer program Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 9
- 238000011065 in-situ storage Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 241001417527 Pempheridae Species 0.000 description 6
- 230000009191 jumping Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000012031 short term test Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000003749 cleanliness Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 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
- A47L11/40—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
- A47L11/24—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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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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
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Abstract
The application is suitable for the technical field of sweeping robots, and provides a sweeping method, a sweeping device, a sweeping robot and a computer readable storage medium. The method comprises the following steps: detecting environmental data in a preset distance from the front to the sweeping robot; judging whether channels exist around the sweeping robot or not according to the environment data; when a channel exists around the sweeping robot, determining the width of the channel; judging whether the width of the channel is larger than the width of the body of the sweeping robot or not; if the width of the channel is larger than the width of the machine body of the sweeping robot, controlling the sweeping robot to enter the channel and sweep the channel; determining a height of the channel; and selecting a corresponding strategy according to the width of the channel or the height of the channel, and moving out the channel according to the selected strategy. By the method, the probability that the sweeping robot moves out of the channel can be improved.
Description
Technical Field
The application belongs to the technical field of sweeping robots, and particularly relates to a sweeping method, a sweeping device, a sweeping robot and a computer-readable storage medium.
Background
At present, the shape of the sweeper is not only circular, but also non-circular such as square, D-shaped and the like.
Due to different shapes, when a non-circular sweeper (such as a square sweeper) and a circular sweeper perform sweeping tasks, corresponding sweeping strategies are usually different. For example, while sweeping a narrow area, a circular sweeper may exit the narrow area by repeated impacts, while a non-circular sweeper may easily jam in the narrow area during repeated impacts.
Disclosure of Invention
The embodiment of the application provides a sweeping method, a sweeping device, a sweeping robot and a computer readable storage medium, so as to solve the problem that the sweeping robot is easily jammed in a channel in the existing method.
In a first aspect, an embodiment of the present application provides a cleaning method, which is applied to a cleaning robot, and includes:
detecting environmental data in a preset distance from the front to the sweeping robot;
judging whether channels exist around the sweeping robot or not according to the environment data;
determining the width of a channel when the channel exists around the sweeping robot;
judging whether the width of the channel is larger than the width of the machine body of the sweeping robot, wherein the width of the machine body is the size of the machine body in the direction perpendicular to the advancing direction of the sweeping robot;
if the width of the channel is larger than the width of the machine body of the sweeping robot, controlling the sweeping robot to enter the channel and sweep the channel;
determining a height of the channel;
and selecting a corresponding strategy according to the width of the channel or the height of the channel, and moving out the channel according to the selected strategy.
In a second aspect, an embodiment of the present application provides a cleaning device, which is applied to a sweeping robot, and includes:
the environment data detection module is used for detecting the environment data in a preset distance from the front to the sweeping robot;
the channel detection module is used for judging whether channels exist around the sweeping robot or not according to the environment data;
the width determining module of the channel is used for determining the width of the channel when the channel exists around the sweeping robot;
the width comparison module of the channel is used for judging whether the width of the channel is larger than the width of the body of the sweeping robot or not;
the sweeping robot comprises a sweeping module, a sweeping module and a control module, wherein the sweeping module is used for controlling the sweeping robot to enter a channel and sweep the channel if the width of the channel is larger than the width of the body of the sweeping robot;
the height determining module of the channel is used for determining the height of the channel;
and the strategy selection module is used for selecting a corresponding strategy according to the width of the channel or the height of the channel and moving out the channel according to the selected strategy.
In a third aspect, an embodiment of the present application provides a sweeping robot, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method of the first aspect is implemented.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that:
in the embodiment of the application, the robot that sweeps the floor judges that the width of the robot body is smaller than the width of the channel, and then the robot that sweeps the floor enters the channel to sweep the channel, so that the channel can be swept smoothly, and the success rate of the robot that sweeps the floor to carry out the sweeping task is improved. In addition, because when the width of passageway is big enough, the robot of sweeping the floor can shift out from the passageway smoothly, and when the height of passageway is short enough, should sweep the floor the robot and also can shift out from the passageway smoothly, consequently, select the corresponding tactics according to the width or the height of passageway and shift out the passageway, can improve the probability that should sweep the floor the robot and shift out from the passageway, can reduce the probability that should sweep the robot and get rid of poverty from the passageway promptly.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.
FIG. 1 is a flow chart of a cleaning method provided in an embodiment of the present application;
fig. 2 is a schematic view of a machine body width and a forward direction of a sweeping robot according to an embodiment of the present disclosure;
fig. 3 is a schematic projection diagram of laser beams of the line-structured light sensors installed on the left and right side surfaces of the sweeping robot on a flat ground according to an embodiment of the present application;
FIG. 4 is a schematic diagram of point cloud data with transitions according to an embodiment of the present application;
fig. 5 is a schematic diagram of a non-circular sweeping robot according to an embodiment of the present disclosure calculating a width of a channel;
FIG. 6 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present disclosure;
fig. 7 is a schematic frame diagram of a sweeping robot according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. That is, the appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, appearing in various places throughout the specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise.
The first embodiment is as follows:
when the sweeping robot performs a sweeping task, a situation that a sweeping area is a narrow area may be encountered. Because the sweeping robot has a certain width and the posture of the sweeping robot is difficult to change randomly like a human, the sweeping robot is likely to be blocked after entering a narrow area.
In order to improve the probability of getting rid of the trouble of the sweeping robot from a narrow area, the embodiment of the application provides a sweeping method, and the sweeping method is applied to the sweeping robot. Specifically, after judging that a channel exists around the sweeping robot, the sweeping robot determines the width of the channel, compares the width of the channel with the width of the machine body of the sweeping robot, enters the channel and cleans the channel after judging that the width of the channel is larger than the width of the machine body of the sweeping robot, and after cleaning is finished, the sweeping robot selects a corresponding strategy according to the width and the height of the channel to move out of the channel.
The following describes a cleaning method provided in an embodiment of the present application with reference to the drawings.
Fig. 1 shows a flowchart of a cleaning method provided in an embodiment of the present application, where the cleaning method is applied to a sweeping robot, where the sweeping robot may have a circular shape or a non-circular shape, and in the embodiment of the present application, the non-circular sweeping robot is mainly used as an example for description, and the detailed description is as follows:
and S11, detecting environmental data in a preset distance from the front to the sweeping robot.
Specifically, in the moving process of the sweeping robot, the sweeping robot detects environmental data within a preset distance range from the sweeping robot in the advancing direction of the sweeping robot. Wherein, the environment data refers to data capable of reflecting at least one of the following information: the flatness of the ground, whether an obstacle exists on the ground, and the position of the obstacle when the obstacle exists.
In some embodiments, the preset distance may be determined according to a width of a body of the sweeping robot and a current moving speed of the sweeping robot. For example, when the width of the robot body is large, the preset distance is set to be large, and when the moving speed of the sweeping robot is large, the preset distance is also set to be large. In some embodiments, the preset distance may be set in direct proportion to a target sum, which is the sum of the value of the fuselage width and the value of the moving speed. The larger the target sum is, the larger the moving distance of the sweeping robot in a period of time is, so that the larger the preset distance is set to acquire the environmental data in a larger range, and the timeliness of judging whether a channel exists can be improved.
And S12, judging whether channels exist around the sweeping robot or not according to the environment data.
When a U-shaped (or U-shaped-like) area exists around the sweeping robot, namely, at least three surfaces (such as a left side surface, a right side surface and a front surface) exist in one area, and the heights of the three surfaces are higher than the ground, the fact that a channel exists around the sweeping robot is indicated.
And step S13, determining the width of the channel when the channel exists around the sweeping robot.
The width of the channel herein mainly refers to the width at the entrance of the channel, so as to determine whether the channel can be entered for cleaning in the following.
In the embodiment of the present application, the distance between two positions (e.g., two positions at the entrance of the passage) on the same horizontal line in the two sides (the two sides on the opposite sides) of the passage is calculated and taken as the width of the passage.
And S14, judging whether the width of the channel is larger than the width of the body of the sweeping robot, wherein the width of the body is the size of the body in the direction perpendicular to the advancing direction of the sweeping robot.
Wherein, the width of the machine body and the advancing direction of the sweeping robot are shown in figure 2.
And S15, if the width of the channel is larger than the width of the body of the sweeping robot, controlling the sweeping robot to enter the channel and sweep the channel.
In the embodiment of the application, when the sweeping robot judges that the robot can enter the channel (namely, the width of the robot body is smaller than that of the channel), the robot body enters the channel and sweeps the channel.
It should be noted that in the embodiment of the present application, the channel is entered after the width of the channel is determined to be greater than the width of the fuselage, rather than only after the width of the channel is determined to be greater than the diameter of the circumcircle of the fuselage.
Step S16, determining the height of the channel.
Specifically, the height of each side in the channel can be calculated separately, and the lowest value is taken as the height of the channel. For example, assuming that the height of three sides of a channel is 5cm, 6cm and 7cm, respectively, the height of the channel is 5cm.
In some embodiments, the heights of the sides of the tunnel having a length greater than the diameter of the circle circumscribing the sweeping robot are each calculated, and the minimum of these heights is taken as the height of the tunnel. When the length of the side surface of the sweeping robot is larger than the diameter of the circumscribed circle of the sweeping robot, the stability of the sweeping robot is better than that of the side surface of the sweeping robot, the length of which is not larger than the diameter of the circumscribed circle of the sweeping robot, the minimum value of the height of the side surface of the sweeping robot is used as the height of the channel, and the stability of the sweeping robot when the side surface crosses the channel when the height of the channel is judged to be smaller than the obstacle crossing height of the channel is facilitated.
And S17, selecting a corresponding strategy according to the width of the channel or the height of the channel, and moving out the channel according to the selected strategy.
The inventor of the application can follow the entrance of passageway and shift out after carrying out the analysis to the passageway, reachs the robot of sweeping the floor, perhaps, can overturn from a certain side of passageway, consequently, selects the strategy that shifts out the passageway according to the width or the height of passageway, can improve the accuracy of the strategy that obtains to improve the probability that the robot of sweeping the floor shifted out the passageway.
In the embodiment of the application, the robot that sweeps the floor judges that the width of the robot body is smaller than the width of the channel, and then the robot that sweeps the floor enters the channel to sweep the channel, so that the channel can be swept smoothly, and the success rate of the robot that sweeps the floor to carry out the sweeping task is improved. In addition, because when the width of passageway is big enough, the robot of sweeping the floor can shift out from the passageway smoothly, and when the height of passageway is short enough, should sweep the floor the robot and also can shift out from the passageway smoothly, consequently, select the corresponding tactics according to the width or the height of passageway and shift out the passageway, can improve the probability that should sweep the floor the robot and shift out from the passageway, can reduce the probability that should sweep the robot and get rid of poverty from the passageway promptly.
In some embodiments, a linear structured light sensor is installed on a target side surface of the sweeping robot, and the environment data includes point cloud data corresponding to the linear structured light sensor, where the target side surface is a side surface in a direction opposite to a direction in which the sweeping robot moves edgewise.
Correspondingly, the step S12 includes:
and detecting whether the point cloud data corresponding to the line-structured light sensor included in the environment data has jump, and if the point cloud data corresponding to the line-structured light sensor has jump and the number of the continuous point cloud data with jump is greater than a preset number threshold, judging that channels exist around the sweeping robot.
Assuming that the sweeping robot moves along the right wall, i.e. the direction of the sweeping robot moving along the side is right, the target side is the side of the sweeping robot in the opposite direction from the right (i.e. the left side of the sweeping robot).
If the sweeping robot runs on a flat ground, projections of laser beams of the two linear optical sensors on the ground are a straight line, and if the sweeping robot runs on an uneven ground (such as a channel), projections of the laser beams of the two linear optical sensors on the ground are no longer a straight line (such as shown in fig. 3), and corresponding point cloud data has a jump, such as a jump shown in fig. 4.
In the embodiment of the application, after the point cloud data is obtained, the difference of the values of the adjacent point cloud data is calculated, and if the obtained difference is greater than a preset difference threshold value, the corresponding adjacent point cloud data is judged to have jump. Considering that the side face of one channel has a certain length, after the adjacent point cloud data are judged to have jumping, the number of the adjacent point cloud data with jumping is counted, if the counted number is large, the channel exists around the sweeping robot, namely, the point cloud data are judged to have jumping due to the existence of the channel, and therefore the accuracy of the judgment result of the existence of the channel is improved.
In some embodiments, the sweeping robot is provided with a radar, and the distance between the object around the sweeping robot and the sweeping robot is obtained by rotating the radar, in this case, the step S13 includes:
a1, when a channel exists around the sweeping robot, respectively determining the distance between the radar and two side surfaces of the channel and two included angles of a ray emitted by the radar in the vertical direction when the distance between the radar and the two side surfaces of the channel is obtained according to the radar.
And A2, determining the width of the channel according to the distance between the radar and the two side surfaces of the channel and the two obtained included angles.
Specifically, after judging that there is the passageway around the robot of sweeping the floor through line structure light sensor, obtain the distance of this radar and a side of passageway that obtains through the radar of installation and obtain the contained angle of ray of radar in vertical direction when this distance, continue to rotate as this radar, will measure its distance and the contained angle that corresponds with another side of passageway.
As shown in fig. 5, the laser of the right linear structured light sensor is projected onto one side of the channel, that is, the projections of the laser of the left and right linear structured light sensors of the sweeping robot are no longer a straight line (but two broken lines like a roof shape appear), and at this time, it is determined that the channel exists. The radar acquires the distance between the radar and one side face, closest to the sweeping robot, in the channel and the angle, in the vertical direction, of the ray emitted by the radar when the distance is acquired, and the distance, in the horizontal direction, between the radar and the side face, closest to the radar, of the channel can be calculated according to the distance and the included angle, namely S1 in fig. 5. When the radar continues to rotate, the distance between the radar and the other side surface of the channel and the corresponding included angle (namely alpha in fig. 5) are detected, and the distance between the radar and the other side surface of the channel in the horizontal direction, namely S2 in fig. 5, can be calculated according to the distance between the radar and the other side surface of the channel and the corresponding included angle. And (S2-S1) is the width of the channel.
In the embodiment of the application, whether there is the passageway in the place ahead because line structure light sensor can short-term test this robot of sweeping the floor, and can short-term test out the distance between object and the radar through the radar, consequently, after line structure light sensor and radar have been installed on the robot of sweeping the floor, can judge through line structure light sensor's point cloud data and exist the passageway after, in time acquire the distance between this radar and the object through the point cloud data of radar to can calculate the width of passageway fast.
In some embodiments, the step S15 includes:
if the width of the channel is larger than the width of the body of the sweeping robot and smaller than or equal to the diameter of a circumscribed circle of the body of the sweeping robot, the sweeping robot is controlled to rotate 90 degrees in the target direction on the spot after continuously moving for a first target distance, the sweeping robot enters the channel and sweeps the channel, wherein the first target distance is equal to the distance between the radar and the target side surface of the channel plus half of the width of the channel, and the target side surface of the channel is as follows: and one side surface of the channel, which is closest to the sweeping robot, wherein the target direction is the direction of the sweeping robot moving along the edge.
In the embodiment of the application, after the sweeping robot is controlled to rotate 90 degrees towards the target direction, the head of the sweeping robot can be ensured to face the inlet direction of the channel. Because the first target distance is equal to the distance between the radar and the target side surface of the channel plus half of the width of the channel, the sweeping robot can be ensured to rotate after moving to the center of the channel, and the probability that the sweeping robot collides with the two side surfaces of the channel when entering the channel can be reduced.
In some embodiments, if the width of the passageway is greater than the width of the body of the cleaning robot, the step S15 includes:
and if the width of the channel is larger than or equal to the diameter of the circumcircle of the body of the sweeping robot, controlling the sweeping robot to continuously advance for a second target distance and then advance along the target side surface of the channel so as to enter the channel and sweep the channel, wherein the second target distance is the distance between the sweeping robot and the target side surface of the channel.
In the embodiment of the application, when the width of the channel is judged to be wide, the sweeping robot can turn at the entrance of the channel to enter the channel, namely, the sweeping robot does not need to move to the center of the channel and then rotates by 90 degrees to enter the channel, so that the speed of the sweeping robot entering the channel is improved.
In some embodiments, when the width of the channel is smaller and the height of the channel is higher, the step S17 includes:
and if the width of the channel is greater than the width of the body of the sweeping robot and less than or equal to the diameter of a circumscribed circle of the body of the sweeping robot, and the height of the channel is greater than the obstacle crossing height of the sweeping robot, selecting a first strategy, and moving out of the channel according to the first strategy, wherein the first strategy is a strategy for controlling the sweeping robot to linearly move backwards.
In the embodiment of the application, when the height of the channel (for example, the minimum height among the three side surfaces of the channel) is greater than the obstacle crossing height of the sweeping robot, it indicates that the sweeping robot cannot directly cross the side surface of the channel, that is, the sweeping robot can only move out of the channel from the entrance of the channel, and at this time, the robot linearly retreats from the channel according to the track pre-recorded when the channel is swept. Because the robot of sweeping the floor can clean the passageway, should sweep the floor the robot promptly and can not blocked by the passageway, consequently, follow the straight line and retreat from the passageway according to the orbit of record when sweeping the passageway, can both save the robot of sweeping the floor and plan the resource that removes the route of passageway and consume, also can improve the speed that should sweep the floor the robot and remove this passageway.
In some embodiments, when the width of the channel is smaller but the height of the channel is smaller, the step S17 includes:
and if the width of the channel is larger than the width of the body of the sweeping robot and smaller than or equal to the diameter of a circumscribed circle of the body of the sweeping robot, and the height of the channel is not larger than the obstacle crossing height of the sweeping robot, selecting a second strategy, and moving out the channel according to the second strategy, wherein the second strategy is a strategy for controlling the sweeping robot to cross the channel.
In this application embodiment, when the height of passageway is less than or equal to and hinders the height more, the robot of sweeping the floor still can clean this passageway, can not neglect this passageway promptly (current robot of sweeping the floor can neglect the height and be less than the passageway of hindering the height more, and then can not clean this passageway), and because some rubbish also can be gathered to the less passageway of height, consequently, clean the back to the less passageway of height, can improve the cleanliness after this robot of sweeping the floor cleans. And the sweeping robot does not exit from the entrance of the channel any more but crosses over from the side surface of the channel, so that the efficiency of moving the sweeping robot out of the channel is saved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Example two:
fig. 6 shows a block diagram of a cleaning apparatus provided in the embodiment of the present application, which corresponds to the cleaning method of the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of description.
This cleaning device 6 is applied to the robot of sweeping the floor, includes: an environmental data detection module 61, a channel detection module 62, a channel width determination module 63, a channel width comparison module 64, a cleaning module 65, a channel height determination module 66, and a strategy selection module 67. Wherein:
and the environment data detection module 61 is used for detecting the environment data in the preset distance between the front side and the sweeping robot.
Specifically, in the moving process of the sweeping robot, the sweeping robot detects environmental data within a preset distance range from the sweeping robot in the advancing direction of the sweeping robot. Wherein the environment data refers to data capable of reflecting at least one of the following information: the flatness of the ground, whether an obstacle exists on the ground, and the position of the obstacle when the obstacle exists.
In some embodiments, the preset distance may be determined according to a width of a body of the sweeping robot and a current moving speed of the sweeping robot. For example, when the width of the robot body is large, the preset distance is set to be large, and when the moving speed of the sweeping robot is large, the preset distance is also set to be large. In some embodiments, the preset distance may be set in direct proportion to a target sum, which is the sum of the value of the fuselage width and the value of the moving speed. The larger the target sum is, the larger the moving distance of the sweeping robot in a period of time is, so that the larger the preset distance is set to acquire the environmental data in a larger range, and the timeliness of judging whether a channel exists can be improved.
And a channel detection module 62, configured to determine whether a channel exists around the sweeping robot according to the environment data.
And a width determining module 63 for determining the width of the passageway when the passageway exists around the sweeping robot.
The width of the channel herein mainly refers to the width at the entrance of the channel, so as to determine whether the channel can be entered for cleaning in the following.
In the embodiment of the present application, the distance between two positions (e.g., two positions at the entrance of the passage) on the same horizontal line in the two sides (the two sides on the opposite sides) of the passage is calculated and taken as the width of the passage.
And a width comparison module 64 of the channel, configured to determine whether the width of the channel is greater than the width of the body of the sweeping robot.
And a cleaning module 65, configured to control the sweeping robot to enter the passageway and clean the passageway if the width of the passageway is greater than the width of the body of the sweeping robot.
In the embodiment of the application, when the sweeping robot judges that the robot can enter the channel (namely, the width of the robot body is smaller than that of the channel), the robot body enters the channel and cleans the channel.
It should be noted that in the embodiment of the present application, the channel is entered after the width of the channel is determined to be greater than the width of the fuselage, rather than only after the width of the channel is determined to be greater than the diameter of the circumscribed circle of the fuselage.
A channel height determination module 66 for determining the height of the channel.
Specifically, the height of each side in the channel can be calculated separately, and the lowest value is taken as the height of the channel. For example, assuming that the height of three sides of a channel is 5cm, 6cm and 7cm, respectively, the height of the channel is 5cm.
In some embodiments, the heights of the sides of the tunnel having a length greater than the diameter of the circle circumscribing the sweeping robot are each calculated, and the minimum of these heights is taken as the height of the tunnel. The sweeping robot has better stability when moving on a flat ground, so the minimum value of the height of the side surface with the length larger than the diameter of the circumscribed circle of the sweeping robot is used as the height of the channel, and the stability of the sweeping robot when crossing the channel from the side surface when judging that the height of the channel is smaller than the obstacle crossing height of the sweeping robot is facilitated.
And a strategy selection module 67, configured to select a corresponding strategy according to the width of the channel or the height of the channel, and move out of the channel according to the selected strategy.
The inventor of the application can follow the entrance of passageway and shift out through carrying out the analysis back to the passageway, reachs the robot of sweeping the floor, perhaps, can overturn from a certain side of passageway, consequently, selects the strategy of shifting out the passageway according to the width or the height of passageway, can improve the accuracy of the strategy that obtains to improve the probability that the robot of sweeping the floor shifted out the passageway.
In the embodiment of the application, the entering channel is cleaned after the sweeping robot judges that the width of the machine body of the sweeping robot is smaller than that of the channel, so that the channel can be smoothly cleaned, and the success rate of the sweeping robot for executing the cleaning task is improved. In addition, because when the width of the passageway is large enough, the sweeping robot can be smoothly moved out of the passageway, and when the height of the passageway is short enough, the sweeping robot can also be smoothly moved out of the passageway, therefore, the passageway can be moved out according to a corresponding strategy selected according to the width or height of the passageway, the probability that the sweeping robot is moved out of the passageway can be improved, and the probability that the sweeping robot is stranded in the passageway can be reduced.
In some embodiments, a linear structured light sensor is installed on a target side surface of the sweeping robot, and the environment data includes point cloud data corresponding to the linear structured light sensor, wherein the target side surface is a side surface in which a direction opposite to a direction in which the sweeping robot moves edgewise is located;
the channel detection module 62 is specifically configured to:
and detecting whether jump exists in the point cloud data corresponding to the linear structure optical sensor included in the environment data, and if jump exists in the point cloud data corresponding to the linear structure optical sensor and the quantity of the jumped continuous point cloud data is larger than a preset quantity threshold value, judging that channels exist around the sweeping robot.
Assuming that the sweeping robot moves along the right wall, i.e. the direction of the sweeping robot moving along the side is right, the target side is the side of the sweeping robot in the opposite direction from the right (i.e. the left side of the sweeping robot).
If the sweeping robot runs on a flat ground, projections of laser beams of the two linear optical sensors on the ground are a straight line, and if the sweeping robot runs on an uneven ground (such as a channel), projections of the laser beams of the two linear optical sensors on the ground are no longer a straight line (such as shown in fig. 3), and corresponding point cloud data has a jump, such as a jump shown in fig. 4.
In the embodiment of the application, after the point cloud data is obtained, the difference of the values of the adjacent point cloud data is calculated, and if the obtained difference is greater than a preset difference threshold value, the corresponding adjacent point cloud data is judged to have jump. Considering that the side face of one channel has a certain length, after the adjacent point cloud data are judged to have jumping, the number of the adjacent point cloud data with jumping is counted, if the counted number is large, the channel exists around the sweeping robot, namely, the point cloud data are judged to have jumping due to the existence of the channel, and therefore the accuracy of the judgment result of the existence of the channel is improved.
In some embodiments, the sweeping robot is equipped with a radar, and the width determining module 63 of the passageway comprises:
and the distance determining unit is used for respectively determining the distances between the radar and the two side surfaces of the channel and two included angles of the rays emitted by the radar in the vertical direction when the distance between the two side surfaces of the channel is obtained according to the radar when the channel exists around the sweeping robot.
And the width determining unit is used for determining the width of the channel according to the distance between the radar and the two side surfaces of the channel and the obtained two included angles.
Specifically, after judging that there is the passageway around the robot of sweeping the floor through line structure light sensor, obtain through the distance of this radar that the radar of installation was measured and one side of passageway and the contained angle of ray in vertical direction when obtaining this distance, continue to rotate as this radar, will measure its distance and the contained angle that corresponds with another side of passageway.
In this application embodiment, because line structure light sensor can short-term test whether there is the passageway in this place ahead of sweeping the floor robot, and can short-term test the distance between object and the radar through the radar, consequently, after having installed line structure light sensor and radar on the robot of sweeping the floor, can judge through line structure light sensor's point cloud data and exist the passageway after, in time acquire the distance between this radar and the object through the point cloud data of radar to can calculate the width of passageway fast.
In some embodiments, the purge module 65 is specifically configured to:
if the width of the channel is larger than the width of the body of the sweeping robot and smaller than or equal to the diameter of the circumscribed circle of the body of the sweeping robot, the sweeping robot is controlled to rotate 90 degrees in the target direction in situ after continuing to advance for a first target distance, the sweeping robot enters the channel and sweeps the channel, wherein the first target distance is equal to the radar and the distance of the target side surface of the channel plus half of the width of the channel, and the target side surface of the channel is as follows: and one side surface of the channel, which is closest to the sweeping robot, is provided, and the target direction is the direction of the sweeping robot when moving along the edge.
In the embodiment of the application, after the sweeping robot is controlled to rotate 90 degrees towards the target direction, the head of the sweeping robot can be ensured to face the inlet direction of the channel. Because the first target distance is equal to the distance between the radar and the target side surface of the channel plus half of the width of the channel, the sweeping robot can be ensured to rotate after moving to the center of the channel, and the probability that the sweeping robot collides with the two side surfaces of the channel when entering the channel can be reduced.
In some embodiments, the purge module 65 is specifically configured to:
and if the width of the channel is larger than or equal to the diameter of the circumscribed circle of the body of the sweeping robot, controlling the sweeping robot to continuously advance for a second target distance and then advance along the target side surface of the channel so as to enter the channel and sweep the channel, wherein the second target distance is the distance between the sweeping robot and the target side surface of the channel.
In the embodiment of the application, when the width of the channel is judged to be wide, the sweeping robot can turn at the entrance of the channel to enter the channel, namely, the sweeping robot does not need to move to the center of the channel and then rotates by 90 degrees to enter the channel, so that the speed of the sweeping robot entering the channel is increased.
In some embodiments, the policy selection module 67 is specifically configured to:
if the width of passageway is greater than sweep the fuselage width of robot and be less than or equal to sweep the diameter of the circumscribed circle of the fuselage of robot, the height of passageway is greater than sweep the obstacle height of robot, then select first strategy, and according to first strategy shifts out the passageway, wherein, first strategy is control sweep the strategy that robot sharp retreated.
In the embodiment of the application, when the height of the channel (for example, the minimum height among the three side surfaces of the channel) is greater than the obstacle crossing height of the sweeping robot, it indicates that the sweeping robot cannot directly cross the side surface of the channel, that is, the sweeping robot can only move out of the channel from the entrance of the channel, and at this time, the robot linearly retreats from the channel according to the track pre-recorded when the channel is swept. Because the sweeping robot can sweep the channel, namely the sweeping robot can not be clamped by the channel, the sweeping robot linearly retreats from the channel according to the recorded track when the channel is swept, so that the resource consumed by the sweeping robot for planning the path of the moving-out channel can be saved, and the speed of the sweeping robot for moving out the channel can be increased.
In some embodiments, the policy selection module 67 is specifically configured to:
if the width of the channel is larger than the width of the body of the sweeping robot and smaller than or equal to the diameter of the circumscribed circle of the body of the sweeping robot, and the height of the channel is not larger than the obstacle crossing height of the sweeping robot, a second strategy is selected, the channel is moved out according to the second strategy, wherein the second strategy is used for controlling the sweeping robot to cross the strategy of the channel.
In this application embodiment, when the height of passageway is less than or equal to and hinders the height more, the robot of sweeping the floor still can clean this passageway, can not neglect this passageway promptly (the current robot of sweeping the floor can neglect highly to be less than and hinder the height more the passageway, and then can not clean this passageway), and because some rubbish also can be gathered to highly less passageway, consequently, clean the back to highly less passageway, can improve the cleanliness after this robot of sweeping the floor cleans. And the sweeping robot does not exit from the entrance of the channel any more but crosses over from the side surface of the channel, so that the efficiency of moving the sweeping robot out of the channel is saved.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Example three:
fig. 7 is a schematic structural diagram of a sweeping robot according to an embodiment of the present application. As shown in fig. 7, the sweeping robot 7 of this embodiment includes: at least one processor 70 (only one processor is shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the steps of any of the above-described method embodiments being implemented when the computer program 72 is executed by the processor 70.
The sweeping robot 7 may be a non-circular sweeping robot, which includes, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that fig. 7 is merely an example of the sweeping robot 7, and does not constitute a limitation on the sweeping robot 7, and may include more or less components than those shown in the drawings, or combine some components, or different components, and in one scenario may also include input and output devices, network access devices, and the like.
The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may be other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the cleaning robot 7 in some embodiments, for example, a hard disk or a memory of the cleaning robot 7. The memory 71 may also be an external storage device of the robot cleaner 7 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the robot cleaner 7. Further, the memory 71 may also include both an internal memory unit and an external memory device of the sweeping robot 7. The memory 71 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of a computer program. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the foregoing method embodiments.
The embodiment of the present application provides a computer program product, which when running on a sweeping robot, enables the sweeping robot to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above may be implemented by instructing relevant hardware by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the embodiments of the methods described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal device, recording medium, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunication signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In some jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and proprietary practices.
In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A cleaning method is characterized by being applied to a sweeping robot and comprising the following steps:
detecting environmental data in a preset distance from the front to the sweeping robot;
judging whether channels exist around the sweeping robot or not according to the environment data;
determining the width of a channel when the channel exists around the sweeping robot;
judging whether the width of the channel is larger than the width of the machine body of the sweeping robot, wherein the width of the machine body is the size of the machine body in the direction perpendicular to the advancing direction of the sweeping robot;
if the width of the channel is larger than the width of the body of the sweeping robot, controlling the sweeping robot to enter the channel and sweep the channel;
determining a height of the channel;
and selecting a corresponding strategy according to the width of the channel or the height of the channel, and moving out the channel according to the selected strategy.
2. The cleaning method according to claim 1, wherein a linear structured light sensor is installed on a target side surface of the sweeping robot, the environment data includes point cloud data corresponding to the linear structured light sensor, and the target side surface is a side surface in a direction opposite to a direction in which the sweeping robot moves edgewise;
judging whether there are channels around the robot of sweeping the floor according to the environmental data includes:
and detecting whether the point cloud data corresponding to the linear structure optical sensor, which are included in the environment data, jump or not, and if the point cloud data corresponding to the linear structure optical sensor jump or not and the quantity of the continuous point cloud data with the jump is larger than a preset quantity threshold value, judging that channels exist around the sweeping robot.
3. The sweeping method as claimed in claim 2, wherein the sweeping robot is equipped with a radar, and when there is a passage around the sweeping robot, determining the width of the passage comprises:
when channels exist around the sweeping robot, respectively determining the distances between the radar and two side surfaces of the channel and two included angles of rays emitted by the radar in the vertical direction when the distance between the radar and the two side surfaces of the channel is obtained according to the radar;
and determining the width of the channel according to the distance between the radar and the two side surfaces of the channel and the obtained two included angles.
4. The cleaning method as claimed in claim 3, wherein if the width of the passageway is greater than the width of the body of the cleaning robot, controlling the cleaning robot to enter the passageway and clean the passageway comprises:
if the width of the channel is larger than the width of the machine body of the sweeping robot and smaller than or equal to the diameter of the circumcircle of the machine body of the sweeping robot, the sweeping robot is controlled to rotate 90 degrees in the direction of the target in situ after continuously moving forward by a first target distance, the robot enters the channel and sweeps the channel, wherein the first target distance is equal to the distance between the radar and the target side surface of the channel plus half of the width of the channel, and the target side surface of the channel is as follows: and the side face of the channel, which is closest to the sweeping robot, is the target direction when the sweeping robot moves edgewise.
5. The cleaning method as claimed in claim 3, wherein if the width of the passageway is greater than the width of the body of the cleaning robot, controlling the cleaning robot to enter the passageway and clean the passageway comprises:
and if the width of the channel is larger than or equal to the diameter of the circumcircle of the body of the sweeping robot, controlling the sweeping robot to continuously advance for a second target distance and then advance along the target side face of the channel so as to enter the channel and sweep the channel, wherein the second target distance is the distance between the sweeping robot and the target side face of the channel.
6. The cleaning method according to any one of claims 1 to 5, wherein said selecting a corresponding strategy according to the width of the channel or the height of the channel and removing the channel according to the selected strategy comprises:
if the width of passageway is greater than sweep the fuselage width of robot and be less than or equal to sweep the diameter of the circumscribed circle of the fuselage of robot, the height of passageway is greater than sweep the obstacle height of robot, then select first strategy, and according to first strategy shifts out the passageway, wherein, first strategy is control sweep the strategy that robot sharp retreated.
7. The sweeping method according to any one of claims 1 to 5, wherein said selecting a corresponding strategy according to the width of the channel or the height of the channel and removing the channel according to the selected strategy comprises:
if the width of the channel is larger than the width of the body of the sweeping robot and smaller than or equal to the diameter of the circumscribed circle of the body of the sweeping robot, and the height of the channel is not larger than the obstacle crossing height of the sweeping robot, a second strategy is selected, the channel is moved out according to the second strategy, wherein the second strategy is used for controlling the sweeping robot to cross the strategy of the channel.
8. The utility model provides a cleaning device which characterized in that is applied to the robot of sweeping the floor, includes:
the environment data detection module is used for detecting the environment data in a preset distance from the front to the sweeping robot;
the channel detection module is used for judging whether channels exist around the sweeping robot or not according to the environment data;
the width determining module of the channel is used for determining the width of the channel when the channel exists around the sweeping robot;
the width comparison module of the channel is used for judging whether the width of the channel is larger than the width of the body of the sweeping robot or not;
the sweeping module is used for controlling the sweeping robot to enter the channel and sweep the channel if the width of the channel is larger than the width of the body of the sweeping robot;
the height determining module of the channel is used for determining the height of the channel;
and the strategy selection module is used for selecting a corresponding strategy according to the width of the channel or the height of the channel and moving out the channel according to the selected strategy.
9. A sweeping robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the method of any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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