CN115191890B - Control method of cleaning robot, cleaning robot and storage medium - Google Patents
Control method of cleaning robot, cleaning robot and storage medium Download PDFInfo
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- CN115191890B CN115191890B CN202210868796.7A CN202210868796A CN115191890B CN 115191890 B CN115191890 B CN 115191890B CN 202210868796 A CN202210868796 A CN 202210868796A CN 115191890 B CN115191890 B CN 115191890B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 543
- 238000000034 method Methods 0.000 title claims abstract description 65
- 230000000875 corresponding effect Effects 0.000 description 48
- 238000010586 diagram Methods 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 7
- 238000004590 computer program Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to the field of cleaning robots, and discloses a control method of a cleaning robot, the cleaning robot and a storage medium, wherein the control method comprises the following steps: acquiring a judgment result of whether the current position of the cleaning robot is a passed position or not; acquiring a relative relation mark between the cleaning robot and a target obstacle; and continuing or ending the task of cleaning the obstacle along the target according to the judging result and the relative relation mark. The method and the device aim at improving the accuracy of the cleaning robot in judging whether to finish cleaning along the target obstacle so as to avoid the condition that the cleaning robot has cleaning omission.
Description
Technical Field
The present application relates to the field of cleaning robots, and more particularly, to a control method of a cleaning robot, and a computer-readable storage medium.
Background
The current cleaning robot gradually enters the home to replace manual cleaning of the house, and becomes a good helper in life of people. If an obstacle (such as a wall of a room, a furniture wall cabinet, a stool dining table and a chair) is encountered during the cleaning task of the cleaning robot, the robot generally performs edge cleaning along the outline of the obstacle, and performs arc coverage cleaning on the rest area after the robot is cleaned around the obstacle for one circle.
Currently, it is general to determine whether the obstacle-surrounding cleaning is completed by recording the start point of the edge cleaning of the cleaning robot and detecting whether the cleaning robot returns to the start point again by positioning. However, sometimes, the cleaning robot may be prone to generate misjudgment because the cleaning path and the cleaning start point of the cleaning robot are too close, or because the cleaning path has to pass through the cleaning start point again, so that the cleaning robot may misjudge that the cleaning robot has completed a task of cleaning an obstacle along the edge for a circle, and prematurely exit the edge cleaning mode, so that missing cleaning occurs, as shown in fig. 2, when the cleaning robot passes through the position A1 during cleaning along the wall, the position A1 is marked as a passed position, and when the cleaning robot passes through the position A1 again during continuing the task and cleaning along the obstacle M, misjudgment occurs that the cleaning along the obstacle is completed according to the passed information of the position A1.
The foregoing is merely provided to facilitate an understanding of the principles of the present application and is not admitted to be prior art.
Disclosure of Invention
The main objective of the present application is to provide a control method for a cleaning robot, and a computer readable storage medium, which aim to improve the accuracy of the cleaning robot in judging whether to end cleaning along a target obstacle, so as to avoid the cleaning omission of the cleaning robot.
To achieve the above object, the present application provides a control method of a cleaning robot for controlling the cleaning robot to perform a cleaning task along a target obstacle, including:
acquiring a judgment result of whether the current position of the cleaning robot is a passed position or not; the method comprises the steps of,
acquiring a relative relation mark between the cleaning robot and a target obstacle;
and continuing or ending the task of cleaning the obstacle along the target according to the judging result and the relative relation mark.
Optionally, the step of continuing or ending the task of cleaning the obstacle along the target according to the determination result and the relative relationship identifier includes:
when the current position of the cleaning robot is determined to be a passed position, determining whether the relative relation mark meets a preset condition;
the step of determining whether the relative relationship identifier meets a preset condition comprises the following steps:
and ending the cleaning task along the target obstacle when the relative relation mark is determined to meet the preset condition.
Optionally, the relative relationship identifier includes a first relative relationship identifier and a second relative relationship identifier, where the first relative relationship identifier is a relative relationship identifier between the cleaning robot and the target obstacle at present, and the second relative relationship identifier is a relative relationship identifier between the cleaning robot and the target obstacle when the cleaning robot is located at the present position before.
Optionally, the first relative relationship identifier includes a first relative direction, and the second relative relationship identifier includes a second relative direction;
and when the included angle between the first relative direction and the second relative direction is determined to be in a preset angle range, determining that the relative relation mark meets the preset condition.
Optionally, the first relative relationship identifier includes a first tangent point location, and the second relative relationship identifier includes a second tangent point location;
and when the distance between the first tangential point position and the second tangential point position is determined to be in a preset distance range, determining that the relative relation mark meets the preset condition.
Optionally, the step of continuing or ending the task of cleaning the obstacle along the target according to the determination result and the relative relationship identifier includes:
determining that the current position is a non-passed position;
associating a relative relationship identity between the cleaning robot current and a target obstacle with the current position;
marking the current position as a passed position, and marking a relative relation mark of the current position; the method comprises the steps of,
continuing the object-following obstacle cleaning task.
Optionally, the step of determining whether the relative relationship identifier meets a preset condition further includes:
when the relative relation identifier is determined to not meet a preset condition;
associating a relative relationship identity between the cleaning robot current and a target obstacle with the current position;
marking the relative relation identification of the current position; the method comprises the steps of,
continuing the object-following obstacle cleaning task.
Optionally, the control method of the cleaning robot further includes:
acquiring operation area information corresponding to a cleaning robot to establish a grid map for the cleaning robot to travel along the grid map, wherein each position of the cleaning robot corresponds to at least one grid in the grid map.
Optionally, the control method of the cleaning robot further includes:
if the object-following obstacle cleaning task is finished, controlling the cleaning robot to exit from the object-following obstacle cleaning mode, and storing a cleaning path and a corresponding obstacle when the object-following obstacle is cleaned in the grid map;
and controlling the cleaning robot to execute the object-following obstacle cleaning mode according to the cleaning path when the cleaning robot executes the object-following obstacle cleaning mode again on the corresponding obstacle.
To achieve the above object, the present application also provides a cleaning robot including: the cleaning robot control system comprises a memory, a processor and a cleaning robot control program stored in the memory and capable of running on the processor, wherein the cleaning robot control program realizes the steps of the cleaning robot control method when being executed by the processor.
In order to achieve the above object, the present application also provides a computer-readable storage medium having stored thereon a control program of a cleaning robot, which when executed by a processor, implements the steps of the control method of the cleaning robot as described above.
According to the control method of the cleaning robot, the cleaning robot and the computer readable storage medium, the cleaning position and the cleaning direction of the cleaning robot along the target obstacle are recorded, whether the cleaning robot is clean along the target obstacle or not is judged jointly according to the relative relation identification of the target obstacle and the cleaning robot, the accuracy of judging whether the cleaning robot is clean along the target obstacle is improved, and the situation that the cleaning robot is clean and is omitted is avoided.
Drawings
FIG. 1 is a schematic diagram illustrating steps of a control method of a cleaning robot according to an embodiment of the present application;
FIG. 2 is a diagram illustrating an example of cleaning of a cleaning robot along a target obstacle in an embodiment of the present application;
FIG. 3 is a diagram illustrating relative orientations of a cleaning robot in accordance with one embodiment of the present application;
FIG. 4 is a diagram showing an example of the relative relationship between a cleaning robot and a target obstacle in an embodiment of the present application;
FIG. 5 is a diagram showing another example of a relative relationship between a cleaning robot and a target obstacle in accordance with one embodiment of the present disclosure;
FIG. 6 is an exemplary graph of relative relationship identification of a cleaning robot to a target obstacle in accordance with another embodiment of the present application;
FIG. 7 is an exemplary graph of relative relationship identification of a cleaning robot to a target obstacle in accordance with yet another embodiment of the present application;
FIG. 8 is a schematic diagram illustrating steps of a control method of a cleaning robot according to another embodiment of the present application;
FIG. 9 is a schematic diagram showing steps of a control method of a cleaning robot according to another embodiment of the present application;
FIG. 10 is a schematic diagram showing steps of a control method of a cleaning robot according to another embodiment of the present application;
fig. 11 is a schematic block diagram of an internal structure of a cleaning robot according to an embodiment of the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention, and all other embodiments, based on the embodiments of the present invention, which may be obtained by persons of ordinary skill in the art without inventive effort, are within the scope of the present invention.
Referring to fig. 1, in an embodiment, a control method of the cleaning robot is for controlling the cleaning robot to perform a cleaning task along a target obstacle, including:
step S10, acquiring a judgment result of whether the current position of the cleaning robot is a passed position or not; the method comprises the steps of,
step S20, acquiring a relative relation mark between the cleaning robot and a target obstacle;
and step S30, continuing or ending the task of cleaning the obstacle along the target according to the judging result and the relative relation mark.
In this embodiment, the implementation of the embodiment may be a cleaning robot, or may be a device for controlling the cleaning robot (such as a computer system, a server, a base station of the cleaning robot, etc.); the following describes an example of the cleaning robot.
Alternatively, if an obstacle (such as a wall of a room, a furniture closet, a stool dining chair, etc.) is encountered during the cleaning task performed by the cleaning robot, the currently encountered obstacle may be marked as a target obstacle, and a mode of cleaning along the target obstacle may be performed to move along the contour or edge of the target obstacle and clean (as shown in fig. 2, the cleaning robot may clean a floor area of or near the corresponding obstacle along the contour of the obstacle for at least one revolution; while it is difficult for the wall-type cleaning robot to circle around a large (or complex-structured) obstacle, the cleaning robot may move and clean as closely as possible to the edge of the obstacle); alternatively, when the cleaning robot enters the edge cleaning mode, then an obstacle in the cleaning robot work area may be taken as a target obstacle, and edge cleaning may be performed along the outline of the target obstacle.
Optionally, when the cleaning robot cleans along the target obstacle, a determination result of whether the current position of the cleaning robot is a passed position or not and a relative relationship identifier between the cleaning robot and the target obstacle may be obtained, so as to jointly determine whether the cleaning robot cleans along the target obstacle.
The step of obtaining the determination result of whether the current position of the cleaning robot is the passed position (i.e., step S10), and the step of obtaining the relative relationship identifier between the cleaning robot and the target obstacle (i.e., step S20) may be performed in different orders (i.e., steps S10 and S20 may be performed simultaneously, step S10 may be performed first, step S20 may be performed second, or step S20 may be performed first, and step S10 may be performed second).
Alternatively, it may be that whether the current position of the cleaning robot is a passed position is judged first, and then the relative relation identification between the cleaning robot and the target obstacle is analyzed; or firstly analyzing a relative relation mark between the cleaning robot and the target obstacle, and then judging whether the current position of the cleaning robot is a passed position or not; alternatively, the step of acquiring the result of the determination as to whether the current position of the cleaning robot is the passed position or not and the step of analyzing the relative relationship identification between the cleaning robot and the target obstacle may be performed simultaneously.
Optionally, a plurality of grids are divided in advance based on the specific layout of the working area where the cleaning robot is located, and a corresponding grid map is established. Wherein, each grid in the grid map can be a regular polygon (such as an equilateral triangle, a square, a hexagon, etc.), or an irregular polygon; each position of the cleaning robot in the work area may be composed of at least one grid.
Alternatively, the position of the cleaning robot in the work area may be represented by creating a latitude and longitude map.
Wherein each location of the cleaning robot in the work area is unique and each location has a corresponding marking to distinguish from other locations, whether using a grid map or latitude and longitude map, or other means by which the cleaning robot's location in the work area may be marked.
Alternatively, the position where the cleaning robot is currently located in the work area is recorded as the current position. It will be appreciated that as the cleaning robot moves (i.e. switches positions) the current position of the cleaning robot changes.
Optionally, the passed position is characterized as a position at which the cleaning robot passes (or arrives) at least once in the work area when cleaning along the target obstacle at a time. For example, when the cleaning robot is cleaning along the target obstacle for the first time, the W1 position does not belong to the passed position when the cleaning robot reaches the W1 position, and when the cleaning robot leaves the W1 position (e.g., enters the W2 position) and returns to the W1 position again, the W1 position belongs to the passed position when the cleaning robot leaves the W1 position.
The position which is passed before the cleaning robot cleans along the target obstacle at the next time is not recorded as the passed position, namely, the previously marked passed position is cleared when the cleaning robot executes a new cleaning task along the target obstacle every time.
Optionally, when the determination result of whether the current position of the cleaning robot is the routed position is obtained, it is determined whether the current position of the cleaning robot is the routed position (for example, whether the current position is marked as the routed position in the detected and recorded data). If the current position is detected to be the passed position, generating a judgment result that the current position is the passed position; and if the current position is detected not to be the passed position, generating a judging result that the current position is not the passed position.
If the judgment result shows that the current position is not the passed position, the cleaning robot can be directly judged that the cleaning along the target obstacle is not completed; if the judgment result shows that the current position is the passed position, judging whether the cleaning robot is cleaning along the target obstacle or not according to the relative relation mark between the cleaning robot and the target obstacle.
Optionally, when the cleaning robot performs the task of cleaning along the target obstacle, if the target obstacle is detected to be near the current position (i.e. the current position) when the cleaning robot reaches one position, the relative relation identifier between the cleaning robot and the target obstacle can be acquired in real time or at regular time. The cleaning robot may detect whether a target obstacle exists in a certain area range by means of a ranging sensor, image detection (such as analysis by acquiring a peripheral image by using a camera), collision detection, and the like.
Optionally, the relative relationship identification may be used to characterize a relative positional relationship between the cleaning robot and the target obstacle.
Alternatively, the relative relationship identity may be a relative direction between the cleaning robot and the target obstacle. As shown in fig. 3, the cleaning robot may be used as a center, and multiple directions (such as dividing front, back, left, right, left front, left back, right front, right back) are divided around the cleaning robot, each direction corresponds to a certain angle range (such as dividing the periphery of the cleaning robot into eight directions, the angle range corresponding to each direction is 45 °), and by detecting in which direction the target obstacle falls, the relative direction between the cleaning robot and the target obstacle is the direction corresponding to the angle range in which the target obstacle is located (such as in the 45 ° range corresponding to the position in front of the cleaning robot, the relative relationship between the target obstacle and the cleaning robot is identified as the position in front of the cleaning robot); in addition, in the process that the cleaning robot runs along the periphery of the target obstacle and cleans, as shown in fig. 4, the relative direction between the cleaning robot and the target obstacle can be updated as the relative relation mark of the cleaning robot and the target obstacle every time the positions are changed, namely, the relative direction between the cleaning robot and the target obstacle can be obtained at each position. If the target obstacle is huge (for example, the target obstacle can span multiple angle ranges), any mark point (for example, the center point of the target obstacle) of the target obstacle can be selected as a reference, and the relative direction between the cleaning robot and the target obstacle can be analyzed by judging the angle range of the direction in which the mark point is located.
For example, when there are a plurality of target obstacles along which the cleaning robot cleans next time, referring to fig. 5, the target obstacle 1 and the target obstacle 2 are adjacent, and the cleaning robot passes through the position A2 in the process of cleaning along the target obstacle 1 and the target obstacle 2, then when the robot moves to the position A2 each time, it is required to determine which target obstacle is being subjected to edge cleaning according to the relative relationship identification, so as to avoid erroneous determination, for example, when the cleaning robot cleans the target obstacle 1, the relative direction between the cleaning robot and the target obstacle 1 at the position A2 is directed to the left side, and when the cleaning robot cleans the target obstacle 2, the relative direction between the cleaning robot and the target obstacle 2 at the position A2 is directed to the right side, so that the target obstacle for which the cleaning robot currently performs the edge cleaning task can be quickly and simply distinguished, thereby improving the efficiency and the accuracy of edge cleaning of the target obstacle.
Alternatively, when determining the relative direction between the cleaning robot and the target obstacle, the relative direction between the target obstacle and the cleaning robot may be determined by combining the respective positions of the cleaning robot and the target obstacle, and referring to the direction of the cleaning robot (e.g., the direction in which the cleaning robot is moving forward), based on the position of the target obstacle relative to the current position of the cleaning robot, and by combining the current direction of the cleaning robot. For example, as shown in fig. 6, in a grid map where the cleaning robot is located, the target obstacle is located on the south side of the grid where the cleaning robot is currently located (i.e., the current position), and when the cleaning robot moves toward the eastern direction, the relative direction between the cleaning robot and the target obstacle is the right side of the forward direction of the cleaning robot (as shown in the left diagram of fig. 6); when the cleaning robot moves in the western direction, the relative direction between the cleaning robot and the target obstacle is such that the target obstacle is positioned on the left side of the forward direction of the cleaning robot (as shown in the right view of fig. 6). That is, even if the positions of the cleaning robot and the target obstacle are unchanged, if the orientation of the cleaning robot is changed, the relative directions of the two are changed accordingly.
Alternatively, when the cleaning robot cleans the target obstacle along a tangential direction of the target obstacle, the tangential point is a contact point (Q point shown in fig. 7) when the cleaning robot approaches the target obstacle, and the tangential direction is formed by combining the tangential point and a direction when the cleaning robot cleans the target obstacle along the edge. Therefore, the position (such as the coordinate of the tangent point in the operation area) or the direction (such as the coordinate of the tangent point in the operation area and the movement direction of the cleaning robot) of the tangent point of the cleaning robot along the target obstacle when cleaning can be recorded to be used as the relative relation mark between the cleaning robot and the target obstacle.
Optionally, when the cleaning robot cleans along the target obstacle, whether the cleaning robot cleans along the target obstacle is determined by determining whether the current position is a passed position or detecting whether a relative relation mark between the cleaning robot and the target obstacle meets a preset condition and analyzing whether the current position is a passed position. If the relative relation mark between the cleaning robot and the target obstacle meets the preset condition and the current position is the passed position, judging that the cleaning of the cleaning robot along the target obstacle is completed, and finishing the cleaning task along the target obstacle by the cleaning robot; if the relative relation mark between the cleaning robot and the target obstacle does not meet the preset condition or the current position is not the passed position, judging that the cleaning robot is not complete to clean the target obstacle along the target obstacle, and continuing the task of cleaning the target obstacle along the cleaning robot so as to continue to clean the target obstacle along the edge; if the relative relation mark between the cleaning robot and the target obstacle does not meet the preset condition, and when the current position is not the passed position, judging that the cleaning robot is not complete to clean the target obstacle along the target obstacle, and continuing the task of cleaning the target obstacle along the cleaning robot to continue to clean the target obstacle along the edge.
Optionally, the preset condition is that the comparison result of the first relative relation identifier and the second relative relation identifier is within a preset deviation range. The relative relationship between the cleaning robot and the target obstacle is marked as a first relative relationship mark when the current moment of the cleaning robot is positioned at the current position (namely when the current position is reached), and the relative relationship between the cleaning robot and the target obstacle is marked as a second relative relationship mark when the cleaning robot is previously positioned at the current position (namely when the current position is reached before the current moment). For example, when the cleaning robot is located at the W1 position at the time T1, its relative relationship with the target obstacle is denoted as a, and when the cleaning robot returns to the W1 position again at the time T2 after leaving the W1 position, its relative relationship with the target obstacle is denoted as b, and at this time, the relative relationship identifier a is denoted as a second relative relationship identifier, and the relative relationship identifier b is denoted as a first relative relationship identifier.
Optionally, if the relative relation between the cleaning robot and the target obstacle includes a relative direction, the preset deviation range may be a preset angle range (e.g. set to [ -10 °,10 ° ]), that is, an included angle formed between the relative direction corresponding to the first relative relation identifier (i.e. the first relative direction) and the relative direction corresponding to the second relative relation identifier (i.e. the second relative direction) is determined, if the angle of the included angle is within the preset angle range, it is determined that the preset condition is satisfied, and if the angle of the included angle is outside the preset angle range, it is determined that the preset condition is not satisfied.
Optionally, if the relative relation mark between the cleaning robot and the target obstacle includes a tangential position, the preset deviation range may be a preset distance range (e.g. set to [0cm,20cm ]), that is, a distance between the tangential point position corresponding to the first relative relation mark (i.e. the first tangential point position) and the tangential point position corresponding to the second relative relation mark (i.e. the second tangential point position) is determined, if the value of the distance is within the preset distance range, it is determined that the preset condition is satisfied, and if the value of the distance is outside the preset angle range, it is determined that the preset condition is not satisfied.
Optionally, if the relative relation between the cleaning robot and the target obstacle includes a tangential direction, the preset deviation range may be a preset angle range (for example, set to [ -10 °,10 ° ]), that is, an included angle formed between the tangential direction corresponding to the first relative relation identifier (i.e., the first tangential direction) and the tangential direction corresponding to the second relative relation identifier (i.e., the second tangential direction) is determined, if the angle of the included angle is within the preset angle range, it is determined that the preset condition is satisfied, and if the angle of the included angle is outside the preset angle range, it is determined that the preset condition is not satisfied.
Optionally, the relative relationship identification includes at least one of a relative direction, a tangential point position, and a tangential direction; that is, on the premise that the current position is the passed position, at least one relative relation mark is required to meet a preset condition, so that the cleaning of the obstacle along the target can be judged to be completed, otherwise, the cleaning of the obstacle along the target is judged to be incomplete. Of course, the more kinds of the relative relation identifiers for judging whether the preset condition is satisfied, the higher the accuracy of the judgment result. If the current position is set to be the passed position, the relative direction between the cleaning robot and the target obstacle and the tangential point position do not meet the preset conditions, and the cleaning along the target obstacle can be judged to be completed, otherwise, the cleaning along the target obstacle is judged to be incomplete.
Optionally, if it is determined that the cleaning along the target obstacle is completed, the cleaning robot ends the cleaning along the target obstacle; if it is determined that the cleaning of the obstacle along the target is not completed, the cleaning robot continues to perform the cleaning task along the target obstacle.
Therefore, by recording the cleaning position and the cleaning direction of the cleaning robot along the target obstacle and judging whether the cleaning robot is completed along the target obstacle according to the relative relation identification of the target obstacle and the cleaning robot, the accuracy of judging whether the cleaning robot is finished along the target obstacle is improved, the edge cleaning is finished when the cleaning is completed, and the edge cleaning is continued when the cleaning is not completed, so that the condition that the cleaning robot is omitted is avoided.
In an embodiment, referring to fig. 8, on the basis of the foregoing embodiment, the step of continuing or ending the task of cleaning the obstacle along the target according to the determination result and the relative relationship identifier includes:
step S40, when the current position of the cleaning robot is determined to be a passed position, determining whether the relative relation mark meets a preset condition;
and S41, ending the object-along obstacle cleaning task when the relative relation mark is determined to meet a preset condition.
In this embodiment, when the cleaning robot cleans along the target obstacle in the work area, each time the cleaning robot reaches or passes a position, it is possible to detect whether the current position (i.e., the current position) is a passed position according to the previous record.
Optionally, if the current position is detected to be not the passed position, directly determining that the corresponding task of cleaning along the target obstacle is not finished, and continuing to execute the task of cleaning along the target obstacle by the cleaning robot.
Optionally, if the current position is detected to be the passed position, the relative relation identifier between the cleaning robot and the target obstacle is analyzed to judge whether the cleaning robot cleans the target obstacle along the target obstacle. Wherein, whether the cleaning robot is clean along the target obstacle can be judged by detecting whether the relative relation between the cleaning robot and the target obstacle is marked to meet the preset condition.
Optionally, if the relative relation identifier between the cleaning robot and the target obstacle meets a preset condition, determining that the cleaning of the cleaning robot along the target obstacle is completed, and ending the cleaning task along the target obstacle by the cleaning robot; if the relative relation between the cleaning robot and the target obstacle is marked to not meet the preset condition, judging that the cleaning robot is not complete in cleaning along the target obstacle, and continuing the cleaning task along the target obstacle.
In this way, whether the edge cleaning is finished is further judged by judging whether the current position of the cleaning robot is the passed position or not and utilizing the relative relation mark between the cleaning robot and the target obstacle when the current position is the passed position, so that the accuracy of the cleaning robot in judging whether the cleaning along the target obstacle is finished is improved, and the analysis and judgment efficiency is also improved.
In an embodiment, on the basis of the above embodiment, the relative relationship identifier includes a first relative relationship identifier and a second relative relationship identifier, where the first relative relationship identifier is a relative relationship identifier between the cleaning robot and the target obstacle currently, and the second relative relationship identifier is a relative relationship identifier between the cleaning robot and the target obstacle when the cleaning robot was previously located at the current position.
In this embodiment, when it is required to use the relative relationship identifier between the cleaning robot and the target obstacle to determine whether the cleaning robot is cleaning along the target obstacle, the first relative relationship identifier and the second relative relationship identifier between the cleaning robot and the target obstacle may be acquired respectively.
The first relative relation mark is a relative relation mark between the cleaning robot and a target obstacle when the current moment of the cleaning robot is positioned at the current position; the second relative relationship identity is the relative relationship identity between the cleaning robot and the target obstacle when the cleaning robot was previously located at the current position (i.e. when the current position was reached before the current moment). For example, when the cleaning robot is located at the W1 position at the time T1, its relative relationship with the target obstacle is denoted as a, and when the cleaning robot returns to the W1 position again at the time T2 after leaving the W1 position, its relative relationship with the target obstacle is denoted as b, and at this time, the relative relationship identifier a is denoted as a second relative relationship identifier, and the relative relationship identifier b is denoted as a first relative relationship identifier.
It should be noted that, in addition to the first relative relationship identifier, the relative relationship identifier between the cleaning robot and the target obstacle when the cleaning robot is located at the current position is all recorded as the second relative relationship identifier (i.e., before the cleaning robot reaches the current position currently in the process of cleaning along the target obstacle, if the cleaning robot reaches the current position multiple times, multiple second relative relationship identifiers may be recorded).
And as long as the cleaning robot is at any position, there is a relative relation identification with the target obstacle, the corresponding relative relation identification can be associated with that position. For example, in the W1 position, a relative relationship identifier b (denoted as a first relative relationship identifier associated with W1) between the cleaning robot and the target obstacle may be associated, and in the W2 position, a relative relationship identifier c (denoted as a first relative relationship identifier associated with W2) between the cleaning robot and the target obstacle may be associated.
Optionally, when the first relative relation identifier and the second relative relation identifier associated with the current position of the cleaning robot are obtained, the first relative relation identifier and the second relative relation identifier are compared, and whether the cleaning robot cleans along the target obstacle is judged by detecting whether the comparison result meets the preset condition.
Optionally, the preset condition is that the comparison result of the first relative relation identifier and the second relative relation identifier is within a preset deviation range; or the preset condition is that the first relative relation identifier is consistent with the second relative relation identifier.
Optionally, if the relative relation identifier between the cleaning robot and the target obstacle includes a relative direction, the first relative relation identifier includes a first relative direction, and the second relative relation identifier includes a second relative direction; the preset deviation range may be a preset angle range (for example, set to [ -10 °,10 ° ]), that is, an included angle formed between a relative direction corresponding to the first relative relation identifier (i.e., a first relative direction) and a relative direction corresponding to the second relative relation identifier (i.e., a second relative direction) is determined, if the angle of the included angle is within the preset angle range, the preset condition is determined to be satisfied, and if the angle of the included angle is outside the preset angle range, the preset condition is determined not to be satisfied; or if the relative direction corresponding to the first relative relation mark (i.e. the first relative direction) is consistent with the relative direction corresponding to the second relative relation mark (i.e. the second relative direction) (e.g. the included angle between the first relative direction and the second relative direction is 0 °), the preset condition is judged to be met, and if the first relative direction is inconsistent with the second relative direction, the preset condition is judged not to be met.
Optionally, if the relative relation identifier between the cleaning robot and the target obstacle includes a tangential position, the first relative relation identifier includes a first tangential position, and the second relative relation identifier includes a second tangential position; the preset deviation range may be a preset distance range (e.g. set to [0cm,20cm ]), that is, a distance between a tangent point position corresponding to the first relative relation mark (i.e. the first tangent point position) and a tangent point position corresponding to the second relative relation mark (i.e. the second tangent point position) is determined, if the value of the distance is within the preset distance range, the preset condition is determined to be satisfied, and if the value of the distance is outside the preset angle range, the preset condition is determined not to be satisfied; or if the tangent point position corresponding to the first relative relation mark (namely, the first tangent point position) is consistent with the tangent point position corresponding to the second relative relation mark (namely, the second tangent point position), the preset condition is judged to be met, and if the first tangent point position is inconsistent with the second tangent point position, the preset condition is judged not to be met.
Optionally, if the relative relation between the cleaning robot and the target obstacle includes a tangential direction, the first relative relation includes a first tangential direction, and the second relative relation includes a second tangential direction; the preset deviation range may be a preset angle range (for example, set to [ -10 °,10 ° ]), that is, an included angle formed between a tangential direction corresponding to the first relative relation identifier (i.e., a first tangential direction) and a tangential direction corresponding to the second relative relation identifier (i.e., a second tangential direction) is determined, if the angle of the included angle is within the preset angle range, the preset condition is determined to be satisfied, and if the angle of the included angle is outside the preset angle range, the preset condition is determined not to be satisfied; or if the tangential direction (i.e. the first tangential direction) corresponding to the first relative relation mark is consistent with the tangential direction (i.e. the second tangential direction) corresponding to the second relative relation mark, the preset condition is judged to be met, and if the first tangential direction is inconsistent with the second tangential direction, the preset condition is judged not to be met.
Optionally, if the comparison result of the first relative relation identifier and the second relative relation identifier is detected, and the preset condition is not met, judging that the cleaning robot is not complete along the target obstacle cleaning, and continuing to execute the cleaning task along the target obstacle; and if the comparison result of the first relative relation mark and the second relative relation mark is detected, judging that the cleaning robot is completed along the target obstacle when the preset condition is met, and finishing the cleaning task along the target obstacle by the cleaning robot.
Thus, when the current position of the cleaning robot is the passed position, if the preset condition is met based on the first relative relation mark and the second relative relation mark, the method for judging whether the cleaning robot cleans the target obstacle at the current position (because the cleaning robot can determine or adjust the cleaning mode of the cleaning robot along the target obstacle according to the relative relation mark of the first relative relation mark and the second relative relation mark) is consistent with the cleaning mode of the cleaning robot (if the preset condition is met, the cleaning mode is consistent, otherwise, the cleaning mode is inconsistent), and when the front and back cleaning modes are consistent, the cleaning robot is judged to finish cleaning along the target obstacle, thereby improving the accuracy rate of judging whether the cleaning robot finishes cleaning along the target obstacle, avoiding repeated or excessive cleaning of the target obstacle and avoiding missing cleaning of the target obstacle (namely, if the cleaning mode is inconsistent, continuing to clean the target obstacle along the determined cleaning mode).
In an embodiment, referring to fig. 9, on the basis of the foregoing embodiment, the step of continuing or ending the task of cleaning the obstacle along the target according to the determination result and the relative relationship identifier includes:
step S50, when the current position is determined to be a non-passed position;
step S51, associating a relative relation mark between the current cleaning robot and a target obstacle with the current position;
step S52, marking the current position as a passed position, and marking a relative relation mark of the current position; the method comprises the steps of,
and step S53, continuing the object-following obstacle cleaning task.
In this embodiment, when it is required to determine whether the cleaning of the cleaning robot along the target obstacle is completed, if it is detected that the current position of the cleaning robot is not a passed position (i.e., the current position is reached for the first time in the process of cleaning the cleaning robot along the target obstacle), it is determined that the cleaning robot is not completed along the target obstacle, the relative relationship identifier between the cleaning robot and the target obstacle and the current position are associated, the current position is marked as the passed position, the relative relationship identifier of the current position is marked, and the cleaning robot also needs to execute a corresponding cleaning task along the target obstacle at the current position.
When the cleaning robot executes a corresponding cleaning task along the target obstacle, a relative relation identifier between the cleaning robot and the target obstacle when the cleaning robot is at the current position can be acquired, a mode (such as a cleaning direction, an angle, a range and the like) for cleaning the target obstacle at the current position is determined according to the relative relation identifier between the cleaning robot and the target obstacle, and then the target obstacle is cleaned along the edge according to the determined cleaning mode.
Optionally, when the current position is determined to be a non-passing position, the relative relationship identifier between the current position and the target obstacle of the cleaning robot may be associated with the current position (for example, the association information of the current position and the target obstacle is recorded in the database) when the cleaning robot performs the corresponding task of cleaning along the target obstacle at the current position, the current position is marked as the passing position, and when the cleaning robot enters the next position, the relative relationship identifier of the current position is marked (when the cleaning robot enters the next position, the next position is the new current position, and the last position of the new current position is the passing position), and the relative relationship identifier between the cleaning robot determined in the previous position and the target obstacle may be automatically marked as the second relative relationship identifier, and when the cleaning robot returns to the passing position again, the relative relationship identifier between the newly acquired cleaning robot and the target obstacle may be automatically marked as the first relative relationship identifier), and the step S10 and/or the step S20 may be continued.
Therefore, if the current position of the cleaning robot is detected and is not the position which is passed in the process of cleaning the target obstacle, the cleaning robot is not used for cleaning the target obstacle at the current position, so that the cleaning robot can be directly judged that the cleaning robot is not complete in cleaning the target obstacle, and the cleaning robot is enabled to execute the corresponding cleaning task along the target obstacle at the current position so as to avoid missing the cleaning of the target obstacle.
In an embodiment, referring to fig. 10, on the basis of the foregoing embodiment, the step of determining whether the relative positional relationship identifier meets a preset condition further includes:
step S42, when the relative relation mark is determined to not meet a preset condition;
step S43, associating a relative relation mark between the current cleaning robot and a target obstacle with the current position;
step S44, marking the relative relation identification of the current position; the method comprises the steps of,
and step S45, continuing the task of cleaning the obstacle along the target.
In this embodiment, in the current position where the cleaning robot is located, if it is determined that the current position of the cleaning robot is a passed position, and if it is determined that the relative relationship identifier between the cleaning robot and the target obstacle does not meet the preset condition, it is determined that cleaning along the target obstacle is not completed, the relative relationship identifier between the current position and the current position of the cleaning robot and the relative relationship identifier of the current position are associated, and the cleaning robot continues the cleaning along the target obstacle task (i.e., the cleaning robot still needs to perform the corresponding cleaning along the target obstacle task at the current position).
When the cleaning robot executes a corresponding cleaning task along the target obstacle, a relative relation identifier between the cleaning robot and the target obstacle when the cleaning robot is at the current position can be acquired, a mode (such as a cleaning direction, an angle, a range and the like) for cleaning the target obstacle at the current position is determined according to the relative relation identifier between the cleaning robot and the target obstacle, and then the target obstacle is cleaned along the edge according to the determined cleaning mode.
Optionally, when the cleaning robot performs a corresponding task of cleaning along the target obstacle at the current position, the relative relationship identifier between the current position and the target obstacle of the cleaning robot may be associated with the current position (for example, the association information of the current position and the target obstacle is recorded in the database, if the current position is not a passed position before, the current position is further marked as a passed position), and when the cleaning robot enters the next position, the relative relationship identifier of the current position is marked (when the cleaning robot enters the next position, the next position is a new current position, and the last position of the new current position is a passed position), and the relative relationship identifier between the cleaning robot and the target obstacle determined in the last position is automatically marked as a second relative relationship identifier, and when the cleaning robot returns to the position again, the relative relationship identifier between the newly acquired cleaning robot and the target obstacle is automatically marked as a first relative relationship identifier), and the step S10 and/or the step S20 are continued.
In this way, when the cleaning along the target obstacle is not finished at the current position of the cleaning robot, the cleaning robot is enabled to execute the corresponding cleaning task along the target obstacle at the current position so as to avoid missing the cleaning of the target obstacle.
In an embodiment, based on the foregoing embodiment, the control method of the cleaning robot further includes:
acquiring operation area information corresponding to a cleaning robot to establish a grid map for the cleaning robot to travel along the grid map, wherein each position of the cleaning robot corresponds to at least one grid in the grid map.
In this embodiment, the operation area information (which may include information related to the specific layout of the operation area, such as area size, wall distribution information, etc.) corresponding to the operation area where the cleaning robot is located is obtained in advance, a plurality of grids are divided in advance, and a corresponding grid map is created. Wherein, each grid in the grid map can be a regular polygon (such as an equilateral triangle, a square, a hexagon, etc.), or an irregular polygon; each position of the cleaning robot in the working area may be composed of at least one grid; the cleaning robot is unique at each location in the work area and each location has a corresponding marking to distinguish from other locations. Each grid is described below as an example of a location.
Alternatively, when the cleaning robot moves in the work area, it may travel along the grid map and move grid by grid with each grid as one position. Meanwhile, if the position of the target obstacle is detected during the traveling process of the cleaning robot, the position of the target obstacle can be mapped into the grid map (of course, the position of the target obstacle can be stored in the grid map in advance), and the target obstacle can be cleaned along the edge according to the position of the target obstacle in the grid map.
Therefore, by establishing the grid map, the cleaning robot can conveniently and quickly know the relative relation mark between the cleaning robot and the target obstacle, and the cleaning robot can clean the target obstacle along the edge more efficiently based on the relative relation mark between the cleaning robot and the target obstacle.
In an embodiment, based on the foregoing embodiment, the control method of the cleaning robot further includes:
if the object-following obstacle cleaning task is finished, controlling the cleaning robot to exit from the object-following obstacle cleaning mode, and storing a cleaning path and a corresponding obstacle when the object-following obstacle is cleaned in the grid map;
And controlling the cleaning robot to execute the object-following obstacle cleaning mode according to the cleaning path when the cleaning robot executes the object-following obstacle cleaning mode again on the corresponding obstacle.
In this embodiment, after the cleaning robot has finished cleaning the target obstacle along the target obstacle, the cleaning robot may exit the along-target-obstacle cleaning mode to finish cleaning the target obstacle. Meanwhile, when the cleaning robot executes the object obstacle cleaning mode, the traveling path (namely the cleaning path) of the cleaning robot for performing edge cleaning on the object obstacle and the position of the object obstacle can be stored in the grid map in a correlated mode.
Optionally, when the cleaning robot executes the cleaning mode along the target obstacle again on the corresponding obstacle, detecting whether the corresponding obstacle position is stored in the grid map according to the position of the target obstacle currently detected by the cleaning robot.
Optionally, if the target obstacle is not detected to have the corresponding obstacle position stored in the grid map, cleaning is directly performed along the target obstacle according to a preset edge cleaning program, and step S10 and/or step S20 are/is performed.
Optionally, if the target obstacle is detected to have a corresponding obstacle position stored in the grid map, a cleaning path associated with the obstacle position is acquired, and the cleaning robot executes the along-target-obstacle cleaning mode according to the acquired cleaning path, so as to perform along-edge cleaning on the target obstacle, thereby improving the cleaning efficiency of the cleaning robot along the target obstacle.
Referring to fig. 11, there is also provided a cleaning robot in an embodiment of the present application, and the internal structure of the cleaning robot may be as shown in fig. 11. The cleaning robot includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer is configured to provide computing and control capabilities. The memory of the cleaning robot includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the cleaning robot is used for a control program of the cleaning robot. The network interface of the cleaning robot is used for communicating with an external terminal through a network connection. The input device of the cleaning robot is used for receiving signals input by external equipment. The computer program, when executed by a processor, implements a control method of a cleaning robot as described in the above embodiments.
It will be appreciated by those skilled in the art that the structure shown in fig. 11 is merely a block diagram of a part of the structure related to the present application and does not constitute a limitation of the cleaning robot to which the present application is applied.
Furthermore, the present application also proposes a computer-readable storage medium comprising a control program of a cleaning robot, which when executed by a processor implements the steps of the control method of a cleaning robot as described in the above embodiments. It is understood that the computer readable storage medium in this embodiment may be a volatile readable storage medium or a nonvolatile readable storage medium.
In summary, in the control method of the cleaning robot, the cleaning robot and the computer readable storage medium provided in the embodiments of the present application, by recording the cleaning position and the cleaning direction of the cleaning robot when cleaning the target obstacle, and according to the relative relationship identifier between the target obstacle and the cleaning robot, whether the cleaning robot is cleaning along the target obstacle is completed is jointly determined, so that the accuracy of the cleaning robot in determining whether to end cleaning along the target obstacle is improved. Therefore, when the cleaning robot passes through the cleaning starting point or approaches the cleaning starting point when the cleaning along the target obstacle is not finished, if the relative direction of the obstacle and the cleaning position is inconsistent with the corresponding cleaning direction, the cleaning along the target obstacle is not judged to be finished by mistake, and further the situation that the cleaning along the target obstacle is finished too early due to misjudgment is avoided, and the cleaning is omitted is avoided.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided herein and used in embodiments may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (14)
1. A control method of a cleaning robot for controlling the cleaning robot to perform a cleaning task along a target obstacle, comprising:
acquiring a judgment result of whether the current position of the cleaning robot is a passed position or not; the method comprises the steps of,
Acquiring a relative relation mark between the cleaning robot and a target obstacle;
continuing or ending the object-following obstacle cleaning task according to the judging result and the relative relation mark;
the step of continuing or ending the task of cleaning the obstacle along the target according to the judging result and the relative relation mark comprises the following steps:
when the current position is determined to be a non-passed position, associating a relative relation mark between the current cleaning robot and a target obstacle with the current position;
marking the current position as a passed position, and marking a relative relation mark of the current position; the method comprises the steps of,
continuing the object-following obstacle cleaning task.
2. The control method of a cleaning robot according to claim 1, wherein the step of continuing or ending the obstacle-following cleaning task according to the determination result and the relative relationship flag includes:
when the current position of the cleaning robot is determined to be a passed position, determining whether the relative relation mark meets a preset condition;
the step of determining whether the relative relationship identifier meets a preset condition comprises the following steps:
and ending the cleaning task along the target obstacle when the relative relation mark is determined to meet the preset condition.
3. The control method of a cleaning robot according to claim 2, wherein the relative relationship identifications include a first relative relationship identification that is a relative relationship identification between the cleaning robot currently and the target obstacle, and a second relative relationship identification that is a relative relationship identification between the cleaning robot previously located at the current position and the target obstacle.
4. A control method of a cleaning robot according to claim 3, characterized in that the first relative relation identity comprises a first relative direction and the second relative relation identity comprises a second relative direction;
and when the included angle between the first relative direction and the second relative direction is determined to be in a preset angle range, determining that the relative relation mark meets the preset condition.
5. A control method of a cleaning robot according to claim 3, characterized in that the first relative relation identity comprises a first tangent point position and the second relative relation identity comprises a second tangent point position;
and when the distance between the first tangential point position and the second tangential point position is determined to be in a preset distance range, determining that the relative relation mark meets the preset condition.
6. The control method of a cleaning robot according to claim 2, wherein the step of determining whether the relative relationship flag satisfies a preset condition further includes:
when the relative relation identifier is determined to not meet a preset condition;
associating a relative relationship identity between the cleaning robot current and a target obstacle with the current position;
marking the relative relation identification of the current position; the method comprises the steps of,
continuing the object-following obstacle cleaning task.
7. The control method of a cleaning robot according to claim 1, characterized in that the control method of a cleaning robot further comprises:
acquiring operation area information corresponding to a cleaning robot to establish a grid map for the cleaning robot to travel along the grid map, wherein each position of the cleaning robot corresponds to at least one grid in the grid map.
8. The control method of a cleaning robot according to claim 7, further comprising:
if the object-following obstacle cleaning task is finished, controlling the cleaning robot to exit from the object-following obstacle cleaning mode, and storing a cleaning path and a corresponding obstacle when the object-following obstacle is cleaned in the grid map;
And controlling the cleaning robot to execute the object-following obstacle cleaning mode according to the cleaning path when the cleaning robot executes the object-following obstacle cleaning mode again on the corresponding obstacle.
9. A control method of a cleaning robot for controlling the cleaning robot to perform a cleaning task along a target obstacle, comprising:
acquiring a judgment result of whether the current position of the cleaning robot is a passed position or not; the method comprises the steps of,
acquiring a relative relation mark between the cleaning robot and a target obstacle;
continuing or ending the object-following obstacle cleaning task according to the judging result and the relative relation mark;
the step of continuing or ending the task of cleaning the obstacle along the target according to the judging result and the relative relation mark comprises the following steps:
when the current position of the cleaning robot is determined to be a passed position, determining whether the relative relation mark meets a preset condition;
the step of determining whether the relative relationship identifier meets a preset condition comprises the following steps:
ending the object-along obstacle cleaning task when the relative relation identifier is determined to meet a preset condition;
When the relative relation identifier does not meet the preset condition, associating the relative relation identifier between the current cleaning robot and the target obstacle with the current position;
marking the relative relation identification of the current position; the method comprises the steps of,
continuing the object-following obstacle cleaning task.
10. The control method of a cleaning robot according to claim 9, wherein the relative relationship identifier includes a first relative relationship identifier that is a relative relationship identifier between the cleaning robot currently and the target obstacle, and a second relative relationship identifier that is a relative relationship identifier between the cleaning robot previously located at the current position and the target obstacle.
11. The method of controlling a cleaning robot of claim 10, wherein the first relative relationship identifier comprises a first relative direction and the second relative relationship identifier comprises a second relative direction;
and when the included angle between the first relative direction and the second relative direction is determined to be in a preset angle range, determining that the relative relation mark meets the preset condition.
12. The method of claim 10, wherein the first relative relationship identifier comprises a first tangent point location and the second relative relationship identifier comprises a second tangent point location;
and when the distance between the first tangential point position and the second tangential point position is determined to be in a preset distance range, determining that the relative relation mark meets the preset condition.
13. A cleaning robot comprising a memory, a processor and a control program of the cleaning robot stored on the memory and executable on the processor, the control program of the cleaning robot, when executed by the processor, implementing the steps of the control method of the cleaning robot according to any one of claims 1 to 12.
14. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program of a cleaning robot, which when executed by a processor, implements the steps of the control method of a cleaning robot according to any one of claims 1 to 12.
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Address after: 31st Floor, West Tower, Baidu International Building, No. 8 Haitian 1st Road, Binhai Community, Yuehai Street, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Yunjing intelligent (Shenzhen) Co.,Ltd. Patentee after: Yunjing Intelligent Innovation (Shenzhen) Co.,Ltd. Address before: 31st Floor, West Tower, Baidu International Building, No. 8 Haitian 1st Road, Binhai Community, Yuehai Street, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Yunjing intelligent (Shenzhen) Co.,Ltd. Patentee before: YUNJING INTELLIGENCE TECHNOLOGY (DONGGUAN) Co.,Ltd. |
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