CN116414106A - Autonomous control method and device of cleaning robot - Google Patents

Autonomous control method and device of cleaning robot Download PDF

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Publication number
CN116414106A
CN116414106A CN202111638529.2A CN202111638529A CN116414106A CN 116414106 A CN116414106 A CN 116414106A CN 202111638529 A CN202111638529 A CN 202111638529A CN 116414106 A CN116414106 A CN 116414106A
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China
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obstacle
cleaning robot
information
area
current
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CN202111638529.2A
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Chinese (zh)
Inventor
陈小平
朱付营
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Guangdong Lizi Technology Co Ltd
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Guangdong Lizi Technology Co Ltd
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Priority to CN202111638529.2A priority Critical patent/CN116414106A/en
Publication of CN116414106A publication Critical patent/CN116414106A/en
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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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • 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
    • 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
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an autonomous control method and device of a cleaning robot, wherein the method comprises the following steps: when detecting that an obstacle which prevents the cleaning robot from cleaning exists, analyzing area information corresponding to the obstacle to obtain information of the obstacle, wherein the information of the obstacle comprises the type of the obstacle and the current position of the obstacle; determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle; generating control parameters of the cleaning robot according to the obstacle avoidance mode and the current position of the obstacle; and controlling the cleaning robot to execute obstacle avoidance operation according to the control parameters of the cleaning robot. According to the invention, the matched obstacle avoidance mode is determined according to different obstacle types, and corresponding control parameters are generated by combining the positions of the obstacles, so that the obstacle avoidance operation is performed, the obstacle avoidance efficiency and accuracy of the cleaning robot can be improved, the cleaning thoroughness and efficiency of the cleaning robot can be improved, and a cleaner and more comfortable environment is provided for users.

Description

Autonomous control method and device of cleaning robot
Technical Field
The invention relates to the technical field of intelligent equipment, in particular to an autonomous control method and device of a cleaning robot.
Background
Along with rapid development of science and technology and society and continuous pursuit of people on high-quality life, the intelligent home industry is rapidly developed. The development of the intelligent home industry brings great convenience to life and work of people, such as: the robot for sweeping floor solves the trouble that people need to sweep the sanitation manually.
In practical application, when cleaning is required, the existing sweeping robot automatically cleans the area to be cleaned according to a preset path. However, the practice finds that the existing sweeping robot can only identify obstacles and identify only single obstacles in the cleaning process, cannot meet complex and changeable environments, is easy to be trapped by various obstacles in the environments, causes the interruption of cleaning operation, and cannot complete cleaning tasks. Therefore, it is important to provide a technical solution for improving the recognition accuracy of the obstacle so as to improve the cleaning efficiency of the area.
Disclosure of Invention
The invention provides an autonomous control method and an autonomous control device for a cleaning robot, which can improve the recognition accuracy of obstacles so as to improve the cleaning efficiency of an area.
To solve the above technical problem, a first aspect of the present invention discloses an autonomous control method of a cleaning robot, the method comprising:
When detecting that an obstacle which prevents the cleaning robot from cleaning exists in a region corresponding to the cleaning robot, analyzing the acquired region information corresponding to the obstacle to obtain information of the obstacle, wherein the information of the obstacle comprises the type of the obstacle and the current position of the obstacle;
determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle;
generating control parameters of the cleaning robot according to the obstacle avoidance mode and the current position of the obstacle, wherein the control parameters of the cleaning robot comprise obstacle avoidance control parameters of the cleaning robot;
and controlling the cleaning robot to execute matching operation according to the control parameters of the cleaning robot.
As an optional implementation manner, in the first aspect of the present invention, the number of the obstacles existing in the area corresponding to the cleaning robot is 1 or more;
the type of the obstacle comprises one or more of a floor mat type, a stair type and other types;
when the type of the obstacle is the floor mat type, the obstacle avoidance mode of the obstacle is a climbing mode or a detour mode; when the type of the obstacle is the stair type, the obstacle avoidance mode of the obstacle is a falling prevention and detour mode; and when the type of the obstacle is the other type, the obstacle avoidance mode of the obstacle is a detour mode.
As an optional implementation manner, in the first aspect of the present invention, when the type of the obstacle is the floor mat type, the determining, according to the information of the obstacle, the obstacle avoidance mode of the cleaning robot includes:
judging whether the area to be cleaned in the current area comprises an area where the floor mat in the current area is located, and estimating a first time length required for the cleaning robot to pass through the area where the floor mat in the current area is located to reach the area to be cleaned in the current area from the current position of the cleaning robot according to the current position of the cleaning robot, the area to be cleaned in the current area and the information of the floor mat in the current area when judging that the area to be cleaned in the current area does not comprise the area where the floor mat in the current area is located;
estimating a second time length required for the cleaning robot to bypass the region where the floor pad is located in the current region from the current position of the cleaning robot to reach the region where the floor pad is required to be cleaned in the current region according to the current position of the cleaning robot, the region where the cleaning robot is required to be cleaned in the current region and the shape of the floor pad in the current region, wherein the information of the floor pad in the current region comprises one or more of the shape of the floor pad in the current region, the relative height of the floor pad in the current region and the ground and/or the texture of the floor pad in the current region and/or the material of the floor pad in the current region;
Judging whether the difference time length of the second time length minus the first time length is larger than or equal to a predetermined time length threshold value, and determining that the obstacle avoidance mode of the obstacle is a detour mode when the difference time length is smaller than the time length threshold value; and when the difference time length is larger than or equal to the time length threshold value, determining that the obstacle avoidance mode of the obstacle is a climbing mode.
As an optional embodiment, before the determining the obstacle avoidance mode of the cleaning robot according to the information of the obstacle, the method further includes:
judging whether the obstacle is a movable obstacle according to the type of the obstacle;
when the obstacle is judged not to be the movable obstacle, executing the operation of determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle;
wherein the movable barrier comprises at least one of a movable intelligent household appliance, a person and an animal.
As an alternative embodiment, in the first aspect of the present invention, the method further includes:
when the obstacle is judged to be the movable obstacle, judging whether the obstacle is an intelligent household appliance, and when the obstacle is judged to be the intelligent household appliance, determining the current position of the obstacle and the position of an object in the current area;
Determining the position of the obstacle to be moved according to the current position of the obstacle, the area to be cleaned in the current area, the estimated moving path of the cleaning robot and the position of the object in the current area;
analyzing a moving path of the obstacle from the current position of the obstacle to the position of the obstacle to be moved according to the current position of the obstacle, the position of the obstacle to be moved, the area to be cleaned in the current area, the estimated moving path of the cleaning robot and the position of the object in the current area;
generating a movement prompt of the obstacle according to the movement path, and outputting the movement prompt to the obstacle to trigger the obstacle to move from the current position of the obstacle to the position where the obstacle needs to move, wherein the movement prompt comprises the movement path.
As an alternative embodiment, in the first aspect of the present invention, the method further includes:
when the obstacle is judged to be not the intelligent household appliance, judging whether the obstacle is an animal, and when the obstacle is judged to be the animal, determining attracting information of the animal according to the information of the animal, wherein the information of the animal comprises one or more of the type of the animal, the eating habit of the animal and the entertainment habit of the animal, and the attracting information comprises one or more of light attracting information, sound attracting information and smell attracting information;
Generating an attracting prompt according to attracting information of the animals;
according to the area to be cleaned in the current area, the current position of the obstacle and the positions of a plurality of intelligent household appliances in the current area, screening target intelligent household appliances capable of outputting the attracting prompt from the intelligent household appliances in the current area, and outputting the attracting prompt to the target intelligent household appliances, wherein the attracting prompt is used for attracting the animal to leave the current position of the animal.
As an alternative embodiment, in the first aspect of the present invention, the method further includes:
determining garbage information and floor information of an area to be cleaned in the current area, wherein the floor information comprises at least one of floor type, floor area, floor texture and floor pothole degree, and the garbage information comprises at least one of garbage type, garbage related area and garbage smell;
inquiring cleaning object information matched with the junk information and the floor information according to the junk information and the floor information, wherein the cleaning object information comprises cleaning object types and/or cleaning object required amounts;
generating cleaning control parameters of the cleaning robot according to the junk information, the floor information and the cleaning object information;
Updating control parameters of the cleaning robot according to the cleaning control parameters of the cleaning robot, and executing the control parameters of the cleaning robot to control the cleaning robot to execute matching operation, wherein the control parameters of the cleaning robot comprise the cleaning control parameters of the cleaning robot and the obstacle avoidance control parameters of the cleaning robot.
The second aspect of the present invention discloses an autonomous control device of a cleaning robot, the device comprising:
the analysis module is used for analyzing the acquired area information corresponding to the obstacle to obtain the information of the obstacle when detecting that the obstacle which is used for preventing the cleaning robot from cleaning exists in the area corresponding to the cleaning robot, wherein the information of the obstacle comprises the type of the obstacle and the current position of the obstacle;
the determining module is used for determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle;
the generation module is used for generating control parameters of the cleaning robot according to the obstacle avoidance mode and the current position of the obstacle, wherein the control parameters of the cleaning robot comprise the obstacle avoidance control parameters of the cleaning robot;
And the control module is used for controlling the cleaning robot to execute matching operation according to the control parameters of the cleaning robot.
As an optional embodiment, in the second aspect of the present invention, the number of the obstacles present in the area corresponding to the cleaning robot is 1 or more;
the type of the obstacle comprises one or more of a floor mat type, a stair type and other types;
when the type of the obstacle is the floor mat type, the obstacle avoidance mode of the obstacle is a climbing mode or a detour mode; when the type of the obstacle is the stair type, the obstacle avoidance mode of the obstacle is a falling prevention and detour mode; and when the type of the obstacle is the other type, the obstacle avoidance mode of the obstacle is a detour mode.
As an optional implementation manner, in the second aspect of the present invention, when the type of the obstacle is the floor mat type, the determining module determines, according to the information of the obstacle, an obstacle avoidance mode of the cleaning robot specifically includes:
judging whether the area to be cleaned in the current area comprises an area where the floor mat in the current area is located, and estimating a first time length required for the cleaning robot to pass through the area where the floor mat in the current area is located to reach the area to be cleaned in the current area from the current position of the cleaning robot according to the current position of the cleaning robot, the area to be cleaned in the current area and the information of the floor mat in the current area when judging that the area to be cleaned in the current area does not comprise the area where the floor mat in the current area is located;
Estimating a second time length required for the cleaning robot to bypass the region where the floor pad is located in the current region from the current position of the cleaning robot to reach the region where the floor pad is required to be cleaned in the current region according to the current position of the cleaning robot, the region where the cleaning robot is required to be cleaned in the current region and the shape of the floor pad in the current region, wherein the information of the floor pad in the current region comprises one or more of the shape of the floor pad in the current region, the relative height of the floor pad in the current region and the ground and/or the texture of the floor pad in the current region and/or the material of the floor pad in the current region;
judging whether the difference time length of the second time length minus the first time length is larger than or equal to a predetermined time length threshold value, and determining that the obstacle avoidance mode of the obstacle is a detour mode when the difference time length is smaller than the time length threshold value; and when the difference time length is larger than or equal to the time length threshold value, determining that the obstacle avoidance mode of the obstacle is a climbing mode.
As an alternative embodiment, in the second aspect of the present invention, the apparatus further includes:
the judging module is used for judging whether the obstacle is a movable obstacle according to the type of the obstacle before the determining module determines the obstacle avoidance mode of the cleaning robot according to the information of the obstacle; when judging that the obstacle is not the movable obstacle, triggering the determining module to execute the operation of determining the obstacle avoidance mode of the cleaning robot according to the information of the obstacle;
Wherein the movable barrier comprises at least one of a movable intelligent household appliance, a person and an animal.
As an optional implementation manner, in the second aspect of the present invention, the judging module is further configured to, when judging that the obstacle is the movable obstacle, judge whether the obstacle is a smart home appliance;
the determining module is further configured to determine a current position of the obstacle and a position of an object in the current area when the judging module judges that the obstacle is the intelligent home appliance;
the determining module is further used for determining the position of the obstacle to be moved according to the current position of the obstacle, the area to be cleaned in the current area, the estimated moving path of the cleaning robot and the position of the object in the current area;
the analysis module is further used for analyzing a moving path of the obstacle from the current position of the obstacle to the position of the obstacle to be moved according to the current position of the obstacle, the position of the obstacle to be moved, the area to be cleaned in the current area, the estimated moving path of the cleaning robot and the position of the object in the current area;
The generation module is further used for generating a movement prompt of the obstacle according to the movement path;
and, the apparatus further comprises:
and the output module is used for outputting the movement prompt to the obstacle so as to trigger the obstacle to move from the current position of the obstacle to the position of the obstacle to be moved, and the movement prompt comprises the movement path.
As an optional implementation manner, in the second aspect of the present invention, the determining module is further configured to determine whether the obstacle is an animal when it is determined that the obstacle is not the smart home appliance;
the determining module is further configured to determine, when the judging module judges that the obstacle is the animal, attracting information of the animal according to information of the animal, where the information of the animal includes one or more of a type of the animal, a eating habit of the animal, and an entertainment habit of the animal, and the attracting information includes one or more of light attracting information, sound attracting information, and smell attracting information;
the generation module is also used for generating an attracting prompt according to attracting information of the animals;
and, the apparatus further comprises:
The screening module is used for screening target intelligent household appliances capable of outputting the attracting prompt from the plurality of intelligent household appliances in the current area according to the area to be cleaned in the current area, the current position of the obstacle and the positions of the plurality of intelligent household appliances in the current area;
the output module is further used for outputting the attracting prompt to the target intelligent household appliance, and the attracting prompt is used for attracting the animal to leave the current position of the animal.
As an optional implementation manner, in the second aspect of the present invention, the determining module is further configured to determine, in the area to be cleaned in the current area, garbage information and floor information, where the floor information includes at least one of a floor type, a floor area, a floor texture, and a degree of floor dishing, and the garbage information includes at least one of a garbage type, a garbage related area, and a garbage smell;
and, the apparatus further comprises:
the inquiry module is used for inquiring the cleaning object information matched with the junk information and the floor information according to the junk information and the floor information, wherein the cleaning object information comprises cleaning object types and/or cleaning object required amounts;
The generating module is further used for generating cleaning control parameters of the cleaning robot according to the junk information, the floor information and the cleaning object information;
the updating module is used for updating the control parameters of the cleaning robot according to the cleaning control parameters of the cleaning robot and triggering the control module to execute the control parameters of the cleaning robot to control the cleaning robot to execute the matching operation, wherein the control parameters of the cleaning robot comprise the cleaning control parameters of the cleaning robot and the obstacle avoidance control parameters of the cleaning robot.
A third aspect of the present invention discloses another autonomous control device of a cleaning robot, the device comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform part or all of the steps in any one of the autonomous control methods of the cleaning robot disclosed in the first aspect of the present invention.
A fourth aspect of the present invention discloses a computer storage medium storing computer instructions for executing part or all of the steps of any one of the autonomous control methods of the cleaning robot disclosed in the first aspect of the present invention when the computer instructions are called.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, when detecting that an obstacle which prevents the cleaning robot from cleaning exists in a region corresponding to the cleaning robot, analyzing the acquired region information corresponding to the obstacle to obtain the information of the obstacle, wherein the information of the obstacle comprises the type of the obstacle and the current position of the obstacle; determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle; generating control parameters of the cleaning robot according to the obstacle avoidance mode and the current position of the obstacle, wherein the control parameters of the cleaning robot comprise the obstacle avoidance control parameters of the cleaning robot; and controlling the cleaning robot to execute matching operation according to the control parameters of the cleaning robot. Therefore, the obstacle avoidance method and the obstacle avoidance system have the advantages that the matched obstacle avoidance modes are determined according to different obstacle types, corresponding control parameters are generated by combining the positions of the obstacles, the obstacle avoidance operation is carried out, the obstacle avoidance efficiency and accuracy of the cleaning robot can be improved, the cleaning thoroughness and efficiency of the cleaning robot are improved, and a cleaner and more comfortable environment is provided for users.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart schematically illustrating an autonomous control method of a cleaning robot according to an embodiment of the present invention;
FIG. 2 is a flow chart of another autonomous control method of a cleaning robot disclosed in an embodiment of the present invention;
fig. 3 is a schematic structural view of an autonomous control device of a cleaning robot according to an embodiment of the present invention;
fig. 4 is a schematic structural view of an autonomous control device of another cleaning robot disclosed in an embodiment of the present invention;
fig. 5 is a schematic structural view of an autonomous control device of a further cleaning robot according to an embodiment of the present invention;
fig. 6 is a schematic view of a scenario according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or article that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or article.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention discloses an autonomous control method and device for a cleaning robot, which can be used for carrying out obstacle avoidance operation by determining matched obstacle avoidance modes according to different obstacle types and generating corresponding control parameters in combination with the positions of the obstacles, so that the obstacle avoidance efficiency and accuracy of the cleaning robot can be improved, the cleaning thoroughness and efficiency of the cleaning robot can be improved, and a cleaner and more comfortable environment can be provided for users. The autonomous control method and apparatus of the cleaning robot described in the present invention are described in detail below, respectively.
In order to better understand the autonomous control method and apparatus of the cleaning robot described in the present invention, first, a description is given of a scenario to which the autonomous control method of the cleaning robot is applied, and specifically, the scenario is shown in fig. 6, and fig. 6 is a scenario schematic diagram of an embodiment of the present invention. As shown in fig. 6, the scene diagram includes a cleaning robot, a sofa, a puppy, a person (a small light), a cleaning area (i.e., an area requiring cleaning), a computer, and a chair. Wherein, as shown in the figure, in the process of going to the cleaning area, the cleaning robot encounters an obstacle, namely a puppy, and the puppy likes the sound of bell, then the cleaning robot sends an attracting prompt to the computer to prompt the computer to send the sound of bell, so that the cleaning robot can smoothly go to the cleaning area for cleaning; and/or, in the process of going to the cleaning area, the cleaning robot encounters an obstacle-sofa, and if the sofa is a movable intelligent sofa, a movement prompt is sent to the sofa to prompt the sofa to move to a position which does not influence the movement and cleaning of the cleaning robot; assuming that the sofa is not movable, planning a moving path according to the position of the sofa, the position of the cleaning area and the position of the cleaning robot, and bypassing the sofa to the cleaning area; and/or, in the process of going to the cleaning area, the cleaning robot encounters an obstacle-stair, and then a moving path is planned to bypass the stair to go to the cleaning area according to the position of the stair, the position of the cleaning area and the position of the cleaning robot; and/or, in the process of going to the cleaning area, the cleaning robot encounters an obstacle, namely the small light, outputting a movement instruction to the small light so as to prompt the small light to leave the current position and move to a position which does not influence the movement and cleaning of the cleaning robot, so that the cleaning robot goes to the cleaning area for cleaning; and/or, if the cleaning area comprises the area where the floor mat is located, the cleaning robot starts a climbing mode, and if the cleaning area does not comprise the area where the floor mat is located and the cleaning robot needs longer time to pass through the floor mat than the time to bypass the floor mat, a bypass mode is started; assuming that the cleaning area does not include the area where the floor mat is located and the time required for the cleaning robot to traverse the floor mat is shorter than the time required to bypass the floor mat, the bypass mode is started.
The schematic view shown in fig. 6 is only for illustrating a scenario to which the autonomous control method of the cleaning robot is applied, and the cleaning robot, sofa, puppy, person (small light), cleaning area (i.e., area to be cleaned), computer, chair, etc. are also only schematically shown, and the schematic view shown in fig. 6 is not limited thereto. The application scenario to which the intelligent cleaning method based on the floor cleaning robot is applicable is described above, and the autonomous control method and device of the cleaning robot are described in detail below.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of an autonomous control method of a cleaning robot according to an embodiment of the invention. The method described in fig. 1 may be applied to an autonomous control device of a cleaning robot, where the autonomous control device of the cleaning robot includes any one of a cleaning robot, an intelligent server for controlling the cleaning robot, or an intelligent platform, where the cleaning robot may be understood as an intelligent cleaning robot, and may also be understood as other intelligent devices with a cleaning function, where the intelligent server includes a local server or a cloud server, where the autonomous control device of the cleaning robot may be capable of establishing a communication connection with a user device, where the user device includes, but is not limited to, at least one of a smart phone (Android mobile phone, iOS mobile phone, etc.), a smart phone number watch, a tablet computer, a palm computer, a vehicle-mounted computer, a desktop computer, an internet access book, a personal digital assistant (Personal Digital Assistant, PDA), an intelligent navigator, and a mobile internet device (Mobile Internet Devices, MID), and other intelligent home devices (such as a smart refrigerator device, a smart sound box, a smart television, a smart range hood device, etc.), and the embodiment of the present invention is not limited. It is preferable that the cleaning robot be an autonomous control device of the cleaning robot. As shown in fig. 1, the autonomous control method of the cleaning robot may include the operations of:
101. When detecting that an obstacle which prevents the cleaning robot from cleaning exists in the area corresponding to the cleaning robot, analyzing the acquired area information corresponding to the obstacle to obtain information of the obstacle, wherein the information of the obstacle comprises the type of the obstacle and the current position of the obstacle.
102. And determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle.
In the embodiment of the invention, the number of the obstacles in the area corresponding to the cleaning robot is greater than or equal to 1. The type of obstacle may include one or more of a floor mat type, a stair type, and other types. When the type of the obstacle is a ground mat (also understood as a carpet), the obstacle avoidance mode of the obstacle is a climbing mode or a detour mode; when the type of the obstacle is a stair type, the obstacle avoidance mode of the obstacle is a falling prevention and detouring mode; when the type of the obstacle is other types, the obstacle avoidance mode of the obstacle is a detour mode. Other types include, for example, walls, feet, sofas, etc.
103. And generating control parameters of the cleaning robot according to the obstacle avoidance mode and the current position of the obstacle, wherein the control parameters of the cleaning robot comprise the obstacle avoidance control parameters of the cleaning robot.
104. And controlling the cleaning robot to execute matching operation according to the control parameters of the cleaning robot.
Therefore, the method described by the embodiment of the invention can improve the obstacle avoidance efficiency and accuracy of the cleaning robot by determining the matched obstacle avoidance mode according to different obstacle types and generating corresponding control parameters in combination with the positions of the obstacles to carry out the obstacle avoidance operation, thereby being beneficial to improving the cleaning thoroughness and efficiency of the cleaning robot and providing a cleaner and more comfortable environment for users.
In an alternative embodiment, when the type of the obstacle is a floor mat type, determining the obstacle avoidance mode of the cleaning robot according to the information of the obstacle includes:
judging whether the area to be cleaned in the current area comprises an area where the floor mat in the current area is located, and when judging that the area to be cleaned in the current area does not comprise the area where the floor mat in the current area is located, estimating a first time length required for the cleaning robot to pass through the area where the floor mat in the current area is located in the current area from the current position of the cleaning robot to reach the area to be cleaned in the current area according to the current position of the cleaning robot, the area to be cleaned in the current area and the information of the floor mat in the current area;
Estimating a second time period required for the cleaning robot to bypass the region where the floor pad in the current region is located from the current position of the cleaning robot to reach the region where the cleaning robot is required to clean in the current region according to the current position of the cleaning robot, the region where the cleaning robot is required to clean in the current region and the shape of the floor pad in the current region, wherein the information of the floor pad in the current region comprises one or more of the shape of the floor pad in the current region, the relative height of the floor pad in the current region and the ground, and/or the texture of the floor pad in the current region and/or the material of the floor pad in the current region;
judging whether the difference time length of the second time length minus the first time length is larger than or equal to a predetermined time length threshold value, and determining that the obstacle avoidance mode of the obstacle is a detour mode when the difference time length is smaller than the time length threshold value; and when the difference time length is larger than or equal to the time length threshold value, determining that the obstacle avoidance mode of the obstacle is a climbing mode.
In this optional embodiment, optionally, when it is determined that the area to be cleaned in the current area includes the area where the floor mat in the current area is located, the obstacle avoidance mode of the obstacle is determined to be a climbing mode.
Therefore, when the optional embodiment judges that the area needing cleaning does not contain the area where the ground pad is located, the time required for the cleaning robot to pass through the area where the ground pad is located to reach the cleaning area is compared with the time required for the cleaning robot to bypass the area where the ground pad is located to reach the cleaning area, so that whether the cleaning robot climbs or bypasses is determined, the determination accuracy, reliability and flexibility of the obstacle avoidance mode of the cleaning robot can be improved, the obstacle avoidance accuracy and efficiency of the cleaning robot can be improved, and the cleaning accuracy and the thoroughness of the cleaning robot can be further improved; and analyzing the time length required by the cleaning robot to pass through the region where the ground pad is located and reach the cleaning region through various information of the ground pad, so that the analysis accuracy and reliability of the time length required by the cleaning robot to pass through the ground pad can be improved, the comparison accuracy and reliability of the time length required by the cleaning robot to bypass the ground pad are improved, and the determination accuracy and reliability of the obstacle avoidance mode of the cleaning robot are further improved.
In another alternative embodiment, the method may further comprise the steps of:
determining garbage information and floor information of an area to be cleaned in a current area, wherein the floor information comprises at least one of floor type, floor area, floor texture and floor pothole degree, and the garbage information comprises at least one of garbage type, garbage related area and garbage smell;
inquiring cleaning object information matched with the junk information and the floor information according to the junk information and the floor information, wherein the cleaning object information comprises cleaning object types and/or cleaning object required amounts;
generating cleaning control parameters of the cleaning robot according to the junk information, the floor information and the cleaning object information;
updating control parameters of the cleaning robot according to the cleaning control parameters of the cleaning robot, and executing the matching operation according to the control parameters of the cleaning robot, wherein the control parameters of the cleaning robot comprise the cleaning control parameters of the cleaning robot and the obstacle avoidance control parameters of the cleaning robot.
Therefore, according to the optional embodiment, through combining various floor information and various garbage information, the proper cleaning object and the required amount thereof can be accurately determined, and the cleaning robot is controlled to clean the floor after or while avoiding the obstacle based on the proper cleaning object, so that the cleaning cleanliness and the cleaning efficiency of the floor can be improved, the intelligent function of the cleaning robot is enriched, a cleaner and comfortable environment is provided for a user, and the user experience is further improved.
Example two
Referring to fig. 2, fig. 2 is a flow chart of another autonomous control method of a cleaning robot according to an embodiment of the invention. The method described in fig. 2 may be applied to an autonomous control device of a cleaning robot, where the autonomous control device of the cleaning robot includes any one of a cleaning robot, an intelligent server for controlling the cleaning robot, or an intelligent platform, where the cleaning robot may be understood as an intelligent cleaning robot, and may also be understood as other intelligent devices with a cleaning function, where the intelligent server includes a local server or a cloud server, where the autonomous control device of the cleaning robot may be capable of establishing a communication connection with a user device, where the user device includes, but is not limited to, at least one of a smart phone (Android mobile phone, iOS mobile phone, etc.), a smart phone number watch, a tablet computer, a palm computer, a car computer, a desktop computer, an internet access book, a personal digital assistant (Personal Digital Assistant, PDA), an intelligent navigator, and a mobile internet device (Mobile Internet Devices, MID), and other intelligent home devices (such as a smart refrigerator device, a smart sound box, a smart television, a smart range hood device, etc.), and the embodiment of the present invention is not limited. It is preferable that the cleaning robot be an autonomous control device of the cleaning robot. As shown in fig. 2, the autonomous control method of the cleaning robot may include the operations of:
201. When detecting that an obstacle which prevents the cleaning robot from cleaning exists in the area corresponding to the cleaning robot, analyzing the acquired area information corresponding to the obstacle to obtain information of the obstacle, wherein the information of the obstacle comprises the type of the obstacle and the current position of the obstacle.
202. Judging whether the obstacle is a movable obstacle according to the type of the obstacle, wherein the movable obstacle comprises at least one of movable intelligent household appliances, personnel and animals.
203. And when the obstacle is judged not to be a movable obstacle, determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle.
204. And generating control parameters of the cleaning robot according to the obstacle avoidance mode and the current position of the obstacle, wherein the control parameters of the cleaning robot comprise the obstacle avoidance control parameters of the cleaning robot.
205. And controlling the cleaning robot to execute matching operation according to the control parameters of the cleaning robot.
In the embodiment of the present invention, for the related descriptions of step 201, step 203 and step 205, please refer to the detailed descriptions of step 101 to step 104 in the first embodiment, and the detailed description of the embodiment of the present invention is omitted.
Therefore, the embodiment of the invention determines the matched obstacle avoidance mode according to different obstacle types, generates corresponding control parameters in combination with the positions of the obstacles, and performs obstacle avoidance operation, so that the obstacle avoidance efficiency and accuracy of the cleaning robot can be improved, the cleaning thoroughness and efficiency of the cleaning robot can be improved, and a cleaner and more comfortable environment is provided for users. In addition, when information such as the type of the obstacle is analyzed, whether the obstacle is a movable obstacle or not is judged, and when the obstacle is not the movable obstacle, the subsequent obstacle avoidance mode operation of the determined cleaning robot is executed, so that the determination accuracy and reliability of the operation can be improved, and the determination accuracy and reliability of the obstacle avoidance mode of the obstacle can be further improved.
In an alternative embodiment, the method may further comprise the steps of:
when the obstacle is judged to be a movable obstacle, judging whether the obstacle is an intelligent household appliance, and when the obstacle is judged to be the intelligent household appliance, determining the current position of the obstacle and the position of an object in the current area;
determining the position of the obstacle to be moved according to the current position of the obstacle, the area to be cleaned in the current area, the estimated moving path of the cleaning robot and the position of the object in the current area;
analyzing the moving path of the obstacle from the current position of the obstacle to the position of the obstacle to be moved according to the current position of the obstacle, the position of the obstacle to be moved, the area to be cleaned in the current area, the estimated moving path of the cleaning robot and the position of the object in the current area;
generating a movement prompt of the obstacle according to the movement path, and outputting the movement prompt to the obstacle to trigger the obstacle to move from the current position of the obstacle to the position of the obstacle to be moved, wherein the movement prompt comprises the movement path.
Therefore, in the optional embodiment, when the obstacle is judged to be the movable obstacle and the obstacle is the intelligent household appliance, the intelligent household appliance is reminded to automatically move to the position which does not influence the movement and cleaning of the cleaning robot by outputting the movement prompt to the intelligent household appliance, the cleaning robot is not required to avoid the obstacle, the obstacle avoidance mode is enriched, and the cleaning thoroughness and efficiency of the cleaning robot are improved; and determining the moving path of the intelligent household appliance through the information such as the position of the intelligent household appliance, the position of the object in the current area, the estimated moving path of the cleaning robot and the like, and can improve the determining accuracy and reliability of the moving path of the intelligent household appliance, thereby being beneficial to further improving the moving prompt generation accuracy of the intelligent household appliance and further being beneficial to further improving the moving efficiency and accuracy of the intelligent household appliance.
In another alternative embodiment, the method may further comprise the steps of:
when the obstacle is judged to be an animal, determining attracting information of the animal according to the information of the animal, wherein the information of the animal comprises one or more of the type of the animal, the eating habit of the animal and the entertainment habit of the animal, and the attracting information comprises one or more of light attracting information, sound attracting information and smell attracting information;
generating an attracting prompt according to attracting information of animals;
according to the area to be cleaned in the current area, the current position of the obstacle and the positions of the intelligent household appliances in the current area, the target intelligent household appliances capable of outputting the attracting prompt are screened from the intelligent household appliances in the current area, the attracting prompt is output to the target intelligent household appliances, and the attracting prompt is used for attracting animals to leave the current position of the animals.
In this alternative embodiment, the animal may alternatively be understood as a puppy, kitten, pig, bird, etc., and may also be understood as a young child (e.g., a 3 year old child).
Therefore, when the obstacle is judged to be an animal, the selectable embodiment outputs an attracting prompt to the animal through the intelligent household appliance so as to attract the animal to move to a position which does not influence the movement and cleaning of the cleaning robot, the cleaning robot is not required to avoid the obstacle, the obstacle avoidance mode is further enriched, and the cleaning thoroughness and efficiency of the cleaning robot are improved; the attracting information of the animals is determined through various information of the animals, so that the determining accuracy and reliability of the attracting information can be improved, and the attracting accuracy and efficiency of the animals can be further improved; and determining the intelligent household appliances for outputting the attracting prompts according to the information of the positions of the animals, the positions of the intelligent household appliances in the current area and the like, so that the determination accuracy and reliability of the household appliances can be improved, and further the moving efficiency and accuracy of the animals can be further improved.
In yet another alternative embodiment, the method may further comprise the steps of:
when the obstacle is judged not to be an animal, judging whether the obstacle is a person in the current area, and when the obstacle is judged to be the person, outputting a movement instruction to the person, wherein the movement instruction is used for indicating that the cleaning robot passes through the current position of the person and/or cleans the current position of the person;
further, the method comprises the following steps:
collecting the image information of the person, analyzing the image information of the person to obtain an analysis result of the image information, and determining the position of the intelligent wheelchair in the current area when the analysis result is used for indicating that the person is inconvenient to move;
according to the current position of the person, the position of the intelligent wheelchair, the region where the current region needs to be cleaned and the current position of the cleaning robot, the position where the person needs to move is determined, and according to the position where the person needs to move, the current position of the person, the position of the intelligent wheelchair, the region where the current region needs to be cleaned and the current position of the cleaning robot, a moving path of the intelligent wheelchair is generated, and the intelligent wheelchair sends a demand prompt, wherein the demand prompt comprises the moving path, and the demand prompt is used for prompting the intelligent wheelchair to go to the current position of the person to assist the person to go to the position where the person needs to move.
Therefore, when the obstacle is judged to be a person, the optional embodiment automatically outputs a movement instruction to the person, or when the inconvenience of the action of the person is detected, automatically sends a demand prompt of assisting the person to the intelligent wheelchair, and generates a movement path of the intelligent wheelchair through the position to which the person needs to move, the current position of the person, the position of the intelligent wheelchair, the area to which the current scene needs to be cleaned and the current position of the cleaning robot, so that the generation accuracy and reliability of the movement path can be improved, and the accuracy and reliability of the movement of the assisting person of the intelligent wheelchair are further improved.
Example III
Referring to fig. 3, fig. 3 is a schematic structural diagram of an autonomous control device of a cleaning robot according to an embodiment of the invention. The apparatus described in fig. 3 may include any one of a cleaning robot, an intelligent server for controlling the cleaning robot, or an intelligent platform, where the cleaning robot may be understood as an intelligent cleaning robot, and may also be understood as other intelligent devices with a cleaning function, and the intelligent server includes a local server or a cloud server, where an autonomous control apparatus of the cleaning robot may be capable of establishing a communication connection with a user device, where the user device includes, but is not limited to, at least one of a smart phone (Android mobile phone, iOS mobile phone, etc.), a smart phone number watch, a tablet computer, a palm computer, a vehicle-mounted computer, a desktop computer, a netbook, a personal digital assistant (Personal Digital Assistant, PDA), a smart navigator, a mobile internet device (Mobile Internet Devices, MID), and other smart home devices (such as a smart refrigerator device, a smart sound box, a smart television, a smart range hood device, etc.), and the embodiments of the present invention are not limited. It is preferable that the cleaning robot be an autonomous control device of the cleaning robot. As shown in fig. 3, the autonomous control device of the cleaning robot may include:
The analysis module 301 is configured to, when detecting that an obstacle that blocks the cleaning of the cleaning robot exists in a region corresponding to the cleaning robot, analyze the collected region information corresponding to the obstacle, and obtain information of the obstacle, where the information of the obstacle includes a type of the obstacle and a current position of the obstacle;
a determining module 302, configured to determine an obstacle avoidance mode of the cleaning robot according to information of the obstacle;
in the embodiment of the invention, the number of the obstacles in the area corresponding to the cleaning robot is greater than or equal to 1. The type of obstacle may include one or more of a floor mat type, a stair type, and other types. When the type of the obstacle is a ground mat (also understood as a carpet), the obstacle avoidance mode of the obstacle is a climbing mode or a detour mode; when the type of the obstacle is a stair type, the obstacle avoidance mode of the obstacle is a falling prevention and detouring mode; when the type of the obstacle is other types, the obstacle avoidance mode of the obstacle is a detour mode. Other types include, for example, walls, feet, sofas, etc.
The generating module 303 is configured to generate control parameters of the cleaning robot according to the obstacle avoidance mode and the current position of the obstacle, where the control parameters of the cleaning robot include obstacle avoidance control parameters of the cleaning robot;
And the control module 304 is used for controlling the cleaning robot to execute matching operation according to the control parameters of the cleaning robot.
Therefore, the device described in fig. 3 is implemented to determine the matched obstacle avoidance mode according to different obstacle types, and generate corresponding control parameters in combination with the positions of the obstacles to perform obstacle avoidance operation, so that the obstacle avoidance efficiency and accuracy of the cleaning robot can be improved, the cleaning thoroughness and efficiency of the cleaning robot can be improved, and a cleaner and more comfortable environment is provided for users.
In an alternative embodiment, when the type of the obstacle is a floor mat type, the determining module 302 determines, according to the information of the obstacle, the obstacle avoidance mode of the cleaning robot specifically includes:
judging whether the area to be cleaned in the current area comprises an area where the floor mat in the current area is located, and when judging that the area to be cleaned in the current area does not comprise the area where the floor mat in the current area is located, estimating a first time length required for the cleaning robot to pass through the area where the floor mat in the current area is located in the current area from the current position of the cleaning robot to reach the area to be cleaned in the current area according to the current position of the cleaning robot, the area to be cleaned in the current area and the information of the floor mat in the current area;
Estimating a second time period required for the cleaning robot to bypass the region where the floor pad in the current region is located from the current position of the cleaning robot to reach the region where the cleaning robot is required to clean in the current region according to the current position of the cleaning robot, the region where the cleaning robot is required to clean in the current region and the shape of the floor pad in the current region, wherein the information of the floor pad in the current region comprises one or more of the shape of the floor pad in the current region, the relative height of the floor pad in the current region and the ground, and/or the texture of the floor pad in the current region and/or the material of the floor pad in the current region;
judging whether the difference time length of the second time length minus the first time length is larger than or equal to a predetermined time length threshold value, and determining that the obstacle avoidance mode of the obstacle is a detour mode when the difference time length is smaller than the time length threshold value; and when the difference time length is larger than or equal to the time length threshold value, determining that the obstacle avoidance mode of the obstacle is a climbing mode.
As can be seen, when the device described in fig. 3 is implemented, it is further capable of determining whether the cleaning robot climbs or bypasses the region where the cleaning robot bypasses the floor mat by comparing the time period required for the cleaning robot to pass through the region where the floor mat is located and reach the cleaning region when it is determined that the region where the cleaning robot is required to be cleaned does not include the region where the floor mat is located, so that the determination accuracy, reliability and flexibility of the obstacle avoidance mode of the cleaning robot can be improved, thereby being beneficial to improving the obstacle avoidance accuracy and efficiency of the cleaning robot, and further being beneficial to further improving the cleaning accuracy and thoroughness of the cleaning robot; and analyzing the time length required by the cleaning robot to pass through the region where the ground pad is located and reach the cleaning region through various information of the ground pad, so that the analysis accuracy and reliability of the time length required by the cleaning robot to pass through the ground pad can be improved, the comparison accuracy and reliability of the time length required by the cleaning robot to bypass the ground pad are improved, and the determination accuracy and reliability of the obstacle avoidance mode of the cleaning robot are further improved.
In another alternative embodiment, as shown in fig. 4, the apparatus further comprises:
a judging module 305, configured to judge whether the obstacle is a movable obstacle according to the type of the obstacle before the determining module 302 determines the obstacle avoidance mode of the cleaning robot according to the information of the obstacle; when it is determined that the obstacle is not a movable obstacle, the trigger determining module 302 performs the above-described determination of the obstacle avoidance mode of the cleaning robot according to the information of the obstacle.
Wherein the movable barrier comprises at least one of a movable intelligent household appliance, a person and an animal.
It can be seen that, when the device described in fig. 4 is implemented, by first determining whether the obstacle is a movable obstacle when information such as the type of the obstacle is analyzed, and executing the subsequent operation of determining the obstacle avoidance mode of the cleaning robot when the obstacle is not a movable obstacle, the accuracy and reliability of the determination of the operation can be improved, so that the accuracy and reliability of the determination of the obstacle avoidance mode of the obstacle can be further improved.
As an optional implementation manner, the judging module 305 is further configured to, when it is judged that the obstacle is a movable obstacle, judge whether the obstacle is an intelligent home appliance;
The determining module 302 is further configured to determine, when the determining module 305 determines that the obstacle is an intelligent home appliance, a current location of the obstacle and a location of an object in the current area;
the determining module 302 is further configured to determine a position of the obstacle to be moved according to a current position of the obstacle, an area to be cleaned in the current area, an estimated movement path of the cleaning robot, and a position of an object in the current area;
the analysis module 301 is further configured to analyze a movement path of the obstacle from the current position of the obstacle to the position of the obstacle to be moved according to the current position of the obstacle, the position of the obstacle to be moved, the area to be cleaned in the current area, the estimated movement path of the cleaning robot, and the position of the object in the current area;
the generating module 303 is further configured to generate a movement prompt of the obstacle according to the movement path;
and, as shown in fig. 4, the apparatus further includes:
an output module 306, configured to output a movement hint to the obstacle, to trigger the obstacle to move from the current position of the obstacle to the position where the obstacle needs to move, where the movement hint includes a movement path.
As can be seen, the device described in fig. 4 can also remind the intelligent household appliance to automatically move to a position that will not affect the movement and cleaning of the cleaning robot by outputting a movement prompt to the intelligent household appliance when the obstacle is determined to be a movable obstacle and the obstacle is an intelligent household appliance, so that the cleaning robot is not required to avoid the obstacle, and the obstacle avoidance mode is enriched, thereby being beneficial to improving the cleaning thoroughness and efficiency of the cleaning robot; and determining the moving path of the intelligent household appliance through the information such as the position of the intelligent household appliance, the position of the object in the current area, the estimated moving path of the cleaning robot and the like, and can improve the determining accuracy and reliability of the moving path of the intelligent household appliance, thereby being beneficial to further improving the moving prompt generation accuracy of the intelligent household appliance and further being beneficial to further improving the moving efficiency and accuracy of the intelligent household appliance.
In yet another alternative embodiment, the determining module 305 is further configured to determine whether the obstacle is an animal when it is determined that the obstacle is not a smart home appliance;
the determining module 302 is further configured to determine, when the determining module 305 determines that the obstacle is an animal, attracting information of the animal according to information of the animal, where the information of the animal includes one or more of a type of the animal, a eating habit of the animal, and an entertainment habit of the animal, and the attracting information includes one or more of light attracting information, sound attracting information, and smell attracting information;
the generating module 303 is further configured to generate an attracting prompt according to attracting information of the animal;
and, as shown in fig. 4, the apparatus may further include:
the screening module 307 is configured to screen, according to an area to be cleaned in the current area, a current position of an obstacle, and positions of a plurality of intelligent home appliances in the current area, a target intelligent home appliance capable of outputting an attracting prompt from the plurality of intelligent home appliances in the current area;
the output module 306 is further configured to output an attracting prompt to the target intelligent home appliance, where the attracting prompt is used to attract the animal away from the current location of the animal.
As can be seen, when the device described in fig. 4 is implemented, the intelligent household appliance can output an attracting prompt to the animal to attract the animal to move to a position which does not influence the movement and cleaning of the cleaning robot, so that the cleaning robot is not required to avoid the obstacle, the obstacle avoidance mode is further enriched, and the cleaning thoroughness and efficiency of the cleaning robot are improved; the attracting information of the animals is determined through various information of the animals, so that the determining accuracy and reliability of the attracting information can be improved, and the attracting accuracy and efficiency of the animals can be further improved; and determining the intelligent household appliances for outputting the attracting prompts according to the information of the positions of the animals, the positions of the intelligent household appliances in the current area and the like, so that the determination accuracy and reliability of the household appliances can be improved, and further the moving efficiency and accuracy of the animals can be further improved.
In yet another alternative embodiment, the determining module 302 is further configured to determine the garbage information and the floor information of the area to be cleaned in the current area, where the floor information includes at least one of a floor type, a floor area, a floor texture, and a floor pothole, and the garbage information includes at least one of a garbage type, a garbage related area, and a garbage smell;
and, as shown in fig. 4, the apparatus further includes:
the query module 308 is configured to query, according to the junk information and the floor information, cleaning object information matched with the junk information and the floor information, where the cleaning object information includes a cleaning object type and/or a cleaning object requirement;
the generating module 303 is further configured to generate cleaning control parameters of the cleaning robot according to the junk information, the floor information, and the cleaning object information;
the updating module 309 is configured to update control parameters of the cleaning robot according to the cleaning control parameters of the cleaning robot, and trigger the control module 304 to execute the above-mentioned control parameters according to the cleaning robot, and control the cleaning robot to execute the matching operation, where the control parameters of the cleaning robot include the cleaning control parameters of the cleaning robot and the obstacle avoidance control parameters of the cleaning robot.
It can be seen that the device described in fig. 4 can also accurately determine the proper cleaning object and the required amount thereof by combining various floor information and various garbage information, and control the cleaning robot to clean the floor after or while avoiding the obstacle based on the proper cleaning object, so that the cleaning cleanliness and the cleaning efficiency of the floor can be improved, the intelligent function of the cleaning robot is enriched, a cleaner and comfortable environment is provided for a user, and the user experience is further improved.
In yet another alternative embodiment, as shown in fig. 4, the determining module 305 is further configured to determine whether the obstacle is a person in the current area when it is determined that the obstacle is not an animal, and output a movement indication to the person when it is determined that the obstacle is a person, where the movement indication is used to indicate that the cleaning robot is to pass through and/or clean the current location of the person;
further, as shown in fig. 4, the analysis module 301 is further configured to collect image information of the person, analyze the image information of the person, obtain an analysis result of the image information, and determine a location of the intelligent wheelchair in the current area when the analysis result is used to indicate that the person is a person with inconvenient movement;
The determining module 302 is further configured to determine, according to the current location of the person, the location of the intelligent wheelchair, the area where the current area needs to be cleaned, and the current location of the cleaning robot, the location where the person needs to be moved to, and generate a movement path of the intelligent wheelchair according to the location where the person needs to be moved to, the current location of the person, the location of the intelligent wheelchair, the area where the current area needs to be cleaned, and the current location of the cleaning robot, and send a demand prompt to the intelligent wheelchair, where the demand prompt includes the movement path, and where the demand prompt is used to prompt the intelligent wheelchair to travel to the current location of the person to assist the person in traveling to the location where the person needs to be moved.
It can be seen that the device described in fig. 4 can also automatically output a movement instruction to a person when judging that an obstacle is a person, or automatically send a demand prompt for assisting the person to the intelligent wheelchair when detecting that the person is inconvenient to move, and generate a movement path of the intelligent wheelchair through the position to which the person needs to move, the current position of the person, the current position of the intelligent wheelchair, the region where the current scene needs to be cleaned and the current position of the cleaning robot, so that the generation accuracy and reliability of the movement path can be improved, and the accuracy and reliability of the movement of the intelligent wheelchair assisting the person can be further improved.
Example IV
Referring to fig. 5, fig. 5 is a schematic structural view of an autonomous control device of a cleaning robot according to another embodiment of the present invention. The apparatus described in fig. 5 may include any one of a cleaning robot, an intelligent server for controlling the cleaning robot, or an intelligent platform, where the cleaning robot may be understood as an intelligent cleaning robot, and may also be understood as other intelligent devices with a cleaning function, and the intelligent server includes a local server or a cloud server, where an autonomous control apparatus of the cleaning robot may be capable of establishing a communication connection with a user device, where the user device includes, but is not limited to, at least one of a smart phone (Android mobile phone, iOS mobile phone, etc.), a smart phone number watch, a tablet computer, a palm computer, a vehicle-mounted computer, a desktop computer, a netbook, a personal digital assistant (Personal Digital Assistant, PDA), a smart navigator, a mobile internet device (Mobile Internet Devices, MID), and other smart home devices (such as a smart refrigerator device, a smart sound box, a smart television, a smart range hood device, etc.), and the embodiments of the present invention are not limited. It is preferable that the cleaning robot be an autonomous control device of the cleaning robot. As shown in fig. 5, the autonomous control device of the cleaning robot may include:
A memory 401 storing executable program codes;
a processor 402 coupled with the memory 401;
further, an input interface 403 and an output interface 404 coupled to the processor 402 may also be included;
the processor 402 invokes executable program codes stored in the memory 402 to execute some or all of the steps in the autonomous control method of the cleaning robot disclosed in the first or second embodiment of the present invention.
Example five
The embodiment of the invention discloses a computer storage medium which stores computer instructions for executing part or all of the steps in the autonomous control method of the cleaning robot disclosed in the first or second embodiment of the invention when the computer instructions are called.
The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the disclosure of the autonomous control method and apparatus of the cleaning robot in the embodiment of the present invention is only a preferred embodiment of the present invention, and is only for illustrating the technical scheme of the present invention, but not limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (10)

1. An autonomous control method of a cleaning robot, the method comprising:
when detecting that an obstacle which prevents the cleaning robot from cleaning exists in a region corresponding to the cleaning robot, analyzing the acquired region information corresponding to the obstacle to obtain information of the obstacle, wherein the information of the obstacle comprises the type of the obstacle and the current position of the obstacle;
determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle;
Generating control parameters of the cleaning robot according to the obstacle avoidance mode and the current position of the obstacle, wherein the control parameters of the cleaning robot comprise obstacle avoidance control parameters of the cleaning robot;
and controlling the cleaning robot to execute matching operation according to the control parameters of the cleaning robot.
2. The autonomous control method of a cleaning robot according to claim 1, wherein the number of obstacles present in a region corresponding to the cleaning robot is 1 or more;
the type of the obstacle comprises one or more of a floor mat type, a stair type and other types;
when the type of the obstacle is the floor mat type, the obstacle avoidance mode of the obstacle is a climbing mode or a detour mode; when the type of the obstacle is the stair type, the obstacle avoidance mode of the obstacle is a falling prevention and detour mode; and when the type of the obstacle is the other type, the obstacle avoidance mode of the obstacle is a detour mode.
3. The autonomous control method of the cleaning robot according to claim 2, wherein when the type of the obstacle is the floor mat type, the determining the obstacle avoidance mode of the cleaning robot according to the information of the obstacle includes:
Judging whether the area to be cleaned in the current area comprises an area where the floor mat in the current area is located, and estimating a first time length required for the cleaning robot to pass through the area where the floor mat in the current area is located to reach the area to be cleaned in the current area from the current position of the cleaning robot according to the current position of the cleaning robot, the area to be cleaned in the current area and the information of the floor mat in the current area when judging that the area to be cleaned in the current area does not comprise the area where the floor mat in the current area is located;
estimating a second time length required for the cleaning robot to bypass the region where the floor pad is located in the current region from the current position of the cleaning robot to reach the region where the floor pad is required to be cleaned in the current region according to the current position of the cleaning robot, the region where the cleaning robot is required to be cleaned in the current region and the shape of the floor pad in the current region, wherein the information of the floor pad in the current region comprises one or more of the shape of the floor pad in the current region, the relative height of the floor pad in the current region and the ground and/or the texture of the floor pad in the current region and/or the material of the floor pad in the current region;
Judging whether the difference time length of the second time length minus the first time length is larger than or equal to a predetermined time length threshold value, and determining that the obstacle avoidance mode of the obstacle is a detour mode when the difference time length is smaller than the time length threshold value; and when the difference time length is larger than or equal to the time length threshold value, determining that the obstacle avoidance mode of the obstacle is a climbing mode.
4. A method of autonomous control of a cleaning robot as claimed in any of claims 1-3, characterized in that the method further comprises, prior to determining the obstacle avoidance mode of the cleaning robot from the information of the obstacle:
judging whether the obstacle is a movable obstacle according to the type of the obstacle;
when the obstacle is judged not to be the movable obstacle, executing the operation of determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle;
wherein the movable barrier comprises at least one of a movable intelligent household appliance, a person and an animal.
5. The autonomous control method of a cleaning robot of claim 4, further comprising:
when the obstacle is judged to be the movable obstacle, judging whether the obstacle is an intelligent household appliance, and when the obstacle is judged to be the intelligent household appliance, determining the current position of the obstacle and the position of an object in the current area;
Determining the position of the obstacle to be moved according to the current position of the obstacle, the area to be cleaned in the current area, the estimated moving path of the cleaning robot and the position of the object in the current area;
analyzing a moving path of the obstacle from the current position of the obstacle to the position of the obstacle to be moved according to the current position of the obstacle, the position of the obstacle to be moved, the area to be cleaned in the current area, the estimated moving path of the cleaning robot and the position of the object in the current area;
generating a movement prompt of the obstacle according to the movement path, and outputting the movement prompt to the obstacle to trigger the obstacle to move from the current position of the obstacle to the position where the obstacle needs to move, wherein the movement prompt comprises the movement path.
6. The autonomous control method of a cleaning robot of claim 5, further comprising:
when the obstacle is judged to be not the intelligent household appliance, judging whether the obstacle is an animal, and when the obstacle is judged to be the animal, determining attracting information of the animal according to the information of the animal, wherein the information of the animal comprises one or more of the type of the animal, the eating habit of the animal and the entertainment habit of the animal, and the attracting information comprises one or more of light attracting information, sound attracting information and smell attracting information;
Generating an attracting prompt according to attracting information of the animals;
according to the area to be cleaned in the current area, the current position of the obstacle and the positions of a plurality of intelligent household appliances in the current area, screening target intelligent household appliances capable of outputting the attracting prompt from the intelligent household appliances in the current area, and outputting the attracting prompt to the target intelligent household appliances, wherein the attracting prompt is used for attracting the animal to leave the current position of the animal.
7. The autonomous control method of a cleaning robot of claim 1, 2, 3, 5, or 6, further comprising:
determining garbage information and floor information of an area to be cleaned in the current area, wherein the floor information comprises at least one of floor type, floor area, floor texture and floor pothole degree, and the garbage information comprises at least one of garbage type, garbage related area and garbage smell;
inquiring cleaning object information matched with the junk information and the floor information according to the junk information and the floor information, wherein the cleaning object information comprises cleaning object types and/or cleaning object required amounts;
Generating cleaning control parameters of the cleaning robot according to the junk information, the floor information and the cleaning object information;
updating control parameters of the cleaning robot according to the cleaning control parameters of the cleaning robot, and executing the control parameters of the cleaning robot to control the cleaning robot to execute matching operation, wherein the control parameters of the cleaning robot comprise the cleaning control parameters of the cleaning robot and the obstacle avoidance control parameters of the cleaning robot.
8. An autonomous control device of a cleaning robot, the device comprising:
the analysis module is used for analyzing the acquired area information corresponding to the obstacle to obtain the information of the obstacle when detecting that the obstacle which is used for preventing the cleaning robot from cleaning exists in the area corresponding to the cleaning robot, wherein the information of the obstacle comprises the type of the obstacle and the current position of the obstacle;
the determining module is used for determining an obstacle avoidance mode of the cleaning robot according to the information of the obstacle;
the generation module is used for generating control parameters of the cleaning robot according to the obstacle avoidance mode and the current position of the obstacle, wherein the control parameters of the cleaning robot comprise the obstacle avoidance control parameters of the cleaning robot;
And the control module is used for controlling the cleaning robot to execute matching operation according to the control parameters of the cleaning robot.
9. An autonomous control device of a cleaning robot, the device comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the autonomous control method of the cleaning robot as claimed in any one of claims 1-7.
10. A computer storage medium, characterized in that the computer storage medium stores computer instructions for executing the autonomous control method of the cleaning robot according to any one of claims 1-7 when called.
CN202111638529.2A 2021-12-29 2021-12-29 Autonomous control method and device of cleaning robot Pending CN116414106A (en)

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CN202111638529.2A CN116414106A (en) 2021-12-29 2021-12-29 Autonomous control method and device of cleaning robot

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Application Number Priority Date Filing Date Title
CN202111638529.2A CN116414106A (en) 2021-12-29 2021-12-29 Autonomous control method and device of cleaning robot

Publications (1)

Publication Number Publication Date
CN116414106A true CN116414106A (en) 2023-07-11

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Country Link
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