CN109758044B - Cleaning robot regression method using charging seat coordinate record, storage medium, and electronic device - Google Patents
Cleaning robot regression method using charging seat coordinate record, storage medium, and electronic device Download PDFInfo
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Abstract
The invention provides a regression method of a cleaning robot by using a charging seat coordinate record, which comprises the steps of obtaining an anti-collision coordinate, detecting an anti-collision signal by the cleaning robot in a cleaning process, and recording and storing a collision position coordinate when the anti-collision signal is detected; and matching coordinates, namely acquiring an anti-collision boundary coordinate set stored by the cleaning robot, wherein the anti-collision boundary coordinate set comprises a maximum coordinate and a minimum coordinate, matching the first coordinate with the anti-collision boundary coordinate, and updating the anti-collision boundary coordinate of the matching result. The invention also relates to a storage medium and an electronic device. The invention records the position of the charging seat in real time in the cleaning process, plans an optimal path according to the marked coordinate position of the charging seat after a regression mode is started, and directly carries out butt joint charging, thereby improving the regression charging efficiency and the intelligent degree of the cleaning robot. The intelligent cleaning robot has clear logic and ingenious conception, and is convenient to popularize and apply.
Description
Technical Field
The invention belongs to the field of cleaning robots, and particularly relates to a regression method for a cleaning robot by using coordinate records of a charging seat, a storage medium and electronic equipment.
Background
A robot dust collector, also called a sweeper, is a new generation of family nanny and can sweep room garbage such as hair, melon seed shells, dust and the like. With the continuous improvement of the domestic living standard, the cleaning robot which is originally sold in the markets of europe and america gradually enters common people and is gradually accepted by more and more people, and the cleaning robot will become an indispensable cleaning helper for each family like white household appliances in the near future. Products will also be developed from the current primary intelligence to a higher degree of intelligence, gradually replacing manual cleaning. Robot cleaners are gradually moving into and improving people's lifestyle as an intelligent household cleaning device emerging in recent years.
With the update of the robot dust collector, the automatic charging function becomes the important embodiment of the cleaning robot intelligence, the main mode of the cleaning robot for searching the charging seat at present depends on the edgewise walking, and after the guiding signal of the charging seat is found, the cleaning robot is positioned to the charging seat and then returns to the charging, on one hand, the cleaning robot can not return to the charging seat to be charged and can be stranded on half a way due to long time consumption; on the other hand, when the position of the charging seat changes, the robot cannot predict and can only search through blind edge extension, and the robot does not effectively interact with the charging seat completely in the cleaning process, so that the mutual perceptibility is low.
In view of the above problems, there is an urgent need for a new coordinate recording method for a charging stand of a cleaning robot.
Disclosure of Invention
In order to overcome the defects of the prior art, the cleaning robot provided by the invention utilizes a regression method of charging seat coordinate recording to record the position of the charging seat in real time in the cleaning process, plans an optimal path according to the marked coordinate position of the charging seat after a regression mode is started, directly performs butt joint charging, reduces the time consumed by the charging seat and the electric quantity of a battery after the cleaning robot finishes cleaning or the electric quantity is low, and improves the regression charging efficiency and the intellectualization degree of the cleaning robot.
The invention provides a regression method for a cleaning robot by using coordinate records of a charging seat, which comprises the following steps:
s1, acquiring anti-collision coordinates, detecting anti-collision signals by the cleaning robot in the cleaning process, recording and storing collision position coordinates when the anti-collision signals are detected, and recording the collision position coordinates as first coordinates (X)DY,YDY)；
S2, coordinate matching, and acquiring an anti-collision boundary coordinate set stored by the cleaning robot, wherein the anti-collision boundary coordinate set comprises a maximum coordinate (X)JD,YJD) Very small coordinate (X)JX,YJX) Matching the first coordinates with the anti-collision boundary coordinates; if XDYGreater than XJDOr YDYGreater than YJDUpdating the maximum coordinate to be a first coordinate; if XDYLess than XJXOr YDYLess than YJXThe minimum coordinate is updated to the first coordinate.
Further, the set of collision-resistant boundary coordinates is obtained by a bow sweep, which includes the steps of:
s12, acquiring anti-collision coordinates, detecting an anti-collision signal in the arc cleaning process by the cleaning robot, recording and storing collision position coordinates when the anti-collision signal is detected, and recording the collision position coordinates as first arc coordinates (X)DYG,YDYG)；
S22, coordinate matching, and acquiring an anti-collision boundary coordinate set stored by the cleaning robot, wherein the anti-collision boundary coordinate set comprises maximum arch coordinates (X)JDG,YJDG) Very small arcuate coordinate (X)JXG,YJXG) Matching said first arcuate coordinate with said first arcuate coordinateCollision boundary coordinates; if XDYGGreater than XJDGOr YDYGGreater than YJDGUpdating the maximum arcuate coordinate to a first arcuate coordinate; if XDYGLess than XJXGOr YDYGLess than YJXGUpdating the minimum arcuate coordinate to a first arcuate coordinate; cleaning robot stores maximum arcuate coordinates (X)JDG,YJDG) Very small arcuate coordinate (X)JXG,YJXG)。
Further, the set of anti-collision boundary coordinates is obtained by an edgewise sweep, which includes the steps of:
s11, acquiring anti-collision coordinates, detecting an anti-collision signal in the edgewise sweeping process by the cleaning robot, recording and storing collision position coordinates when the anti-collision signal is detected, and recording the collision position coordinates as first edgewise coordinates (X)DYB,YDYB)；
S21, coordinate matching, and acquiring an anti-collision boundary coordinate set stored by the cleaning robot, wherein the anti-collision boundary coordinate set comprises a maximum edgewise coordinate (X)JDB,YJDB) Minimum edgewise coordinate (X)JXB,YJXB) Matching the first edgewise coordinate with the anti-collision boundary coordinate; if XDYBGreater than XJDBOr YDYBGreater than YJDBUpdating the maximum edgewise coordinate to be a first edgewise coordinate; if XDYBLess than XJXBOr YDYBLess than YJXBThen the minium edgewise coordinate is updated to the first edgewise coordinate and the cleaning robot stores the minium edgewise coordinate (X)JDB,YJDB) Minimum edgewise coordinate (X)JXB,YJXB)。
Further, the coordinate recording of the charging stand of the cleaning robot further comprises the steps of:
s3, returning and positioning, and acquiring the maximum edgewise coordinate (X) of the cleaning robotJDB,YJDB) Minimum edgewise coordinate (X)JXB,YJXB) And storing the charging seat mark points E and F.
Further, step S3 specifically includes:
s31, acquiring storage random point R (X) of the cleaning robotR,YR) If X isR>XJXBTraversing the X-axis coordinate stored by the cleaning robot towards the negative direction of the X axis until the X is acquiredJXBA straight line which is parallel to the Y axis and has a difference of 1/2 rolling brush widths is marked as a first minimum straight line, coordinates of an intersection point of the first minimum straight line and the X axis are matched, if the coordinates of the intersection point are not stored by the cleaning robot, the intersection point is abandoned, and if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is a point E; if XR<XJXBAnd traversing the X-axis coordinate stored by the cleaning robot in the X-axis positive direction until the X is acquiredJXBA straight line parallel to the Y axis, which differs by 1/2 the width of the brush, is taken as a first minimum straight line, coordinates of an intersection point with the X axis on the first minimum straight line are matched, if the coordinates of the intersection point are not stored by the cleaning robot, the intersection point is discarded, and if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is the point E.
Further, step S3 specifically includes:
s32, acquiring storage random point R (X) of the cleaning robotR,YR) If X isR>XJDBTraversing the X-axis coordinate stored by the cleaning robot towards the negative direction of the X axis until the X is acquiredJDBMarking a straight line which is parallel to the Y axis and has a difference of 1/2 rolling brush width as a first maximum straight line, matching coordinates of an intersection point of the first maximum straight line and the X axis, and abandoning the intersection point if the coordinates of the intersection point are not stored by the cleaning robot; if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is a point F; if XR<XJDBAnd traversing the X-axis coordinate stored by the cleaning robot in the X-axis positive direction until the X is acquiredJDBMarking a straight line which is parallel to the Y axis and has a difference of 1/2 rolling brush width as a first maximum straight line, matching coordinates of an intersection point of the first maximum straight line and the X axis, and abandoning the intersection point if the coordinates of the intersection point are not stored by the cleaning robot; if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is the point F.
Further, the method for returning the cleaning robot using the coordinate record of the charging stand further includes the steps of:
s4, storing in sequence, and storing in sequence, wherein the sequence is maximum arch coordinate (X)JDG,YJDG) ToExtremely small arcuate coordinate (X)JXG,YJXG) To point F to point E coordinates or to a minimum arcuate coordinate (X)JXG,YJXG) Extremely large arcuate coordinate (X)JDG,YJDG) To point E coordinates to point F coordinates.
Further, the method for returning the cleaning robot using the coordinate record of the charging stand further includes the steps of:
s5, sequentially returning, and sequentially returning in the reverse order stored in step S4.
An electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing a regression method for the cleaning robot using the charging dock coordinate records.
A computer-readable storage medium having stored thereon a computer program for executing, by a processor, a regression method of a cleaning robot using charging-stand coordinate records.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a regression method of a cleaning robot by using a charging seat coordinate record, which comprises the steps of obtaining an anti-collision coordinate, detecting an anti-collision signal by the cleaning robot in a cleaning process, and recording and storing a collision position coordinate when the anti-collision signal is detected; and matching coordinates, namely acquiring an anti-collision boundary coordinate set stored by the cleaning robot, wherein the anti-collision boundary coordinate set comprises a maximum coordinate and a minimum coordinate, matching the first coordinate with the anti-collision boundary coordinate, and updating the anti-collision boundary coordinate of the matching result. The invention also relates to a storage medium and an electronic device. The invention records the position of the charging seat in real time in the cleaning process, plans an optimal path according to the marked coordinate position of the charging seat after the return mode is started, directly carries out butt joint charging, reduces the time consumed by searching the charging seat and the electric quantity of the battery after the cleaning robot finishes cleaning or the electric quantity is low, and improves the return charging efficiency and the intelligent degree of the cleaning robot. The intelligent cleaning robot has clear logic and ingenious conception, and is convenient to popularize and apply.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic flow chart of a regression method of a cleaning robot using coordinate records of a charging seat according to the present invention;
FIG. 2 is a schematic diagram of a first schematic diagram of a regression method of a cleaning robot using coordinate records of a charging dock according to the present invention;
FIG. 3 is a schematic diagram of a second embodiment of the regression method of the cleaning robot using the coordinate record of the charging dock according to the present invention;
FIG. 4 is a schematic flow chart of the edge sweeping process of the present invention;
FIG. 5 is a schematic flow diagram of the present invention during arcuate sweeping;
FIG. 6 is a flow chart of the regression positioning process according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
The cleaning robot using the regression method of the coordinate record of the charging stand, as shown in fig. 1, includes the following steps:
s1, acquiring anti-collision coordinates, detecting anti-collision signals by the cleaning robot in the cleaning process, recording and storing collision position coordinates when the anti-collision signals are detected, and recording the collision position coordinates as first coordinates (X)DY,YDY)；
S2, coordinate matching and obtaining of cleaning machineA human stored set of collision boundary coordinates, wherein the set of collision boundary coordinates comprises a maximum coordinate (X)JD,YJD) Very small coordinate (X)JX,YJX) Matching the first coordinates with the anti-collision boundary coordinates; if XDYGreater than XJDOr YDYGreater than YJDUpdating the maximum coordinate to be a first coordinate; if XDYLess than XJXOr YDYLess than YJXThe minimum coordinate is updated to the first coordinate.
In one embodiment, as shown in fig. 5, the set of anti-collision boundary coordinates is obtained by an arcuate sweep comprising the steps of:
s12, acquiring anti-collision coordinates, detecting an anti-collision signal in the arc cleaning process by the cleaning robot, recording and storing collision position coordinates when the anti-collision signal is detected, and recording the collision position coordinates as first arc coordinates (X)DYG,YDYG)；
S22, coordinate matching, and acquiring an anti-collision boundary coordinate set stored by the cleaning robot, wherein the anti-collision boundary coordinate set comprises maximum arch coordinates (X)JDG,YJDG) Very small arcuate coordinate (X)JXG,YJXG) Matching the first arcuate coordinates with the collision-resistant boundary coordinates; if XDYGGreater than XJDGOr YDYGGreater than YJDGUpdating the maximum arcuate coordinate to a first arcuate coordinate; if XDYGLess than XJXGOr YDYGLess than YJXGUpdating the minimum arcuate coordinate to a first arcuate coordinate; cleaning robot stores maximum arcuate coordinates (X)JDG,YJDG) Very small arcuate coordinate (X)JXG,YJXG)。
As shown in fig. 2, in the sweeping in a zigzag manner, after the cleaning robot detects the collision prevention signal for the first time, the X-axis and Y-axis coordinates at this time are recorded and stored as coordinates a (X0, Y0) and B (X0, Y0). If the collision avoidance signal is detected again in the later cleaning, the coordinate value of the X axis at the moment is compared with the coordinate values of the X axes of A and B, if the coordinate value is smaller than the coordinate value of the X axis of A, the coordinate is updated to the coordinate A, and if the coordinate value is larger than the coordinate value of the X axis of B, the coordinate is updated to the coordinate ACoordinate B, then coordinate point a (X1, y1) with the smallest X-coordinate value and coordinate point B (X2, y2) with the largest X-coordinate value will be obtained finally; i.e., point A (X1, y1) is a very small arcuate coordinate (X)JXG,YJXG) Point B (X2, y2) is the maximum arcuate coordinate (X)JDG,YJDG)。
In one embodiment, as shown in fig. 4, the set of anti-collision boundary coordinates is obtained by an edgewise sweep, which includes the steps of:
s11, acquiring anti-collision coordinates, detecting an anti-collision signal in the edgewise sweeping process by the cleaning robot, recording and storing collision position coordinates when the anti-collision signal is detected, and recording the collision position coordinates as first edgewise coordinates (X)DYB,YDYB)；
S21, coordinate matching, and acquiring an anti-collision boundary coordinate set stored by the cleaning robot, wherein the anti-collision boundary coordinate set comprises a maximum edgewise coordinate (X)JDB,YJDB) Minimum edgewise coordinate (X)JXB,YJXB) Matching the first edgewise coordinate with the anti-collision boundary coordinate; if XDYBGreater than XJDBOr YDYBGreater than YJDBUpdating the maximum edgewise coordinate to be a first edgewise coordinate; if XDYBLess than XJXBOr YDYBLess than YJXBThen the minium edgewise coordinate is updated to the first edgewise coordinate and the cleaning robot stores the minium edgewise coordinate (X)JDB,YJDB) Minimum edgewise coordinate (X)JXB,YJXB)。
As shown in fig. 2, when the cleaning robot detects the anti-collision signal for the first time during the edgewise cleaning, the X-axis and Y-axis coordinates at this time are recorded and stored as coordinates C (X3, Y3) and D (X3, Y3); if the collision avoidance signal is detected again in the later cleaning, comparing the X-axis coordinate value at the moment with the X-axis coordinate value of C and D, if the X-axis coordinate value is smaller than the X-axis coordinate value of C, updating the coordinate to the coordinate C, if the X-axis coordinate value is larger than the X-axis coordinate value of D, updating the coordinate to the coordinate D, and finally obtaining a coordinate point C (X4, y4) with the minimum X-coordinate value and a coordinate point D (X5, y5) with the maximum X-coordinate value; i.e., point C (X4, y4) is the minimum edgewise coordinate (X)JXB,YJXB) The point D (X5, y5) is the maximum edgewise coordinate (X)JDB,YJDB). It should be understood that arcuate sweeping and edgewise sweeping are two independent modes of sweeping, and there is no sequential relationship.
As shown in fig. 1, in an embodiment, when the regression mode is started, in order to obtain more accurate position coordinates, it is determined whether the path can pass or not; the cleaning robot charging stand coordinate recording further comprises the steps of:
s3, returning and positioning, and acquiring the maximum edgewise coordinate (X) of the cleaning robotJDB,YJDB) Minimum edgewise coordinate (X)JXB,YJXB) The coordinates differing from the X-axis coordinate value of C by 1/2 the brush width and the coordinates differing from the X-axis coordinate value of D by 1/2 the brush width are acquired using the stored random coordinate point R (X6, y6) to store charging-stand mark points E, F.
As shown in fig. 6, step S3 specifically includes:
s31, acquiring storage random point R (X) of the cleaning robotR,YR) If X isR>XJXBTraversing the X-axis coordinate stored by the cleaning robot towards the negative direction of the X axis until the X is acquiredJXBA straight line which is parallel to the Y axis and has a difference of 1/2 rolling brush widths is marked as a first minimum straight line, coordinates of an intersection point of the first minimum straight line and the X axis are matched, if the coordinates of the intersection point are not stored by the cleaning robot, the intersection point is abandoned, and if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is a point E; if XR<XJXBAnd traversing the X-axis coordinate stored by the cleaning robot in the X-axis positive direction until the X is acquiredJXBA straight line parallel to the Y axis, which differs by 1/2 the width of the brush, is taken as a first minimum straight line, coordinates of an intersection point with the X axis on the first minimum straight line are matched, if the coordinates of the intersection point are not stored by the cleaning robot, the intersection point is discarded, and if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is the point E.
In one embodiment, a coordinate point E differing from the X-axis coordinate value of C by 1/2 the rolling brush width is obtained by the stored random coordinate point R (X6, y 6). Wherein, as shown in FIG. 2, R (x6, y6) respectively shows two cases of R1 and R2
If C is on the left side of R2 (X6> X4), traversing the X-axis coordinate of the storage space to the left until a straight line parallel to the Y axis is acquired, wherein X is X7, the difference between the X-axis coordinate of C and the X-axis coordinate is equal to 1/2 rolling brush width, traversing the Y-axis coordinate corresponding to the current X-axis coordinate of X7, and if the value of Y4 is within the interval range stored by the cleaning robot, acquiring a charging seat position marking point E (X7, Y4); if the value y4 is not within the range, i.e., it is determined to be within the collision avoidance zone, the cleaning robot never cleans and records this point, and therefore discards it.
If C is on the right side of R1 (X6< X4), traversing the X-axis coordinate of the storage space to the right until a straight line parallel to the Y axis is acquired, wherein the straight line is X7 which has a difference with the X-axis coordinate of C and is equal to 1/2 rolling brush width, traversing the Y-axis coordinate of which the current X-axis coordinate is X7, and if the value of Y4 is within an interval range, acquiring a charging seat position marking point E (X7, Y4); if the value y4 is not within the range, i.e. it is determined that the robot is within the collision avoidance zone, the cleaning robot never cleans and records the point, and discards it.
S32, acquiring storage random point R (X) of the cleaning robotR,YR) If X isR>XJDBTraversing the X-axis coordinate stored by the cleaning robot towards the negative direction of the X axis until the X is acquiredJDBMarking a straight line which is parallel to the Y axis and has a difference of 1/2 rolling brush width as a first maximum straight line, matching coordinates of an intersection point of the first maximum straight line and the X axis, and abandoning the intersection point if the coordinates of the intersection point are not stored by the cleaning robot; if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is a point F; if XR<XJDBAnd traversing the X-axis coordinate stored by the cleaning robot in the X-axis positive direction until the X is acquiredJDBMarking a straight line which is parallel to the Y axis and has a difference of 1/2 rolling brush width as a first maximum straight line, matching coordinates of an intersection point of the first maximum straight line and the X axis, and abandoning the intersection point if the coordinates of the intersection point are not stored by the cleaning robot; if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is the point F.
In one embodiment, a coordinate point F that differs from the X-axis coordinate value of D by 1/2 the rolling brush width is obtained by the stored random coordinate point R (X6, y 6). Wherein, as shown in FIG. 2, R (x6, y6) respectively shows two cases of R2 and R3
If D is on the left side of R3 (X6> X5), traversing the X-axis coordinate of the storage space to the left until a straight line parallel to the Y axis is acquired, wherein X is X8, the difference between the X-axis coordinate of D and the X-axis coordinate is equal to 1/2 rolling brush width, traversing the Y-axis coordinate corresponding to the current X-axis coordinate of X8, and if the value of Y5 is within the interval range stored by the cleaning robot, acquiring a charging seat position marking point F (X8, Y5); if the value y5 is not within the range, i.e., it is determined to be within the collision avoidance zone, the cleaning robot never cleans and records this point, and therefore discards it.
If D is on the right side of R2 (X6< X5), traversing the X-axis coordinate of the storage space to the right until a straight line parallel to the Y axis is acquired, wherein the straight line is X8 which has a difference with the X-axis coordinate of D and is equal to 1/2 rolling brush width, traversing the Y-axis coordinate of which the current X-axis coordinate is X8, and if the value of Y5 is within an interval range, acquiring a charging seat position marking point F (X8, Y5); if the value y5 is not within the range, i.e. it is determined that the robot is within the collision avoidance zone, the cleaning robot never cleans and records the point, and discards it.
In one embodiment, as shown in fig. 1, the coordinate recording of the cleaning robot charging stand further comprises the steps of:
s4, storing in sequence, and storing in sequence, wherein the sequence is maximum arch coordinate (X)JDG,YJDG) To extremely small arcuate coordinate (X)JXG,YJXG) To point F to point E coordinates or to a minimum arcuate coordinate (X)JXG,YJXG) Extremely large arcuate coordinate (X)JDG,YJDG) To point E coordinates to point F coordinates.
S5, sequentially returning, and sequentially returning in the reverse order stored in step S4.
In this embodiment, after the cleaning robot completes the labeling of the charging seat position, the coordinates are sequentially stored. As shown in fig. 2 and 3, when four coordinates of ABEF are acquired, considering that two points EA are on the left side of the charging-stand guide signal area and two points FB are on the right side of the charging-stand guide signal area, the charging-stand guide signal will be detected during cleaning when the cleaning path of the cleaning robot is from point E to point F, and therefore the order of storing the coordinates is BAFE. The cleaning robot firstly takes out coordinates of the point E, plans a path from the current position to the point E, and if the robot detects a guide signal of a charging seat in the walking process, the robot carries out regression butt joint by using the guide signal, and if an anti-collision signal of the charging seat is detected, the robot walks along an arc line of an anti-collision area boundary to search the guide signal to carry out regression butt joint. If the charging dock can be found using the E point coordinates, then no other coordinates will need to be taken out; if the charging seat signal can not be detected after the E point is reached, the coordinates of the F point are taken, the walking path from the E point to the F point is planned, and the charging seat signal is detected at the same time. If the detection can not be detected, taking out the A again, and so on. By adopting the mode, the cleaning robot can be rapidly connected with the charging seat for charging.
In another embodiment, if the cleaning path of the cleaning robot is from point F to point E, the charging-stand guiding signal will be detected during cleaning, so the storage order of the coordinates is ABEF. The cleaning robot firstly takes out coordinates of the point F, plans a path from the current position to the point F, and if the robot detects a guide signal of a charging seat in the walking process, the robot performs regression butt joint by using the guide signal, and if an anti-collision signal of the charging seat is detected, the robot walks along an anti-collision area boundary arc line to search the guide signal to perform regression butt joint. If the charging dock can be found using the F point coordinates, then no other coordinates will need to be taken out; if the charging seat signal can not be detected after the F point is reached, the coordinates of the E point are taken, the walking path from the F point to the E point is planned, and the charging seat signal is detected at the same time. If the detection can not be detected, taking out B again, and so on. By adopting the mode, the cleaning robot can be rapidly connected with the charging seat for charging.
It should be noted that, in the above embodiment, as shown in fig. 3, the anti-collision signal generating device on the charging dock 100 generates an anti-collision area 200 with a radius M, where the cleaning robot in the anti-collision area 200 receives the anti-collision signal, and the anti-collision signal is used to make the cleaning robot drive away from the anti-collision area 200; the regression charging signal generating device on the charging dock 100 generates an approximately fan-shaped regression area, and the charging dock 100 transmits the anti-collision signal to one side within a range of at least 180 degrees, in a preferred embodiment, the range of the anti-collision signal transmitted by the charging dock is 210 degrees; as shown in fig. 3, the first regression charging signal generating device generates a first regression region 300, the second regression charging signal generating device generates a second regression region 400, and the third regression region 500 is a signal overlapping region of the first regression charging signal generating device and the second regression charging signal generating device; and when the cleaning robot receives the return charging signal and starts the return charging mode and the return charging signal exists, automatically shielding the anti-collision signal.
It should be understood that, as shown in fig. 2, the above-mentioned embodiment uses a straight line parallel to the X-axis as the leaning wall surface of the charging seat 100, and can also use a straight line parallel to the Y-axis as the leaning wall surface of the charging seat 100 through coordinate change, or use any straight line as the leaning wall surface of the charging seat 100, which cannot limit the protection scope of the present invention.
An electronic device, comprising: a processor; a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing a regression method for the cleaning robot using the charging dock coordinate records. In this embodiment, the electronic device is a cleaning robot. A computer-readable storage medium having stored thereon a computer program for executing, by a processor, a regression method of a cleaning robot using charging-stand coordinate records.
The invention records the position of the charging seat in real time in the cleaning process, plans an optimal path according to the marked coordinate position of the charging seat after the return mode is started, directly carries out butt joint charging, reduces the time consumed by searching the charging seat and the electric quantity of the battery after the cleaning robot finishes cleaning or the electric quantity is low, and improves the return charging efficiency and the intelligent degree of the cleaning robot. The intelligent cleaning robot has clear logic and ingenious conception, and is convenient to popularize and apply.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (7)
1. The cleaning robot regression method using the coordinate record of the charging stand is characterized by comprising the following steps:
s1, acquiring anti-collision coordinates, detecting an anti-collision signal sent by a charging seat in the cleaning process of the cleaning robot, recording and storing coordinates of a collision position when the anti-collision signal is detected, and recording the coordinates as a first coordinate (X)DY,YDY)；
S2, coordinate matching, and acquiring an anti-collision boundary coordinate set stored by the cleaning robot, wherein the anti-collision boundary coordinate set comprises a maximum coordinate (X)JD,YJD) Very small coordinate (X)JX,YJX) Matching the first coordinates with the anti-collision boundary coordinates; if XDYGreater than XJDOr YDYGreater than YJDUpdating the maximum coordinate to be a first coordinate; if XDYLess than XJXOr YDYLess than YJXUpdating the minimum coordinate to be a first coordinate; in an arcuate sweep, the set of collision avoidance boundary coordinates includes maximum arcuate coordinates (X)JDG,YJDG) Very small arcuate coordinate (X)JXG,YJXG) (ii) a In edgewise cleaning, the set of collision avoidance boundary coordinates includes a maximum edgewise coordinate (X)JDB,YJDB) Minimum edgewise coordinate (X)JXB,YJXB)；
S3, carrying out regression positioning, and acquiring and storing a charging seat mark point E and a charging seat mark point F according to the maximum edgewise coordinate and the minimum edgewise coordinate;
s4, storing in sequence, and storing in sequence, wherein the sequence is maximum arch coordinate (X)JDG,YJDG) To extremely small arcuate coordinate (X)JXG,YJXG) To point F to point E coordinates or to a minimum arcuate coordinate (X)JXG,YJXG) Extremely large arcuate coordinate (X)JDG,YJDG) To coordinate from point E to point F;
s5, sequentially returning, and sequentially returning in the reverse order stored in step S4.
2. A cleaning robot regression method using charging cradle coordinate records according to claim 1, wherein said set of collision-preventing boundary coordinates is acquired by an arcuate sweep comprising the steps of:
s12, acquiring anti-collision coordinates, detecting an anti-collision signal in the arc cleaning process by the cleaning robot, recording and storing collision position coordinates when the anti-collision signal is detected, and recording the collision position coordinates as first arc coordinates (X)DYG,YDYG)；
S22, coordinate matching, acquiring an anti-collision boundary coordinate set stored by the cleaning robot, and matching the first arch coordinate with the anti-collision boundary coordinate; if XDYGGreater than XJDGOr YDYGGreater than YJDGUpdating the maximum arcuate coordinate to a first arcuate coordinate; if XDYGLess than XJXGOr YDYGLess than YJXGUpdating the minimum arcuate coordinate to a first arcuate coordinate; cleaning robot stores maximum arcuate coordinates (X)JDG,YJDG) Very small arcuate coordinate (X)JXG,YJXG)。
3. A cleaning robot regression method using charging cradle coordinate records according to claim 1, wherein said set of anti-collision boundary coordinates is acquired by an edgewise sweep comprising the steps of:
s11, acquiring anti-collision coordinates, detecting an anti-collision signal in the edgewise sweeping process by the cleaning robot, recording and storing collision position coordinates when the anti-collision signal is detected, and recording the collision position coordinates as first edgewise coordinates (X)DYB,YDYB)；
S21, coordinate matching, acquiring an anti-collision boundary coordinate set stored by the cleaning robot, and matching the first edge coordinate with the anti-collision boundary coordinate; if XDYBGreater than XJDBOr YDYBGreater than YJDBThen the maximum edgewise coordinate is updated to the first edgewise coordinateMarking; if XDYBLess than XJXBOr YDYBLess than YJXBThen the minium edgewise coordinate is updated to the first edgewise coordinate and the cleaning robot stores the minium edgewise coordinate (X)JDB,YJDB) Minimum edgewise coordinate (X)JXB,YJXB)。
4. The method of claim 1, wherein the step S3 includes:
s31, acquiring storage random point R (X) of the cleaning robotR,YR) If X isR>XJXBTraversing the X-axis coordinate stored by the cleaning robot towards the negative direction of the X axis until the X is acquiredJXBA straight line which is parallel to the Y axis and has a difference of 1/2 rolling brush widths is marked as a first minimum straight line, coordinates of an intersection point of the first minimum straight line and the X axis are matched, if the coordinates of the intersection point are not stored by the cleaning robot, the intersection point is abandoned, and if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is a point E; if XR<XJXBAnd traversing the X-axis coordinate stored by the cleaning robot in the X-axis positive direction until the X is acquiredJXBA straight line parallel to the Y axis, which differs by 1/2 the width of the brush, is taken as a first minimum straight line, coordinates of an intersection point with the X axis on the first minimum straight line are matched, if the coordinates of the intersection point are not stored by the cleaning robot, the intersection point is discarded, and if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is the point E.
5. The cleaning robot as set forth in claim 1, wherein the cleaning robot further comprises a controller for controlling the operation of the cleaning robot, and the controller is configured to: step S3 specifically includes:
s32, acquiring storage random point R (X) of the cleaning robotR,YR) If X isR>XJDBTraversing the X-axis coordinate stored by the cleaning robot towards the negative direction of the X axis until the X is acquiredJDBMarking a straight line which is parallel to the Y axis and has a difference of 1/2 rolling brush width as a first maximum straight line, matching coordinates of an intersection point of the first maximum straight line and the X axis, and abandoning the intersection point if the coordinates of the intersection point are not stored by the cleaning robot; if the coordinates of the intersection pointStoring the point in the cleaning robot, wherein the intersection point is a point F; if XR<XJDBAnd traversing the X-axis coordinate stored by the cleaning robot in the X-axis positive direction until the X is acquiredJDBMarking a straight line which is parallel to the Y axis and has a difference of 1/2 rolling brush width as a first maximum straight line, matching coordinates of an intersection point of the first maximum straight line and the X axis, and abandoning the intersection point if the coordinates of the intersection point are not stored by the cleaning robot; if the coordinates of the intersection point are stored in the cleaning robot, the intersection point is the point F.
6. An electronic device, characterized by comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for carrying out the method according to any one of claims 1-5.
7. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor for performing the method according to any of claims 1-5.
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