CN109758042B - Method for guiding cleaning robot to return to charging seat, storage medium and electronic equipment - Google Patents
Method for guiding cleaning robot to return to charging seat, storage medium and electronic equipment Download PDFInfo
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- CN109758042B CN109758042B CN201910099879.2A CN201910099879A CN109758042B CN 109758042 B CN109758042 B CN 109758042B CN 201910099879 A CN201910099879 A CN 201910099879A CN 109758042 B CN109758042 B CN 109758042B
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Abstract
The invention provides a method for guiding a cleaning robot to return to a charging seat, which comprises the steps of entering a guiding area, wherein the cleaning robot acquires a guiding signal, and the guiding signal comprises a first guiding signal and a second guiding signal; adjusting the regression direction and contraposition regression. The invention also relates to a storage medium and an electronic device. The invention adopts multi-signal fusion to realize reasonable planning of the return path of the robot, quickly and accurately positions the direction position of the charging seat relative to the robot, improves the return efficiency and the butt joint success rate of the charging when the robot returns to the charging seat, reduces the time and the battery power consumed by searching the charging seat after the cleaning robot finishes cleaning or the power 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.
Description
Technical Field
The invention belongs to the field of cleaning robots, and particularly relates to a method for guiding a cleaning robot to return to a charging seat, a storage medium and electronic equipment.
Background
A robot cleaner, also known as a sweeper, is a new generation of family nanny! Can clean room garbage such as hair, melon seed shells, dust and the like in a room. 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 robot dust collectors, the automatic charging function becomes an important embodiment of the intelligence of the cleaning robot, and the existing cleaning robot uses an infrared receiving head to receive an infrared signal to guide the robot to return to a charging seat for charging, which is a relatively universal method.
In view of the above problems, there is a need for a new method for charging a cleaning robot by returning to a charging stand.
Disclosure of Invention
In order to overcome the defects of the prior art, the method for guiding the cleaning robot to return to the charging seat provided by the invention adopts multi-signal fusion, realizes reasonable planning of the return path of the robot, quickly and accurately positions the direction position of the charging seat relative to the robot, improves the return efficiency and the butt joint success rate of the charging of the robot returning to the charging seat, reduces the time and the battery power consumed by searching the charging seat after the cleaning robot finishes cleaning or the power is low, and improves the return charging efficiency and the intelligent degree of the cleaning robot.
The invention provides a method for guiding a cleaning robot to return to a charging seat, which comprises the following steps:
s1, entering a guide area, acquiring guide signals by the cleaning robot, wherein the guide signals comprise a first guide signal and a second guide signal, taking the advancing direction of the cleaning robot as the forward direction, receiving any one of the first guide signal and the second guide signal by a signal receiving device arranged at one of two sides of the cleaning robot, and configuring the cleaning robot to linearly travel along the current advancing direction;
s2, adjusting the returning direction, when the signal receiving device arranged at one side of the two sides of the cleaning robot receives the guiding signal different from the guiding signal received in the step S1, configuring the cleaning robot to stop running and rotate in place until the signal receiving device arranged at the upper part of the front end of the cleaning robot receives the guiding signal;
and S3, performing alignment regression, and configuring the cleaning robot to sequentially and circularly search the guide signal in the step S1 and the guide signal in the step S2 until the charging contact at the front part of the cleaning robot contacts the charging part of the charging seat, the cleaning robot finishes regression, and the charging seat is started to charge.
Further, the method for guiding the cleaning robot to return to the charging seat further comprises the following steps:
s0, anti-collision guidance is performed, the cleaning robot acquires anti-collision signals, a signal receiving device arranged in the front of the cleaning robot receives the anti-collision signals, the cleaning robot retreats for a certain distance and rotates, and the cleaning robot is configured to search the guidance signals along the outer side of the boundary of the anti-collision signal area; the anti-collision signal area is a circular area or a partial circular area signal which takes the charging seat as the center of a circle.
Further, step S0 includes:
in the process of searching the guide signal along the outer side of the boundary of the anti-collision signal area by the cleaning robot, when the cleaning robot detects an obstacle, the cleaning robot retreats and rotates to the reverse direction, and the guide signal is continuously searched along the outer side of the boundary of the anti-collision signal area.
Further, step S1 includes:
and the signal receiving device arranged at the rear part of the cleaning robot receives the guide signal, and the cleaning robot rotates in situ until the signal receiving device arranged at one of the two sides of the cleaning robot receives the guide signal.
Further, step S1 includes:
and the signal receiving device arranged at the front part of the cleaning robot receives the guide signal, and the cleaning robot rotates in situ until the signal receiving device arranged at one of the two sides of the cleaning robot receives the guide signal.
Further, in step S3, the guiding signal in step S1 and the guiding signal in step S2 are sequentially searched in a loop by configuring the differential motion of the two wheels of the cleaning robot to make the cleaning robot take an arc path.
Further, in step S0, the cleaning robot is configured to search for the guiding signal along the boundary outside the anti-collision signal area by configuring the cleaning robot to perform differential motion of the two wheels.
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 method of directing the cleaning robot to return to a charging dock.
A computer-readable storage medium having stored thereon a computer program for execution by a processor of a method of guiding a cleaning robot back to a charging dock.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a method for guiding a cleaning robot to return to a charging seat, which comprises the steps of entering a guiding area, wherein the cleaning robot acquires a guiding signal, and the guiding signal comprises a first guiding signal and a second guiding signal; adjusting the regression direction and contraposition regression. The invention also relates to a storage medium and an electronic device. The invention adopts multi-signal fusion to realize reasonable planning of the return path of the robot, quickly and accurately positions the direction position of the charging seat relative to the robot, improves the return efficiency and the butt joint success rate of the charging when the robot returns to the charging seat, reduces the time and the battery power consumed by searching the charging seat after the cleaning robot finishes cleaning or the power 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 method for guiding a cleaning robot to return to a charging stand according to the present invention;
FIG. 2 is a schematic diagram of a method for guiding a cleaning robot to return to a charging seat according to the present invention;
FIG. 3 is a schematic view of the signal acquisition device distribution of the cleaning robot of the present invention;
fig. 4 is a schematic view of a scenario for guiding the cleaning robot to return by applying the present invention.
Shown in the figure:
the anti-collision device comprises a charging stand 100, an anti-collision area 200, a first guidance signal area 300, a second guidance signal area 400, a third guidance signal area 500, a cleaning robot 600, a first angle 601, a second angle 602, a third angle 603, a fourth angle 604, a fifth angle 605, a sixth angle 606, a seventh angle 607, an eighth angle 608, a first signal receiving device 610, a second signal receiving device 620, a third signal receiving device 630, a fourth signal receiving device 640, and a fifth signal receiving device 650.
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 method for guiding the cleaning robot to return to the charging seat, as shown in fig. 1, includes the following steps:
s0, anti-collision guidance is performed, the cleaning robot acquires anti-collision signals, a signal receiving device arranged in the front of the cleaning robot receives the anti-collision signals, the cleaning robot retreats for a certain distance and rotates, and the cleaning robot is configured to search the guidance signals along the outer side of the boundary of the anti-collision signal area; the anti-collision signal area is a circular area or a partial circular area signal which takes the charging seat as the center of a circle. In this embodiment, in the process of configuring the cleaning robot to search for the guidance signal along the outside of the boundary of the anti-collision signal area, when the cleaning robot detects an obstacle, the cleaning robot moves backward and rotates to the reverse direction, and continues to search for the guidance signal along the outside of the boundary of the anti-collision signal area. In the embodiment, the cleaning robot is configured to search the guide signal along the outer side of the boundary of the anti-collision signal area by configuring the differential motion of the two wheels of the cleaning robot to make the cleaning robot follow an arc path.
S1, entering a guide area, acquiring guide signals by the cleaning robot, wherein the guide signals comprise a first guide signal and a second guide signal, taking the advancing direction of the cleaning robot as the forward direction, receiving any one of the first guide signal and the second guide signal by a signal receiving device arranged at one of two sides of the cleaning robot, and configuring the cleaning robot to linearly travel along the current advancing direction; in one embodiment, the signal receiving device disposed at the rear of the cleaning robot receives the guiding signal, and the cleaning robot rotates in situ until the signal receiving device disposed at one of the two sides of the cleaning robot receives the guiding signal. In another embodiment, the signal receiving device disposed at the front of the cleaning robot receives the guiding signal, and the cleaning robot rotates in situ until the signal receiving device disposed at one of the two sides of the cleaning robot receives the guiding signal.
S2, adjusting the returning direction, when the signal receiving device arranged at one side of the two sides of the cleaning robot receives the guiding signal different from the guiding signal received in the step S1, configuring the cleaning robot to stop running and rotate in place until the signal receiving device arranged at the upper part of the front end of the cleaning robot receives the guiding signal;
and S3, performing alignment regression, and configuring the cleaning robot to sequentially and circularly search the guide signal in the step S1 and the guide signal in the step S2 until the charging contact at the front part of the cleaning robot contacts the charging part of the charging seat, the cleaning robot finishes regression, and the charging seat is started to charge. In this embodiment, the guiding signal in step S1 and the guiding signal in step S2 are sequentially searched in a loop by configuring the differential motion of the two wheels of the cleaning robot to make the cleaning robot follow an arc path.
It should be noted that, in the embodiment of the present invention, as shown in fig. 2, 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 approximate fan-shaped regression region, wherein the first regression charging signal generating device generates a first guiding signal region 300, the second regression charging signal generating device generates a second guiding signal region 400, and the third guiding signal region 500 is a signal superposition 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 a guide signal exists, automatically shielding the anti-collision signal.
It should be noted that, in the embodiment of the present invention, as shown in fig. 3, the cleaning robot 600 is configured with five signal receiving devices, wherein a first signal receiving device 610 is disposed at the upper part of the front end of the cleaning robot, a second signal receiving device 620 is disposed at the left side of the cleaning robot, a third signal receiving device 630 is disposed at the right side of the cleaning robot, a fourth signal receiving device 640 is disposed at the rear part of the cleaning robot, and a fifth signal receiving device 650 is disposed at the front part of the cleaning robot; in one embodiment, the signal receiving device is an infrared receiving head, which can decode the infrared guiding signal and the anti-collision signal sent by the charging dock 100.
As shown in fig. 4, the cleaning robot 600 is exemplified at various angles that need to be returned to the charging stand, wherein 601 and 608 respectively represent different driving angles of the cleaning robot 600 relative to the charging stand 100.
Example 1
The cleaning robot drives into the charging stand signal area at a first angle 601, and the return charging step is as follows:
a1, the fifth signal receiving device 650 of the cleaning robot receives the charging seat anticollision signal, the robot retreats a distance and rotates 90 degrees counterclockwise;
a2, configuring the cleaning robot to drive along the outer side of the anti-collision area 200 in an arc manner that the left wheel is faster and the right wheel is slower, and when the cleaning robot detects the wall surface after walking for a certain distance, the cleaning robot slightly backs and rotates anticlockwise for 180 degrees;
a3, the cleaning robot then travels along the outside of the anti-collision area 200 with a slow left wheel and a fast right wheel arc, when the second signal receiving device 620 of the cleaning robot receives the first guiding signal of the charging dock, the cleaning robot reduces the speed to travel linearly, when the second signal receiving device 620 receives the second guiding signal of the charging dock, the cleaning robot stops traveling, then the cleaning robot rotates counterclockwise, and when the first signal receiving device 610 receives the second guiding signal of the charging dock, the cleaning robot stops rotating;
a4, the cleaning robot searches for a first guiding signal of the charging seat by the slow left wheel and the fast right wheel, and walking an arc line, when the first signal receiving device 610 receives the first guiding signal, the cleaning robot searches for a second guiding signal of the charging seat by the slow left wheel and the slow right wheel, and when the first signal receiving device 610 receives the second guiding signal, the cleaning robot searches for the first guiding signal of the charging seat by the slow left wheel and the fast right wheel, and walking an arc line;
and A5, repeating the action of the step A4 by the cleaning robot, finishing the charging action of the returning charging seat when the charging contact in front of the cleaning robot contacts with the charging elastic sheet of the charging seat, and starting charging by the cleaning robot.
Example 2
The cleaning robot drives into the charging stand signal area at a second angle 602, and the return charging step is as follows:
b1, the fifth signal receiving device 650 of the cleaning robot receives the charging-stand collision avoidance signal, and the cleaning robot moves back a distance and rotates 90 degrees counterclockwise;
b2, the cleaning robot walks along the outside of the anti-collision area 200 in an arc line with the left wheel fast and the right wheel slow, when the third signal receiving device 630 of the cleaning robot receives the second guiding signal of the charging dock, the cleaning robot changes the speed of the cleaning robot to a straight line, when the third signal receiving device 630 receives the first guiding signal of the charging dock, the cleaning robot stops walking, then the cleaning robot rotates clockwise, and when the first signal receiving device 610 receives the first guiding signal of the charging dock, the cleaning robot stops rotating;
b3, the cleaning robot searches for a second guiding signal of the charging seat by the fast left wheel and the slow right wheel; when the first signal receiving device 610 receives the second guiding signal, the cleaning robot searches for the first guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel and by an arc line; when the upper infrared receiving head receives the first guide signal, the cleaning robot searches for a second guide signal of the charging seat by the speed of the left wheel and the speed of the right wheel and by an arc line;
and B4, repeating the action of the step B3 by the cleaning robot, finishing the charging action of the returning charging seat when the charging contact in front of the cleaning robot contacts with the charging elastic sheet of the charging seat, and starting charging by the cleaning robot.
Example 3
The cleaning robot drives into the charging stand signal area at a third angle 603, and the step of returning and charging is as follows:
c1, the fourth signal receiving device 640 of the cleaning robot receives the first guiding signal of the charging dock, and the cleaning robot rotates counterclockwise to make the second signal receiving device 620 receive the first guiding signal of the charging dock;
c2, the second signal receiver 620 of the cleaning robot receives the first guiding signal of the charging dock, the cleaning robot continues to move straight, when the second signal receiver 620 of the cleaning robot receives the second guiding signal of the charging dock, the cleaning robot stops moving, then the cleaning robot rotates counterclockwise, when the first signal receiver 610 receives the second guiding signal of the charging dock, the cleaning robot stops rotating;
c3, the cleaning robot follows an arc line to search a first guiding signal of the charging seat when the cleaning robot rotates at a slow left wheel and at a fast right wheel; when the first signal receiving device 610 receives the first guiding signal, the cleaning robot looks for the second guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel; when the first signal receiving device 610 receives the second guiding signal, the cleaning robot searches for the first guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel and by an arc line;
and C4, repeating the action of the step C3 by the cleaning robot, and finishing the charging action of the returning charging seat when the charging contact in front of the cleaning robot contacts with the charging elastic sheet of the charging seat, so that the cleaning robot starts to charge.
Example 4
The cleaning robot drives into the charging stand signal area at a fourth angle 604, and the return charging step is as follows:
d1, the fourth signal receiving device 640 of the cleaning robot receives the second guiding signal of the charging dock, and the cleaning robot rotates clockwise to make the third signal receiving device 630 receive the second guiding signal of the charging dock;
d2, the third signal receiving device 630 of the cleaning robot receives the second guiding signal of the charging stand, the cleaning robot continues to move straight forward, when the third signal receiving device 630 of the cleaning robot receives the first guiding signal of the charging stand, the cleaning robot stops walking, then the cleaning robot rotates clockwise, and when the first signal receiving device 610 receives the first guiding signal of the charging stand, the cleaning robot stops rotating;
d3, the cleaning robot drives the left wheel to fast and drives the right wheel to slow, and the cleaning robot walks an arc line to search a second guiding signal of the charging seat; when the first signal receiving device 610 receives the second guiding signal, the cleaning robot searches for the first guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel and by an arc line; when the first signal receiving device 610 receives the first guiding signal, the cleaning robot looks for the second guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel;
d4, repeating the step D3, when the charging contact in front of the cleaning robot contacts the charging spring plate of the charging seat, completing the charging action of the returning charging seat, and the cleaning robot starts to charge.
Example 5
The cleaning robot drives into the charging stand signal area at a fifth angle 605, and the step of returning and charging is as follows:
e1, the second signal receiver 620 of the cleaning robot receives the first guiding signal of the charging dock, the cleaning robot continues to move straight, when the second signal receiver 620 of the cleaning robot receives the second guiding signal of the charging dock, the cleaning robot stops moving, then the cleaning robot rotates counterclockwise, when the first signal receiver 610 receives the second guiding signal of the charging dock, the cleaning robot stops rotating;
e2, the cleaning robot follows an arc line to search a first guiding signal of the charging seat when the left wheel is slow and the right wheel is fast; when the first signal receiving device 610 receives the first guiding signal, the cleaning robot looks for the second guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel; when the first signal receiving device 610 receives the second guiding signal, the cleaning robot searches for the first guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel and by an arc line;
e3, repeating the step E2, when the charging contact in front of the cleaning robot contacts the charging spring plate of the charging seat, completing the charging action of the returning charging seat, and the cleaning robot starts to charge.
Example 6
The cleaning robot drives into the charging seat signal area by the sixth angle 606, and the step of returning and charging is as follows:
f1, the third signal receiving device 630 of the cleaning robot receives the second guiding signal of the charging dock, the cleaning robot continues to move straight, when the third signal receiving device 630 of the cleaning robot receives the first guiding signal of the charging dock, the cleaning robot stops walking, then the cleaning robot rotates clockwise, when the first signal receiving device 610 receives the first guiding signal of the charging dock, the cleaning robot stops rotating;
f2, the cleaning robot drives the left wheel to fast and drives the right wheel to slow, and the cleaning robot walks an arc line to search a second guiding signal of the charging seat; when the first signal receiving device 610 receives the second guiding signal, the cleaning robot searches for the first guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel and by an arc line; when the first signal receiving device 610 receives the first guiding signal, the cleaning robot looks for the second guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel;
f3, repeating the operation of step F2, when the charging contact in front of the cleaning robot contacts the charging spring plate of the charging seat, completing the charging operation of the returning charging seat, and the cleaning robot starts to charge.
Example 7
The cleaning robot drives into the charging stand signal area at a seventh angle 607, and the step of returning and charging is as follows:
g1, the fifth signal receiving device 650 of the cleaning robot receives the first guiding signal of the charging dock, the cleaning robot rotates clockwise, and stops rotating when the second signal receiving device 620 receives the first guiding signal of the charging dock;
g2, the second signal receiving device 620 of the cleaning robot receives the first guiding signal of the charging stand, the cleaning robot continues to move straight, when the second signal receiving device 620 of the cleaning robot receives the second guiding signal of the charging stand, the cleaning robot stops moving, then the cleaning robot rotates counterclockwise, and when the first signal receiving device 610 receives the second guiding signal of the charging stand, the cleaning robot stops rotating;
g3, the cleaning robot searches for a first guiding signal of the charging seat by taking an arc when the left wheel is slow and the right wheel is fast; when the first signal receiving device 610 receives the first guiding signal, the cleaning robot looks for the second guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel; when the first signal receiving device 610 receives the second guiding signal, the cleaning robot searches for the first guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel and by an arc line;
g4, repeating the action of G3, when the charging contact in front of the cleaning robot contacts the charging spring plate of the charging seat, completing the charging action of the returning charging seat, and the cleaning robot starts to charge.
Example 8
The cleaning robot drives into the charging stand signal area with an eighth angularity 608, and the return charging step is as follows:
h1, when the fifth signal receiving device 650 of the cleaning robot receives the second guiding signal of the charging dock, the cleaning robot rotates counterclockwise, and when the third signal receiving device 630 receives the second guiding signal of the charging dock, the cleaning robot stops rotating;
h2, the third signal receiving device 630 of the cleaning robot receives the second guiding signal of the charging stand, the cleaning robot continues to move straight forward, stops walking when the third signal receiving device 630 of the cleaning robot receives the first guiding signal of the charging stand, then the cleaning robot rotates clockwise, and stops rotating when the first signal receiving device 610 receives the first guiding signal of the charging stand;
h3, the cleaning robot looks for a second guiding signal of the charging seat by the speed of the left wheel and the speed of the right wheel; when the first signal receiving device 610 receives the second guiding signal, the cleaning robot searches for the first guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel and by an arc line; when the first signal receiving device 610 receives the first guiding signal, the cleaning robot looks for the second guiding signal of the charging stand by the speed of the left wheel and the speed of the right wheel;
h4, repeating the action of step H3, when the charging contact in front of the cleaning robot contacts the charging spring plate of the charging seat, completing the action of returning to the charging seat, and the cleaning robot starts to charge.
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 method of directing the cleaning robot to return to a charging dock. In this embodiment, the electronic device is a cleaning robot. A computer-readable storage medium having stored thereon a computer program for execution by a processor of a method of guiding a cleaning robot back to a charging dock.
The invention adopts multi-signal fusion to realize reasonable planning of the return path of the robot, quickly and accurately positions the direction position of the charging seat relative to the robot, improves the return efficiency and the butt joint success rate of the charging when the robot returns to the charging seat, reduces the time and the battery power consumed by searching the charging seat after the cleaning robot finishes cleaning or the power 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 (8)
1. The method for guiding the cleaning robot to return to the charging seat is applied to the cleaning robot, and is characterized in that the cleaning robot comprises signal receiving devices arranged on two sides and a signal receiving device arranged on the upper part of the front end, and the method comprises the following steps:
s1, entering a guide area, acquiring guide signals by the cleaning robot, wherein the guide signals comprise a first guide signal and a second guide signal, taking the advancing direction of the cleaning robot as the forward direction, receiving any one of the first guide signal and the second guide signal by a signal receiving device arranged at one of two sides of the cleaning robot, and configuring the cleaning robot to linearly travel along the current advancing direction; the pilot region comprises a first pilot signal region corresponding to the first pilot signal and a second pilot signal region corresponding to the second pilot signal;
s2, adjusting the returning direction, when the signal receiving device arranged at one side of the two sides of the cleaning robot receives the guiding signal different from the guiding signal received in the step S1, configuring the cleaning robot to stop running and rotate in place until the signal receiving device arranged at the upper part of the front end of the cleaning robot receives the guiding signal;
s3, performing contraposition regression, and configuring a signal receiving device at the upper part of the front end of the cleaning robot to sequentially and circularly search the guide signal in the step S1 and the guide signal in the step S2 so as to guide the cleaning robot to regress until the charging contact at the front part of the cleaning robot contacts the charging part of the charging seat, the cleaning robot finishes regression, and the charging seat starts charging;
in step S3, the signal receiving device at the upper part of the front end is made to sequentially loop through the guiding signal in step S1 and the guiding signal in step S2 by configuring the differential motion of the two wheels of the cleaning robot to make the cleaning robot take an arc path.
2. The method of guiding a cleaning robot to return to a charging stand according to claim 1, further comprising the steps of:
s0, anti-collision guidance is performed, the cleaning robot acquires anti-collision signals, a signal receiving device arranged in the front of the cleaning robot receives the anti-collision signals, the cleaning robot retreats for a certain distance and rotates, and the cleaning robot is configured to search the guidance signals along the outer side of the boundary of the anti-collision signal area; the anti-collision signal area is a circular area or a partial circular area signal which takes the charging seat as the center of a circle.
3. The method of guiding a cleaning robot to return to the charging-stand according to claim 2, wherein the step S0 further comprises:
in the process of searching the guide signal along the outer side of the boundary of the anti-collision signal area by the cleaning robot, when the cleaning robot detects an obstacle, the cleaning robot retreats and rotates to the reverse direction, and the guide signal is continuously searched along the outer side of the boundary of the anti-collision signal area.
4. The method of guiding a cleaning robot to return to the charging stand according to claim 1, wherein: step S1 further includes:
and the signal receiving device arranged at the rear part of the cleaning robot receives the guide signal, and the cleaning robot rotates in situ until the signal receiving device arranged at one of the two sides of the cleaning robot receives the guide signal.
5. The method of guiding a cleaning robot to return to the charging-stand according to claim 1, wherein the step S1 further comprises:
and the signal receiving device arranged at the front part of the cleaning robot receives the guide signal, and the cleaning robot rotates in situ until the signal receiving device arranged at one of the two sides of the cleaning robot receives the guide signal.
6. The method of guiding a cleaning robot to return to the charging stand according to claim 2 or 3, wherein: in step S0, the cleaning robot is configured to trace an arc path to search for the guiding signal along the outside of the boundary of the anti-collision signal area by configuring differential motion of two wheels of the cleaning robot.
7. 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 1-6.
8. 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 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099879.2A CN109758042B (en) | 2019-01-31 | 2019-01-31 | Method for guiding cleaning robot to return to charging seat, storage medium and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099879.2A CN109758042B (en) | 2019-01-31 | 2019-01-31 | Method for guiding cleaning robot to return to charging seat, storage medium and electronic equipment |
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| Publication Number | Publication Date |
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| CN109758042A CN109758042A (en) | 2019-05-17 |
| CN109758042B true CN109758042B (en) | 2021-10-22 |
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| CN113180547A (en) * | 2021-04-28 | 2021-07-30 | 湖南格兰博智能科技有限责任公司 | Infrared signal based automatic recharging method applied to indoor cleaning robot |
| CN113440054B (en) * | 2021-06-30 | 2022-09-20 | 北京小狗吸尘器集团股份有限公司 | Method and device for determining range of charging base of sweeping robot |
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