CN112674645A - Robot edge cleaning method and device - Google Patents
Robot edge cleaning method and device Download PDFInfo
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- CN112674645A CN112674645A CN202011429891.4A CN202011429891A CN112674645A CN 112674645 A CN112674645 A CN 112674645A CN 202011429891 A CN202011429891 A CN 202011429891A CN 112674645 A CN112674645 A CN 112674645A
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Abstract
The application is suitable for the technical field of cleaning robots, and provides a method and a device for cleaning the edge of a robot, which are applied to the cleaning robot, wherein the method comprises the following steps: the cleaning robot detects a junction of a first side edge and a second side edge of an obstacle when the cleaning robot performs edgewise cleaning along the first side edge of the obstacle; in the event that the cleaning robot detects the junction, the cleaning robot determines a first location at which the cleaning robot performs a rotational action; under the condition that the cleaning robot moves to the first position, the cleaning robot rotates for a first angle at the first position in situ, so that an included angle between the cleaning robot and the second side edge after rotation is smaller than a second angle, and the distance between the cleaning robot and the second side edge is smaller than a first distance. The problem of the robot that aims at solving prior art existence has the region of missing sweeping in the corner is solved.
Description
Technical Field
The application belongs to the technical field of cleaning robots, and particularly relates to a method and a device for cleaning the edge of a robot.
Background
With the development of science and technology, a cleaning robot has become one of common household appliances at present. In daily use, cleaning robots are often used to clean floors indoors where various external right-angle obstacles are often present.
When the cleaning robot travels to the edge of the outer right-angle obstacle along one side of the obstacle, the obstacle is cleaned in a manner of rotating while traveling, but the cleaning manner can cause the cleaning robot to have an area which is not swept at the corner. Therefore, the cleaning efficiency of the cleaning robot is poor, and the user experience is poor.
Disclosure of Invention
The embodiment of the application provides a method and a device for cleaning the edge of a robot, which can clean the missing scanning area at the corner of the robot and improve the user experience.
In a first aspect, an embodiment of the present application provides an edgewise cleaning method for a robot, which is applied to a cleaning robot, and includes: in one possible implementation manner of the first aspect, in a case where the cleaning robot performs edgewise cleaning along a first side edge of an obstacle, the cleaning robot detects a junction of the first side edge and a second side edge of the obstacle; in the event that the cleaning robot detects the junction, the cleaning robot determines a first location at which the cleaning robot performs a rotational action; under the condition that the cleaning robot moves to the first position, the cleaning robot rotates for a first angle at the first position in situ, so that an included angle between the cleaning robot and the second side edge after rotation is smaller than a second angle, and the distance between the cleaning robot and the second side edge is smaller than a first distance.
Alternatively, the barrier may be an outer right angle barrier or a chamfered outer right angle barrier.
The right-angle obstacle outside the chamfer is that the first side edge and the second side edge of the obstacle are perpendicular, but the first side edge and the second side edge do not directly intersect, and the first side edge and the second side edge can be connected through a straight line or a curve.
In the above technical solution, when the cleaning robot detects the intersection of the obstacles, a position where the cleaning robot can perform a rotation motion is determined, and the cleaning robot then travels to the position and performs a pivot rotation at the position. This allows cleaning of the area at the corners.
Alternatively, the first location may be a point or an area.
Optionally, the cleaning robot may be a sweeping robot, a mopping robot or a sweeping and mopping integrated robot.
Alternatively, the cleaning robot may detect the intersection of the obstacle using at least one of an obstacle sensor including, but not limited to, a vision sensor, a laser radar sensor, an infrared sensor, an ultrasonic sensor, a microwave sensor, and a millimeter wave sensor.
In some possible implementations, the cleaning robot determining a first position at which the cleaning robot performs a rotational action includes:
the cleaning robot determines the first position according to a position of a transverse center axis of a driving wheel in the cleaning robot, a second distance from the cleaning robot to the second side edge, and a size parameter of the cleaning robot.
In the technical scheme, under the condition that the cleaning robot actually travels and cleans, the cleaning robot determines a first position according to the position of the cleaning robot, the position of the driving wheel and the size of the cleaning robot during actual cleaning, and the cleaning robot executes an in-situ rotation action at the first position so that the cleaning robot can be attached to the second side edge of the obstacle for cleaning, thereby avoiding a missed cleaning area in the cleaning process and improving the cleaning efficiency.
The close contact in the embodiment of the present application means that the cleaning robot forms an angle of [ n °, m ° ] with the second side edge, for example, n ° -0 °, m ° -5 °.
In some possible implementations, the cleaning robot is at a distance [ j, k ] of 0 cm and k of 2 cm from the second side edge.
In some possible implementations, the determining, by the cleaning robot, the first position as a function of a lateral center axis position of a drive wheel in the cleaning robot, a second distance of the cleaning robot to the second side edge, and a dimensional parameter of the cleaning robot, includes:
the cleaning robot determines a third distance between the edge of the cleaning robot in the first direction and the second side edge when the cleaning robot performs a rotating action according to the vertical distance between the transverse central axis of the driving wheel and the transverse central axis of the cleaning robot and the size parameters of the cleaning robot;
the cleaning robot determining the first position according to the second distance and the third distance;
wherein the second distance is a distance that an edge of the cleaning robot in the first direction is perpendicular to the second side edge when the cleaning robot detects the intersection; the transverse central axis of the driving wheel and the transverse central axis of the cleaning robot are perpendicular to the first direction; the first direction is opposite to a second direction in which the cleaning robot advances.
In some possible implementations, the determining, by the cleaning robot according to the relative position of the transverse central axis of the driving wheel and the transverse central axis of the cleaning robot in the cleaning robot and the size parameter of the cleaning robot, a third distance that an edge of the cleaning robot in the first direction is perpendicular to the second side edge when the cleaning robot performs the rotating action includes:
when the transverse central axis of the driving wheel is coincident with the transverse central axis of the cleaning robot, determining that the third distance is
Wherein a is the length of the transverse longest axis of the cleaning robot, b is the length of the longitudinal longest axis of the cleaning robot, and the units of a and b are the same.
In some possible implementations, the determining, by the cleaning robot according to the relative position of the transverse central axis of the driving wheel and the transverse central axis of the cleaning robot in the cleaning robot and the size parameter of the cleaning robot, a third distance that an edge of the cleaning robot in the first direction is perpendicular to the second side edge when the cleaning robot performs the rotating action includes:
when the transverse central axis of the driving wheel is not coincident with the transverse central axis of the cleaning robot, and the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the second direction is greater than the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the first direction, determining that the third distance is
Wherein x is a vertical distance between a transverse central axis of the driving wheel and a transverse central axis of the cleaning robot, a is a length of a transverse longest axis of the cleaning robot, b is a length of a longitudinal longest axis of the cleaning robot, and the units of x, a and b are the same.
In some possible implementations, the determining, by the cleaning robot according to the relative position of the transverse central axis of the driving wheel and the transverse central axis of the cleaning robot in the cleaning robot and the size parameter of the cleaning robot, a third distance that an edge of the cleaning robot in the first direction is perpendicular to the second side edge when the cleaning robot performs the rotating action includes:
when the transverse central axis of the driving wheel is not coincident with the transverse central axis of the cleaning robot, and the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the first direction is greater than the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the second direction, determining that the third distance is
Wherein x is a vertical distance between a transverse central axis of the driving wheel and a transverse central axis of the cleaning robot, a is a length of a transverse longest axis of the cleaning robot, b is a length of a longitudinal longest axis of the cleaning robot, and the units of x, a and b are the same.
In some possible implementations, the second distance is the second distance to the second side when the cleaning robot detects the junction;
the cleaning robot determining the first position from the second distance and the third distance, including:
the cleaning robot determines the first position by summing or differencing the second distance and the third distance.
In the technical scheme, different third distances are provided according to different positions of the driving wheels, so that the method provided by the application can be applied to cleaning robots with different size parameters.
In some possible implementations, the first angle is greater than or equal to 80 ° and less than or equal to 100 °.
In some possible implementations, the first distance is greater than or equal to 0 centimeters and less than or equal to 2 centimeters;
the second angle is greater than or equal to 0 ° and less than or equal to 10 °.
In a second aspect, the present application provides an apparatus, including a memory and a processor, where the processor is coupled with the memory, and is configured to execute a computer program or instructions stored in the memory, so that the method in the first aspect is performed.
In a third aspect, embodiments of the present application provide a computer program product comprising a computer program (also referred to as instructions or code), which when executed by a computer, causes the computer to implement the method of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium on which a computer program (also referred to as instructions or codes) for implementing the method in the first aspect is stored.
It is to be understood that, for the beneficial effects of the second and third aspects and the fourth aspect, reference may be made to the description of the first aspect, and details are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that: in the embodiment of the application, the cleaning robot is cleaned along the first side edge of the obstacle, when the cleaning robot detects the intersection of the obstacle, the first position of the cleaning robot for executing the rotation action is determined according to the position of the transverse central axis of the driving wheel in the cleaning robot, the second distance from the cleaning robot to the second side edge and the size parameter of the cleaning robot, and then the cleaning robot moves to the first position to execute the in-situ rotation action, so that the cleaning robot can be attached to the second side edge of the obstacle after rotating, and continues to clean along the second side edge of the obstacle, the cleaning robot can clean the area at the corner, the cleaning efficiency and the cleaning coverage rate of the cleaning robot are improved, and the user experience is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of an edge cleaning method for a robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of an obstacle provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of relative positions of drive wheels and dimensional parameters of a cleaning robot provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of an exemplary edgewise cleaning method for a circular cleaning robot according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an exemplary method for cleaning a square cleaning robot along an edge according to an embodiment of the present disclosure;
6-12 are schematic diagrams of a method for edgewise cleaning of a rectangular cleaning robot provided by an embodiment of the present application;
fig. 13 is a schematic block diagram of an example apparatus provided in the embodiments of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular techniques, in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," and the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "include" and its derivatives mean "including, but not limited to," unless otherwise specifically noted.
In one possible implementation, when the cleaning robot performs the edge cleaning on the obstacle, the cleaning robot performs the rotating action while traveling at the corner, and the cleaning manner can cause the cleaning robot to generate a missed scanning area at the corner, so that the cleaning efficiency of the cleaning robot is poor. In order to clean the missed-scanning area, the cleaning robot needs to move a distance in the direction opposite to the advancing direction after rotating, which makes the cleaning robot cleaning complicated and affects the user experience. The embodiment of the application provides a method and a device for cleaning the edge of a robot, when the cleaning robot cleans one edge of an obstacle, a rotating area is determined, the cleaning robot performs in-situ rotation after moving to the rotating area, and the cleaning robot can clean the other edge of the obstacle after rotating, so that the area which is not swept by the cleaning robot is reduced, the cleaning efficiency of the cleaning robot is improved, and the cleaning complexity can be reduced.
In the embodiment of the application, the cleaning robot can travel and clean along the outer right-angle barrier or the chamfer outer right-angle barrier, can also travel and clean along the outer obtuse-angle barrier and/or the inner obtuse-angle barrier, and can also travel and clean along the circular barrier.
The outer right-angle obstacle of the chamfer comprises an outer right-angle obstacle of the chamfer and an outer right-angle obstacle of the chamfer.
Fig. 2 is a schematic view of an outer right angle barrier, a chamfered outer right angle barrier, and a rounded outer right angle barrier of the cleaning robot.
As shown in fig. 2, the right angle of the outer right-angle barrier is composed of a first side edge, a second side edge and a junction; wherein, the first side is perpendicular to the second side, and the junction is the drop foot of first side and second side.
As shown in fig. 2, the intersection of the outer right-angle obstacle and the rounded outer right-angle obstacle is the intersection of the extension lines of the first side and the second side of the outer right-angle obstacle; wherein the first side edge is perpendicular to the second side edge.
And different obstacles, the robot rotates in place by a certain angle when walking to a rotating area, for example, the cleaning robot moves along the outer right-angle obstacle for cleaning, and the rotating angle can be [80 degrees, 100 degrees ]. For another example, if the cleaning robot travels along an outer obtuse obstacle having an angle of X, the angle of rotation may be [ X-190, X-170 ]. If the cleaning robot travels along the inner obtuse obstacle with the angle of Y degrees for cleaning, the rotating angle can be [ 170-Y degrees, 190-Y degrees ]. The embodiments of the present application only take the outer right-angle barrier as an example, but the embodiments of the present application do not limit this.
Fig. 1 is a schematic flowchart of a method 100 for cleaning a robot along an edge according to an embodiment of the present disclosure, and with reference to fig. 1, the method for cleaning the robot along the edge according to the embodiment of the present disclosure may include the following steps:
s101, under the condition that the cleaning robot carries out edgewise cleaning along the first side edge of the outer right-angle barrier, the cleaning robot detects the intersection of the first side edge and the second side edge of the outer right-angle barrier.
Alternatively, the junction may be a junction of the first side edge and the second side edge, or may be a junction line of the first side edge and the second side edge perpendicular to the ground.
In some possible implementations, the obstacle may be a right-angle obstacle outside the chamfer, and the intersection may be a meeting point after the first side and the second side of the right-angle obstacle outside the chamfer extend, or an intersection line perpendicular to the ground after the first side and the second side of the right-angle obstacle outside the chamfer extend.
As shown in fig. 2, a schematic view of an outer right-angle obstacle of the cleaning robot is shown.
As shown in fig. 2, the right angle of the outer right angle barrier is composed of a first side, a second side, and a junction.
Wherein, the first side is perpendicular to the second side, and the junction is the drop foot of first side and second side.
The cleaning robot can be a sweeping robot, a mopping robot or a sweeping and mopping integrated robot. This is not a limitation of the present application.
In some possible implementations, the cleaning robot may utilize an obstacle sensor to detect the distance of the cleaning robot to the intersection of the outer right-angle obstacle.
Optionally, the obstacle sensor includes a vision sensor, a laser radar sensor, an infrared sensor, an ultrasonic sensor, a microwave sensor, and a millimeter wave sensor.
Alternatively, the obstacle sensor may detect an obstacle in the second direction, and may also detect an obstacle in a direction perpendicular to the second direction.
It should be noted that the second direction is parallel to the forward direction of the cleaning robot and has the same direction, and the first direction is parallel to the forward direction of the cleaning robot and has the opposite direction.
It should be noted that the obstacle sensor may detect a vertical distance from the obstacle sensor to an obstacle intersection, and may also detect whether an obstacle is present by a return signal, and may detect a relative position of the cleaning robot and the obstacle if the presence of the obstacle is detected by the return signal. As will be apparent to those skilled in the art, the present application is not limited thereto.
In some possible implementations, the obstacle sensor may detect that the shape of the obstacle is an outer right angle.
The cleaning robot can be obtained by at least one mode, and the shape of the obstacle is an external right angle:
first, before the method 100, the cleaning robot is preset with an outer right-angle obstacle.
In a second mode, when the cleaning robot travels along the first side of the obstacle for cleaning, the method 100 further includes:
when the cleaning robot travels along the first side edge of the outer right-angle obstacle for cleaning, the obstacle sensor in the cleaning robot can detect that the obstacle is in the shape of the outer right-angle obstacle.
In a third mode, when the cleaning robot travels along the first side edge of the obstacle for cleaning, it can know that the obstacle is an outer right-angle obstacle through other modes, for example, the mobile phone informs the cleaning robot of the information that the obstacle is the outer right-angle obstacle.
It should be noted that, when the cleaning robot travels along the first side of the outer right-angle obstacle for cleaning, the cleaning robot may cling to the first side of the outer right-angle obstacle, or may have a distance from the first side of the outer right-angle obstacle.
S102: in the case where the cleaning robot detects the intersection, the cleaning robot determines a first position where the cleaning robot performs a rotating motion.
Alternatively, when the cleaning robot detects the junction, the cleaning robot may not have reached the junction, may just have reached the junction, or may have passed over the junction.
Alternatively, the cleaning robot may sum the second distance and the third distance to determine the first position, and may also sum the second distance and the third distance to determine the first position.
Alternatively, the second distance may be a distance from an edge of the cleaning robot in the first direction to the second side when the cleaning robot detects the intersection, and the third distance may be a distance from an edge of the cleaning robot in the first direction to the second side when the cleaning robot performs the in-situ rotation motion;
optionally, the second distance may also be a distance from an edge of the cleaning robot in the first direction to the second side edge when the cleaning robot detects the intersection, and the third distance may also be a distance from an edge of the cleaning robot in the first direction to the second side edge when the cleaning robot performs the in-situ rotation motion;
alternatively, the second distance may be a distance from a transverse central axis of the cleaning robot perpendicular to the first direction to the second side edge when the cleaning robot detects the intersection, and the third distance may be a distance from the transverse central axis of the cleaning robot perpendicular to the first direction to the second side edge when the cleaning robot performs the in-situ rotation. This is not a limitation of the present application.
Optionally, S102, includes: the cleaning robot determines the first position according to the position of the transverse central axis of the driving wheel in the cleaning robot, a second distance perpendicular to the second side edge from the cleaning robot and the size parameters of the cleaning robot.
Alternatively, the driving wheel of the cleaning robot may be one driving wheel, two driving wheels, or three driving wheels.
Optionally, the dimensional parameters of the cleaning robot include: the cleaning robot is circular in shape, and the size parameters of the cleaning robot comprise: diameter and/or radius; if the cleaning robot is rectangular, the dimensional parameters of the cleaning robot include: length and width, or a difference between length and width; the cleaning robot is triangular in shape, and the size parameters of the cleaning robot comprise: the height and base of the triangle, or the longest axis of the triangle in the first and second directions. This is not a limitation of the present application.
It should be understood that the cleaning robot determines a point according to the position of the transverse central axis of the driving wheel in the cleaning robot, the second distance from the cleaning robot to the second side edge and the size parameters of the cleaning robot, and the first position may be the determined point, or may be a circular area with the radius r as the center of the circle, or may be a triangular area with the side length d with the center of gravity as the point, or may be a square area with the side length h with the center of the point as the point. The size and shape of the first position can be set according to the actual situation and the requirements of the user. This is not a limitation of the present application.
S103: when the cleaning robot travels to the first position, the cleaning robot rotates by a first angle at the first position, so that an included angle between the cleaning robot and the second side edge is smaller than a second angle, and a distance between the cleaning robot and the second side edge is smaller than a first distance.
The first angle may be an angle at which the cleaning robot performs a rotating motion at the first position, and the user may set the first angle according to an actual situation. This is not a limitation of the present application.
The second angle may be an included angle between the cleaning robot and the second side edge of the outer right-angle obstacle after the cleaning robot rotates in situ at the first position, and the user may set the second angle according to actual conditions. This is not a limitation of the present application.
The first distance may be a distance from a side edge, which is the same as the rotation direction of the cleaning robot and is parallel to the advancing direction of the cleaning robot, to a second side edge of the outer right-angle obstacle after the cleaning robot rotates in place at the first position, and the user may set the second angle according to actual conditions. This is not a limitation of the present application.
Optionally, after the cleaning robot rotates at the first position, the cleaning robot may detect an included angle between the cleaning robot and the second side edge and/or a distance between the cleaning robot and the second side edge through an obstacle sensor and/or a gyroscope mounted on the cleaning robot; the cleaning robot may directly continue to travel for cleaning without detecting the angle of the cleaning robot to the second side edge and/or the distance of the cleaning robot to the second side edge. This is not a limitation of the present application.
It is to be understood that the installation position of the obstacle sensor may be any position on the cleaning robot, as will be apparent to those skilled in the art. The installation position of the sensor is not limited in the present application.
Through the execution of S101 to S103, the cleaning robot can avoid the condition of a missed scanning area when cleaning the outer right-angle barrier, and the cleaning efficiency and the cleaning effect are improved.
Fig. 3 provides a schematic diagram of the relative positions of the drive wheels and the dimensional parameters of the cleaning robot of an embodiment of the present application.
As shown in fig. 3, the cleaning robot may be various shapes as in fig. 3; the transverse central axis where the driving wheel is located can be on the transverse central axis of the cleaning robot, can also be between the transverse central axis of the cleaning robot and the edge of the cleaning robot in the first direction, and can also be between the transverse central axis of the cleaning robot and the edge of the cleaning robot in the second direction.
Wherein, a is the length of the transverse longest axis of the cleaning robot, b is the length of the longitudinal longest axis of the cleaning robot, and x is the vertical distance between the transverse central axis of the driving wheel and the transverse central axis of the cleaning robot; the transverse longest axis, the transverse central axis of the driving wheel and the transverse central axis of the cleaning robot are perpendicular to the first direction and/or the second direction, and the longitudinal longest axis is parallel to the first direction and/or the second direction.
In some possible implementations, the obstacle sensor may be mounted on the front or rear edge of the cleaning robot, may be mounted on the left or right edge of the cleaning robot, and may be mounted elsewhere on the cleaning robot.
In some possible implementations, the obstacle sensor is mounted on a front edge of the cleaning robot, and the obstacle sensor may detect a vertical distance L from the obstacle sensor to an obstacle intersection and a distance S from a transverse center axis where the obstacle sensor is located to a rear edge of the cleaning robot. In this case, the sum of the distance L and the distance S is the second distance.
In some possible implementations, an obstacle sensor is mounted on the rear edge of the cleaning robot, which may detect the vertical distance L of the obstacle sensor to the obstacle intersection. In this case, the distance L is the second distance.
In some possible implementations, the obstacle sensor is mounted at other locations on the cleaning robot, and the obstacle sensor may detect other distance and size parameters to determine the second distance.
Fig. 4-11 provide schematic diagrams of the method of edgewise cleaning all traveling along a first side of an outer right-angle obstacle with a cleaning robot having two drive wheels, detecting the outer right-angle obstacle intersection by an obstacle sensor mounted on the cleaning robot; determining a first position of the cleaning robot to execute an in-situ rotation action by taking the second distance as the distance from the edge of the cleaning robot in the first direction to the second side edge when the cleaning robot detects the intersection, and taking the third distance as the distance from the edge of the cleaning robot in the first direction to the second side edge when the cleaning robot executes the in-situ rotation action; the cleaning robot reaches the first position where the cleaning robot performs the in-situ rotation, rotates 90 degrees clockwise, and then clings to the second side of the outer right-angle obstacle.
In an embodiment provided by the present invention, an obstacle sensor that detects an outer right-angle obstacle intersection is installed on an edge in a second direction in which the cleaning robot and the cleaning robot travel in the same direction.
Optionally, when the cleaning robot detects the intersection and the cleaning robot performs the in-situ rotation action with the edge of the cleaning robot in the first direction, the cleaning robot determines the first position by subtracting or summing the second distance and the third distance according to whether the edge of the cleaning robot in the first direction is on the same side as the second side or not.
Specifically, if the cleaning robot detects the intersection and the cleaning robot performs the in-situ rotation action with the edge in the first direction, the cleaning robot determines the first position by subtracting the second distance from the third distance according to the condition that the edge in the first direction of the cleaning robot is on the same side of the second side edge;
if the cleaning robot detects the intersection, when the cleaning robot performs the in-situ rotation action with the edge in the first direction and the cleaning robot, the cleaning robot sums the second distance and the third distance to determine the first position according to the condition that the edge in the first direction of the cleaning robot is not on the same side of the second side.
The following describes a case where the lateral central axis where the driving wheels are located coincides with the lateral central axis of the cleaning robot with reference to fig. 4 to 7;
fig. 4 illustrates an example of an edge-following method of a circular cleaning robot, taking as an example a circular cleaning robot 402 in which the lateral center axes of the driving wheels 401 coincide with the lateral center axis of the cleaning robot. As shown in fig. 4 (a), the circular cleaning robot 402 moves forward along a first side of the outer right-angle obstacle for cleaning, the obstacle sensor 403 mounted on the circular cleaning robot 402 detects the outer right-angle obstacle, and when the circular cleaning robot 402 detects the intersection where the outer right-angle obstacle is detected, a first position where the circular cleaning robot 402 performs a rotating motion is determined.
As shown in fig. 4, the obstacle sensor 403 is installed on the second-direction edge of the circular cleaning robot 402.
In some possible implementations, when the obstacle sensor 403 detects an outer right-angle obstacle intersection, the obstacle sensor 403 may detect a distance L1 from the obstacle sensor 403 to the outer right-angle obstacle intersection, a distance S1 from the transverse center axis of the obstacle sensor 403 to an edge of the circular cleaning robot 402 in a first direction opposite to a forward direction of the circular cleaning robot 402, and a third distance according to the distance L1 by the circular cleaning robot 402
To determine the distance the circular cleaning robot 402 has to travel to reach the first position.
Wherein the second distance is distance L1 summed with distance S1.
As can be seen from the figure 4, it is,
0, then the circular cleaning robot 402 has to walk S1+ L1 to reach the first position.
As shown in (b) of fig. 4, the circular cleaning robot 402 walks S1+ L1 to a first position where the circular cleaning robot 402 rotates 90 ° clockwise around the center of the driving wheels.
As shown in fig. 4 (c), after the circular cleaning robot 402 rotates, the circular cleaning robot 402 makes an angle of 0 ° with the second side edge of the outer right-angle obstacle, and the distance between the circular cleaning robot 402 and the second side edge of the outer right-angle obstacle is 0 cm.
As shown in fig. 4 (d), the circular cleaning robot 402 proceeds to clean against the second side of the outer right-angle obstacle.
It should be understood that the direction and angle of the cleaning robot rotating at the first position in the embodiments provided in the present application may be set according to actual situations. This is not a limitation of the present application.
Fig. 5 illustrates a square cleaning robot 502 having a driving wheel 501 whose lateral center axis coincides with the cleaning robot lateral center axis, and provides an example of a method for making a square cleaning robot edgewise. As shown in fig. 5 (a), the square cleaning robot 502 moves forward along a first side of the outer right-angle obstacle for cleaning, the obstacle sensor 503 mounted on the square cleaning robot 502 detects the outer right-angle obstacle, and when the square cleaning robot 502 detects the intersection where the outer right-angle obstacle is detected, a first position where the square cleaning robot 502 is to perform a rotating motion is determined.
As shown in fig. 5, the obstacle sensor 503 is installed at a corner between the second-direction edge and the right-side edge of the square cleaning robot 502.
In some possible implementations, when the obstacle sensor 503 detects an outer right-angle obstacle intersection, the obstacle sensor 503 may detect a distance L2 from the obstacle sensor 503 to the outer right-angle obstacle intersection, and the square cleaning robot 502 may detect a distance S2 and a third distance from the distance L2 and a transverse center axis of the obstacle sensor 503 to an edge of the square cleaning robot 502 in a first direction opposite to a direction in which the square cleaning robot 502 is advanced according to the distance S2 and the distance L
To determine the distance the square cleaning robot 502 has to travel to reach the first position.
Wherein the second distance is distance L2 summed with distance S2.
As can be seen from the figure 5 of the drawings,
0, then the square cleaning robot 502 has to walk S2+ L2 to reach the first position.
As shown in (b) of fig. 5, the square cleaning robot 502 walks S2+ L2 to a first position where the square cleaning robot 502 rotates 90 ° clockwise around the center of the driving wheels.
As shown in fig. 5 (c), after the square cleaning robot 502 rotates, the angle between the square cleaning robot 502 and the second side of the outer right-angle obstacle is 0 °, and the distance between the square cleaning robot 502 and the second side of the outer right-angle obstacle is 0 cm.
As shown in fig. 5 (d), the square cleaning robot 502 continues to advance cleaning against the second side of the outer right-angle obstacle.
Fig. 6 illustrates an example of an edge-following method for a rectangular cleaning robot, taking as an example a rectangular cleaning robot 602 in which the lateral central axis of the drive wheel 601 coincides with the lateral central axis of the cleaning robot, and the lateral longest axis of the cleaning robot is smaller than the longitudinal longest axis of the cleaning robot. As shown in fig. 6 (a), the rectangular cleaning robot 602 moves forward along a first side of the outer right-angle obstacle for cleaning, the obstacle sensor 603 mounted on the rectangular cleaning robot 602 detects the outer right-angle obstacle, and when the rectangular cleaning robot 602 detects the intersection where the outer right-angle obstacle is detected, a first position where the rectangular cleaning robot 602 is to perform a rotating motion is determined.
As shown in fig. 6, the obstacle sensor 603 is installed at a corner between the second-direction edge and the right-side edge of the rectangular cleaning robot 602.
In some possible implementations, when the obstacle sensor 603 detects an outer right-angle obstacle intersection, the obstacle sensor 603 may detect a distance L3 from the obstacle sensor 603 to the outer right-angle obstacle intersection, and the oblong cleaning robot 602 determines a distance that the oblong cleaning robot 602 needs to travel to reach the first position and a third distance according to the distance L3 and a distance S3 from a transverse central axis of the obstacle sensor 603 to an edge of the oblong cleaning robot 602 in a first direction opposite to a forward direction of the oblong cleaning robot 602
Wherein the second distance is distance L3 summed with distance S3.
As can be seen from fig. 6, when the cleaning robot detects the intersection, and the edge of the cleaning robot in the first direction and the cleaning robot perform the in-situ rotation motion, the edge of the cleaning robot in the first direction is on the same side as the second side edge, and the cleaning robot should determine the first position by subtracting the second distance from the third distance; the rectangular cleaning robot 602 still walks to the first position
The first position can be reached.
As shown in fig. 6 (b), the rectangular cleaning robot 602 travels
A first position is reached where the rectangular cleaning robot 602 is rotated 90 ° in the clockwise direction centering on the center of the driving wheel.
As shown in fig. 6 (c), after the rectangular cleaning robot 602 rotates, the rectangular cleaning robot 602 makes an angle of 0 ° with the second side edge of the outer right-angled obstacle, and the distance between the rectangular cleaning robot 602 and the second side edge of the outer right-angled obstacle is 0 cm.
As shown in fig. 6 (d), the rectangular cleaning robot 602 proceeds to clean against the second side of the outer right-angle obstacle.
Fig. 7 illustrates an example of an edge method of a rectangular cleaning robot, taking as an example a rectangular cleaning robot 702 in which the lateral central axes of the drive wheels 701 coincide with the lateral central axis of the cleaning robot, and the lateral longest axis of the cleaning robot is larger than the longitudinal longest axis of the cleaning robot. As shown in fig. 7 (a), the rectangular cleaning robot 702 moves forward along a first side of the outer right-angle obstacle for cleaning, at this time, the obstacle sensor 703 mounted on the rectangular cleaning robot 702 detects the outer right-angle obstacle, and when the rectangular cleaning robot 702 detects the intersection where the outer right-angle obstacle is detected, a first position where the rectangular cleaning robot 702 is to perform a rotating motion is determined.
As shown in fig. 7, the obstacle sensor 703 is installed at the corner between the second-direction edge and the right-side edge of the rectangular cleaning robot 702.
In some possible implementations, when the obstacle sensor 703 detects an outer right-angle obstacle intersection, the obstacle sensor 703 may detect a distance L4 from the obstacle sensor 703 to the outer right-angle obstacle intersection, and the oblong cleaning robot 702 may detect a distance S4 from the transverse center axis of the obstacle sensor 703 to an edge of the oblong cleaning robot 702 in a first direction opposite to a forward direction of the oblong cleaning robot 702 and a third distance according to the distance L4 from the oblong cleaning robot 702 to the edge of the oblong cleaning robot 702 in the first direction
To determine the distance the oblong cleaning robot 702 has to travel to reach the first position.
Wherein the second distance is distance L4 summed with distance S4.
As can be seen from fig. 7, when the cleaning robot detects the intersection, and the edge of the cleaning robot in the first direction and the cleaning robot perform the in-situ rotation motion, the edge of the cleaning robot in the first direction is not on the same side as the second side edge, and the cleaning robot should sum the second distance and the third distance to determine the first position; the rectangular cleaning robot 702 still has to walk to reach the first position
The first position can be reached.
As shown in FIG. 7 (b), the rectangular cleaning robot 702 walks
A first position is reached where the rectangular cleaning robot 702 is rotated 90 ° clockwise around the center of the driving wheel.
As shown in fig. 7 (c), after the rectangular cleaning robot 702 rotates, the rectangular cleaning robot 702 makes an angle of 0 ° with the second side edge of the outer right-angle obstacle, and the rectangular cleaning robot 702 is 0 cm away from the second side edge of the outer right-angle obstacle.
As shown in fig. 7 (d), the rectangular cleaning robot 702 proceeds to clean against the second side of the outer right-angle obstacle.
In some possible implementations, when the transverse central axis of the driving wheel is not coincident with the transverse central axis of the cleaning robot, and the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the second direction is greater than the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the first direction, determining the third distance as
A case where the distance from the transverse central axis where the driving wheels are located to the edge of the cleaning robot in the second direction is greater than the distance from the transverse central axis where the driving wheels are located to the edge of the cleaning robot in the first direction will be described with reference to fig. 8 and 9;
fig. 8 shows an example of an edge-following method of a rectangular cleaning robot, taking as an example a rectangular cleaning robot 802 in which the lateral center axis of the driving wheel 801 is away from the second direction which is the same as the forward direction of the cleaning robot, and the lateral longest axis of the cleaning robot is smaller than the longitudinal longest axis of the cleaning robot. As shown in fig. 8 (a), the rectangular cleaning robot 802 moves forward along a first side of the outer right-angle obstacle for cleaning, the obstacle sensor 803 mounted on the rectangular cleaning robot 802 detects the outer right-angle obstacle, and when the rectangular cleaning robot 802 detects the intersection where the outer right-angle obstacle is detected, a first position where the rectangular cleaning robot 802 is to perform a rotating motion is determined.
As shown in fig. 8, the obstacle sensor 803 is installed at a corner between the second-direction edge and the right-side edge of the rectangular cleaning robot 802.
In some possible implementations, when the obstacle sensor 803 detects an outer right-angle obstacle intersection, the obstacle sensor 803 may detect a distance L5 from the obstacle sensor 803 to the outer right-angle obstacle intersection, the oblong cleaning robot 802 according to the distance L5, and the obstacleA distance S5 from the transverse center axis of the sensor 803 to the edge of the rectangular cleaning robot 802 in the first direction opposite to the forward direction of the rectangular cleaning robot 802, and a third distance
To determine the distance the oblong cleaning robot 802 has to travel to reach the first position.
Wherein the second distance is distance L5 summed with distance S5.
As can be seen from fig. 8, when the cleaning robot detects the intersection, and the edge of the cleaning robot in the first direction and the cleaning robot perform the in-situ rotation motion, the edge of the cleaning robot in the first direction is not on the same side as the second side edge, and the cleaning robot should sum the second distance and the third distance to determine the first position; the rectangular cleaning robot 802 still needs to walk when reaching the first position
The first position can be reached.
As shown in fig. 8 (b), the rectangular cleaning robot 802 walks
A first position is reached where the rectangular cleaning robot 802 rotates 90 ° clockwise around the center of the driving wheel.
As shown in fig. 8 (c), after the rectangular cleaning robot 802 rotates, the angle between the rectangular cleaning robot 802 and the second side edge of the outer right-angle obstacle is 0 °, and the distance between the rectangular cleaning robot 802 and the second side edge of the outer right-angle obstacle is 0 cm.
As shown in fig. 8 (d), the rectangular cleaning robot 802 proceeds to clean against the second side of the outer right-angle obstacle.
Fig. 9 shows an example of a rectangular cleaning robot 902 in which the lateral center axis of the driving wheel 901 is away from the second direction which is the same as the forward direction of the cleaning robot, and the longest lateral axis of the cleaning robot is larger than the longest longitudinal axis of the cleaning robot. As shown in fig. 9 (a), the rectangular cleaning robot 902 moves forward along a first side of the outer right-angle obstacle for cleaning, the obstacle sensor 903 mounted on the rectangular cleaning robot 902 detects the outer right-angle obstacle, and when the rectangular cleaning robot 902 detects a junction where the outer right-angle obstacle is detected, a first position where the rectangular cleaning robot 902 is to perform a rotating motion is determined.
As shown in fig. 9, the obstacle sensor 903 is installed at a corner between the second-direction edge and the right-side edge of the rectangular cleaning robot 902.
In some possible implementations, when the obstacle sensor 903 detects an outer right-angle obstacle intersection, the obstacle sensor 903 may detect a distance L6 from the obstacle sensor 903 to the outer right-angle obstacle intersection, the oblong cleaning robot 902 may detect a distance S6 from a transverse center axis where the obstacle sensor 903 is located to an edge of the oblong cleaning robot 902 in a first direction opposite to a forward direction of the oblong cleaning robot 902, and a third distance according to the distance L6
To determine the distance the oblong cleaning robot 902 has to travel to reach the first position.
Wherein the second distance is distance L6 summed with distance S6.
As can be seen from fig. 9, when the cleaning robot detects the intersection, and the edge of the cleaning robot in the first direction and the cleaning robot perform the in-situ rotation motion, the edge of the cleaning robot in the first direction is not on the same side as the second side edge, and the cleaning robot should sum the second distance and the third distance to determine the first position; the rectangular cleaning robot 902 still walks to the first position
The first position can be reached.
As shown in fig. 9 (b), the rectangular cleaning robot 902 travels
A first position is reached where the rectangular cleaning robot 902 rotates 90 ° clockwise around the center of the driving wheel.
As shown in fig. 9 (c), after the rectangular cleaning robot 902 rotates, the rectangular cleaning robot 902 makes an angle of 0 ° with the second side of the outer right-angle obstacle, and the rectangular cleaning robot 902 is 0 cm away from the second side of the outer right-angle obstacle.
As shown in fig. 9 (d), the rectangular cleaning robot 902 continues to advance cleaning against the second side of the outer right-angle obstacle.
In some possible implementations, when the transverse central axis of the driving wheel is not coincident with the transverse central axis of the cleaning robot, and the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the first direction is greater than the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the second direction, determining the third distance as
A case where the distance from the transverse central axis where the driving wheels are located to the edge of the cleaning robot in the first direction is greater than the distance from the transverse central axis where the driving wheels are located to the edge of the cleaning robot in the second direction will be described with reference to fig. 10 to 12;
fig. 10 illustrates an example of an edge-following method of a rectangular cleaning robot, taking as an example a rectangular cleaning robot 1002 in which the lateral center axis of a driving wheel 1001 is away from a first direction opposite to the forward direction of the cleaning robot and the lateral longest axis of the cleaning robot is larger than the longitudinal longest axis of the cleaning robot. As shown in fig. 10 (a), the rectangular cleaning robot 1002 moves forward along a first side of the outer right-angle obstacle for cleaning, the obstacle sensor 1003 mounted on the rectangular cleaning robot 1002 detects the outer right-angle obstacle, and when the rectangular cleaning robot 1002 detects a meeting point where the outer right-angle obstacle is detected, a first position where the rectangular cleaning robot 1002 is to perform a rotating motion is determined.
As shown in fig. 10, the obstacle sensor 1003 is installed at a corner between the second-direction edge and the right-side edge of the rectangular cleaning robot 1002.
In some possible implementations, when the obstacle sensor 1003 detects the outer right-angle obstacle intersection, the obstacle sensor 1003 may detect a distance L7 from the obstacle sensor 1003 to the outer right-angle obstacle intersection, and the rectangular cleaning robot 1002 may detect a distance S7 from a transverse center axis of the obstacle sensor 1003 to an edge of the rectangular cleaning robot 1002 in a first direction opposite to a forward direction of the rectangular cleaning robot 1002 according to the distance L7 and a third distance S7 from the transverse center axis of the obstacle sensor 1003 to the edge of the rectangular cleaning robot 1002 in the first direction opposite to the forward direction of the rectangular cleaning robot 1002
To determine the distance the oblong cleaning robot 1002 has to travel to reach the first position.
Wherein the second distance is distance L7 summed with distance S7.
As can be seen from fig. 10, when the cleaning robot detects the intersection, and the edge of the cleaning robot in the first direction and the cleaning robot perform the in-situ rotation motion, the edge of the cleaning robot in the first direction is on the same side as the second side edge, and the cleaning robot should determine the first position by subtracting the second distance from the third distance; the rectangular cleaning robot 1002 still walks to the first position
The first position can be reached.
As shown in fig. 10 (b), the rectangular cleaning robot 1002 travels
A first position is reached where the rectangular cleaning robot 1002 rotates 90 ° clockwise around the center of the driving wheel.
As shown in fig. 10 (c), after the rectangular cleaning robot 1002 rotates, the angle between the rectangular cleaning robot 1002 and the second side edge of the outer right-angle obstacle is 0 °, and the distance between the rectangular cleaning robot 1002 and the second side edge of the outer right-angle obstacle is 0 cm.
As shown in fig. 10 (d), the rectangular cleaning robot 1002 proceeds to clean against the second side of the outer right-angle obstacle.
Fig. 11 illustrates an example of a rectangular cleaning robot 1102 in which the lateral center axis of the driving wheel 1101 is away from a first direction opposite to the forward direction of the cleaning robot and the longest lateral axis of the cleaning robot is smaller than the longest longitudinal axis of the cleaning robot. As shown in fig. 11 (a), the rectangular cleaning robot 1102 moves forward along a first side of the outer right-angle obstacle for cleaning, the obstacle sensor 1103 mounted on the rectangular cleaning robot 1102 detects the outer right-angle obstacle, and when the rectangular cleaning robot 1102 detects the intersection where the outer right-angle obstacle is detected, a first position where the rectangular cleaning robot 1102 is to perform a rotating motion is determined.
As shown in fig. 11, the obstacle sensor 1103 is installed at a corner between the second-direction edge and the right-side edge of the rectangular cleaning robot 1102.
In some possible implementations, when the obstacle sensor 1103 detects the outer right-angle obstacle intersection, the obstacle sensor 1103 may detect a distance L8 from the obstacle sensor 1103 to the outer right-angle obstacle intersection, and the oblong cleaning robot 1102 may detect a distance S8 from a transverse center axis of the obstacle sensor 1103 to an edge of the oblong cleaning robot 1102 in a first direction opposite to a forward direction of the oblong cleaning robot 1102 and a third distance according to the distance L8
To determine the distance the oblong cleaning robot 1102 has to travel to reach the first position.
Wherein the second distance is distance L8 summed with distance S8.
As can be seen from fig. 11, when the cleaning robot detects the intersection, the edge of the cleaning robot in the first direction and the edge of the cleaning robot in the first direction perform the in-situ rotation motionThe cleaning robot determines a first position by subtracting the second distance from the third distance along the same side of the second side edge; the rectangular cleaning robot 1102 still walks to the first position
The first position can be reached.
As shown in fig. 11 (b), the rectangular cleaning robot 1102 travels
A first position is reached where the rectangular cleaning robot 1102 rotates 90 ° clockwise around the center of the driving wheel.
As shown in fig. 11 (c), after the rectangular cleaning robot 1102 rotates, the rectangular cleaning robot 1102 makes an angle of 0 ° with the second side edge of the outer right-angle obstacle, and the rectangular cleaning robot 1102 makes a distance of 0 cm with the second side edge of the outer right-angle obstacle.
As shown in fig. 11 (d), the rectangular cleaning robot 1102 continues forward cleaning against the second side of the outer right-angle barrier.
In some possible implementations, the obstacle sensor may detect whether an edge of the cleaning robot in the first direction is collinear with a second side edge of the outer right-angle obstacle, and determine that it is not necessary to detect the distance L from the obstacle sensor to the outer right-angle obstacle intersection.
Optionally, if the edge of the cleaning robot in the first direction is on the same straight line with the second side edge of the outer right-angle obstacle, the cleaning robot only needs to be located according to the distance S from the transverse central axis of the obstacle sensor to the edge of the cleaning robot in the first direction and the third distance
To determine the distance the cleaning robot has to travel to reach the first position as
Or
In this case, the distance L from the obstacle sensor to the outer right-angle obstacle intersection is 0, and the second distance is the distance S;
if the edge of the cleaning robot in the first direction is not on the same straight line with the second side edge of the outer right-angle obstacle, the cleaning robot needs to detect the distance L from the obstacle sensor to the intersection of the outer right-angle obstacle.
As shown in fig. 12, fig. 12 provides an example of a edgewise method of a rectangular cleaning robot, taking as an example a rectangular cleaning robot 1202 in which the lateral center axis of the driving wheel 1201 is away from a first direction opposite to the forward direction of the cleaning robot and the lateral longest axis of the cleaning robot is smaller than the longitudinal longest axis of the cleaning robot. As shown in fig. 12 (a), the rectangular cleaning robot 1202 moves forward along a first side of the outer right-angle obstacle for cleaning, an obstacle sensor 1203 mounted on the rectangular cleaning robot 1202 detects the outer right-angle obstacle, and when the rectangular cleaning robot 1202 detects a junction where the outer right-angle obstacle is detected, a first position where the rectangular cleaning robot 1202 is to perform a rotating motion is determined.
As shown in fig. 12, the obstacle sensor 1203 is installed on the right edge of the rectangular cleaning robot 1202, and the distance of the lateral axis of the obstacle sensor 1203 from the front edge of the rectangular cleaning robot 1202 is larger than the distance of the lateral axis of the obstacle sensor 1203 from the rear edge of the rectangular cleaning robot 1202.
In some possible implementations, the obstacle sensor 1203 transmits a signal to a first side of the outer right-angle obstacle, and the obstacle sensor 1203 may detect a return signal of the signal transmitted to the first side by the obstacle sensor 1203, and may detect the return signal, which indicates that the obstacle sensor 1203 has not yet passed over the intersection or the second side of the outer right-angle obstacle; when the return signal of the signal transmitted to the first side by the obstacle sensor 1203 disappears suddenly, it indicates that the obstacle sensor 1203 just crosses the intersection of the outer right-angle obstacle or the second side.
It is to be appreciated that in this implementation, the obstacle sensor need not detect the distance L from the obstacle sensor 1203 to the outer right-angle obstacle intersection.
As shown in fig. 12 (b), when the obstacle sensor 1203 detects that the return signal of the signal emitted to the first side edge by the obstacle sensor 1203 disappears suddenly, it indicates that the obstacle sensor 1203 crosses the intersection or the second side edge of the outer right-angle obstacle.
The rectangular cleaning robot 1202 reaches the distance S9 and the third distance from the transverse center axis where the obstacle sensor 1203 is located to the edge of the rectangular cleaning robot 1202 in the first direction opposite to the forward direction of the rectangular cleaning robot 1202
To determine the distance the oblong cleaning robot 1202 has to travel to reach the first position.
Wherein in this case, the distance S9 is the second distance.
As can be seen from fig. 12, when the cleaning robot detects the intersection, and the edge of the cleaning robot in the first direction and the cleaning robot perform the in-situ rotation motion, the edge of the cleaning robot in the first direction is on the same side as the second side edge, and the cleaning robot should determine the first position by subtracting the second distance from the third distance; the rectangular cleaning robot 1202 still walks to the first position
The first position can be reached.
As shown in FIG. 12 (c), the rectangular cleaning robot 1202 walks
A first position is reached where the rectangular cleaning robot 1202 rotates 90 ° clockwise around the center of the drive wheel.
As shown in fig. 12 (d), after the rectangular cleaning robot 1202 rotates, the rectangular cleaning robot 1202 makes an angle of 0 ° with the second side of the outer right-angle obstacle, and the rectangular cleaning robot 1202 is 0 cm away from the second side of the outer right-angle obstacle.
As shown in fig. 12 (e), the rectangular cleaning robot 1202 continues forward cleaning against the second side of the outer right-angle obstacle.
It will be appreciated that in the embodiment as provided in figures 4 to 12, the second direction is the forward direction and the first direction is the opposite direction to the forward direction; the edge of the cleaning robot in the second direction is a front edge of the cleaning robot, and the edge of the cleaning robot in the first direction is a rear edge of the cleaning robot.
It should be understood that in the embodiments provided herein, the second side of the outer right angle barrier being proximate to means that the cleaning robot is at an angle of [0 °, 5 ° ] to the second side and the cleaning robot is at a distance of [0, 2] cm from the second side.
It should be understood that in the embodiments provided herein, the length unit may be centimeters, millimeters, decimeters or meters. As will be apparent to those skilled in the art. This is not a limitation of the present application.
As shown in fig. 13, the present application further provides an apparatus 1300, which includes a memory 1302 and a processor 1301, where the memory 1302 stores a program running on the processor, and the processor 1301 is configured to execute a computer program or instructions stored in the memory, so that the steps in the above method embodiments are performed.
Alternatively, the apparatus 1300 may be a robot.
It should be understood that the above embodiments provided by the present application are only exemplified by circular, square and/or rectangular cleaning robots, but the methods provided by the present application can also be applied to triangular, U-shaped, D-shaped and/or oval cleaning robots, as will be apparent to those skilled in the art. The shape of the cleaning robot is not limited in the present application.
The present application also provides a computer readable storage medium, on which a computer program (also referred to as instructions or codes) for implementing the method in the above embodiments is stored.
Embodiments of the present application also provide a computer program product, which includes a computer program (also referred to as instructions or code), and when the computer program is executed by a computer, the computer realizes the method in the above embodiments.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An edge cleaning method of a robot, which is applied to a cleaning robot, the method comprising:
the cleaning robot detects a junction of a first side edge and a second side edge of an obstacle when the cleaning robot performs edgewise cleaning along the first side edge of the obstacle;
in the event that the cleaning robot detects the junction, the cleaning robot determines a first location at which the cleaning robot performs a rotational action;
under the condition that the cleaning robot moves to the first position, the cleaning robot rotates for a first angle at the first position in situ, so that an included angle between the cleaning robot and the second side edge after rotation is smaller than a second angle, and the distance between the cleaning robot and the second side edge is smaller than a first distance.
2. The method of claim 1, wherein the cleaning robot determining a first position at which the cleaning robot performs a rotational action comprises:
the cleaning robot determines the first position according to a position of a transverse center axis of a driving wheel in the cleaning robot, a second distance from the cleaning robot to the second side edge, and a size parameter of the cleaning robot.
3. The method of claim 2, wherein the cleaning robot determining the first position based on a lateral center axis position of a drive wheel in the cleaning robot, a second distance of the cleaning robot to the second side edge, and a dimensional parameter of the cleaning robot comprises:
the cleaning robot determines a third distance between the edge of the cleaning robot in the first direction and the second side edge when the cleaning robot performs a rotating action according to the vertical distance between the transverse central axis of the driving wheel and the transverse central axis of the cleaning robot and the size parameters of the cleaning robot;
the cleaning robot determining the first position according to the second distance and the third distance;
wherein the second distance is a perpendicular distance from an edge of the cleaning robot in the first direction to the second side edge when the cleaning robot detects the intersection; the transverse central axis of the driving wheel and the transverse central axis of the cleaning robot are perpendicular to the first direction; the first direction is opposite to a second direction in which the cleaning robot advances.
4. The method of claim 3, the cleaning robot determining a third distance that an edge of the cleaning robot in the first direction is perpendicular to the second side edge when the cleaning robot performs the rotating action based on a perpendicular distance of a transverse center axis of the drive wheel to a transverse center axis of the cleaning robot and a dimensional parameter of the cleaning robot, comprising:
when the transverse central axis of the driving wheel is coincident with the transverse central axis of the cleaning robot, determining that the third distance is
Wherein a is the length of the transverse longest axis of the cleaning robot, b is the length of the longitudinal longest axis of the cleaning robot, and the units of a and b are the same.
5. The method of claim 3, the cleaning robot determining a third distance that an edge of the cleaning robot in the first direction is perpendicular to the second side edge when the cleaning robot performs the rotating action based on a perpendicular distance of a transverse center axis of the drive wheel to a transverse center axis of the cleaning robot and a dimensional parameter of the cleaning robot, comprising:
when the transverse central axis of the driving wheel is not coincident with the transverse central axis of the cleaning robot, and the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the second direction is greater than the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the first direction, determining that the third distance is
Wherein x is a vertical distance between a transverse central axis of the driving wheel and a transverse central axis of the cleaning robot, a is a length of a transverse longest axis of the cleaning robot, b is a length of a longitudinal longest axis of the cleaning robot, and the units of x, a and b are the same.
6. The method of claim 3, the cleaning robot determining a third distance that an edge of the cleaning robot in the first direction is perpendicular to the second side edge when the cleaning robot performs the rotating action based on a perpendicular distance of a transverse center axis of the drive wheel to a transverse center axis of the cleaning robot and a dimensional parameter of the cleaning robot, comprising:
when the transverse central axis of the driving wheel is not coincident with the transverse central axis of the cleaning robot, and the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the first direction is greater than the distance from the transverse central axis of the driving wheel to the edge of the cleaning robot in the second direction, determining that the third distance is
Wherein x is a vertical distance between a transverse central axis of the driving wheel and a transverse central axis of the cleaning robot, a is a length of a transverse longest axis of the cleaning robot, b is a length of a longitudinal longest axis of the cleaning robot, and the units of x, a and b are the same.
7. The method of claims 3-6, wherein the cleaning robot determining the first position based on the second distance and the third distance comprises:
the cleaning robot determines the first position by summing or differencing the second distance and the third distance.
8. The method of any one of claims 1-6, wherein the first angle is greater than or equal to 80 ° and less than or equal to 100 °.
9. An apparatus comprising a memory and a processor, wherein the processor is coupled with the memory, the processor to execute a computer program or instructions stored in the memory to cause the apparatus to implement the method of any of claims 1 to 8.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the edgewise cleaning method according to any one of claims 1 to 8.
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| CN114617477A (en) * | 2022-02-15 | 2022-06-14 | 深圳乐动机器人有限公司 | Cleaning control method and device for cleaning robot |
| CN118452748A (en) * | 2024-07-15 | 2024-08-09 | 追觅创新科技(苏州)有限公司 | Cleaning apparatus control method, cleaning apparatus, and storage medium |
| CN118542606A (en) * | 2024-07-26 | 2024-08-27 | 盛视科技股份有限公司 | Robot corner passing method and cleaning robot |
| CN118452748B (en) * | 2024-07-15 | 2024-11-05 | 追觅创新科技(苏州)有限公司 | Cleaning apparatus control method, cleaning apparatus, and storage medium |
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