技术领域technical field
本公开涉及自动化控制领域，特别涉及一种清洁机器人及其控制方法。The present disclosure relates to the field of automatic control, in particular to a cleaning robot and a control method thereof.
背景技术Background technique
清洁机器人是在无使用者操作的情况下，在某一待清洁区域自动行进的同时，进行清洁操作的机器人。A cleaning robot is a robot that performs cleaning operations while automatically traveling in a certain area to be cleaned without user operation.
在申请号为201010202812.6的中国发明专利《机器人清洁器及其控制方法》中，提供了一种控制机器人行进的方法，该方法提供了一种之字形行进方法，清洁机器人在之字形行进中碰到障碍物，会跟随该障碍物行进，如果在跟随障碍物过程中与原行进路线之间的横向间隔达到了指定间隔，则进入邻行清洁；如果在跟随障碍物过程中重新走到了原行进路线，则继续在原行进路线清洁。但是，该方法在一些场景中会导致清洁机器人在绕障碍物的过程中走较长的重复路线，影响清洁机器人的清洁效率。比如，该发明专利的附图11中，清洁机器人会在3’路线上重复行走。普通家居环境中通常有较多的障碍物，重复绕障碍物使得清洁覆盖效率大大降低。且从附图11中机器人的清洁路径也可以看出，机器人有时左侧边沿障碍物行进，有时右侧边沿障碍物行进，这就要求机器双侧都支持沿边清洁，沿边清洁要求配备边刷，沿边检测组件(例如红外模组)，以及相应的控制电路等，成本较高。In the Chinese invention patent "Robot Cleaner and Its Control Method" with the application number of 201010202812.6, a method of controlling the robot's travel is provided. This method provides a zigzag travel method. The cleaning robot encounters Obstacles will follow the obstacle. If the horizontal interval between the original travel route and the obstacle reaches the specified interval, it will enter the adjacent row for cleaning; if it returns to the original travel route in the process of following the obstacle , then continue to clean on the original route. However, in some scenarios, this method will cause the cleaning robot to take a long repetitive route around obstacles, which will affect the cleaning efficiency of the cleaning robot. For example, in the accompanying drawing 11 of this invention patent, the cleaning robot will walk repeatedly on the 3' route. There are usually many obstacles in the ordinary home environment, and repeated winding around obstacles will greatly reduce the cleaning coverage efficiency. And it can also be seen from the cleaning path of the robot in Figure 11 that the robot sometimes travels along the left side of the obstacle, and sometimes the right side of the obstacle, which requires both sides of the machine to support side-by-side cleaning, and side-side cleaning requires side brushes. Edge detection components (such as infrared modules) and corresponding control circuits are relatively expensive.
发明内容Contents of the invention
为了解决相关技术在一些场景中会导致清洁机器人走较长的重复路线，影响清洁机器人的清洁效率的问题，本公开提供一种清洁机器人控制方法及清洁机器人。所述技术方案如下：In order to solve the problem that the related technology may cause the cleaning robot to take a long repetitive route in some scenarios and affect the cleaning efficiency of the cleaning robot, the present disclosure provides a cleaning robot control method and the cleaning robot. Described technical scheme is as follows:
根据本公开实施例的第一方面，提供了一种清洁机器人，该清洁机器人包括：According to a first aspect of an embodiment of the present disclosure, there is provided a cleaning robot, which includes:
控制单元；control unit;
与控制单元电性相连的障碍物感应单元和行进驱动单元；An obstacle sensing unit and a traveling drive unit electrically connected to the control unit;
控制单元被配置为：The control unit is configured to:
控制行进驱动单元进行之字形行进，之字形行进包括第一行进和第二行进，第一行进使清洁机器人沿区块中的第一方向前进，第二行进使清洁机器人沿区块中的第二方向前进，第一方向和第二方向平行且相反；The travel drive unit is controlled to travel in zigzag, the zigzag travel includes first travel and second travel, the first travel makes the cleaning robot advance along the first direction in the block, and the second travel makes the cleaning robot move along the second direction in the block. Direction forward, the first direction and the second direction are parallel and opposite;
在障碍物感应单元在之字形行进过程中感应到障碍物时，控制行进驱动单元绕障碍物的周边行进一周；When the obstacle sensing unit senses an obstacle during zigzag travel, control the travel drive unit to travel around the periphery of the obstacle for one circle;
在绕障碍物的周边一周后，确定目标未清洁行；After going around the perimeter of the obstacle, determine the target uncleaned row;
控制行进驱动单元在目标未清洁行上继续进行之字形行进，若清洁机器人的所在位置不对应目标未清洁行的端点，则识别在目标未清洁行上离所在位置最近的端点，控制行进驱动单元向最近的端点行进，并从最近的端点返回清洁目标未清洁行，并继续进行之字形行进。Control the travel drive unit to continue zigzag travel on the target uncleaned row, if the position of the cleaning robot does not correspond to the endpoint of the target uncleaned row, then identify the endpoint closest to the position on the target uncleaned row, and control the travel drive unit March to the nearest endpoint and return clean target uncleaned rows from the nearest endpoint and continue zigzag.
在一个可能的实施例中，控制单元，还被配置为：In a possible embodiment, the control unit is further configured to:
控制行进驱动单元进行沿边清洁，沿区块的周边和障碍物的周边所组成的组合周边行进一周。The traveling driving unit is controlled to clean along the edge, and travels for a circle along the combined periphery formed by the periphery of the block and the periphery of the obstacle.
在一个可能的实施例中，控制单元，还被配置为：In a possible embodiment, the control unit is further configured to:
在沿边过程中再次到达已清洁点，再次到达已清洁点的行进方向和已清洁点的首次清洁行进方向小于一定角度，和/或，从开始沿边清洁到再次到达已清洁点的过程中清洁机器人的行进方向经历过所有象限，则确定已经绕组合周边行进一周。Reaching the cleaned point during edge-walking, the direction of travel for re-reaching the cleaned point is less than a certain angle from the direction of travel for the first cleaning of the cleaned point, and/or, cleaning the robot during the process from starting edge-cleaning to re-reaching the cleaned point If the direction of travel has passed through all quadrants, it is determined that it has traveled around the perimeter of the combination for one week.
在一个可能的实施例中，控制单元，还被配置为：In a possible embodiment, the control unit is further configured to:
在绕障碍物的周边行进的过程中，若首次感应到区块的周边，则控制行进驱动单元进行沿边清洁。In the process of traveling around the periphery of the obstacle, if the periphery of the block is sensed for the first time, the traveling drive unit is controlled to perform edge cleaning.
在一个可能的实施例中，控制单元识别在目标未清洁行上离所在位置最近的端点，控制行进驱动单元向最近的端点行进，并从最近的端点返回清洁目标未清洁行的过程中，还被配置为:In a possible embodiment, the control unit identifies the nearest end point on the target uncleaned row, controls the traveling drive unit to travel to the nearest end point, and returns to the process of cleaning the target uncleaned row from the nearest end point. is configured as:
若清洁机器人的所在位置不对应目标未清洁行的端点，则识别在目标未清洁行上由所在位置出发的短边路径和长边路径，控制行进驱动单元向短边路径行进；If the location of the cleaning robot does not correspond to the end point of the target uncleaned row, then identify the short-side path and the long-side path starting from the location on the target uncleaned row, and control the travel drive unit to advance to the short-side path;
在短边路径行进完毕后，控制行进驱动单元从短边路径返回至长边路径进行之字形行进。After the short-side path is completed, the traveling drive unit is controlled to return from the short-side path to the long-side path for zigzag travel.
在一个可能的实施例中，控制单元在绕障碍物的周边一周后，确定目标未清洁行的过程中，还被配置为：In a possible embodiment, the control unit is further configured to:
寻找最近一个未清洁行，将最近一个未清洁行确定为目标未清洁行。Find the latest uncleaned row, and determine the latest uncleaned row as the target uncleaned row.
在一个可能的实施例中，控制单元寻找最近一个未清洁行之前，还被配置为：In a possible embodiment, before the control unit searches for the latest uncleaned row, it is further configured to:
在绕障碍物的周边行进一周后，寻找附近未清洁角落所在行；After walking around the perimeter of the obstacle, look for the line where the nearby uncleaned corner is;
若存在附近未清洁角落所在行，则控制行进驱动单元行进至附近未清洁角落所在行，并将附近未清洁角落所在行确定为目标未清洁行；If there is a row where the nearby uncleaned corner is located, the control drive unit advances to the row where the nearby uncleaned corner is located, and the row where the nearby uncleaned corner is located is determined as the target uncleaned row;
若不存在附近未清洁角落所在行，则执行寻找最近一个未清洁行的步骤。If there is no row where the nearby uncleaned corner is located, perform the step of finding the nearest uncleaned row.
在一个可能的实施例中，控制单元控制行进驱动单元进行之字形行进之前，还被配置为：In a possible embodiment, before the control unit controls the travel drive unit to travel in zigzag, it is further configured to:
从启动位置寻找最近一个障碍物；Find the nearest obstacle from the starting position;
控制行进驱动单元向最近一个障碍物行进；Control the traveling drive unit to travel to the nearest obstacle;
在感应到最近一个障碍物时，控制行进驱动单元绕最近一个障碍物的周边行进一周。When the nearest obstacle is sensed, the traveling drive unit is controlled to travel around the periphery of the nearest obstacle.
在一个可能的实施例中，控制单元，还被配置为：In a possible embodiment, the control unit is further configured to:
在绕最近一个障碍物的周边行进一周后，寻找附近未清洁角落所在行；After traveling around the perimeter of the nearest obstacle, look for the line where the nearby uncleaned corner is;
控制行进驱动单元行进至附近未清洁角落所在行后，执行控制行进驱动单元进行之字形行进的步骤。After the traveling driving unit is controlled to travel to the row where the nearby uncleaned corner is located, the step of controlling the traveling driving unit to travel in zigzag is executed.
在一个可能的实施例中，控制单元，还被配置为：In a possible embodiment, the control unit is further configured to:
以自身所在位置为依据构建区块；Build blocks based on their own location;
或，or,
以一定范围内的墙体为边界构建区块；Build blocks with walls within a certain range as boundaries;
或，or,
参考已有区块的边界构建已有区块的相邻区块。Constructs adjacent blocks of an existing block with reference to the boundaries of the existing block.
在一个可能的实施例中，控制单元，还被配置为：In a possible embodiment, the control unit is further configured to:
以机体的边刷一侧为内侧绕障碍物的周边行进一周。Walk around the perimeter of the obstacle with the side brush side of the body as the inner side.
在一个可能的实施例中，第一行进与第二行进之间的间距小于或等于清洁机器人的机身半径。In a possible embodiment, the distance between the first travel and the second travel is less than or equal to the radius of the body of the cleaning robot.
在一个可能的实施例中，第一方向和第二方向均与区块的长边平行。In a possible embodiment, both the first direction and the second direction are parallel to the long side of the block.
根据本公开的第二方面，提供了一种清洁机器人控制方法，方法包括：According to a second aspect of the present disclosure, there is provided a cleaning robot control method, the method includes:
进行之字形行进，之字形行进包括第一行进和第二行进，第一行进使清洁机器人沿区块中的第一方向前进，第二行进使清洁机器人沿区块中的第二方向前进，第一方向和第二方向平行且相反；Perform zigzag travel, zigzag travel includes first travel and second travel, the first travel makes the cleaning robot advance along the first direction in the block, the second travel makes the cleaning robot advance along the second direction in the block, and the second travel makes the cleaning robot advance along the second direction in the block. The first direction is parallel to and opposite to the second direction;
在之字形行进过程中感应到障碍物时，绕障碍物的周边行进一周；When an obstacle is sensed during zigzag travel, it will travel around the perimeter of the obstacle;
在绕障碍物的周边行进一周后，寻找目标未清洁行；After traveling around the perimeter of the obstacle for a week, look for the target unclean line;
在目标未清洁行上继续进行之字形行进，若清洁机器人的所在位置不对应目标未清洁行的端点，则识别在目标未清洁行上离所在位置最近的端点，向最近的端点行进，并从最近的端点返回清洁目标未清洁行，并继续进行之字形行进。Continue zigzag travel on the target uncleaned line, if the position of the cleaning robot does not correspond to the end point of the target uncleaned line, identify the nearest end point to the position on the target uncleaned line, move to the nearest end point, and start from The closest endpoint returns the clean target uncleaned row, and the zigzag continues.
在一个可能的实施例中，绕障碍物的周边行进一周，包括：In a possible embodiment, traveling around the perimeter of the obstacle includes:
控制行进驱动单元进行沿边清洁，沿区块的周边和障碍物的周边所组成的组合周边行进一周。The traveling driving unit is controlled to clean along the edge, and travels for a circle along the combined periphery formed by the periphery of the block and the periphery of the obstacle.
在一个可能的实施例中，该方法还包括：In a possible embodiment, the method also includes:
若在沿边过程中再次到达已清洁点，再次到达已清洁点的行进方向和已清洁点的首次清洁行进方向小于一定角度，和/或，从开始沿边清洁到再次到达已清洁点的过程中清洁机器人的行进方向经历过所有象限，则确定已经绕组合周边行进一周。If the cleaned point is reached again during the edge, the travel direction of the cleaned point again and the cleaning travel direction of the cleaned point for the first time are less than a certain angle, and/or, cleaning is performed from the start of edge cleaning to the cleaned point again If the direction of travel of the robot has gone through all quadrants, it is determined that it has traveled around the perimeter of the combination for one week.
在一个可能的实施例中，控制行进驱动单元进行沿边清洁，包括：In a possible embodiment, controlling the traveling drive unit to perform edge cleaning includes:
在绕障碍物的周边行进的过程中，若首次感应到区块的周边，则控制行进驱动单元进行沿边清洁。In the process of traveling around the periphery of the obstacle, if the periphery of the block is sensed for the first time, the traveling drive unit is controlled to perform edge cleaning.
在一个可能的实施例中，识别在目标未清洁行上离所在位置最近的端点，向最近的端点行进，并从最近的端点返回清洁目标未清洁行，包括:In a possible embodiment, identifying the nearest end point from the location on the target uncleaned line, proceeding to the nearest end point, and returning to clean the target uncleaned line from the nearest end point, comprising:
若清洁机器人的所在位置不对应目标未清洁行的端点，则识别在目标未清洁行上由所在位置出发的短边路径和长边路径，控制行进驱动单元向短边路径行进；If the location of the cleaning robot does not correspond to the end point of the target uncleaned row, then identify the short-side path and the long-side path starting from the location on the target uncleaned row, and control the travel drive unit to advance to the short-side path;
在短边路径行进完毕后，从短边路径返回至长边路径进行之字形行进。After the short-side path is completed, return to the long-side path from the short-side path for zigzag travel.
在一个可能的实施例中，在绕障碍物的周边一周后，确定目标未清洁行，包括：In a possible embodiment, after going around the perimeter of the obstacle, determining the target uncleaned row includes:
寻找最近一个未清洁行，将最近一个未清洁行确定为目标未清洁行。Find the latest uncleaned row, and determine the latest uncleaned row as the target uncleaned row.
在一个可能的实施例中，寻找最近一个未清洁行之前，还包括：In a possible embodiment, before finding the latest uncleaned line, it also includes:
在绕障碍物的周边行进一周后，寻找附近未清洁角落所在行；After walking around the perimeter of the obstacle, look for the line where the nearby uncleaned corner is;
若存在附近未清洁角落所在行，则控制行进驱动单元行进至附近未清洁角落所在行，并将附近未清洁角落所在行确定为目标未清洁行；If there is a row where the nearby uncleaned corner is located, the control drive unit advances to the row where the nearby uncleaned corner is located, and the row where the nearby uncleaned corner is located is determined as the target uncleaned row;
若不存在附近未清洁角落所在行，则执行寻找最近一个未清洁行的步骤。If there is no row where the nearby uncleaned corner is located, perform the step of finding the nearest uncleaned row.
在一个可能的实施例中，进行之字形行进之前，还包括：In a possible embodiment, before performing the zigzag march, it also includes:
从启动位置寻找最近一个障碍物；Find the nearest obstacle from the starting position;
控制行进驱动单元向最近一个障碍物行进；Control the traveling drive unit to travel to the nearest obstacle;
在感应到最近一个障碍物时，控制行进驱动单元绕最近一个障碍物的周边行进一周。When the nearest obstacle is sensed, the traveling drive unit is controlled to travel around the periphery of the nearest obstacle.
在一个可能的实施例中，该方法还包括：In a possible embodiment, the method also includes:
在绕最近一个障碍物的周边行进一周后，寻找附近未清洁角落所在行；After traveling around the perimeter of the nearest obstacle, look for the line where the nearby uncleaned corner is;
控制行进驱动单元行进至附近未清洁角落所在行后，执行控制行进驱动单元进行之字形行进的步骤。After the traveling driving unit is controlled to travel to the row where the nearby uncleaned corner is located, the step of controlling the traveling driving unit to travel in zigzag is executed.
在一个可能的实施例中，该方法，还包括：In a possible embodiment, the method also includes:
以自身所在位置为依据构建区块；Build blocks based on their own location;
或，or,
以一定范围内的墙体为边界构建区块；Build blocks with walls within a certain range as boundaries;
或，or,
参考已有区块的边界构建已有区块的相邻区块。Constructs adjacent blocks of an existing block with reference to the boundaries of the existing block.
在一个可能的实施例中，该方法还包括：In a possible embodiment, the method also includes:
以机体的边刷一侧为内侧绕障碍物的周边行进一周。Walk around the perimeter of the obstacle with the side brush side of the body as the inner side.
在一个可能的实施例中，第一行进与第二行进之间的间距小于或等于清洁机器人的机身半径。In a possible embodiment, the distance between the first travel and the second travel is less than or equal to the radius of the body of the cleaning robot.
在一个可能的实施例中，第一方向和第二方向均与区块的长边平行。In a possible embodiment, both the first direction and the second direction are parallel to the long side of the block.
本公开的实施例提供的技术方案可以包括以下有益效果：The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:
通过让清洁机器人在感应到障碍物时，绕障碍物的周边行进一周，然后再寻找目标未清洁行进行清洁，并在清洁机器人的所在位置不对应目标未清洁行的端点时，则识别在目标未清洁行上离所在位置最近的端点，向最近的端点行进，并从最近的端点返回清洁目标未清洁行；解决了相关技术在一些场景中会导致清洁机器人绕障碍物走较长的重复路线，影响清洁机器人的清洁效率的问题，达到了清洁机器人基本不用绕障碍物走重复路线，提高清洁机器人的清洁效率的效果。When the cleaning robot senses an obstacle, it walks around the obstacle for a week, and then searches for the target uncleaned line for cleaning, and when the position of the cleaning robot does not correspond to the end point of the target uncleaned line, it recognizes the target The endpoint on the uncleaned row that is closest to the location, travels to the nearest endpoint, and returns to the cleaning target uncleaned row from the nearest endpoint; solves the related technology that causes the cleaning robot to take a long repetitive route around obstacles in some scenarios , the problem of affecting the cleaning efficiency of the cleaning robot has achieved the effect that the cleaning robot basically does not need to walk around obstacles repeatedly, and the cleaning efficiency of the cleaning robot is improved.
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本公开。It is to be understood that both the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present disclosure.
附图说明Description of drawings
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并于说明书一起用于解释本公开的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.
图1是根据一示例性实施例示出的清洁机器人的俯视示意图；Fig. 1 is a schematic top view of a cleaning robot according to an exemplary embodiment;
图2是根据一示例性实施例示出的清洁机器人的仰视示意图；Fig. 2 is a schematic bottom view of a cleaning robot according to an exemplary embodiment;
图3是根据另一示例性实施例示出的清洁机器人的结构方框图；Fig. 3 is a structural block diagram of a cleaning robot according to another exemplary embodiment;
图4是根据一示例性实施例示出的清洁机器人控制方法的方法流程图；Fig. 4 is a flow chart of a method for controlling a cleaning robot according to an exemplary embodiment;
图5是图4所示实施例示出的清洁机器人控制方法的实施示意图；Fig. 5 is a schematic diagram of implementation of the cleaning robot control method shown in the embodiment shown in Fig. 4;
图6是根据另一示例性实施例示出的清洁机器人控制方法的方法流程图；Fig. 6 is a flow chart of a method for controlling a cleaning robot according to another exemplary embodiment;
图7A至图7E是图5所示清洁机器人控制方法的实施示意图；7A to 7E are schematic diagrams of implementation of the cleaning robot control method shown in FIG. 5;
图8A是根据一示例性实施例示出的清洁机器人控制方法的子步骤流程图；Fig. 8A is a flowchart of sub-steps of a cleaning robot control method according to an exemplary embodiment;
图8B和图8C是根据图8A所示实施例示出的清洁机器人控制方法的子步骤实施示意图；FIG. 8B and FIG. 8C are schematic diagrams showing the implementation of sub-steps of the cleaning robot control method according to the embodiment shown in FIG. 8A;
图9是根据一示例性实施示出的清洁机器人的实施示意图；Fig. 9 is an implementation schematic diagram of a cleaning robot shown according to an exemplary implementation;
图10A和图10B是根据另一示例性实施示出的清洁机器人的实施示意图；Fig. 10A and Fig. 10B are implementation schematic diagrams of a cleaning robot shown according to another exemplary implementation;
图11A至图11D是根据另一示例性实施示出的清洁机器人的实施示意图。Fig. 11A to Fig. 11D are implementation schematic diagrams of a cleaning robot according to another exemplary implementation.
具体实施方式detailed description
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.
图1和图2分别是根据一示例性实施例示出的清洁机器人的俯视示意图和仰视示意图。如图1和图2所示，清洁机器人包括：机体10、测距模块20、驱动模块30、沿边模块40和主刷50。Fig. 1 and Fig. 2 are respectively a schematic top view and a schematic bottom view of a cleaning robot according to an exemplary embodiment. As shown in FIGS. 1 and 2 , the cleaning robot includes: a body 10 , a ranging module 20 , a driving module 30 , an edge-alonging module 40 and a main brush 50 .
机体10形成清洁机器人的外壳，并且容纳其它部件。The body 10 forms a housing of the cleaning robot, and accommodates other components.
测距模块20用于感测清洁机器人的周侧环境。可选地，测距模块20为红外测距传感器、超声波测距传感器、LDS(Laser Distance Sensor，激光测距传感器)、摄像头、接触传感器、霍尔传感器等。测距模块20用于对清洁机器人的环境进行测量，从而发现障碍物、墙面、台阶等环境物体。The ranging module 20 is used for sensing the surrounding environment of the cleaning robot. Optionally, the ranging module 20 is an infrared ranging sensor, an ultrasonic ranging sensor, an LDS (Laser Distance Sensor, laser ranging sensor), a camera, a contact sensor, a Hall sensor, and the like. The ranging module 20 is used to measure the environment of the cleaning robot, so as to find obstacles, walls, steps and other environmental objects.
驱动模块30用于驱动清洁机器人的前进，可选地，驱动模块30包括一对安装在机体10底部的中间两侧的驱动轮31和32，驱动轮31和32用于驱动清洁机器人前进或后退。驱动模块30还包括设置在机体10前部的导向轮33，导向轮33用于改变清洁机器人在行进过程中的行驶方向。The driving module 30 is used to drive the cleaning robot to move forward. Optionally, the driving module 30 includes a pair of driving wheels 31 and 32 installed on both sides of the middle of the bottom of the body 10. The driving wheels 31 and 32 are used to drive the cleaning robot to move forward or backward. . The driving module 30 also includes a guide wheel 33 arranged at the front of the body 10, and the guide wheel 33 is used to change the driving direction of the cleaning robot during travel.
沿边模块40安装在机体10底部的前方两侧或者前方一侧，由于本公开实施例提供的清洁机器人行进方法的特性，沿边模块40可以仅有一个，安装在机体10底部的前方右侧，或者，安装在机体10底部的前方左侧。沿边模块40包括边刷和沿边感测组件。沿边感测组件可以为红外模组，或者超声传感器。The edge modules 40 are installed on both sides or one side of the front of the bottom of the body 10. Due to the characteristics of the cleaning robot traveling method provided by the embodiments of the present disclosure, there may be only one edge module 40 installed on the front right side of the bottom of the body 10, or , is installed in front left side of body 10 bottoms. The edge module 40 includes an edge brush and an edge sensing assembly. The edge sensing component can be an infrared module or an ultrasonic sensor.
主刷50安装在机体10底部。可选地，主刷50是以滚轮型相对于地面转动的鼓形转刷。The main brush 50 is installed at the bottom of the body 10 . Optionally, the main brush 50 is a drum-shaped rotating brush that rotates relative to the ground in a roller type.
图3是根据一示例性实施例提供的清洁机器人的结构方框图。清洁机器人包括：控制单元310、存储单元320、输入单元330、障碍物感应单元340、行进距离检测单元350、行进方向检测单元360、行进驱动单元370和刷驱动单元380。Fig. 3 is a structural block diagram of a cleaning robot provided according to an exemplary embodiment. The cleaning robot includes: a control unit 310 , a storage unit 320 , an input unit 330 , an obstacle sensing unit 340 , a travel distance detection unit 350 , a travel direction detection unit 360 , a travel drive unit 370 and a brush drive unit 380 .
控制单元310用于控制清洁机器人的总体操作。在接收到清洁命令时，控制单元310能够控制清洁机器人按照预设逻辑向前行进并且在行进过程中进行清洁。在接收到行进命令时，控制单元310控制清洁机器人以预定的行进模式在行进路径行进。The control unit 310 is used to control the overall operation of the cleaning robot. When receiving a cleaning command, the control unit 310 can control the cleaning robot to move forward according to a preset logic and perform cleaning during the moving process. When receiving the traveling command, the control unit 310 controls the cleaning robot to travel on the traveling path in a predetermined traveling mode.
存储单元320用于存储至少一个指令，这些指令包括用于执行预定的行进模式和行进路径的指令、用于进行清洁的指令、用于根据障碍物感应单元340感应到的障碍物数据绘制清洁地图的指令、用于在清洁地图上规划之字形行进的清洁行的指令、用于寻找最近一个未清洁行的指令等等。存储单元320还可以用于存储清洁机器人在行进过程中障碍物感应单元感应到的自身位置数据、障碍物数据以及墙体数据。The storage unit 320 is used to store at least one instruction, these instructions include instructions for executing a predetermined traveling mode and traveling path, instructions for cleaning, and drawing a cleaning map according to obstacle data sensed by the obstacle sensing unit 340 instructions for planning zig-zag clean rows on a clean map, instructions for finding the nearest unclean row, and so on. The storage unit 320 can also be used to store the self-position data, obstacle data and wall data sensed by the obstacle sensing unit during the cleaning robot's travel.
输入单元330包括至少一个设置在机体10上部或遥控器(图中未示出)上或终端应用(例如app)上的按钮，以接收使用者输入的行进命令或清洁命令。The input unit 330 includes at least one button disposed on the upper part of the body 10 or on a remote controller (not shown in the figure) or on a terminal application (such as an app) to receive a travel command or a cleaning command input by a user.
障碍物感应单元340用于感应位于清洁机器人行进区域中的障碍物，比如家具、家电、办公设备、砖墙墙体、木板墙体等。障碍物感应单元340包括上述的测距装置20。本公开实施例对障碍物感应单元340的实现形式不做限定。The obstacle sensing unit 340 is used for sensing obstacles in the traveling area of the cleaning robot, such as furniture, home appliances, office equipment, brick walls, wooden walls, and the like. The obstacle sensing unit 340 includes the distance measuring device 20 described above. Embodiments of the present disclosure do not limit the implementation form of the obstacle sensing unit 340 .
行进距离检测单元350用于检测清洁机器人的行进距离。比如，行进距离检测单元350通过编码器测量驱动轮31和32的转动圈数，进而检测清洁机器人的行进距离。也可以通过加速度计来检测清洁机器人的行进距离。The travel distance detection unit 350 is used to detect the travel distance of the cleaning robot. For example, the traveling distance detection unit 350 measures the number of rotations of the driving wheels 31 and 32 through an encoder, and then detects the traveling distance of the cleaning robot. The distance traveled by the cleaning robot can also be detected by an accelerometer.
行进方向检测单元360用于检测清洁机器人的转动角度。比如，行进方向检测单元350通过陀螺仪传感器来检测清洁机器人的转动角度。The traveling direction detection unit 360 is used to detect the rotation angle of the cleaning robot. For example, the traveling direction detection unit 350 detects the rotation angle of the cleaning robot through a gyro sensor.
行进驱动单元370用于根据控制单元310的第一控制信号，驱动安装在清洁机器人的机体10底部的驱动轮31和32前进，行进驱动单元370可以是马达。The traveling driving unit 370 is used to drive the driving wheels 31 and 32 installed at the bottom of the body 10 of the cleaning robot forward according to the first control signal of the control unit 310 , and the traveling driving unit 370 may be a motor.
刷驱动单元380用于根据控制单元310的第二控制信号，驱动边刷40和主刷50在待清洁区块的地面上进行清洁。The brush driving unit 380 is used to drive the side brushes 40 and the main brush 50 to clean the floor of the block to be cleaned according to the second control signal of the control unit 310 .
在示例性实施例中，控制单元310可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行本公开实施例中的清洁机器人控制方法。In an exemplary embodiment, the control unit 310 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable Programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are used to implement the cleaning robot control method in the embodiments of the present disclosure.
上述控制单元310被配置为：The above-mentioned control unit 310 is configured to:
控制行进驱动单元370进行之字形行进，之字形行进包括第一行进和第二行进，第一行进使清洁机器人沿区块中的第一方向前进，第二行进使清洁机器人沿区块中的第二方向前进，第一方向和第二方向平行且相反；Control the travel drive unit 370 to travel in zigzag, the zigzag travel includes the first travel and the second travel, the first travel makes the cleaning robot advance along the first direction in the block, and the second travel makes the cleaning robot move along the first direction in the block. Advance in two directions, the first direction and the second direction are parallel and opposite;
在障碍物感应单元340在之字形行进过程中感应到障碍物时，控制行进驱动单元绕障碍物的周边行进一周；When the obstacle sensing unit 340 senses an obstacle during zigzag travel, control the travel drive unit to travel around the periphery of the obstacle for a circle;
在绕障碍物的周边行进一周后，寻找目标未清洁行；After traveling around the perimeter of the obstacle for a week, look for the target unclean line;
控制行进驱动单元370在目标未清洁行上继续进行之字形行进，若清洁机器人的所在位置不对应目标未清洁行的端点，则识别在目标未清洁行上离所在位置最近的端点，控制行进驱动单元370向最近的端点行进，并从最近的端点返回清洁目标未清洁行，并继续进行之字形行进。Control the travel drive unit 370 to continue the zigzag travel on the target uncleaned row, if the position of the cleaning robot does not correspond to the endpoint of the target uncleaned row, then identify the endpoint closest to the position on the target uncleaned row, and control the travel drive Unit 370 travels to the nearest endpoint and returns to clean the target uncleaned row from the nearest endpoint and continues the zigzag journey.
可选地，控制单元310，还被配置为：Optionally, the control unit 310 is further configured to:
控制行进驱动单元进行沿边清洁，沿区块的周边和障碍物的周边所组成的组合周边行进一周。The traveling driving unit is controlled to clean along the edge, and travels for a circle along the combined periphery formed by the periphery of the block and the periphery of the obstacle.
可选地，控制单元310，还被配置为：Optionally, the control unit 310 is further configured to:
在沿边过程中再次到达已清洁点，再次到达已清洁点的行进方向和已清洁点的首次清洁行进方向小于一定角度，和/或，从开始沿边清洁到再次到达已清洁点的过程中机器人的行进方向经历过所有象限，则确定已经完成绕墙体的周边或组合周边行进一周。Reaching the cleaned point during edge-walking, the travel direction of the cleaned point again and the cleaning travel direction of the cleaned point for the first time are less than a certain angle, and/or, the robot's distance between starting cleaning along the edge and reaching the cleaned point again If the traveling direction has passed through all quadrants, it is determined that a round of traveling around the perimeter of the wall or the combined perimeter has been completed.
可选地，控制单元310，还被配置为：Optionally, the control unit 310 is further configured to:
在绕障碍物的周边行进的过程中，若首次感应到区块的周边，则控制行进驱动单元370进行沿边清洁。In the process of traveling around the periphery of the obstacle, if the periphery of the block is sensed for the first time, the traveling driving unit 370 is controlled to perform edge cleaning.
可选地，控制单元310识别在目标未清洁行上离所在位置最近的端点，控制行进驱动单元向最近的端点行进，并从最近的端点返回清洁目标未清洁行的过程中，还被配置为:Optionally, the control unit 310 identifies the endpoint on the target uncleaned row that is closest to the location, controls the travel drive unit to travel to the nearest endpoint, and returns to the process of cleaning the target uncleaned row from the nearest endpoint, and is also configured as :
若清洁机器人的所在位置不对应目标未清洁行的端点，则识别在目标未清洁行上由所在位置出发的短边路径和长边路径，控制行进驱动单元370向短边路径行进；If the location of the cleaning robot does not correspond to the endpoint of the uncleaned row of the target, then identify the short-side path and the long-side path starting from the location on the target uncleaned row, and control the traveling drive unit 370 to advance to the short-side path;
在短边路径行进完毕后，控制行进驱动单元370从短边路径返回至长边路径进行之字形行进。After the short-side path is completed, the travel driving unit 370 is controlled to return from the short-side path to the long-side path for zigzag travel.
可选地，控制单元310在绕障碍物的周边一周后，确定目标未清洁行的过程中，还被配置为：Optionally, the control unit 310 is further configured to:
寻找最近一个未清洁行，将最近一个未清洁行确定为目标未清洁行。Find the latest uncleaned row, and determine the latest uncleaned row as the target uncleaned row.
可选地，控制单元310寻找最近一个未清洁行之前，还被配置为：Optionally, before the control unit 310 searches for the latest uncleaned row, it is further configured to:
在绕障碍物的周边行进一周后，寻找附近未清洁角落所在行；After walking around the perimeter of the obstacle, look for the line where the nearby uncleaned corner is;
若存在附近未清洁角落所在行，则控制行进驱动单元370行进至附近未清洁角落所在行，并将附近未清洁角落所在行确定为目标未清洁行；If there is the row at the nearby uncleaned corner, then control the travel drive unit 370 to advance to the row at the nearby uncleaned corner, and determine the row at the nearby uncleaned corner as the target uncleaned row;
若不存在附近未清洁角落所在行，则执行寻找最近一个未清洁行的步骤。If there is no row where the nearby uncleaned corner is located, perform the step of finding the nearest uncleaned row.
可选地，控制单元310控制行进驱动单元370进行之字形行进之前，还被配置为：Optionally, before the control unit 310 controls the traveling drive unit 370 to perform zigzag traveling, it is further configured to:
从启动位置寻找最近一个障碍物；Find the nearest obstacle from the starting position;
控制行进驱动单元370向最近一个障碍物行进；Control the travel drive unit 370 to travel to the nearest obstacle;
在感应到最近一个障碍物时，控制行进驱动单元370绕最近一个障碍物的周边行进一周；When the nearest obstacle is sensed, the travel drive unit 370 is controlled to travel around the periphery of the nearest obstacle;
在绕最近一个障碍物的周边行进一周后，执行控制行进驱动单元370进行之字形行进的步骤。After traveling around the periphery of the nearest obstacle for a circle, the step of controlling the traveling driving unit 370 to perform zigzag traveling is performed.
可选地，控制单元310，还被配置为：Optionally, the control unit 310 is further configured to:
在绕最近一个障碍物的周边行进一周后，寻找附近未清洁角落所在行；After traveling around the perimeter of the nearest obstacle, look for the line where the nearby uncleaned corner is;
控制行进驱动单元370行进至附近未清洁角落所在行后，执行控制行进驱动单元进行之字形行进的步骤。After controlling the traveling driving unit 370 to travel to the row where the nearby uncleaned corner is located, the step of controlling the traveling driving unit to perform zigzag traveling is executed.
可选地，控制单元310，还被配置为：Optionally, the control unit 310 is further configured to:
以自身所在位置为依据构建区块；或，以一定范围内的墙体为边界构建区块；或，参考已有区块的边界构建已有区块的相邻区块。Build blocks based on your own location; or, build blocks with walls within a certain range as boundaries; or, build adjacent blocks of existing blocks with reference to the boundaries of existing blocks.
可选地，控制单元310，还被配置为：Optionally, the control unit 310 is further configured to:
以机体的边刷40一侧为内侧绕障碍物的周边行进一周。Take the side brush 40 side of the body as the inner side and go around the periphery of the obstacle for one week.
可选地，第一行进与第二行进之间的间距小于或等于清洁机器人的机身半径。Optionally, the distance between the first travel and the second travel is less than or equal to the radius of the body of the cleaning robot.
可选地，第一方向和第二方向均与区块的长边平行。Optionally, both the first direction and the second direction are parallel to the long side of the block.
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储单元320，上述指令可由控制单元310执行以完成上述本公开实施例中的清洁机器人控制方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as the storage unit 320 including instructions, which can be executed by the control unit 310 to complete the cleaning robot in the above-mentioned embodiments of the present disclosure. Control Method. For example, the non-transitory computer readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
以下实施例将基于上述清洁机器人来阐述控制其行进的方法，但本公开实施例不限定清洁机器人的类型。The following embodiments will illustrate the method of controlling the movement of the cleaning robot based on the above-mentioned cleaning robot, but the embodiments of the present disclosure do not limit the type of the cleaning robot.
图4是根据一示例性实施例示出的清洁机器人控制方法的流程图。该清洁机器人控制方法包括如下步骤。Fig. 4 is a flow chart showing a method for controlling a cleaning robot according to an exemplary embodiment. The cleaning robot control method includes the following steps.
在步骤401中，进行之字形行进，之字形行进包括第一行进和第二行进，第一行进使清洁机器人沿区块中的第一方向前进，第二行进使清洁机器人沿区块中的第二方向前进，第一方向和第二方向平行且相反；In step 401, zigzag travel is performed. The zigzag travel includes a first travel and a second travel. The first travel makes the cleaning robot advance along the first direction in the block, and the second travel makes the cleaning robot move along the first direction in the block. Advance in two directions, the first direction and the second direction are parallel and opposite;
之字形行进又称蛇形行进，是周期性进行第一行进和第二行进的一种行进方式。Zigzag marching, also known as serpentine marching, is a marching method that periodically performs the first march and the second march.
通常，清洁机器人在区块中进行之字形行进。区块是清洁机器人打扫时的单位区域。Typically, cleaning robots zigzag through the blocks. A block is the unit area when the cleaning robot cleans.
可选地，若区块为矩形区块，则第一方向和第二方向均与区块的长边平行。如此，可以大幅度减少清洁机器人在之字形行进中需要调头的次数。Optionally, if the block is a rectangular block, both the first direction and the second direction are parallel to the long side of the block. In this way, the number of times the cleaning robot needs to turn around during the zigzag travel can be greatly reduced.
在步骤402中，若在之字形行进过程中感应到障碍物，则绕障碍物的周边行进一周；In step 402, if an obstacle is sensed during the zigzag traveling process, then travel around the periphery of the obstacle for a circle;
在步骤403中，在绕障碍物的周边行进一周后，寻找目标未清洁行；In step 403, after traveling around the periphery of the obstacle for a week, the target uncleaned row is searched for;
在一般策略中，目标未清洁行即为离清洁机器人当前所在位置的最近一个未清洁行。In the general strategy, the target uncleaned row is the nearest uncleaned row from the current location of the cleaning robot.
在步骤404中，在目标未清洁行上继续进行之字形行进，若清洁机器人的所在位置不对应目标未清洁行的端点，则识别在目标未清洁行上离所在位置最近的端点，向最近的端点行进，并从最近的端点返回清洁目标未清洁行，再继续进行之字形行进。In step 404, continue zigzag travel on the target uncleaned line, if the position of the cleaning robot does not correspond to the end point of the target uncleaned line, then identify the nearest end point from the position on the target uncleaned line, and move to the nearest Endpoint marching and return clean target uncleaned rows from the nearest endpoint before continuing the zigzag march.
综上所述，本实施例提供的清洁机器人控制方法，通过让清洁机器人在感应到障碍物时，绕障碍物的周边行进一周，然后再寻找目标未清洁行进行清洁，并在清洁机器人的所在位置不对应目标未清洁行的端点时，则识别在目标未清洁行上离所在位置最近的端点，向最近的端点行进，并从最近的端点返回清洁最近一个未清洁行；解决了相关技术在一些场景中会导致清洁机器人走较长的重复路线，影响清洁机器人的清洁效率的问题；达到了清洁机器人基本不用走重复路线，提高清洁机器人的清洁效率的效果。To sum up, the cleaning robot control method provided in this embodiment is to let the cleaning robot walk around the periphery of the obstacle for a circle when it senses the obstacle, and then find the target uncleaned line to clean, and the cleaning robot is located When the position does not correspond to the end point of the target uncleaned line, then identify the nearest end point on the target uncleaned line from the position, advance to the nearest end point, and return to clean the latest uncleaned line from the nearest end point; solve the related technology in In some scenarios, the cleaning robot will take a long repetitive route, which will affect the cleaning efficiency of the cleaning robot; it will achieve the effect that the cleaning robot basically does not need to take repeated routes and improve the cleaning efficiency of the cleaning robot.
由于清洁机器人绕障碍物的周边总选择有沿边模块(比如边刷)的一侧沿边行进，即可覆盖所有的障碍物，也即解决了所有的贴边问题；又不需要在清洁机器人的两侧都设置沿边模块，从而达到了降低成本的效果。Since the cleaning robot always chooses one side of the edge module (such as a side brush) to move along the edge around the obstacle, all obstacles can be covered, which solves all the edge problems; Edge modules are arranged on both sides, thereby achieving the effect of reducing costs.
下面结合一个实际的场景示意图。对上述图4所示出的清洁机器人控制方法进行示例性说明。为了简化描述，下述实施例的清洁机器人均以右侧为边刷一侧来举例说明。也即，清洁机器人的右侧设置有边刷，左侧没有设置边刷。The following is a schematic diagram of an actual scene. An exemplary description will be given to the cleaning robot control method shown in FIG. 4 above. In order to simplify the description, the cleaning robot in the following embodiments is illustrated by taking the right side as the side brush side. That is, a side brush is provided on the right side of the cleaning robot, and no side brush is provided on the left side.
图5是根据一示例性实施例示出的一种清洁机器人控制方法的实施示意图。图5示出了一个区块50，该区块50的四条边为虚拟边，区块50中有一个不规则的障碍物51且该区块50中不再包含其它障碍物。若清洁机器人在该区块50的中心位置开始进行之字形行进后，清洁机器人会在前方遇到障碍物51，然后清洁机器人沿障碍物51的外周边绕行一周。在绕行一周后，清洁机器人将障碍物51所在的区域标记为已清洁区域。Fig. 5 is a schematic diagram of implementation of a method for controlling a cleaning robot according to an exemplary embodiment. Fig. 5 shows a block 50, the four sides of which are virtual sides, there is an irregular obstacle 51 in the block 50 and no other obstacles are included in the block 50. If the cleaning robot starts to travel in a zigzag pattern at the center of the block 50 , the cleaning robot will encounter an obstacle 51 ahead, and then the cleaning robot will circle around the outer periphery of the obstacle 51 . After making a circle, the cleaning robot marks the area where the obstacle 51 is located as the cleaned area.
清洁机器人从绕行前的原始位置查找最近一个未清洁行52，开始继续进行之字形行进。清洁机器人沿该最近一个未清洁行52开始之字形行进，在该最近一个未清洁行52的末端，清洁机器人前方为区块的边缘，左右两侧均为未清洁行，此时清洁机器人随机向左切换或向右切换，或者，清洁机器人按照预定的向左切换，或者，清洁机器人按照预定的向右切换继续之字形行进。图中所示为随机向左转举例说明，进入未清洁行53。The cleaning robot searches for the latest uncleaned row 52 from the original position before the detour, and starts to continue the zigzag march. The cleaning robot starts zigzag along the last uncleaned row 52. At the end of the last uncleaned row 52, the front of the cleaner robot is the edge of the block, and the left and right sides are uncleaned rows. Switching to the left or switching to the right, or the cleaning robot switches to the left according to a predetermined switch, or the cleaning robot continues to travel in zigzag according to a predetermined switch to the right. Shown is an example of a random left turn, entering Uncleaned Row 53.
当然，由于清洁机器人并不总是能保证不偏离当前清洁行，若在查找最近一个未清洁行时左右两侧均为未清洁行，而清洁机器人的行驶轨迹是偏左的，则确定左侧的未清洁行是最近一个未清洁行；若行驶轨迹是偏右的，则确定右侧的未清洁行是最近一个未清洁行。Of course, since the cleaning robot cannot always guarantee not to deviate from the current cleaning line, if the left and right sides are uncleaned lines when looking for the latest uncleaned line, and the driving track of the cleaning robot is to the left, then determine the left side The uncleaned row of is the latest uncleaned row; if the driving trajectory is to the right, it is determined that the uncleaned row on the right is the latest uncleaned row.
在行进至未清洁行53的中部时，由于前方是清洁机器人已经清洁过的区域，则寻找到最近一个未清洁行54，清洁机器人行进至最近一个未清洁行54，由于此时清洁机器人的所在位置不对应最近一个未清洁行54的端点时，则清洁机器人识别在最近一个未清洁行54上离所在位置最近的端点，向最近的端点行进，并从最近的端点返回清洁最近一个未清洁行54；之后，按照正常的之字形行进将整个区块打扫完毕。When advancing to the middle part of the uncleaned row 53, because the front is the cleaned area of the cleaning robot, the nearest uncleaned row 54 is found, and the cleaning robot advances to the nearest uncleaned row 54, because the location of the cleaner robot is now When the position does not correspond to the endpoint of the last uncleaned row 54, the cleaning robot identifies the nearest endpoint on the last uncleaned row 54, advances to the nearest endpoint, and returns to clean the last uncleaned row from the nearest endpoint 54; Afterwards, proceed in a normal zigzag pattern to clean the entire block.
图6是根据另一示例性实施例示出的清洁机器人控制方法的流程图。该清洁机器人控制方法包括如下步骤。Fig. 6 is a flow chart showing a method for controlling a cleaning robot according to another exemplary embodiment. The cleaning robot control method includes the following steps.
在步骤601中，构建区块。In step 601, a block is constructed.
由于待清洁区域可能非常大，清洁机器人可以以区块为单位来进行清洁。可选地，每个区块是矩形或正方形，比如4m*4m的正方形。Since the area to be cleaned may be very large, the cleaning robot can clean in blocks. Optionally, each block is a rectangle or a square, such as a 4m*4m square.
在构建区块时，一种可能的实现方式是：清洁机器人以自身所在位置为依据构建区块，优选以自身所在位置为中心构建区块，可选地，以自身所在位置作为区块的一个角来构建区块。另一种可能的实现方式是：清洁机器人以一定范围内的墙为边界构建区块，比如：以一面墙作为区块的一个边构建区块；以互相垂直的两面墙作为区块的两个相邻边构建区块等等。再一种可能的实现方式是：参考已有区块的边界构建已有区块的相邻区块。比如：已经构建有区块1时，根据区块1的边界并列构建相邻区块2。When constructing a block, a possible implementation method is: the cleaning robot constructs a block based on its own location, preferably centering on its own location, optionally, taking its own location as a block corners to build blocks. Another possible implementation is: the cleaning robot builds a block with a certain range of walls as the boundary, for example: a wall is used as a side of the block to build a block; two walls perpendicular to each other are used as two sides of the block. Adjacent edges build blocks and so on. Another possible implementation is: constructing adjacent blocks of the existing block with reference to the boundaries of the existing block. For example: when block 1 has already been constructed, adjacent block 2 is constructed side by side according to the boundary of block 1.
在单次清洁过程中，清洁机器人仅在该区块内进行清洁。完成一个区块的清洁之后，进入其它区块进行清洁。该区块的四周可以包括墙体，也可以不包括墙体。可选地，清洁机器人也可以从初始位置出发，在一定范围内熟悉环境后，按照一定的策略来选择合适的区块划分方法，例如：划分尽量少的区块数量来覆盖一定范围；又例如：划分尽量少的不规则区块。During a single cleaning session, the cleaning robot only cleans within that block. After finishing the cleaning of one block, enter other blocks for cleaning. The block may or may not be surrounded by walls. Optionally, the cleaning robot can also start from the initial position, and after being familiar with the environment within a certain range, select an appropriate block division method according to a certain strategy, for example: divide as few blocks as possible to cover a certain range; another example : Divide as few irregular blocks as possible.
清洁机器人还可以在区块中划分出多条并列的清洁行，并在初始阶段将全部清洁行都标记为未清洁行。所有清洁行与区块的某一个边平行，优选长边，从而减少清洁机器人调头的次数。The cleaning robot can also divide a plurality of parallel cleaning rows in the block, and mark all the cleaning rows as uncleaned rows in the initial stage. All cleaning lines are parallel to one side of the block, preferably the long side, thereby reducing the number of U-turns of the cleaning robot.
通常，两两清洁行之间还间隔固定间距，该固定间距小于或等于清洁机器人的机身半径。比如，清洁机器人的机身半径是15厘米，则第一行进和第二行进之间的间距小于或等于15厘米。当然，两两清洁行之间的间距也可以不是固定间距，只需要小于或等于清洁机器人的机身半径即可。Usually, there is a fixed interval between two cleaning rows, and the fixed interval is less than or equal to the radius of the body of the cleaning robot. For example, if the body radius of the cleaning robot is 15 cm, the distance between the first travel and the second travel is less than or equal to 15 cm. Of course, the distance between two cleaning rows may not be a fixed distance, and it only needs to be less than or equal to the radius of the body of the cleaning robot.
通常，之字形行走时的第一方向和第二方向与区块的长边是平行的。Usually, the first direction and the second direction during zigzag walking are parallel to the long side of the block.
在步骤602中，从启动位置寻找最近一个障碍物。In step 602, the nearest obstacle is searched from the starting position.
清洁机器人在启动进入清洁模式后，通过障碍物感应单元寻找区块中的最近一个障碍物。After the cleaning robot starts to enter the cleaning mode, it searches for the nearest obstacle in the block through the obstacle sensing unit.
在步骤603中，向最近一个障碍物行进。In step 603, proceed to the nearest obstacle.
清洁机器人可以沿最短路径向最近一个障碍物行进。The cleaning robot can travel along the shortest path to the nearest obstacle.
在步骤604中，在感应到最近一个障碍物时，绕最近一个障碍物的周边行进一周。In step 604, when the nearest obstacle is sensed, go around the periphery of the nearest obstacle for a circle.
在感应到最近一个障碍物时，清洁机器人进行沿边清洁，也即控制机体的边刷一侧绕最近一个障碍物的周边行进一周。也即，若边刷位于机体的左侧，则清洁机器人控制机体的左侧绕最近一个障碍物的周边行进一周；若边刷位于机体的右侧，则清洁机器人控制机体的右侧绕最近一个障碍物的周边行进一周。When sensing the nearest obstacle, the cleaning robot performs edge cleaning, that is, controls the side brush side of the body to travel around the periphery of the nearest obstacle. That is, if the side brush is on the left side of the body, the cleaning robot controls the left side of the body to go around the nearest obstacle; if the side brush is on the right side of the body, the cleaning robot controls the right side of the body to go around the nearest obstacle. The perimeter of the obstacle is traveled for one week.
比如，障碍物是地板上的一个水桶70，则绕该水桶70的外周边行进一周，比如图7A所示。For example, if the obstacle is a water bucket 70 on the floor, the user travels around the outer periphery of the water bucket 70, as shown in FIG. 7A.
需要说明的是，若清洁机器人绕行障碍物一周，则清洁机器人将该障碍物所在的区域标记为障碍物区域，将已经绕行一周的环边区域标记为已清洁区域。正常情况下，清洁机器人在下次感应到该已清洁区域时会进行避让，以免重复清洁。It should be noted that, if the cleaning robot circles around the obstacle, the cleaning robot marks the area where the obstacle is located as the obstacle area, and marks the ring area that has circled once as the cleaned area. Under normal circumstances, the cleaning robot will avoid it the next time it senses the cleaned area, so as not to repeat cleaning.
在步骤605中，在绕最近一个障碍物的周边行进一周后，寻找附近未清洁角落所在行；In step 605, after going around the periphery of the nearest obstacle for a week, find the row where the nearby uncleaned corner is located;
在步骤606中，行进至附近未清洁角落所在行，进行之字形行进；In step 606, travel to the row where the nearby uncleaned corner is located, and perform zigzag travel;
在绕最近的一个障碍物的周边行进一周后，清洁机器人寻找附近未清洁角落所在行。行进至附近未清洁角落所在行后再开始之字形行进可以避免之字形行进结束后再进行角落处的补扫，可以提高清洁覆盖效率。After traveling around the perimeter of the nearest obstacle, the cleaning robot looks for the row of nearby uncleaned corners. Traveling to the row where the nearby uncleaned corner is located and then starting the zigzag travel can avoid re-sweeping at the corner after the zigzag travel is completed, which can improve the cleaning coverage efficiency.
之字形行进包括周期性进行的第一行进和第二行进，第一行进使清洁机器人沿区块中的第一方向前进，第二行进使清洁机器人沿区块中的第二方向前进，第一方向和第二方向平行且相反。通常，第一行进和第二行进之间的间距为固定间距，但也可以不是固定间距。The zigzag travel includes first travel and second travel that are carried out periodically, the first travel makes the cleaning robot advance along the first direction in the block, the second travel makes the cleaning robot advance along the second direction in the block, the first The direction is parallel to and opposite to the second direction. Usually, the interval between the first pass and the second pass is a constant interval, but it may not be a constant interval.
第一行进切换至第二行进的切换条件包括：在当前行的障碍物的相同一侧感应不到未清洁区域(也即该障碍物的周边为已清洁区域)，或，在当前行上感应到区块的周边。The switching conditions for switching from the first travel to the second travel include: no uncleaned area is sensed on the same side of the obstacle in the current row (that is, the periphery of the obstacle is a cleaned area), or, the sensor on the current row to the perimeter of the block.
类似地，第二行进切换至第一行进的切换条件包括：在当前行的障碍物的相同一侧感应不到未清洁区域(也即该障碍物的周边为已清洁区域)，或，在当前行上感应到区块的周边。Similarly, the switching condition for switching from the second travel to the first travel includes: no uncleaned area is sensed on the same side of the obstacle in the current row (that is, the periphery of the obstacle is a cleaned area), or, in the current row The perimeter of the block is sensed on the line.
在之字形行进中，第一行进切换至第二行进，或者，第二行进切换至第一行进，通常是向最近一个未清洁行切换。In zigzag travel, the first travel switches to the second travel, or the second travel switches to the first travel, usually to the last uncleaned row.
需要说明的是，步骤602至步骤606是可选步骤，清洁机器人也可以直接在区块中开始之字形行进。或者，清洁机器人在寻找不到最近一个障碍物时，直接在区块中开始之字形行进。或者，清洁机器人在绕最近一个障碍物后，直接从所在位置寻找最近一个未清洁行开始之字形行进。It should be noted that steps 602 to 606 are optional steps, and the cleaning robot can also start zigzag travel directly in the block. Alternatively, the cleaning robot starts zig-zagging directly in the block when it cannot find the nearest obstacle. Or, after the cleaning robot goes around the nearest obstacle, it starts to zigzag from its location to find the nearest uncleaned row.
在步骤607中，若在之字形行进过程中感应到障碍物，则绕障碍物的周边行进一周。In step 607, if an obstacle is sensed during the zigzag traveling process, then go around the periphery of the obstacle for a circle.
由于待清洁区域中可能存在多个障碍物，在之字形行进过程中，清洁机器人会感应到障碍物。Since there may be multiple obstacles in the area to be cleaned, the cleaning robot will sense obstacles during the zigzag travel process.
在感应到障碍物时，清洁机器人控制机体的边刷一侧绕障碍物的周边行进一周。也即，若边刷位于机体的左侧，则清洁机器人控制机体的左侧绕障碍物的周边行进一周；若边刷位于机体的右侧，则清洁机器人控制机体的右侧绕障碍物的周边行进一周。When an obstacle is sensed, the cleaning robot controls the side brush side of the body to travel around the obstacle for a circle. That is, if the side brush is located on the left side of the body, the cleaning robot controls the left side of the body to go around the perimeter of the obstacle; if the side brush is located on the right side of the body, the cleaning robot controls the right side of the body to go around the perimeter of the obstacle March for a week.
需要说明的是，对于已经绕行一周的障碍物，因为该障碍物所在的区域被标记为障碍物区域，将已经绕行一周的环边区域标记为已清洁区域。清洁机器人再次靠近该障碍物时，认为前方是已清洁区域，进行避让后继续进行之字形行进。It should be noted that, for an obstacle that has circled once, since the area where the obstacle is located is marked as an obstacle area, the ring area that has circled once is marked as a cleaned area. When the cleaning robot approaches the obstacle again, it thinks that the front is the cleaned area, avoids and continues to travel in zigzag.
还需要说明的是，清洁机器人判断是否绕障碍物行进一周的方式包括：在沿边过程中再次到达已清洁点，再次到达已清洁点的行进方向和已清洁点的首次清洁行进方向小于一定角度，和/或，从开始沿边清洁到再次到达已清洁点的过程中机器人的行进方向经历过所有象限，则确定已经完成绕障碍物的周边行进一周。It should also be noted that the way for the cleaning robot to judge whether to travel around the obstacle includes: reaching the cleaned point again during the edge-along process, the traveling direction of reaching the cleaned point again and the cleaning traveling direction of the cleaned point for the first time are less than a certain angle, And/or, if the moving direction of the robot has gone through all quadrants during the process from starting cleaning along the edge to arriving at the cleaned point again, it is determined that a circle around the periphery of the obstacle has been completed.
在步骤608中，在绕障碍物的周边行进一周后，寻找附近未清洁角落所在行；In step 608, after traveling around the perimeter of the obstacle for a week, find the row where the nearby uncleaned corner is located;
附近未清洁角落是以附近未清洁区域所形成的图案中的角落。附近未清洁区域并不包括已清洁区域，附近未清洁区域有可能是不规则的区域。Nearby uncleaned corners are corners in the pattern formed by nearby uncleaned areas. The nearby uncleaned area does not include the cleaned area, and the nearby uncleaned area may be an irregular area.
通常，清洁机器人在绕障碍物一周后，自身所处的位置即为未清洁角落。但是由于惯性等原因，清洁机器人的停留位置很有可能并不是开始绕行时的原始位置。所以，在绕障碍物的周边行进一周后，清洁机器人寻找附近未清洁角落所在行。Usually, after the cleaning robot circles around the obstacle, its own position is the uncleaned corner. However, due to reasons such as inertia, the rest position of the cleaning robot may not be the original position when it starts to circle. So, after traveling around the perimeter of the obstacle, the cleaning robot looks for the row where the nearby uncleaned corners are located.
需要说明的是，本领域技术人员可以对附近未清洁角落做不同定义，也可以对附近未清洁角落所在行的寻找方式做不同的实现方式，本公开实施例不限定附近未清洁角落所在行的寻找方式。It should be noted that those skilled in the art can make different definitions for nearby uncleaned corners, and can also implement different ways of finding the rows of nearby uncleaned corners. The embodiment of the present disclosure does not limit the row of nearby uncleaned corners. Find a way.
若存在附近未清洁角落所在行，则进入步骤609。If there is a row where the nearby uncleaned corner exists, go to step 609 .
若不存在附近未清洁角落所在行，则进入步骤610。If there is no row where the nearby uncleaned corner is located, go to step 610 .
在步骤609中，若存在附近未清洁角落所在行，则行进至附近未清洁角落所在行，并将附近未清洁角落所在行确定为目标未清洁行；In step 609, if there is a row where the nearby uncleaned corner is located, proceed to the row where the nearby uncleaned corner is located, and determine the row where the nearby uncleaned corner is located as the target uncleaned row;
在步骤610中，若不存在附近未清洁角落所在行，则寻找最近一个未清洁行，将最近一个未清洁行确定为目标未清洁行；In step 610, if there is no nearby row where the uncleaned corner is located, then search for the latest uncleaned row, and determine the latest uncleaned row as the target uncleaned row;
若不存在附近未清洁角落所在行，清洁机器人根据当前所在位置，寻找最近一个未清洁行。If there is no nearby uncleaned corner row, the cleaning robot searches for the nearest uncleaned row based on the current location.
可选地，清洁机器人可以以当前所在位置为起始位置，计算出最近一个未清洁行。若同时有两个距离相等的最近的未清洁行，可以优先选择靠近前进方向上的最近一个未清洁行。Optionally, the cleaning robot can calculate the latest uncleaned row by taking the current location as the starting position. If there are two nearest uncleaned rows with the same distance at the same time, the closest uncleaned row in the forward direction can be selected preferentially.
需要说明的是，步骤608和609是可选步骤，在绕行障碍物一周后，清洁机器人可以略过步骤608和步骤609，直接执行步骤610。也即，清洁机器人在绕行障碍物一周后，在当前所在位置直接寻找最近一个未清洁行作为目标未清洁行。It should be noted that steps 608 and 609 are optional steps, and the cleaning robot may skip steps 608 and 609 and directly execute step 610 after circumventing the obstacle for one circle. That is, after the cleaning robot circles around the obstacle for one week, it directly looks for the nearest uncleaned row at the current location as the target uncleaned row.
在步骤611中，在目标未清洁行上继续进行之字形行进。In step 611, the zigzag travel continues on the target uncleaned row.
目标未清洁行也可以理解为“下一未清洁行”。The target uncleaned line can also be understood as "the next uncleaned line".
在正常的之字形行进中，若当前行是已清洁行，则目标未清洁行是最近一条未清洁行。In normal zigzag progression, if the current row is a cleaned row, the target uncleaned row is the last uncleaned row.
若存在较多障碍物，则重复上述步骤607至步骤611即可完成该区块的清洁。If there are many obstacles, repeat the above step 607 to step 611 to complete the cleaning of the block.
当然，由于区块中还存在一些障碍物与区块的边界相交，比如墙体、或者被区块的周边所切割的家具腿，所以步骤607，还可能包括如下两个子步骤：Of course, since there are still some obstacles intersecting the boundary of the block in the block, such as walls or furniture legs cut by the perimeter of the block, step 607 may also include the following two sub-steps:
第一子步骤，在绕障碍物的周边行进的过程中，若感应到区块的周边，则进行沿边清洁，沿区块的周边和障碍物的周边所组成的组合周边行进一周。In the first sub-step, in the process of traveling around the periphery of the obstacle, if the periphery of the block is sensed, perform edge cleaning, and travel for a circle along the combined periphery formed by the periphery of the block and the periphery of the obstacle.
在绕障碍物的周边行进的过程中，可能会存在尚未绕行完毕，就遇到区块的周边的情况，若首次在绕行过程中感应到区块的周边，则清洁机器人进行沿边清洁，沿区块的周边和障碍物的周边所组成的组合周边行进一周。In the process of traveling around the perimeter of the obstacle, there may be situations where the perimeter of the block is encountered before the detour is completed. If the perimeter of the block is sensed during the detour for the first time, the cleaning robot will clean along the edge. Travel one week along the combined perimeter formed by the perimeter of the block and the perimeter of the obstacle.
比如，区块72的四周均为障碍物74，则清洁机器人绕四个障碍物74的周边行进一周，比如图7B所示。For example, the block 72 is surrounded by obstacles 74, and the cleaning robot travels around the periphery of the four obstacles 74, as shown in FIG. 7B.
又比如，区块72的上边和右边为障碍物75，则清洁机器人在绕该障碍物75的周边进行绕行，在绕行障碍物75的过程中碰到区块72的周边，则清洁机器人绕区块72的周边(左虚拟边和下虚拟边)和障碍物75的周边所围合形成的组合周边行进一周，如图7C所示。For another example, the upper and right sides of block 72 are obstacles 75, then the cleaning robot is going around around the periphery of the obstacle 75, and when it encounters the periphery of block 72 in the process of going around the obstacle 75, the cleaning robot will Travel around the combined perimeter formed by the perimeter of the block 72 (the left virtual side and the bottom virtual side) and the perimeter of the obstacle 75 , as shown in FIG. 7C .
再比如，区块72的一边设置有圆形的障碍物76，该障碍物76被区块72的周边所切割，则清洁机器人绕障碍物76位于区块72中的周边，以及区块72的周边所围合形成的组合周边行进一周，如图7D所示。For another example, one side of block 72 is provided with circular obstacle 76, and this obstacle 76 is cut by the periphery of block 72, and then cleaning robot is positioned at the periphery in block 72 around obstacle 76, and the periphery of block 72 The combined perimeter surrounded by the perimeter travels for one cycle, as shown in FIG. 7D .
又比如，区块72的一边设置有圆形的障碍物77，另一边设置有不规则的障碍物78，该障碍物77和障碍物78被区块72的周边所切割，则清洁机器人绕障碍物77位于区块72中的周边，障碍物78位于区块72中的周边、以及区块72的周边所围合形成的组合周边行进一周，如图7E所示。For another example, one side of the block 72 is provided with a circular obstacle 77, and the other side is provided with an irregular obstacle 78. The obstacle 77 and the obstacle 78 are cut by the periphery of the block 72, and then the cleaning robot goes around the obstacle. Object 77 is located in the perimeter of block 72, the perimeter of obstacle 78 is located in block 72, and the combined perimeter formed by the perimeter of block 72 travels for a circle, as shown in FIG. 7E.
需要说明的是，在一个区块中，绕组合周边行进一周的绕行过程通常只执行一次，也即，清洁机器人在绕行障碍物过程中首次碰到区块72的周边时执行一次。It should be noted that, in a block, the circumvention process of traveling around the combined perimeter is usually performed only once, that is, when the cleaning robot encounters the perimeter of the block 72 for the first time in the process of circumventing obstacles.
需要说明的是，清洁机器人判断是否绕组合周边行进一周的方式包括：在沿边过程中再次到达已清洁点，再次到达已清洁点的行进方向和已清洁点的首次清洁行进方向小于一定角度，和/或，从开始沿边清洁到再次到达已清洁点的过程中机器人的行进方向经历过所有象限，则确定已经完成绕组合周边行进一周。It should be noted that the way for the cleaning robot to determine whether to travel around the combined perimeter includes: reaching the cleaned point again during the edge-alonging process, the traveling direction to reach the cleaned point again and the first cleaning traveling direction of the cleaned point are less than a certain angle, and Or, if the moving direction of the robot has gone through all quadrants during the process from starting cleaning along the edge to reaching the cleaned point again, then it is determined that a round of traveling around the combined perimeter has been completed.
第二子步骤，在绕组合周边行进一周后，寻找目标未清洁行。The second sub-step is to search for the target uncleaned row after traveling around the periphery of the combination for one week.
在找到目标未清洁行后，再次进入步骤611。After finding the target uncleaned line, go to step 611 again.
需要补充说明的一点是，步骤604可以采用类似于第一子步骤和第二子步骤的策略。One point that needs to be supplemented is that step 604 may adopt a strategy similar to that of the first sub-step and the second sub-step.
另外需要补充说明的一点是，由于清洁机器人从已清洁行行进至目标未清洁行后继续进行之字形行进时，当前所在位置很可能不是目标未清洁行的端点，而是位于目标未清洁行的中间位置。此时，清洁机器人识别在目标未清洁行上离所在位置最近的端点，控制行进驱动单元向最近的端点行进，并从最近的端点返回清洁目标未清洁行。Another point that needs to be added is that when the cleaning robot continues to travel in a zigzag pattern from the cleaned row to the target uncleaned row, the current position is probably not the end point of the target uncleaned row, but at the end of the target uncleaned row centre position. At this time, the cleaning robot identifies the nearest endpoint on the target uncleaned row, controls the traveling drive unit to travel to the nearest endpoint, and returns to clean the target uncleaned row from the nearest endpoint.
也即，步骤611可选包括如下步骤，如图8A所示。优选地：That is, step 611 may optionally include the following steps, as shown in FIG. 8A . Preferably:
611a，清洁机器人在进入目标未清洁行开始清洁时，检测所在位置是否为目标未清洁行的端点；611a, when the cleaning robot enters the target uncleaned row and starts cleaning, check whether the location is the end point of the target uncleaned row;
611b，若所在位置对应目标未清洁行的端点，则清洁机器人从该端点开始沿目标未清洁行行进。611b. If the location corresponds to the end point of the target uncleaned row, the cleaning robot starts to travel along the target uncleaned row from the end point.
比如，在正常的之字形行进中，清洁机器人在打扫完一个清洁行后，会沿区块的周边行进至目标未清洁行的端点，继续进行之字形行进。For example, in normal zigzag travel, after cleaning a cleaning row, the cleaning robot will travel along the periphery of the block to the end point of the target uncleaned row, and continue to travel in zigzag.
611c，若所在位置不对应目标未清洁行的端点，则识别在目标未清洁行上由所在位置出发的短边路径和长边路径，向短边路径行进。611c, if the current position does not correspond to the end point of the target uncleaned line, identify the short-side path and long-side path starting from the current position on the target uncleaned line, and proceed to the short-side path.
也即，当清洁机器人沿已清洁区域(比如障碍物)的周边行进至该目标未清洁行时，有可能位于目标未清洁行的中间位置，或者，位于目标未清洁行的外侧附近位置。That is, when the cleaning robot travels to the target uncleaned row along the periphery of the cleaned area (such as an obstacle), it may be located in the middle of the target uncleaned row, or located near the outside of the target uncleaned row.
611d，在短边路径行进完毕后，从短边路径返回至长边路径进行之字形行进。611d. After the short-side path is completed, return to the long-side path from the short-side path to perform zigzag travel.
比如，如图8B所示，清洁机器人在障碍物80一侧进行之字形行走，在越过障碍物后，查找出目标未清洁行82，并识别出目标未清洁行82的短边路径a和长边路径b。然后清洁机器人先从当前所在位置沿最短路径行进至目标未清洁行82，沿在目标未清洁行82中的短边路径a行进。在短边路径a行进完毕后，从短边路径a返回至长边路径b进行之字形清洁。For example, as shown in Figure 8B, the cleaning robot walks in zigzag on one side of the obstacle 80, and after crossing the obstacle, finds the target uncleaned row 82, and recognizes the short side path a and the long side path a of the target uncleaned row 82. edge path b. Then the cleaning robot first travels from the current position to the target uncleaned row 82 along the shortest path, and travels along the short side path a in the target uncleaned row 82 . After the short-side path a is completed, return from the short-side path a to the long-side path b for zigzag cleaning.
又比如，出于缩短行走路径的考虑，做出如图8C所示的变形，清洁机器人在障碍物80一侧进行之字形行走，在越过障碍物后，查找出目标未清洁行82，并识别出目标未清洁行82的最近的端点A和较远的端点B。然后清洁机器人沿最短路径或者较短路径从当前所在位置直接向最近的端点A行进(并未严格之字形行进)，在抵达最近的端点A后，从最近的端点A开始清洁目标未清洁行82，并在后续进行之字形清洁。For another example, for the consideration of shortening the walking path, the deformation as shown in Figure 8C is made, the cleaning robot walks in zigzag on one side of the obstacle 80, and after crossing the obstacle, finds out the target uncleaned row 82, and identifies The nearest endpoint A and the farther endpoint B of the target uncleaned row 82 are displayed. Then the cleaning robot travels directly from the current location to the nearest endpoint A along the shortest path or a shorter path (not strictly zigzag), and after arriving at the nearest endpoint A, clean the target uncleaned row 82 from the nearest endpoint A , and subsequent zigzag cleaning.
也即，清洁机器人向目标未清洁行82的最近的端点A行进时，可以按照严格的之字形行进，沿目标未清洁行82上的短边路径a行进；也可以按照最短路径或较短路径直接向最近的端点A行进，本实施例对此不加以限定。That is to say, when the cleaning robot travels to the nearest end point A of the target uncleaned row 82, it can proceed in a strict zigzag, and travel along the short-side path a on the target uncleaned row 82; it can also follow the shortest path or a shorter path Go directly to the nearest endpoint A, which is not limited in this embodiment.
综上所述，本实施例提供的清洁机器人控制方法，通过让清洁机器人在感应到障碍物时，绕障碍物的周边行进一周，然后再寻找目标未清洁行进行清洁，并在清洁机器人的所在位置不对应目标未清洁行的端点时，则识别在目标未清洁行上离所在位置最近的端点，向最近的端点行进，并从最近的端点返回清洁目标未清洁行；解决了相关技术在一些场景中会导致清洁机器人走较长的重复路线，影响清洁机器人的清洁效率的问题；达到了清洁机器人基本不用走重复路线，提高清洁机器人的清洁效率的效果。To sum up, the cleaning robot control method provided in this embodiment is to let the cleaning robot walk around the periphery of the obstacle for a circle when it senses the obstacle, and then find the target uncleaned line to clean, and the cleaning robot is located When the position does not correspond to the end point of the target uncleaned line, then identify the nearest end point on the target uncleaned line from the position, advance to the nearest end point, and return to clean the target uncleaned line from the nearest end point; solve related technologies in some In the scene, the cleaning robot will take a long repetitive route, which will affect the cleaning efficiency of the cleaning robot; it will achieve the effect that the cleaning robot basically does not need to take repeated routes and improve the cleaning efficiency of the cleaning robot.
本实施例提供的清洁机器人控制方法，通过绕障碍物的周边行进一周，既能够将障碍物周围清洁干净，又能够将障碍物区域在清洁地图上进行标记，从而简化清洁机器人的行进路线。The control method of the cleaning robot provided in this embodiment can not only clean the surrounding of the obstacle, but also mark the area of the obstacle on the cleaning map by traveling around the periphery of the obstacle, so as to simplify the traveling route of the cleaning robot.
本实施例提供的清洁机器人控制方法，还通过在进行之字形行进之前，先寻找最近一个障碍物绕行一周，能够在大部分情况下，使清洁机器人行进至区块的一个边或区块中远离中心的位置开始进行之字形行进，从而使得清洁机器人的之字形行进从区块的一侧开始进行，而避免从区块的中心开始进行之字形行进，减少需要补扫的区域的形成。The cleaning robot control method provided in this embodiment can also make the cleaning robot travel to one side or block of the block in most cases by first looking for the nearest obstacle to circle around before performing the zigzag travel. The position away from the center starts to travel in zigzag, so that the zigzag travel of the cleaning robot starts from one side of the block, and avoids the zigzag travel from the center of the block, reducing the formation of areas that need to be re-scanned.
本实施例提供的清洁机器人控制方法，还通过在进行之字形行进之前，先寻找障碍物绕行一周后，寻找附近未清洁角落所在行，能够在大部分情况下，使清洁机器人行进至附近未清洁角落所在行开始进行之字形行进，从而减少需要补扫的区域的形成。The cleaning robot control method provided in this embodiment can also make the cleaning robot travel to the nearby uncleaned corners in most cases by looking for obstacles and going around for a circle before zigzag travel. The row where the corner is cleaned starts in a zigzag pattern, reducing the formation of areas that require touch-ups.
本实施例提供的清洁机器人控制方法，还通过在所在位置不是目标未清洁行的端点时，优先向最近的端点行进，能够尽可能减少清洁机器人所行走的重复路径。In the cleaning robot control method provided in this embodiment, when the location is not the end point of the target uncleaned row, the priority is to travel to the nearest end point, so as to reduce the repeated paths traveled by the cleaning robot as much as possible.
本实施例提供的清洁机器人控制方法，还通过使得第一方向和第二方向与区块的长边平行，较少了清洁机器人需要调头的次数。The cleaning robot control method provided in this embodiment also reduces the number of times the cleaning robot needs to turn around by making the first direction and the second direction parallel to the long side of the block.
下面结合几个实际的场景示意图。对上述图5所示出的清洁机器人控制方法进行示例性说明。为了简化描述，下述实施例的清洁机器人均以右侧为边刷一侧来举例说明。也即，清洁机器人的右侧设置有边刷，左侧没有设置边刷。The following is a combination of several actual scene diagrams. An exemplary description will be given to the cleaning robot control method shown in FIG. 5 above. In order to simplify the description, the cleaning robot in the following embodiments is illustrated by taking the right side as the side brush side. That is, a side brush is provided on the right side of the cleaning robot, and no side brush is provided on the left side.
图9是根据一示例性实施例示出的一种清洁机器人控制方法的实施示意图。作为一个特殊的例子，图9示出了一个区块90，该区块90的一个边包括障碍物91，其它三条边为虚拟边，且该区块90中不再包含其它障碍物。若清洁机器人在该区块90的中心位置开始清洁后，清洁机器人首先找到最近一个障碍物91，则清洁机器人沿障碍物91绕行一周，在绕行障碍物91的途中，会遇到区块90的周边，从而清洁机器人进行沿边清洁，沿障碍物91和区块90的另外三条周边所组成的组合周边绕行一周。在绕行一周后，清洁机器人将区块90的四周标记为已清洁区域。Fig. 9 is an implementation schematic diagram showing a method for controlling a cleaning robot according to an exemplary embodiment. As a special example, FIG. 9 shows a block 90, one side of the block 90 includes an obstacle 91, the other three sides are virtual sides, and the block 90 does not contain other obstacles. If the cleaning robot starts cleaning at the central position of the block 90, the cleaning robot first finds the nearest obstacle 91, then the cleaning robot goes around the obstacle 91 for a circle, and on the way around the obstacle 91, it will encounter the block 90, so that the cleaning robot cleans along the edge, and makes a circle around the combined perimeter formed by the obstacle 91 and the other three perimeters of the block 90. After making a complete circle, the cleaning robot marks the surrounding area of the block 90 as a cleaned area.
在绕行一周后，清洁机器人从绕行前的原始位置92查找附近未清洁角落所在行，也即左下角落所在的最下面一个未清洁行，然后行进至左下角落所在的最下面一个未清洁行，并开始之字形行进直至将整个区块打扫完毕。After going around for a week, the cleaning robot looks for the line where the nearby uncleaned corner is located from the original position 92 before the circle, that is, the bottommost uncleaned line where the lower left corner is located, and then proceeds to the bottommost uncleaned line where the lower left corner is located , and start zigzag until the entire block is cleaned.
图10A和图10B是根据另一示例性实施例示出的一种清洁机器人控制方法的实施示意图。图10A和图10B示出了一个区块100，该区块100的四条边为虚拟边，区块100中有一个不规则的障碍物101且该区块100中不再包含其它障碍物。若清洁机器人在该区块100的中心位置开始清洁后，清洁机器人首先寻找到最近一个障碍物，也即障碍物101，则清洁机器人以最短路径向障碍物101行进，然后清洁机器人沿障碍物101的外周边绕行一周。在绕行一周后，清洁机器人将障碍物101所在的区域标记为已清洁区域。Fig. 10A and Fig. 10B are schematic diagrams showing implementation of a cleaning robot control method according to another exemplary embodiment. FIG. 10A and FIG. 10B show a block 100 whose four sides are virtual sides. There is an irregular obstacle 101 in the block 100 and no other obstacles are included in the block 100 . If the cleaning robot starts cleaning at the central position of the block 100, the cleaning robot first finds the nearest obstacle, that is, obstacle 101, then the cleaning robot advances to the obstacle 101 with the shortest path, and then the cleaning robot moves along the obstacle 101 around the outer perimeter of the circle. After making a circle, the cleaning robot marks the area where the obstacle 101 is located as the cleaned area.
清洁机器人从绕行前的原始位置102查找附近未清洁角落所在行，也即右上角落所在的最上面一个未清洁行。然后，清洁机器人行进至右上角落所在的最上面一个未清洁行后，开始进行之字形行进。From the original position 102 before the detour, the cleaning robot searches for the row where the nearby uncleaned corner is located, that is, the uppermost uncleaned row where the upper right corner is located. Then, after the cleaning robot travels to the uppermost uncleaned row located in the upper right corner, it starts zigzag travel.
按照正常的之字形行进至左下角落后，如图10B的中间一副状态图所示，清洁机器人会寻找到最近一个未清洁行位于左中区域，然后从下往上直接行驶至左中区域，继续进行之字形行进，从而将整个区块100清洁完毕。After traveling to the lower left corner according to the normal zigzag, as shown in the middle state diagram of Figure 10B, the cleaning robot will find the nearest uncleaned row in the middle left area, and then drive directly to the middle left area from bottom to top. The zigzag is continued, so that the entire block 100 is cleaned.
图11A至图11D是根据另一示例性实施例示出的一种清洁机器人控制方法的实施示意图。请结合参考图11A至图11D，图11A至图11D示出了一个区块110，该区块110的两条边包括障碍物111。该区块110中还存在障碍物112、114、116、117和118。其中，障碍物112和114是紧靠障碍物111的障碍物。障碍物116、117和118是分散存在于区块110中的三个呈三角形的障碍物。Fig. 11A to Fig. 11D are schematic diagrams showing implementation of a cleaning robot control method according to another exemplary embodiment. Please refer to FIG. 11A to FIG. 11D together. FIG. 11A to FIG. 11D show a block 110 , and two sides of the block 110 include obstacles 111 . Obstacles 112 , 114 , 116 , 117 and 118 are also present in this block 110 . Wherein, obstacles 112 and 114 are obstacles close to obstacle 111 . Obstacles 116 , 117 , and 118 are three triangular-shaped obstacles dispersed in block 110 .
如图11A所示，在开启清洁模式后，清洁机器人从区块110的中央位置，先寻找最近一个障碍物，假设最近一个障碍物是障碍物117，清洁机器人以最短路径行进至障碍物117，然后将机体右侧沿障碍物117的外周边绕行一周。在沿障碍物117的外周边绕行一周后，清洁机器人查找附近未清洁角落所在行，由于附近未清洁角落是右下角落，则清洁机器人行进至最下面一条未清洁行开始按照之字形行进方式向右清洁。然后向右之字形行进过程中，清洁机器人感应到障碍物111，此时，清洁机器人绕障碍物111进行绕行，在绕行到左上角落时，清洁机器人感应到区块110的周边，所以清洁机器人将机体右侧绕障碍物111的内周边和区块110的下虚拟边和右虚拟边组成组合周边绕行一周后，回到绕行前的原始位置，也即右下角落的位置。As shown in FIG. 11A, after the cleaning mode is turned on, the cleaning robot first searches for the nearest obstacle from the central position of the block 110. Assuming that the nearest obstacle is an obstacle 117, the cleaning robot travels to the obstacle 117 by the shortest path. Then the right side of the body goes around the outer periphery of the obstacle 117 for one week. After circling around the outer periphery of the obstacle 117, the cleaning robot looks for the line where the nearby uncleaned corner is located. Since the nearby uncleaned corner is the lower right corner, the cleaning robot travels to the bottommost uncleaned line and starts to travel in a zigzag manner Clean right. Then, during the zigzag movement to the right, the cleaning robot senses the obstacle 111. At this time, the cleaning robot circles around the obstacle 111. When it circles to the upper left corner, the cleaning robot senses the periphery of the block 110, so the cleaning The robot circles the right side of the body around the inner perimeter of the obstacle 111 and the lower virtual edge and the right virtual edge of the block 110 to form a combined perimeter, and then returns to the original position before the circle, that is, the position in the lower right corner.
需要注意的是，在绕行组合周边时，清洁机器人会感应到障碍物112和障碍物114，清洁机器人将障碍物112和障碍物114视为是组合周边的一部分进行绕行。It should be noted that when going around the combined perimeter, the cleaning robot will sense the obstacle 112 and the obstacle 114 , and the cleaning robot will regard the obstacle 112 and the obstacle 114 as a part of the combined perimeter to go around.
如图11B所示，在绕行障碍物111结束后，清洁机器人查找附近未清洁角落所在行，也即从下往上数的第二行，清洁机器人将该第二行作为目标未清洁行继续进行之字形行进，在行进至障碍物118时，清洁机器人绕障碍物118绕行一周。也即，清洁机器人将机体右侧紧贴障碍物118进行绕行，在绕行障碍物118一圈以后，清洁机器人查找附近未清洁角落所在行，也即障碍物118和障碍物117之间的一个行，则清洁机器人行进至该行，继续进行之字形行进。As shown in FIG. 11B , after the obstacle 111 has been circumvented, the cleaning robot searches for the row where the nearby uncleaned corner is located, that is, the second row counted from bottom to top, and the cleaning robot continues to use the second row as the target uncleaned row Perform zigzag travel, when traveling to the obstacle 118 , the cleaning robot makes a circle around the obstacle 118 . That is, the cleaning robot will go around the right side of the body close to the obstacle 118. After going around the obstacle 118, the cleaning robot will search for the row where the nearby uncleaned corner is located, that is, the distance between the obstacle 118 and the obstacle 117. One row, then the cleaning robot travels to this row and continues to travel in zigzag.
在行进至障碍物116时，清洁机器人绕障碍物116绕行一周。也即，清洁机器人将机体右侧紧贴障碍物116进行绕行。When traveling to the obstacle 116 , the cleaning robot makes a circle around the obstacle 116 . That is, the cleaning robot makes a detour around the right side of the body close to the obstacle 116 .
如图11C所示，在绕行障碍物116一圈以后，清洁机器人查找附近未清洁角落所在行，也即障碍物116左侧的一个行，则清洁机器人行进至该行，继续进行之字形行进。As shown in Figure 11C, after going around the obstacle 116 for a circle, the cleaning robot looks for the row where the nearby uncleaned corner is located, that is, a row on the left side of the obstacle 116, then the cleaning robot travels to this row and continues to travel in a zigzag manner .
清洁机器人在之字形行进过程中，会行进至目标未清洁行119，由于清洁机器人的所在位置不对应目标未清洁行119的端点，则清洁机器人先行进至目标未清洁行119的短边路径，然后返回清洁长边路径继续清洁目标未清洁行119.During the zigzag traveling process, the cleaning robot will advance to the target uncleaned row 119. Since the position of the cleaning robot does not correspond to the end point of the target uncleaned row 119, the cleaning robot will first advance to the short side path of the target uncleaned row 119, Then return to cleaning the long edge path to continue cleaning the target uncleaned line 119.
然后，在正常的之字形行进至左上角落后，清洁机器人查找最近一个未清洁行作为目标未清洁行，此时最近一个未清洁行是位于障碍物118左侧区域的一个行，则清洁机器人从上往下行驶至该行，继续之字形行进将该障碍物118左侧区域打扫干净。Then, after the normal zigzag travels to the upper left corner, the cleaning robot searches for the last uncleaned row as the target uncleaned row, and at this moment, the latest uncleaned row is a row located in the left area of the obstacle 118, then the cleaning robot starts from Go up and down to this line, continue to zigzag and clean up the area on the left side of the obstacle 118.
如图11D所示，清洁机器人在障碍物118左侧区域清洁完毕后，查找最近一个未清洁行作为目标未清洁行，此时最近一个未清洁行是位于障碍物117右侧的一个行，然后清洁机器人绕过障碍物118以最短路径行进至该行，继续之字形行进将该障碍物117右侧区域打扫干净。As shown in Figure 11D, after the cleaning robot finishes cleaning the area on the left side of the obstacle 118, it searches for the latest uncleaned row as the target uncleaned row, and now the latest uncleaned row is a row located on the right side of the obstacle 117, and then The cleaning robot goes around the obstacle 118 and travels to the line with the shortest path, and continues to travel in a zigzag pattern to clean the area on the right side of the obstacle 117 .
清洁机器人在障碍物117右侧区域清洁完毕后，查找最近一个未清洁行作为目标未清洁行，此时最近一个未清洁行是位于障碍物116右侧的一个行，然后清洁机器人以最短路径行进至该行，继续之字形行进将该障碍物116右侧区域打扫干净，从而将整个区块打扫完毕。After the cleaning robot finishes cleaning the area on the right side of the obstacle 117, it searches for the latest uncleaned row as the target uncleaned row. At this time, the latest uncleaned row is a row on the right side of the obstacle 116, and then the cleaning robot travels with the shortest path Up to this line, continue the zigzag movement to clean up the area on the right side of the obstacle 116, so as to clean up the entire block.
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。Other embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, and these modifications, uses or adaptations follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure . The specification and examples are to be considered exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。It should be understood that the present disclosure is not limited to the precise constructions which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510587773.9ACN106527423B (en) | 2015-09-15 | 2015-09-15 | Cleaning robot and control method thereof |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510587773.9ACN106527423B (en) | 2015-09-15 | 2015-09-15 | Cleaning robot and control method thereof |
| Publication Number | Publication Date |
|---|---|
| CN106527423Atrue CN106527423A (en) | 2017-03-22 |
| CN106527423B CN106527423B (en) | 2020-01-21 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510587773.9AActiveCN106527423B (en) | 2015-09-15 | 2015-09-15 | Cleaning robot and control method thereof |
| Country | Link |
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| CN (1) | CN106527423B (en) |
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| CB02 | Change of applicant information | Address after:100085 Beijing Haidian District Qinghe middle street 68 Huarun colorful shopping mall two phase 13 level. Applicant after:Xiaomi Technology Co.,Ltd. Applicant after:Beijing Roborock Technology Co.,Ltd. Address before:100085 Beijing Haidian District Qinghe middle street 68 Huarun colorful shopping mall two phase 13 level. Applicant before:Xiaomi Technology Co.,Ltd. Applicant before:Beijing Roborock Technology Co.,Ltd. | |
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