CN113545715A

Movatterモバイル変換

Info

Publication number: CN113545715A
Application number: CN202010334484.9A
Authority: CN
Inventors: 毋宏兵; 谭一云; 谢明健; 张士松
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2020-04-24
Filing date: 2020-04-24
Publication date: 2021-10-26

Abstract

The disclosure relates to a control method and device of a floor mopping robot and the floor mopping robot. The method comprises the following steps: under the condition that the carpet is detected, controlling the floor mopping robot to move according to a preset movement mode so that the distance from the floor mopping robot to the edge of the carpet is within a preset range; and controlling the floor mopping robot to run along the edge of the carpet within the preset range. The beneficial effects that this disclosure realized are, can make the border of the even clean carpet of mopping robot, clean efficiency is higher, compares with the clean direction of random collision formula, has the energy saving and consumes, improves the beneficial effect of cleanliness.

Description

Control method and device of mopping robot and mopping robot

Technical Field

The disclosure relates to the technical field of automation control, in particular to a control method and device of a floor mopping robot and the floor mopping robot.

Background

Mopping the robot, be one of intelligent domestic appliance, through technologies such as route planning, autonomous navigation, can be automatic accomplish the cleaning work on ground in the room, different with the robot of sweeping the floor, mopping the robot's rag has dry and wet two kinds of states, consequently, to the longer carpet of carpet face fibre, mopping the robot does not clean, but to the border of carpet, often be the place that the dust is more, need focus to clean, among the correlation technique, when mopping the robot and meet the carpet, often ignore the cleanness at carpet border, the clean effect at carpet border is difficult to satisfy people's demand among the correlation technique.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a control method and apparatus for a floor mopping robot, and a floor mopping robot.

According to a first aspect of embodiments of the present disclosure, there is provided a floor mopping robot which walks and works in a work area, the floor mopping robot comprising:

a body;

the moving module supports the machine body and drives the floor mopping robot to walk in a working area;

the power module provides driving force for walking and working for the mopping robot;

a mopping module mounted on the body, performing a predetermined mopping work on the work area, and on which a wiper can be mounted;

the control module is electrically connected with and controls the power module so as to realize automatic walking and automatic work of the mopping robot; the method is characterized in that:

the control module comprises a processor configured to control the floor mopping robot according to any one of the embodiments of the present disclosure;

the robot comprises a body, and is characterized in that a distance measuring sensor is mounted at the side end of the body and used for detecting the distance between an obstacle encountered by the mopping robot in the walking process and the mopping robot, the mounting height of the distance measuring sensor comprises a distance of 0-25mm from the ground, the included angle between the distance measuring sensor and the vertical direction is 0-90-delta/2 degrees, and delta is the emission angle of the distance measuring sensor.

In a possible implementation manner, a carpet recognition sensor is arranged at the front end of the body of the floor mopping robot, and when the carpet recognition sensor detects a carpet, the distance measurement sensor is triggered to measure the distance from the edge of the carpet to the floor mopping robot.

In one possible implementation, the ranging sensor includes: the transmitter is positioned below the receiver.

In one possible implementation, the obstacle includes: at least one of carpet, wall, furniture.

In one possible implementation, the installation height of the ranging sensor comprises 7-25mm from the ground.

In one possible implementation, the installation height of the ranging sensor comprises 10-16mm from the ground.

In one possible implementation, the ranging sensor includes a TOF sensor.

In one possible implementation, the mopping robot further includes: the distance measuring sensor is fixedly installed on the lifting mechanism of the mopping robot, and the control module controls the lifting mechanism to enable the distance measuring sensor to be lifted to a second position from a first position relative to the surface of the working area.

In a possible implementation manner, the lifting mechanism comprises a lifting mechanism, the lifting mechanism comprises a lifting motor and a transmission mechanism, and the lifting motor drives the transmission mechanism to drive the distance measuring sensor to move up and down.

In one possible implementation, the mopping module is detachably mounted on the body of the mopping robot.

In a possible implementation manner, a collision sensor is also arranged on the body of the mopping robot,

measuring a distance between the mopping robot and the obstacle by using the ranging sensor under the condition that the collision sensor touches the obstacle;

and in the case that the carpet identification sensor identifies the carpet, measuring the distance between the floor mopping robot and the edge of the carpet by using the distance measuring sensor.

According to a second aspect of the embodiments of the present disclosure, there is provided a control method of a floor mopping robot, including:

under the condition that the carpet is detected, controlling the floor mopping robot to move according to a preset movement mode so that the distance from the floor mopping robot to the edge of the carpet is within a preset range;

and controlling the floor mopping robot to run along the edge of the carpet within the preset range.

In a possible implementation manner, in the case that a carpet is detected, the controlling the floor mopping robot to move according to a preset movement mode so that the distance from the floor mopping robot to the edge of the carpet is within a preset range includes:

and under the condition that the carpet is detected, controlling the floor mopping robot to rotate by a first preset angle according to a first preset rotating direction so that the distance from the floor mopping robot to the edge of the carpet is within a preset range.

controlling the floor mopping robot to retreat under the condition that a carpet is detected, so that the distance between the edge of the carpet and the floor mopping robot is greater than or equal to a preset length and exceeds the preset length;

and controlling the floor mopping robot to rotate by a first preset angle according to a first preset rotating direction so that the distance from the floor mopping robot to the edge of the carpet is within a preset range.

In a possible implementation manner, the controlling the floor mopping robot to rotate by a first preset angle according to a first preset rotating direction so that the distance from the floor mopping robot to the edge of the carpet is within a preset range includes:

(1) controlling the mopping robot to rotate by a first preset angle according to a first preset rotating direction;

(2) if the carpet cannot be detected, controlling the floor mopping robot to move forwards so that the distance between the edge of the carpet and the floor mopping robot is within the preset length;

and (3) repeating the steps (1) and (2) until the distance from the mopping robot to the edge of the carpet is within a preset range.

In one possible implementation, the controlling the floor mopping robot to travel along the edge of the carpet within the preset range includes at least one of:

comparing the distance between the side end of the floor mopping robot and the edge of the carpet with a preset threshold value, and if the distance is greater than a first preset threshold value and less than a second preset threshold value, controlling the floor mopping robot to approach the edge of the carpet;

if the distance is smaller than the first preset threshold value, controlling the floor mopping robot to be far away from the edge of the carpet;

and if the distance is equal to the first preset threshold value, controlling the mopping robot to move forwards and straightly.

In one possible implementation manner, the controlling the floor mopping robot to drive forward along the edge of the carpet within the preset threshold range further includes:

and if the distance is greater than or equal to a second preset threshold value, controlling the mopping robot to rotate by a second preset angle according to a second preset rotating direction.

In one possible implementation, the second preset rotation direction includes at least one of:

if the carpet is positioned on the right side of the body of the mopping robot, the second preset rotating direction is clockwise;

and if the carpet is positioned on the left side of the body of the floor mopping robot, the second preset rotating direction is a counterclockwise direction.

In a possible implementation manner, a distance measuring sensor is arranged at a side end of a body of the floor mopping robot, the distance measuring sensor is used for measuring a distance from the floor mopping robot to an edge of a carpet, and the preset movement manner includes at least one of the following:

if the distance measuring sensor is positioned at the right end of the body of the mopping robot, the preset movement mode is anticlockwise rotation;

if the distance measuring sensor is positioned at the left end of the body of the mopping robot, the preset movement mode is clockwise rotation;

if the left end and the right end of the body of the mopping robot are both provided with the distance measuring sensors, the preset movement mode is a specified one of clockwise rotation and anticlockwise rotation.

In a possible implementation manner, in the case that a carpet is detected, controlling the floor mopping robot to move according to a preset movement manner so that the distance from the floor mopping robot to the edge of the carpet is within a preset range further includes:

planning a path according to a map of a working area;

and controlling the mopping robot to run according to the planned path.

In one possible implementation manner, the controlling the floor mopping robot to travel along the edge of the carpet within the preset range includes:

and controlling the floor mopping robot to run along the edge of the carpet within the preset range, and controlling the floor mopping robot to mark the carpet in a map of a working area.

In one possible implementation manner, after the controlling the floor mopping robot to travel along the edge of the carpet within the preset range, the method further includes:

acquiring a walking path of the mopping robot along the edge of the carpet;

and updating the map of the working area according to the walking path.

under the condition that the mopping robot finishes driving the edge of the carpet, planning a path of an undriven area in a cleaning area;

and controlling the mopping robot to run according to the planned path.

According to a third aspect of the embodiments of the present disclosure, there is provided a control apparatus of a floor mopping robot, including:

a processor;

wherein the processor is configured to perform the method of any of the embodiments of the present disclosure.

According to a fourth aspect of embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium, wherein instructions, when executed by a processor, enable the processor to perform a method according to any of the embodiments of the present disclosure.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: when the carpet is identified, the floor mopping robot is controlled to move according to a preset movement mode, so that the driving direction of the floor mopping robot is parallel to or tends to be parallel to the edge of the carpet, the floor mopping robot is controlled to drive in a preset range along the edge of the carpet, the edge of the floor mopping robot can be uniformly cleaned, the cleaning efficiency is higher, and compared with the random collision type cleaning direction, the floor mopping robot has the advantages of saving energy and improving the cleanliness.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1(a) is an application scenario diagram illustrating a motion control method of a floor mopping robot according to an exemplary embodiment.

Fig. 1(b) is an application scenario diagram illustrating a motion control method of a floor mopping robot according to an exemplary embodiment.

Fig. 2(a) is a flowchart illustrating a method of controlling the motion of a mopping robot according to an exemplary embodiment.

Fig. 2(b) is a flowchart illustrating a method of controlling the motion of a mopping robot according to an exemplary embodiment.

Fig. 2(c) is a flowchart illustrating a method of controlling the motion of a mopping robot according to an exemplary embodiment.

Fig. 2(d) is a flowchart illustrating a method of controlling the motion of a mopping robot according to an exemplary embodiment.

Fig. 2(e) is a flowchart illustrating a method of controlling the motion of a mopping robot according to an exemplary embodiment.

Fig. 2(f) is a flowchart illustrating a method of controlling the motion of a mopping robot according to an exemplary embodiment.

FIG. 3 is a flow chart illustrating a method of controlling movement of a mopping robot, according to an exemplary embodiment.

Fig. 4 is a diagram illustrating a mopping robot application scenario, according to an exemplary embodiment.

Fig. 5(a) is a schematic structural diagram illustrating a mopping robot according to an exemplary embodiment.

Fig. 5(b) is a diagram illustrating an application scenario of a mopping robot according to an exemplary embodiment.

FIG. 6 is a schematic diagram illustrating a range sensor mounting angle according to an exemplary embodiment.

FIG. 7 is a schematic diagram illustrating the operation of a ranging sensor according to an exemplary embodiment.

FIG. 8 is a diagram illustrating the operation of a ranging sensor according to an exemplary embodiment.

Fig. 9(a) is a schematic structural diagram illustrating a mopping robot according to an exemplary embodiment.

Fig. 9(b) is a schematic structural diagram illustrating a mopping robot according to an exemplary embodiment.

FIG. 10 is a schematic diagram illustrating the structure of a lift mechanism according to one exemplary embodiment.

Detailed Description

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, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

In order to facilitate those skilled in the art to understand the technical solutions provided by the embodiments of the present disclosure, a technical environment for implementing the technical solutions is described below.

With the development of science and technology, the mopping robot walks into thousands of households, frees both hands of people and brings great convenience to the life of people. Unlike floor sweeping robots, the cleaning media of floor mopping robots need to work with water, which gives extra care when cleaning special household articles, such as cleaning carpets. In the related art, the floor mopping robot does not clean the carpet, so the periphery of the edge of the carpet is often ignored, and the periphery of the edge of the carpet is often a place where dust is gathered, so that important cleaning is needed. Some cleaning methods, such as a random collision type cleaning method, touch a carpet, trigger an anti-collision sensor, change a path, touch the carpet again, and change the path again, and the method cannot uniformly clean the periphery of the edge of the carpet, and has the phenomena that the cleaning times of some places are more, and some places are not cleaned, so that effective cleaning cannot be realized.

FIG. 4 is a diagram illustrating a mopping robot application scenario, according to an exemplary embodiment. Referring to fig. 4, the moppingrobot 501 includes: the device comprises a machine body, a moving module, a power module, a mopping module and a control module. The moving module includes a driving wheel, the power module provides a driving force for thefloor mopping robot 501 to walk and work, the floor mopping module is installed on the machine body and performs a predetermined floor mopping work on the work area, and a wiping member, such as a mop cloth, is detachably installed on the floor mopping module and is used for performing the floor mopping work of thefloor mopping robot 501. Before the mopping robot works, the mopping robot needs to be charged through thebase station 111; during the work of the moppingrobot 501, if it is detected that the wiper needs to be replaced or the mopping robot needs to be charged, the program of thereturn base station 111 is started, and the mopping robot returns to the base station to complete the automatic replacing action and/or the charging action of the wiper.

Based on practical technical needs similar to those described above, the present disclosure provides a control method of a floor mopping robot.

The following describes the motion control method of the floor mopping robot according to the present disclosure in detail with reference to fig. 1(a) and 1 (b). Fig. 1(a) and 1(b) are application scene diagrams illustrating a method for controlling the motion of a floor mopping robot according to an exemplary embodiment. Referring to fig. 1(a), when thefloor mopping robot 100 works for the first time, the user instructs the floor mopping robot to perform the mapping work, which may be performed by using app application software of theelectronic device 105. The moppingrobot 100 travels along thecorner line 104 to construct the boundaries of the map. After one week of travel along thecorner line 104, aninitial boundary 106 of the clean area map is determined. According to theinitial boundary 106, the mopping robot plans a driving path, and cleaning work is carried out according to the driving path. Referring to fig. 1(b), when the carpet recognition sensor of the moppingrobot 100 recognizes thefirst carpet 101, according to the motion control method of the present disclosure, the moppingrobot 100 rotates by a preset angle according to a preset rotation direction, by continuously measuring the distance between the moppingrobot 100 and the edge of the carpet during the rotation, and finally determines that the driving direction of the moppingrobot 100 is parallel to the edge of the carpet according to the comparison between the actual measurement condition and the preset condition, and according to the motion control method of the present disclosure, thefloor mopping robot 100 can travel along the edge of the carpet, and, during the travel, keep the distance from the edge of the carpet within a preset value range, after the floor mopping robot completely runs for a preset number of weeks, for example after the floor mopping robot runs for a week, according to the motion control method of the present disclosure, the moppingrobot 100 may stop cleaning the carpet edge. Similarly, the mopping robot also adopts the above-mentioned method of driving along the edge of the carpet when detecting thesecond carpet 102, and the description thereof is omitted here. During this travel of the moppingrobot 100 along the edge of the carpet, the position of the edge of the carpet is recorded and saved. When the first job is finished, the moppingrobot 100 records the positions of thefirst carpet 101 and thesecond carpet 102, and uses the positions as anew boundary 107 of the map, which together with the corner line boundary forms the cleaning area of the mopping robot. Thenew boundary 107 may be displayed on the display interface of theelectronic device 105 through a text or a designated color, and wait for the user to confirm whether thenew boundary 107 is a carpet area, and if the user confirms that thenew boundary 107 is a carpet area, a path may be planned for an area inside theinitial boundary 106 and an area outside thenew boundary 107 at the start of the next cleaning. Wherein thebase station 103 is used for charging the moppingrobot 100.

Fig. 5(a) is a schematic structural diagram illustrating a mopping robot according to an exemplary embodiment, as shown in fig. 5(a), including:

abody 501;

the control module is electrically connected with and controls the power module so as to realize automatic walking and automatic work of the mopping robot;

the control module comprises a processor configured to execute the control method of any embodiment of the present disclosure;

the robot body side end is installed withrange sensor 506,range sensor 506 is used for detecting the obstacle that mopping robot meets in the walking process with the distance between the mopping robot, range sensor's mounting height includes 0-25mm apart from ground, range sensor is 0- (90-delta/2) degree with the contained angle of vertical direction, wherein, delta is range sensor's transmission angle. The installation height is related to the obstacle crossing height required by the moppingrobot 100 in the walking process, the position of a bottom plate of a machine body and the like, and if the installation height is too low, the situation that the obstacle crossing cannot be normally caused, such as the machine is blocked when the obstacle crossing occurs, can be caused.

Fig. 5(b) is an application scenario diagram of a floor mopping robot according to an exemplary embodiment, referring to fig. 5(b), adistance measuring sensor 506 is disposed at a side end of thefloor mopping robot 100, thefloor mopping robot 100 detects a carpet by using thedistance measuring sensor 506, and if a carpet is detected, thefloor mopping robot 100 moves according to a preset movement manner, so that a distance from thefloor mopping robot 100 to acarpet edge 101 is within a preset range, and thefloor mopping robot 100 travels along thecarpet edge 101 within the preset range.

In the disclosed embodiment, the obstacles may include walls, carpets, furniture, and the like.

In the embodiment of the disclosure, a carpet identification sensor is arranged at the front end of the body of the floor mopping robot, and when the carpet identification sensor detects a carpet, the distance measurement sensor is triggered to measure the distance from the edge of the carpet to the floor mopping robot. The carpet identification sensor may include at least one of anultrasonic sensor 504, a TOF sensor, amicro switch 503.

In the disclosed embodiment, the moving module may include two drivingwheels 507, and the floor mopping module may detachably mount awiper 502, such as a mop cloth, for performing a floor mopping operation of the floor mopping robot.

FIG. 6 is a schematic diagram illustrating a range sensor mounting angle according to an exemplary embodiment. Referring to fig. 6, the rangingsensor 506 includes: atransmitter 602 and areceiver 601, wherein thetransmitter 602 is positioned below the receiver.

The vertical direction represents a direction perpendicular to the ground, an included angle θ between thedistance measuring sensor 506 and the vertical direction is 0 to (90- δ/2), the included angle between thedistance measuring sensor 506 and the vertical direction includes 0 degree and (90- δ/2) degree, and in one example, the included angle between thedistance measuring sensor 506 and the vertical direction is 0 degree. In another example, the rangingsensor 506 is angled (90- δ/2) degrees from vertical. Delta is the angle of transmission of the ranging sensor, typically 25 deg..

Fig. 7 and 8 are schematic diagrams illustrating the operation of the distance measuring sensor according to an exemplary embodiment, and referring to fig. 7, when thecarpet 101 is not in the measuring range of thedistance measuring sensor 506, i.e. the transmittingsignal 601 of the distance measuring sensor is after the transmitting angleδ transmitting signal 601, the reflected receiving signal is not received, and the maximum distance from the signal transmitted by the distance measuring sensor to the ground is

The maximum value of the measuring range of the distance measuring sensor is

Wherein h is the mounting height of the ranging sensor. Referring to FIG. 8, when thecarpet 101 is in the measuring range of thedistance sensor 506, the distance from the signal sent by the distance sensor to the ground is maximum

Can confirmrange sensor 506's transmission angle according to the absolute difference between K ' and K in this application, it is specific, can make difference between K ' and K the biggest through adjustment transmission angle to mopping robot can be better distinguish ground and carpet. The installation height and the angle of the distance measuring sensor can be adjusted simultaneously in the above mode.

Further, referring to FIG. 8, when thecarpet 101 is in the measuring range of thedistance sensor 506, the distance from the distance sensor to the edge of the carpet

The distance from the mopping robot to the edge of the carpet can be calculated through the installation position of the ranging sensor on the mopping robot. In one example, a certain position point on the mopping robot can be set as a central point of the mopping robot, and the relative position of the central point and the distance measuring sensor can be used for calculating the mopping robotThe distance from the center point to the edge of the carpet, the distance from the mopping robot described in this application to the edge of the carpet, may be the distance from the center point to the edge of the carpet. The installation height h of the ranging sensor may include 0-25mm from the ground, and the installation height h of the ranging sensor may include 25 mm. In one example, the installation height of the ranging sensor may include 7-25mm from the ground, the installation height of the ranging sensor may include 7mm, 25mm, in one example, the installation height h of the ranging sensor may include 10mm-16mm from the ground, and the installation height of the ranging sensor may include 10mm and 16 mm. In one example, the installation height h of the ranging sensor may include 14mm to 16mm from the ground, and the installation height of the ranging sensor may include 14mm and 16 mm. When the distance measuring sensor is positioned at the installation height of 14-16mm, the distance measuring sensor can better detect the distance between the floor mopping robot and the edge of the carpet.

In one possible implementation, the ranging sensor includes a non-contact sensor such as a TOF sensor. The TOF sensor emits modulated near infrared light, the modulated near infrared light is reflected after meeting an object, and the distance between the ranging sensor and the object is calculated by calculating the time difference or phase difference between light emission and reflection.

Fig. 9(a) and 9(b) are schematic structural views illustrating a floor mopping robot according to an exemplary embodiment, and referring to fig. 9(a) and 9(b), a floor mopping module of the floor mopping robot is detachably mounted to a body. Themopping module 502 has two positions, an active position and an inactive position, relative to the surface of the work area during operation. When the mopping module is in the working state, the mopping module is lowered to the working position, and when the mopping module is in the non-working state, the mopping module is raised to the non-working position. Referring to fig. 9(a), the mopping robot is in an operative position in which the mopping module is in operation, referring to fig. 9(b), and in an inoperative position in which the mopping robot is in the event of an obstacle crossing or a removal of a mop swab.

FIG. 10 is a schematic diagram illustrating the structure of a lift mechanism according to one exemplary embodiment. Referring to fig. 10, the mopping robot further includes: the control module controls the lifting mechanism to drive the mopping module to be lifted from a working position to a non-working position, wherein the working position is opposite to the surface of the working area.

In an embodiment of the application, the distance measuring sensor is fixedly or detachably installed on a lifting mechanism of the mopping robot, the control module controls the lifting mechanism to drive the distance measuring sensor to lift from a first position to a second position relative to the surface of the working area, and the distance measuring sensor and the mopping module are in a linkage state. That is, when the mopping module is raised, the ranging sensor is also raised, and when the mopping module is lowered, the ranging sensor is also lowered.

In another embodiment of the application, the distance measuring sensor is fixedly or detachably mounted on a lifting mechanism of the mopping robot, and the distance measuring sensor and the mopping module are in an uncoupled state. That is, the distance measuring sensor and the mopping module do not share one lifting mechanism, and the ascending and descending states of the distance measuring sensor and the mopping module are independent.

In the embodiment of the disclosure, the lifting mechanism drives the distance measuring sensor to ascend, which indicates that the mopping robot is in a drawing building state or an obstacle crossing state, and when the mopping robot is in the drawing building state, the distance measuring sensor is used for measuring the distance from the mopping robot to a wall or an obstacle; the lifting mechanism drives the distance measuring sensor to descend to indicate that the mopping robot is in a clean working state, and the distance measuring sensor is used for measuring the distance from the mopping robot to the edge of the carpet.

In an embodiment of the present disclosure, the lifting mechanism may include: the elevating mechanism may include: the liftingmotor 1002 drives the transmission mechanism to drive the mopping module to move up and down. In one example, the drive mechanism may comprise a combination of a geared drive shaft interference device, afirst cam mechanism 1003, and alift 1004, wherein thelift 1004 is fixedly connected to the fixedplate 1001, thefirst cam mechanism 1003 is mounted within thelift 1004, and the floor module is mounted on thelift 1004. Specifically, a motor shaft of the liftingmotor 1002 is connected with agear transmission shaft 1005 interference device, two ends of thetransmission shaft 1005 are respectively connected with a combination device of afirst cam mechanism 1003 and alifting frame 1004, thefirst cam mechanism 1003 rotates by taking thetransmission shaft 1005 as a central point, drives thelifting frame 1004 to move up and down, controls the lifting of the fixingplate 1001, and realizes the lifting of the mopping module relative to the working surface. In a possible implementation manner, the lifting mechanism may also be absent of thelifting frame 1004, the edge portion of thefirst cam mechanism 1003 is connected to the floor mopping module, the lifting motor drives thefirst cam mechanism 1003 to rotate, and the first cam mechanism drives the floor mopping module to move up and down. In the embodiment of the disclosure, the distance measuring sensor can be installed at the bottom of thelifting frame 1004, when thelifting frame 1004 descends, the floor mopping module and the distance measuring sensor are driven to descend, which indicates that the floor mopping robot is in floor mopping operation, and the distance between the floor mopping robot and the edge of the carpet is measured by the distance measuring sensor; when thelifting frame 1004 is lifted, the floor mopping module and the distance measuring sensor are driven to lift, which indicates that the floor mopping robot is in return charging or other work, and the distance measuring sensor can not be used.

The distance measuring sensor is fixedly arranged on the lifting mechanism of the floor mopping robot, and thedistance measuring sensor 506 can be lowered to a proper height when the edge of a carpet needs to be cleaned, so that the carpet can be detected to be short, and thedistance measuring sensor 506 can be lifted up when the carpet does not need to be cleaned, so that the floor mopping robot can conveniently pass through obstacles.

According to the embodiment of the disclosure, the floor mopping module, such as a carpet rag, is often made into a lifting mode, and the distance measuring sensor is fixedly mounted on the lifting mechanism, so that the lifting of the distance measuring sensor can be realized without additionally adding the lifting mechanism, and the beneficial effects of the embodiment are achieved; the distance measuring sensor is arranged on the lifting mechanism, the mounting height range of the distance measuring sensor can be expanded, the distance measuring sensor can be arranged at a very low position (for example, the position is lower than the height of a bottom plate of a machine body) and is not influenced by obstacle crossing, when an obstacle needs to be crossed, the lifting mechanism is only required to be lifted, the distance measuring sensor is lifted along with the lifting mechanism, therefore, the machine cannot be blocked due to the fact that the height of the distance measuring sensor is lower (for example, the mounting height of the distance measuring sensor is lower than the height of the machine body) in the obstacle crossing process, and the lifting mechanism cannot influence the normal walking of the floor mopping robot.

In a possible implementation manner, a first distance measuring sensor is arranged at the side end of the body of the mopping robot, and the installation height of the first distance measuring sensor is higher than 25 mm.

In the embodiment of the disclosure, a first distance measuring sensor with a higher installation position is further arranged at the side end of the body of the mopping robot, so as to distinguish a higher object (such as a wall) from a carpet. For example, in the process of constructing a map of a working area, the edge of a wall body is required to be used as the boundary of the working area, a ranging sensor with a lower installation height (lower than 25mm) can measure a carpet and can also measure the wall body, and in order to prevent the edge of the carpet from being mistaken for the edge of the wall body, so that map construction errors are caused, a first ranging sensor with a higher installation height (higher than 25mm) is arranged, and the first ranging sensor cannot identify the low carpet edge and can only identify the high wall body edge due to the installation height, so that in the process of constructing the map of the working area, the first ranging sensor can be used for constructing the boundary.

In the disclosed embodiment, the anti-collision sensor is a conventional sensor on a general floor mopping robot, such as a collision plate, and in one example, when the anti-collision sensor is triggered, it indicates that the floor mopping robot touches a wall or an obstacle, so that the floor mopping robot may use the anti-touch sensor during the process of building a map of a work area, and if the anti-touch sensor is triggered, it indicates that the floor mopping robot meets a tall wall or an obstacle, and at this time, a distance measuring sensor is used to measure the distance from the floor mopping robot to the wall or the obstacle; in another example, if the carpet identification sensor identifies a carpet, indicating that the mopping robot has encountered a low carpet, the distance from the mopping robot to the edge of the carpet is measured using the ranging sensor.

Fig. 3 is a flowchart illustrating a method for controlling the motion of a mopping robot according to an exemplary embodiment, as shown in fig. 3, including the following steps.

In step S301, in the case that a carpet is detected, the floor mopping robot is controlled to move according to a preset movement mode so that the distance from the floor mopping robot to the edge of the carpet is within a preset range.

In step S302, the mopping robot is controlled to travel along the edge of the carpet within the preset range.

In the embodiment of the present disclosure, the method for detecting the carpet may include various methods, such as detecting the texture of the object to be detected by the ultrasonic sensor; may be detected with a low obstacle detector; the carpet can be mapped in advance on the edge of the carpet, the position of the floor mopping robot can be located in real time, and the carpet existing in front of the floor mopping robot can be determined. In the embodiment of the present disclosure, the preset movement manner may include specific actions such as forward movement, backward movement, left rotation, right rotation, and the like, and a movement range may also be set for the actions, for example, a forward preset length, a left rotation preset angle, a backward preset length, and the like. In the embodiment of the present disclosure, the distance from the mopping robot to the edge of the carpet is within a preset range, in one example, the preset range may be set according to the vehicle width of the mopping robot, for example, the preset range is determined by the distance between half of the vehicle width of the mopping robot. In the disclosed embodiments, the carpet edge includes the peripheral edges of a carpet, such as the four edges of a square carpet, and the largest peripheral edge of a round carpet. In the embodiment of the disclosure, under the condition that it is determined that a carpet exists in front of the floor mopping robot, the floor mopping robot is controlled to turn or go backwards or forwards, and finally, the distance between the driving direction of the floor mopping robot and the edge of the carpet is within the preset range, the driving direction may not be strictly parallel to the edge of the carpet, and in the subsequent step S302, the step-by-step correction may be performed, so that the floor mopping robot finally runs along the edge of the carpet.

In the embodiment of the present disclosure, the distance between the mopping robot and the edge of the carpet can be obtained by measuring with a distance measuring sensor, and the distance measuring sensor may include an ultrasonic sensor, an infrared sensor, and a radar sensor. The distance measuring sensor can be arranged at a position 7-25mm away from the ground, the installation included angle between the distance measuring sensor and the vertical direction is 0-90-delta/2 degrees, and the distance from the mopping robot to the edge of the carpet is measured by sending signals and receiving signals reflected by the carpet. In one example, a distance measuring sensor is installed at a lateral end of a floor mopping robot to measure a distance from the lateral end of the floor mopping robot to an edge of a carpet, the lateral end of the floor mopping robot comprising: the purpose of the embodiment of the present disclosure is to modify the driving direction of the floor mopping robot so that the driving direction is parallel or nearly parallel to the direction of the edge of the carpet.

When the carpet is identified, the floor mopping robot is controlled to move according to a preset movement mode, so that the driving direction of the floor mopping robot is parallel to or tends to be parallel to the edge of the carpet, and the floor mopping robot is controlled to drive in a preset range along the edge of the carpet.

In a possible implementation manner, the step S301, in the case that a carpet is detected, of controlling the floor mopping robot to move according to a preset movement manner so that a distance from the floor mopping robot to an edge of the carpet is within a preset range, includes:

in step S303, in the case that the carpet is detected, the floor mopping robot is controlled to rotate by a first preset angle according to a first preset rotation direction, so that the distance from the floor mopping robot to the edge of the carpet is within a preset range.

In embodiments of the present disclosure, the carpet may be detected by any of the above-described embodiments. In one example, the carpet can be recognized by the carpet recognition sensor, and the recognition distance range of the carpet recognition sensor is known, for example, the distance is relatively far, so that the floor mopping robot can not touch the edge of the carpet under any rotation condition, and the floor mopping robot can be directly controlled to rotate by a first preset angle according to a first preset rotation direction, so that the distance from the floor mopping robot to the edge of the carpet is within a preset range. The carpet identification sensor may include: ultrasonic sensors, infrared and TOF sensors, micro switches and the like. The first preset rotating direction in the embodiment of the present disclosure may include a clockwise direction or a counterclockwise direction. In the embodiment of the disclosure, the first preset angle may be set to an acute angle, for example, a range between 0 and 45 degrees, which aims to rotate a small angle and continuously measure distance, so that the adjusting effect can more easily reach the preset range; for example, if the rotation angle is too large, the distance from the mopping robot to the edge of the carpet may miss the preset range.

The method has the advantages that the preset motion mode of the floor mopping robot is determined by analyzing the condition that the distance from the edge of the carpet to the floor mopping robot is far, the preset motion mode comprises rotating a preset first angle, measuring the distance from the floor mopping robot to the edge of the carpet, if the distance is not within the preset range, continuously rotating the preset first angle, and finally meeting the condition of the preset range, the running direction of the floor mopping robot can be determined to be parallel or tend to be parallel to the edge of the carpet.

step S304, controlling the floor mopping robot to retreat under the condition that a carpet is detected, so that the distance between the edge of the carpet and the floor mopping robot is greater than or equal to a preset length;

step S305, controlling the floor mopping robot to rotate by a first preset angle according to a first preset rotating direction so that the distance from the floor mopping robot to the edge of the carpet is within a preset range.

In embodiments of the present disclosure, the carpet may be detected by any of the above-described embodiments. In one example, a carpet in front of the floor mopping robot can be identified by a carpet identification sensor, and the identification distance range of the carpet identification sensor is known to be, for example, relatively short, so that the floor mopping robot can touch a carpet edge when rotating, the floor mopping robot is controlled to retreat, the retreat boundary is that the distance between the carpet edge and the front end of the floor mopping robot is greater than or equal to the preset length, namely, after the retreat, the floor mopping robot cannot roll the carpet when turning, and then the floor mopping robot is controlled to rotate by a first preset angle according to a first preset rotation direction, so that the distance between the floor mopping robot and the carpet edge is within a preset range. The carpet identification sensor may include: ultrasonic sensors, TOF sensors, microswitches, etc. The first preset angle is the same as the setting of the above embodiment, and is not described herein again, and the following movement manner is also similar to the above embodiment, and includes: and rotating by a preset first angle, measuring the distance from the mopping robot to the edge of the carpet, if the distance is not within the preset range, continuing rotating by the preset first angle, and finally determining the state that the driving direction of the mopping robot is parallel or nearly parallel to the edge of the carpet when the condition within the preset range is met.

The method has the advantages that when the carpet is recognized, the condition that the edge of the carpet is close to the floor mopping robot is considered, the step logic is reasonable through the preset movement mode of backing and turning, and the running direction of the floor mopping robot can be quickly parallel to the edge of the carpet or the state that the running direction of the floor mopping robot is close to the edge of the carpet.

In a possible implementation manner, the step S305 of controlling the floor mopping robot to rotate by a first preset angle according to a first preset rotation direction so that a distance from the floor mopping robot to the edge of the carpet is within a preset range includes:

step S306, controlling the mopping robot to rotate by a first preset angle according to a first preset rotating direction;

step S307, if the carpet edge cannot be detected, controlling the floor mopping robot to move forward so that the distance between the carpet edge and the floor mopping robot is within the preset length;

step S308, repeating the step S306 and the step S307 until the distance from the mopping robot to the edge of the carpet is within a preset range;

in the embodiment of the present disclosure, the first preset rotation direction and the first preset angle are the same as those of the embodiment described above, and are not described herein again. After controlling the floor mopping robot to rotate by a first preset angle according to a first preset rotating direction each time, measuring the distance from the floor mopping robot to the edge of the carpet, if the distance is not within a preset range, determining whether the edge of the carpet is identified by using a carpet identification sensor, if the edge of the carpet is not identified, indicating that the floor mopping robot is a bit far away from the carpet, controlling the floor mopping robot to move forward, and the boundary of the forward movement may include: the distance between the carpet edge and the front end of the mopping robot is within the preset length; the carpet identification sensor may also be included to identify a carpet. Every time whether the carpet recognition sensor recognizes the carpet or not is judged, whether the distance from the mopping robot to the edge of the carpet is within a preset range or not needs to be measured. That is, step 306 is performed once, the distance from the floor mopping robot to the edge of the carpet needs to be measured once, step S307 is performed once, the distance from the floor mopping robot to the edge of the carpet also needs to be measured once, and step S306 and step S307 are repeated until the distance from the floor mopping robot to the edge of the carpet is within the preset range.

The floor mopping robot has the advantages that the step of controlling the floor mopping robot to move forwards is set, the step of moving forwards is triggered under the condition that the carpet edge cannot be identified through the carpet equipment sensor, the floor mopping robot is prevented from gradually deviating from the carpet edge in the rotating or retreating process, the distance between the floor mopping robot and the carpet edge always falls into the condition that the floor mopping robot cannot fall into the preset range, and the distance between the floor mopping robot and the carpet edge is ensured to be in the preset range after the floor mopping robot rotates for a limited time.

In a possible implementation manner, the step S302 of controlling the mopping robot to drive forward along the edge of the carpet within the preset range includes at least one of the following:

step S309, comparing the distance from the side end of the floor mopping robot to the edge of the carpet with a preset threshold value, and if the distance is greater than a first preset threshold value and smaller than a second preset threshold value, controlling the floor mopping robot to approach the edge of the carpet;

step S310, if the distance is smaller than the first preset threshold value, controlling the floor mopping robot to be far away from the edge of the carpet;

and step S311, if the distance is equal to the first preset threshold value, controlling the floor mopping robot to move forwards and straightly.

In the embodiment of the present disclosure, the first preset threshold may include an ideal distance from a side end of the floor mopping robot to an edge of the carpet, for example, a distance that a mop cloth is closest to the edge of the carpet and a side wheel of the floor mopping robot does not roll to the carpet may be used as the first preset threshold. The second threshold value is larger than the first threshold value, and is applied to the condition that the distance measured by the distance measuring sensor at the side end of the mopping robot is suddenly increased, which indicates that the mopping robot runs to the corner of the carpet. In an embodiment of the present disclosure, a distance from a side end of the floor mopping robot to an edge of the carpet may be measured by a distance measuring sensor, and the distance measuring sensor is installed at the side end of the floor mopping robot, and the side end of the floor mopping robot includes: the mopping robot is arranged at one end where the driving wheels at two sides are positioned. In the embodiment of the disclosure, in the process that the floor mopping robot runs along the edge of the carpet, the distance from the floor mopping robot to the edge of the carpet is continuously measured, and if the distance is greater than a first preset threshold value and smaller than a second preset threshold value, it indicates that the distance from the floor mopping robot to the edge of the carpet is a little bit far, and the floor mopping robot needs to be controlled to be close to the edge of the carpet; if the distance is smaller than the first preset threshold value, the distance between the floor mopping robot and the edge of the carpet is too close, and the floor mopping robot needs to be controlled to be far away from the edge of the carpet; and if the distance is equal to the first preset threshold value, the distance between the floor mopping robot and the edge of the carpet is in accordance with the preset distance, and the floor mopping robot is controlled to move forwards. In an embodiment of the present disclosure, the controlling the mopping robot to approach or leave the carpet edge may include controlling the rotation speed of the driving wheel to: in one example, the edge of the carpet is positioned at the right side of the floor mopping robot, and if the floor mopping robot is far away from the carpet, the rotating speed of the driving wheel at the right side of the floor mopping robot is only required to be greater than that of the driving wheel at the left side; in another example, the carpet edge is located at the left side of the floor mopping robot, and if the floor mopping robot is close to the carpet, the rotating speed of the driving wheel at the left side of the floor mopping robot is only required to be greater than that of the driving wheel at the right side.

The floor mopping robot has the advantages that the distance between the floor mopping robot and the edge of the carpet is compared to serve as a trigger condition for controlling the floor mopping robot to move close to or away from the carpet, the floor mopping robot can be guaranteed to run within a preset range along the edge of the carpet, the algorithm is simple, and the floor mopping robot is easy to achieve.

In a possible implementation manner, the step S302 of controlling the mopping robot to move forward along the edge of the carpet within the preset range includes:

in step S312, if the distance is greater than or equal to a second preset threshold, the mopping robot is controlled to rotate by a second preset angle according to a second preset rotation direction.

In the embodiment of the present disclosure, the length of the second preset threshold is greater than the first preset threshold in the above embodiment, and when it is detected that the distance from the edge of the carpet to the floor mopping robot is greater than the second preset threshold, it indicates that the distance from the edge of the carpet to the floor mopping robot is suddenly increased, and further indicates that the floor mopping robot may walk to a corner of the carpet, such as a corner of a rectangular carpet, where the floor mopping robot needs to be controlled to rotate by a second preset angle, and then the floor mopping robot runs along another edge of the rectangular carpet. The preset rotation direction in the embodiment of the present disclosure includes clockwise rotation and counterclockwise rotation. The second predetermined angle may include 45-90 degrees, for example, in the case of a right angle carpet corner, the second predetermined angle may be rotated by 90 degrees. When the carpet is circular or oval, the phenomenon that the distance from the edge of the carpet to the mopping robot is suddenly increased does not generally occur at the corner, and therefore, the mopping robot can be controlled to run along the edge of the carpet according to the steps S309, S310 and S311.

This is disclosed through setting up the second and predetermine the threshold value to the distance that drags ground robot to carpet border is greater than the second and predetermines the threshold value as triggering the condition that drags ground robot turn round in the corner, and the beneficial effect of realization is: when some special carpet shapes, for example, rectangular carpet, rely on above-mentioned embodiment, need a lot of attempts the rotation of small range to be close to the carpet, just can turn round the condition, set up great second and preset the angle, improved the efficiency of turning at the corner.

In the embodiment of the present disclosure, if the carpet is located on the right side of the body of the floor mopping robot, it indicates that the floor mopping robot travels clockwise along the edge of the carpet, and therefore, when encountering a corner of the carpet, the carpet still needs to turn clockwise, and therefore the second preset rotating direction is clockwise rotation; if the carpet is located on the left side of the body of the floor mopping robot, the floor mopping robot runs anticlockwise along the edge of the carpet, and therefore when the carpet meets a corner of the carpet, the carpet needs to turn anticlockwise, and therefore the second preset rotating direction is anticlockwise.

In the embodiment of the present disclosure, the distance measuring sensor may be any one of an infrared sensor, an ultrasonic sensor or a laser sensor, it should be noted that the distance measuring sensor is not limited to the above examples, and other modifications may be made by those skilled in the art within the spirit of the present disclosure, but all the functions and effects that are achieved by the distance measuring sensor are covered by the scope of the present disclosure as long as they are the same as or similar to the present disclosure. In one example, if the distance measuring sensor is located at the right end of the body of the mopping robot, the preset movement mode is set to be anticlockwise rotation, otherwise, if the distance measuring sensor rotates clockwise, the distance measuring sensor may not detect a carpet; in one example, if the distance measuring sensor is located at the left end of the body of the mopping robot, the preset movement mode is set to be clockwise rotation, otherwise, if the distance measuring sensor rotates anticlockwise, the distance measuring sensor may not detect a carpet; in an example, if the left end and the right end of the body of the floor mopping robot are provided with the distance measuring sensors, the preset movement mode can be set to be clockwise or anticlockwise, and only one is required to be specified.

This disclose according to range sensor's position, preset mopping robot's direction of rotation, the beneficial effect that this disclosure realized can prevent to rotate and can not detect the carpet border because of not setting up the direction of rotation, the opposite direction.

In one possible implementation manner, in step S301, in the case that a carpet is detected, controlling the floor mopping robot to move according to a preset movement manner, so that before the distance from the floor mopping robot to the edge of the carpet is within a preset range, the method further includes:

step S314, planning a path according to the map of the working area;

and S315, controlling the mopping robot to run according to the preset planned path.

In the disclosed embodiments, the work area includes an area within a boundary of a work area (e.g., a corner line of a room) or includes an area outside a carpet within a boundary of the work area (e.g., a corner line of a room). In one example, when the floor mopping robot is under construction, the method for cleaning the edge of the carpet is not started, the floor mopping robot can run along a corner line to construct a map including the corner line, and during operation, a path is planned for an area within a boundary of the cleaning area (such as the corner line of a room) to obtain a preset planned path. In another example, when the floor mopping robot is building a map, the floor mopping robot can run along a corner line and run along the edge of a carpet to build a map including the corner line and the edge of the carpet, when the floor mopping robot works, a path is planned in an area outside the carpet within the boundary of the cleaning area (such as the corner line of a room), after the floor mopping robot runs according to a preset planned path, the path to the edge of the carpet is determined, and the edge of the carpet is cleaned along the path.

In one possible implementation manner, in the step S302, controlling the mopping robot to drive forward along the edge of the carpet within the preset range includes:

and step S316, controlling the floor mopping robot to run along the edge of the carpet within the preset range, and controlling the floor mopping robot to mark the carpet in a map of a working area.

In the embodiment of the disclosure, when the floor mopping robot is used for building a map, the floor mopping robot can drive along the corner line to build the map comprising the corner line. When the floor mopping robot is in work, path planning is carried out on an area within the boundary of the cleaning area (such as a corner line of a room) to obtain a preset planned path, and the area where the carpet is located is used as a part of the planned path when the floor mopping robot runs according to the preset planned path because the position of the carpet is not considered in the planned path at the moment, however, when the floor mopping robot identifies the carpet, the method for cleaning the edge of the carpet in the steps can be started. The position of the carpet edge may be marked during travel of the mopping robot along the carpet edge and used as part of a map boundary to prepare for subsequent path planning.

In a possible implementation manner, in step S302, after controlling the floor mopping robot to drive forward along the edge of the carpet within the preset range, the method further includes:

step S317, acquiring a walking path of the mopping robot along the edge of the carpet;

and step S318, updating the map of the working area according to the walking path.

In the embodiment of the disclosure, in the process that the floor mopping robot runs along the edge of the carpet, the position of the edge of the carpet is continuously recorded, and the running path of the floor mopping robot is obtained. And updating the map by taking the walking path as a part of the boundary of the map. The boundaries of the map thus include the corner lines of the room and the carpet border lines. In subsequent path planning, the path can be directly planned for the area outside the edge of the carpet inside the wall corner line. The utility model discloses can clean the carpet border again in the area outside the carpet border inside the corner line earlier, improve clean efficiency.

step S319, planning the path of the non-driving area in the cleaning area when the mopping robot drives the edge of the carpet;

and step S320, controlling the mopping robot to run according to the planned path.

In the embodiment of the disclosure, when the floor mopping robot is under construction, the floor mopping robot can run along a corner line to construct a map including the corner line, and when the floor mopping robot works, a path is planned for an area within a boundary (such as the corner line of a room) of the cleaning area to obtain a preset planned path. Under the condition that the floor mopping robot is determined to finish running along the edge of the carpet, due to the fact that the path planned at the beginning changes after the floor mopping robot meets the carpet, the path planning for the second time needs to be carried out on the non-running area in the cleaning area, and the floor mopping robot is controlled to run according to the path planned for the second time, so that the requirement of full-coverage cleaning in the cleaning area is met.

In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as a memory comprising instructions, executable by a processor of an apparatus to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that 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.