CN110547728B - Control method, control device, robot system, storage medium and processor - Google Patents
Control method, control device, robot system, storage medium and processor Download PDFInfo
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- CN110547728B CN110547728B CN201910919539.XA CN201910919539A CN110547728B CN 110547728 B CN110547728 B CN 110547728B CN 201910919539 A CN201910919539 A CN 201910919539A CN 110547728 B CN110547728 B CN 110547728B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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Abstract
The application provides a control method, a control device, a robot system, a storage medium and a processor. The control method comprises the following steps: collecting the interaction force between a cleaning structure of the cleaning robot and the wall surface; and controlling the movement of the cleaning robot according to the interaction force. According to the control method, the interaction force between the cleaning structure of the cleaning robot and the wall surface is collected, so that the position relation between the cleaning structure of the cleaning robot and the wall surface is accurately judged, the movement of the cleaning robot is controlled according to the position relation between the cleaning structure and the wall surface, and the cleaning robot is prevented from forming a cleaning blind area and scraping the wall surface in the cleaning process.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a control method, an apparatus, a robot system, a storage medium, and a processor.
Background
At present, the insufficient reason of clean type robot wall-attaching cleaning ability mainly has two: (1) the robot, especially a cleaning robot used in a corridor, is too heavy (50 of a friend simulator type is heavy by 180kg), has potential safety hazard, and needs to keep a certain safety distance with nearby obstacles during operation, so that the area with the safety distance with the obstacles can not be cleaned when the robot is cleaned along a wall, and a cleaning blind area is formed; (2) the precision of domestic level navigation positioning sensor is not enough, if not set up the safe distance between cleaning structure and the wall, the condition of cleaning not welt or scraping the wall can appear very likely.
In the prior art, a cleaning robot with a retractable brush disc has been disclosed, and the robot has the following defects: (1) a motor is required to be installed to control the telescopic distance of the brush disc, so that the cost and the failure rate are increased; (2) the scheme refers to that the distance between the robot and the wall is collected by the distance measuring sensors to control the telescopic distance of the brushing disc, so that the cost is increased, most of the distance measuring sensors are greatly influenced by the environment (especially illumination), and the error is difficult to ignore.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The application mainly aims to provide a control method, a control device, a robot system, a storage medium and a processor, so as to solve the problem that the position relation between a cleaning structure and a wall surface of a cleaning robot is difficult to accurately judge in the prior art.
In order to achieve the above object, according to one aspect of the present application, there is provided a control method including: collecting the interaction force between a cleaning structure of the cleaning robot and the wall surface; and controlling the movement of the cleaning robot according to the interaction force.
Further, before collecting the interaction force between the cleaning structure of the cleaning robot and the wall surface, the control method further comprises: confirm whether cleaning robot is in the mode of working of cleaning next to the wall, gather cleaning robot's the structure of cleaning and the interact power between the wall, include: and under the condition that the cleaning robot is determined to be in the working mode of wall-attached cleaning, collecting the interaction force between the cleaning structure of the cleaning robot and the wall surface.
Further, determining whether the cleaning robot is in a wall-to-wall cleaning mode comprises: determining whether the motion track of the current working mode of the cleaning robot is a preset track; and determining that the cleaning robot is in a working mode of wall-attached cleaning under the condition that the motion track is the preset track.
Further, controlling the movement of the cleaning robot according to the interaction force includes: and controlling the cleaning robot to move according to a preset route under the condition that the interaction force is in a preset range, wherein the minimum value of the preset range is a first threshold value, and the maximum value of the preset range is a second threshold value.
Further, controlling the movement of the cleaning robot according to the interaction force includes: controlling the cleaning robot to move along the direction close to the wall surface under the condition that the interaction force is smaller than a first threshold value, wherein the first threshold value is the minimum value of the preset range; and controlling the cleaning robot to move along the direction far away from the wall surface under the condition that the interaction force is greater than a second threshold value, wherein the second threshold value is the maximum value of the preset range.
Further, clean the structure and include the brush hair, gather the mutual force of cleaning between structure and the wall that cleans the robot, include: and collecting the interaction force between the bristles and the wall surface by adopting an interaction force sensor.
In order to achieve the above object, according to one aspect of the present application, there is provided a control apparatus including: the collecting unit is used for collecting the interaction force between a cleaning structure of the cleaning robot and the wall surface; and a first control unit for controlling the movement of the cleaning robot according to the interaction force.
According to another aspect of the present application, there is provided a robot system including a cleaning robot and a control device, the control device being the device or a device performing any one of the control methods.
According to still another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the control methods.
According to yet another aspect of the present application, there is provided a processor for executing a program, wherein the program executes any one of the control methods.
By the aid of the technical scheme, in the control method, the interaction force between the cleaning structure and the wall surface of the cleaning robot is collected at first, the position relation between the cleaning structure and the wall surface can be judged according to the interaction force, namely the interaction force is larger, the distance between the cleaning structure and the wall surface is closer, and then the movement of the cleaning robot is controlled according to the interaction force, so that the cleaning robot cleans in a proper area. According to the control method, the interaction force between the cleaning structure of the cleaning robot and the wall surface is collected, so that the position relation between the cleaning structure of the cleaning robot and the wall surface is accurately judged, the movement of the cleaning robot is controlled according to the position relation between the cleaning structure and the wall surface, and the cleaning robot is prevented from forming a cleaning blind area and scraping the wall surface in the cleaning process.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a flow chart of a control method according to an embodiment of the application;
FIG. 2 shows a schematic diagram of a control device according to an embodiment of the present application; and
fig. 3 shows a schematic structural diagram of a cleaning robot according to an embodiment of the present application.
Wherein the figures include the following reference numerals:
01. a wall surface; 10. cleaning the robot body; 20. an interaction force sensor; 30. a spring; 40. a connecting rod; 50. a cleaning structure; 51. brushing a disc; 52. and (3) brush hairs.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, it is difficult to accurately determine a positional relationship between a cleaning structure of a cleaning robot and a wall surface in the related art, and in order to solve the above problems, the present application proposes a control method.
Fig. 1 is a flowchart of a control method according to an embodiment of the present invention, as shown in fig. 1, the control method including the steps of:
step S101, collecting interaction force between a cleaning structure of a cleaning robot and a wall surface;
and a step S102 of controlling the movement of the cleaning robot according to the interaction force.
In the control method, firstly, the interaction force between the cleaning structure of the cleaning robot and the wall surface is collected, the position relation between the cleaning structure and the wall surface can be judged according to the interaction force, namely the larger the interaction force is, the closer the distance between the cleaning structure and the wall surface is, and then the movement of the cleaning robot is controlled according to the interaction force, so that the cleaning robot cleans in a proper area. According to the control method, the interaction force between the cleaning structure of the cleaning robot and the wall surface is collected, so that the position relation between the cleaning structure of the cleaning robot and the wall surface is accurately judged, the movement of the cleaning robot is controlled according to the position relation between the cleaning structure and the wall surface, and the cleaning robot is prevented from forming a cleaning blind area and scraping the wall surface in the cleaning process.
In one embodiment of the present application, the controlling the movement of the cleaning robot according to the interaction force includes: determining whether the cleaning robot is in a working mode of close-to-wall cleaning according to the current motion track; acquiring a preset range corresponding to the interaction force between the cleaning structure and the wall surface according to the state of the cleaning machine; and comparing the collected interaction force with the preset range, and controlling the cleaning robot to move according to the comparison result. The control method can control the cleaning robot to move according to the state of the cleaning robot, so that the cleaning effect of the cleaning robot is further improved, and the cleaning robot is further prevented from forming a cleaning blind area and scraping a wall surface in the cleaning process.
Because in the application of reality, clean the robot and under the mode that the wall cleaned, take place the condition of clean blind area and scraping the wall more easily, under other states of cleaning, the problem of clean blind area and scraping the wall can not appear basically, consequently, in another embodiment of this application, before gathering the mutual force of cleaning between structure and the wall that cleans the robot, above-mentioned control method still includes: confirm above-mentioned cleaning robot whether be in the mode of working of cleaning next to the wall, gather the mutual force of cleaning between structure and the wall of cleaning robot, include: and collecting the interaction force between the cleaning structure of the cleaning robot and the wall surface under the condition that the cleaning robot is determined to be in the working mode of wall-attached cleaning. In the scheme, whether the cleaning robot is in a working mode of wall-attached cleaning is determined firstly, and under the condition that the cleaning robot is in the working mode of wall-attached cleaning, the interaction force between the cleaning structure and the wall surface of the cleaning robot is collected, otherwise, under the condition that the cleaning robot is not in the working mode of wall-attached cleaning, the interaction force between the cleaning structure and the wall surface of the cleaning robot is not collected, so that unnecessary steps are omitted, and the control efficiency of the cleaning robot is improved.
It should be noted that, under the condition that it is determined that the cleaning robot is not in the working mode of wall-mounted cleaning, the cleaning robot is controlled to move along the current movement track until it is determined that the cleaning robot is in the working mode of wall-mounted cleaning, the interaction force between the cleaning structure of the cleaning robot and the wall surface is collected, the predetermined range corresponding to the interaction force between the cleaning structure and the wall surface is obtained, the interaction force is compared with the predetermined range, and the movement of the cleaning robot is controlled according to the comparison result.
In order to further accurately judge the position relationship between the cleaning structure of the cleaning robot and the wall surface, and thus determine whether the cleaning robot is in the working mode of wall-to-wall cleaning, in an embodiment of the application, determining whether the cleaning robot is in the working mode of wall-to-wall cleaning includes: determining whether the motion track of the current working mode of the cleaning robot is a preset track; and determining that the cleaning robot is in the working mode of the wall-attached cleaning when the motion track is the preset track.
In one embodiment of the present application, the controlling of the movement of the cleaning robot based on the interaction force includes: and controlling the cleaning robot to move according to a predetermined route when the interaction force is within a predetermined range, wherein the minimum value of the predetermined range is a first threshold value, and the maximum value of the predetermined range is a second threshold value. Above-mentioned predetermined route carries out the route that pastes the wall and clean for cleaning the robot, and when cleaning the interaction force between structure and the wall of robot and in the predetermined range, cleaning the robot and moving according to predetermined route, both can guarantee to avoid forming clean blind area, can avoid again cleaning the structure and scratch the wall.
The first threshold value and the second threshold value may be determined according to the performance of the cleaning structure, for example, when the cleaning structure includes bristles and a spring, the first threshold value and the second threshold value are determined according to the elastic modulus of the bristles and the spring.
In an actual cleaning process, an interaction force between a cleaning structure of the cleaning robot and a wall surface may not be in the predetermined range, and in order to adjust the interaction force to the predetermined range, the cleaning robot avoids forming a cleaning blind area and scratching the wall surface in the wall-attached cleaning process, in an embodiment of the present application, the method includes the following steps: controlling the cleaning robot to move in a direction approaching the wall surface when the interaction force is smaller than a first threshold value, the first threshold value being a minimum value of the predetermined range; and controlling the cleaning robot to move in a direction away from the wall surface when the interaction force is greater than a second threshold value, wherein the second threshold value is the maximum value of the predetermined range. And in the case that the interaction force is not in the preset range, controlling the cleaning robot not to move according to the preset route, and establishing an adjusting route according to the interaction force and the preset route, and controlling the cleaning robot to move along the adjusting route.
Specifically, the fact that the interaction force is smaller than the first threshold value indicates that a gap exists between the cleaning structure of the cleaning robot and the wall surface, and a cleaning blind area is formed after cleaning. Above-mentioned interact power is greater than the second threshold value and shows that the distance between cleaning structure and the wall of cleaning the robot is too little, clean the robot and clean the in-process wall and scratch the wall easily pasting the wall, under this condition, control the aforesaid and clean the direction motion of robot along keeping away from above-mentioned wall, make the interact power adjustment between structure and the wall to the predetermined range, thereby avoid cleaning the robot and clean the in-process wall of scraping pasting the wall, and then avoid cleaning the structure deformation, improve the life who cleans the robot.
In the practical application process, in order to further ensure that the interaction force is controlled within a preset range, thereby further avoiding the cleaning robot from forming a cleaning blind area and scratching the wall surface in the process of cleaning the wall surface, the control method further comprises the following steps: detecting the interaction force between the cleaning robot and the wall surface in the process that the cleaning robot moves according to the adjusting route, and adjusting the adjusting route under the condition that the interaction force is not in a preset range until the interaction force between the cleaning robot and the wall surface is in the preset range.
Specifically, the adjusting route may be adjusted by controlling the cleaning robot to move a predetermined distance in a direction away from or close to the wall surface until an interaction force between the cleaning robot and the wall surface is within a predetermined range. The predetermined distance may be selected by a person skilled in the art as appropriate according to the actual situation, and for example, the predetermined distance may be set as a minimum moving distance of the driving servo motor such that the cleaning robot moves.
In one embodiment of the present application, the controlling the movement of the cleaning robot according to the interaction force further includes: and controlling the cleaning robot to perform emergency braking when the interaction force is greater than a third threshold value, which is greater than the second threshold value. Specifically, when the interaction force is greater than the third threshold value, it is determined that the cleaning robot has collided with an obstacle, and the cleaning robot is controlled to perform emergency braking to avoid secondary collision. The skilled person can select a suitable third threshold value according to the actual situation, for example, the third threshold value is determined according to the movement speed and quality of the cleaning robot.
In a specific embodiment of this application, above-mentioned structure of cleaning includes the brush hair, gathers the mutual force of cleaning between structure and the wall of cleaning the robot, includes: and collecting the interaction force between the bristles and the wall surface by using an interaction force sensor. According to the method, the interaction force between the bristles and the wall surface is collected through the interaction force sensor, so that the accuracy of collecting the interaction force between the cleaning structure of the cleaning robot and the wall surface is improved, and the position relation between the cleaning structure of the cleaning robot and the wall surface is further accurately judged.
In a specific embodiment, as shown in fig. 3, the cleaning robot includes a body 10, an interaction force sensor 20, a spring 30, a connecting rod 40, and a cleaning structure 50, where the cleaning structure 50 includes a brush disc and bristles 52 mounted on the brush disc 51, the cleaning structure 50 is connected to the body 10 through the connecting rod 40, an interaction force between the bristles 52 and a wall surface 01 is transmitted to the interaction force sensor 20 through the connecting rod 40 and the spring 30, and an interaction force collected by the interaction force sensor 20 is an interaction force between the bristles 52 and the wall surface 01.
It should be noted that, in order to further collect the accuracy of the interaction force between the cleaning structure of the cleaning robot and the wall surface, and thereby further accurately determine the positional relationship between the cleaning structure of the cleaning robot and the wall surface, a plurality of interaction force sensors in different rows may be used to collect the interaction force between the bristles and the wall surface.
According to the embodiment of the present invention, a control device is further provided, and it should be noted that the control device according to the embodiment of the present invention may be used to execute the control method provided by the embodiment of the present invention. The following describes a control device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a control device according to an embodiment of the present invention, as shown in fig. 2, including:
the collection unit 100 is used for collecting the interaction force between the cleaning structure of the cleaning robot and the wall surface;
the first control unit 200 controls the movement of the cleaning robot based on the interaction force.
Among the above-mentioned control device, the collection unit gathers the structure of cleaning the robot and the interact force between the wall, can judge the position relation between structure of cleaning and the wall according to this interact force, and the interact force is big more promptly, cleans the distance between structure and the wall and is closer, and first the control unit cleans the motion of robot according to the control of interaction for clean the robot cleans in suitable region. This controlling means cleans the structure of robot through the collection and the interact power between the wall to the accurate judgement cleans the structure of robot and the position relation between the wall, and cleans the motion of robot according to the position relation control that cleans between structure and the wall, and then avoids cleaning the robot and form clean blind area and scratch the wall cleaning the in-process.
In an embodiment of the application, the first control unit includes a first determining module, a first obtaining module and a first control module, wherein the first determining module is configured to determine whether the cleaning robot is in a working mode of cleaning by adhering to a wall according to a current motion track, the first obtaining module is configured to obtain a predetermined range corresponding to an interaction force between a cleaning structure and the wall according to a state of the cleaning robot, and the first control module is configured to compare the collected interaction force with the predetermined range and control the cleaning robot to move according to a comparison result. The control method can control the cleaning robot to move according to the state of the cleaning robot, so that the cleaning effect of the cleaning robot is further improved, and the cleaning robot is further prevented from forming a cleaning blind area and scraping a wall surface in the cleaning process.
Because in the practical application, the cleaning robot takes place the circumstances of clean blind area and scraping the wall more easily under the mode of working of pasting the wall to clean, under other states of cleaning, the problem of clean blind area and scraping the wall basically can not appear, consequently, an embodiment of this application, above-mentioned controlling means still includes the determining unit, above-mentioned determining unit is used for before gathering the mutual force between the cleaning structure of cleaning robot and the wall, confirms above-mentioned cleaning robot is in the mode of working of pasting the wall to clean, the collection unit still is used for gathering the mutual force between the cleaning structure of above-mentioned cleaning robot and the wall under the condition of confirming that above-mentioned cleaning robot is in the mode of working of pasting the wall to clean. In the control device, whether the cleaning robot is in a wall-attached cleaning working mode or not is determined through the determining unit, under the condition that the cleaning robot is determined to be in the wall-attached cleaning working mode, the interaction force between the cleaning structure and the wall surface of the cleaning robot is collected through the collecting unit, otherwise, under the condition that the cleaning robot is determined not to be in the wall-attached cleaning working mode, the interaction force between the cleaning structure and the wall surface of the cleaning robot is not collected through the collecting unit, unnecessary steps are omitted, and the control efficiency of the cleaning robot is improved.
It should be noted that, under the condition that it is determined that the cleaning robot is not in the working mode of wall-mounted cleaning, the control device controls the cleaning robot to move along the current movement track until it is determined that the cleaning robot is in the working mode of wall-mounted cleaning, collects the interaction force between the cleaning structure of the cleaning robot and the wall surface, obtains the predetermined range corresponding to the interaction force between the cleaning structure and the wall surface, compares the interaction force with the predetermined range, and controls the cleaning robot to move according to the comparison result.
In order to further accurately judge the position relationship between the cleaning structure of the cleaning robot and the wall surface, so as to determine whether the cleaning robot is in a working mode of close-to-wall cleaning, in an embodiment of the application, the determining unit includes a second determining module and a third determining module, wherein the second determining module is configured to determine whether a motion track of a current working mode of the cleaning robot is a predetermined track; the third determining module is configured to determine that the cleaning robot is in the working mode of the wall-attached cleaning when the motion trajectory is the predetermined trajectory.
In one embodiment of the present application, the first control unit includes a second control module, wherein the second control module is configured to control the cleaning robot to move along a predetermined route when the interaction force is within a predetermined range, a minimum value of the predetermined range is a first threshold, and a maximum value of the predetermined range is a second threshold. Above-mentioned predetermined route carries out the route that pastes the wall and clean for cleaning the robot, and when cleaning the interaction force between structure and the wall of robot and in the predetermined range, cleaning the robot and moving according to predetermined route, both can guarantee to avoid forming clean blind area, can avoid again cleaning the structure and scratch the wall.
The first threshold value and the second threshold value may be determined according to the performance of the cleaning structure, for example, when the cleaning structure includes bristles and a spring, the first threshold value and the second threshold value are determined according to the elastic modulus of the bristles and the spring.
In an actual cleaning process, an interaction force between a cleaning structure of the cleaning robot and a wall surface may not be within the predetermined range, and in order to adjust the interaction force to the predetermined range, so that the cleaning robot avoids forming a cleaning blind area and scratching the wall surface in the wall-attached cleaning process, in an embodiment of the present application, the first control unit further includes a third control module and a fourth control module, wherein the third control module is configured to control the cleaning robot to move in a direction approaching the wall surface when the interaction force is smaller than a first threshold, and the first threshold is a minimum value of the predetermined range; the fourth control module is configured to control the cleaning robot to move in a direction away from the wall surface when the interaction force is greater than a second threshold, where the second threshold is a maximum value of the predetermined range. And in the case that the interaction force is not in the preset range, controlling the cleaning robot not to move according to the preset route, and establishing an adjusting route according to the interaction force and the preset route, and controlling the cleaning robot to move along the adjusting route.
Specifically, the fact that the interaction force is smaller than the first threshold value indicates that a gap exists between the cleaning structure of the cleaning robot and the wall surface, and a cleaning blind area is formed after cleaning. Above-mentioned interact power is greater than the second threshold value and shows that the distance between cleaning structure and the wall of cleaning the robot is too little, clean the robot and clean the in-process wall and scratch the wall easily pasting the wall, under this condition, control the aforesaid and clean the direction motion of robot along keeping away from above-mentioned wall, make the interact power adjustment between structure and the wall to the predetermined range, thereby avoid cleaning the robot and clean the in-process wall of scraping pasting the wall, and then avoid cleaning the structure deformation, improve the life who cleans the robot.
In the practical application process, in order to further ensure that the interaction force is controlled within the preset range, the cleaning robot is further prevented from forming a cleaning blind area and scraping a wall surface in the process of being attached to the wall surface for cleaning, the control device further comprises a second control unit, the second control unit comprises a second acquisition module and a fifth control module, the second acquisition module is used for detecting the interaction force between the cleaning robot and the wall surface in the process that the cleaning robot moves according to an adjustment route, and the fifth control module is used for adjusting the adjustment route under the condition that the interaction force is not within the preset range until the interaction force between the cleaning robot and the wall surface is within the preset range.
Specifically, the adjusting route may be adjusted by controlling the cleaning robot to move a predetermined distance in a direction away from or close to the wall surface until an interaction force between the cleaning robot and the wall surface is within a predetermined range. The skilled person can select a suitable predetermined distance according to the actual situation, for example, the predetermined distance can be set as the minimum moving distance of the servo motor of the cleaning robot.
In an embodiment of the application, the first control unit further includes a sixth control module, where the sixth control module is configured to control the cleaning robot to perform emergency braking when the interaction force is greater than a third threshold value, and the third threshold value is greater than the second threshold value. Specifically, when the interaction force is greater than the third threshold value, it is determined that the cleaning robot has collided with an obstacle, and the cleaning robot is controlled to perform emergency braking to avoid secondary collision. The skilled person can select a suitable third threshold value according to the actual situation, for example, the third threshold value is determined according to the movement speed and quality of the cleaning robot.
In a specific embodiment of the present application, the cleaning structure includes bristles, and the collecting unit is further configured to collect an interaction force between the bristles and the wall surface by using an interaction force sensor. According to the method, the interaction force between the bristles and the wall surface is collected through the interaction force sensor, so that the accuracy of collecting the interaction force between the cleaning structure of the cleaning robot and the wall surface is improved, and the position relation between the cleaning structure of the cleaning robot and the wall surface is further accurately judged.
In a specific embodiment, as shown in fig. 3, the cleaning robot includes a body 10, an interaction force sensor 20, a spring 30, a connecting rod 40, and a cleaning structure 50, where the cleaning structure 50 includes a brush disc and bristles 52 mounted on the brush disc 51, the cleaning structure 50 is connected to the body 10 through the connecting rod 40, an interaction force between the bristles 52 and a wall surface 01 is transmitted to the interaction force sensor 20 through the connecting rod 40 and the spring 30, and an interaction force collected by the interaction force sensor 20 is an interaction force between the bristles 52 and the wall surface 01.
It should be noted that, in order to further collect the accuracy of the interaction force between the cleaning structure of the cleaning robot and the wall surface, so as to further accurately judge the position relationship between the cleaning structure of the cleaning robot and the wall surface, the collecting unit is further configured to collect the interaction force between the bristles and the wall surface by using a plurality of interaction force sensors in different rows.
According to an embodiment of the present invention, there is also provided a robot system, including a cleaning robot and a control device, where the control device is the control device or a device for executing any one of the control methods.
In the robot system, the control device or the device for executing the control method collects the interaction force between the cleaning structure of the cleaning robot and the wall surface, so that the position relationship between the cleaning structure of the cleaning robot and the wall surface is accurately judged, the movement of the cleaning robot is controlled according to the position relationship between the cleaning structure and the wall surface, and the cleaning robot is prevented from forming a cleaning blind area and scraping the wall surface in the cleaning process.
The control device comprises a processor and a memory, the acquisition unit, the first control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the position relation between the cleaning structure of the cleaning robot and the wall surface is accurately judged by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium including a stored program, where the program executes the control method of any one of the above.
An embodiment of the present invention provides a processor, where the processor is configured to execute a program, where the program executes any one of the control methods described above when running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, collecting interaction force between a cleaning structure of a cleaning robot and a wall surface;
and a step S102 of controlling the movement of the cleaning robot according to the interaction force.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, collecting interaction force between a cleaning structure of a cleaning robot and a wall surface;
and a step S102 of controlling the movement of the cleaning robot according to the interaction force.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) in the control method, the interaction force between the cleaning structure and the wall surface of the cleaning robot is collected at first, the position relation between the cleaning structure and the wall surface can be judged according to the interaction force, namely the interaction force is larger, the distance between the cleaning structure and the wall surface is closer, and then the movement of the cleaning robot is controlled according to the interaction force, so that the cleaning robot cleans in a proper area. According to the control method, the interaction force between the cleaning structure of the cleaning robot and the wall surface is collected, so that the position relation between the cleaning structure of the cleaning robot and the wall surface is accurately judged, the movement of the cleaning robot is controlled according to the position relation between the cleaning structure and the wall surface, and the cleaning robot is prevented from forming a cleaning blind area and scraping the wall surface in the cleaning process.
2) Among the control device of this application, collection unit gathers the structure of cleaning and the mutual acting force between the wall of cleaning the robot, can judge the position relation between structure and the wall according to this mutual acting force, and the mutual acting force is big more promptly, cleans the distance between structure and the wall and is more close, and first the control unit cleans the motion of robot according to the control of mutual acting force for clean the robot and clean in suitable region. This controlling means cleans the structure of robot through the collection and the interact power between the wall to the accurate judgement cleans the structure of robot and the position relation between the wall, and cleans the motion of robot according to the position relation control that cleans between structure and the wall, and then avoids cleaning the robot and form clean blind area and scratch the wall cleaning the in-process.
3) In the robot system of this application, controlling means's collection unit gathers the structure of cleaning and the mutual acting force between the wall of cleaning the robot, can judge the position relation between structure and the wall according to this mutual acting force, and mutual acting force is big more promptly, cleans the distance between structure and the wall and is close more, and controlling means's first the control unit cleans the motion of robot according to the control of mutual acting force for clean the robot and clean in suitable region. This controlling means cleans the structure of robot through the collection and the interact power between the wall to the accurate judgement cleans the structure of robot and the position relation between the wall, and cleans the motion of robot according to the position relation control that cleans between structure and the wall, and then avoids cleaning the robot and form clean blind area and scratch the wall cleaning the in-process.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A control method, comprising:
collecting the interaction force between a cleaning structure of the cleaning robot and the wall surface;
controlling the movement of the cleaning robot according to the interaction force,
controlling the movement of the cleaning robot according to the interaction force includes: determining whether the cleaning robot is in a working mode of close-to-wall cleaning according to the current motion track; acquiring a preset range corresponding to the interaction force between the cleaning structure and the wall surface according to the state of the cleaning machine; comparing the collected interaction force with the preset range, controlling the movement of the cleaning robot according to the comparison result,
controlling the movement of the cleaning robot in accordance with the interaction force, comprising:
controlling the cleaning robot to move according to a predetermined route when the interaction force is within a predetermined range, wherein the minimum value of the predetermined range is a first threshold value, the maximum value of the predetermined range is a second threshold value,
the control method further comprises the following steps: detecting the interaction force between the cleaning robot and the wall surface in the process that the cleaning robot moves according to an adjusting route, and adjusting the adjusting route under the condition that the interaction force is not in the preset range until the interaction force between the cleaning robot and the wall surface is in the preset range.
2. The control method according to claim 1,
before collecting the interaction force between the cleaning structure of the cleaning robot and the wall surface, the control method further comprises:
determining whether the cleaning robot is in a wall-to-wall cleaning mode of operation,
gather cleaning robot's the structure of cleaning and the interact power between the wall, include:
and under the condition that the cleaning robot is determined to be in the working mode of wall-attached cleaning, collecting the interaction force between the cleaning structure of the cleaning robot and the wall surface.
3. The control method of claim 2, wherein determining whether the cleaning robot is in a wall-to-wall cleaning mode of operation comprises:
determining whether the motion track of the current working mode of the cleaning robot is a preset track;
and determining that the cleaning robot is in a working mode of wall-attached cleaning under the condition that the motion track is the preset track.
4. The control method according to claim 1, wherein controlling the movement of the cleaning robot in accordance with the interaction force includes:
controlling the cleaning robot to move along the direction close to the wall surface under the condition that the interaction force is smaller than a first threshold value, wherein the first threshold value is the minimum value of the preset range;
and controlling the cleaning robot to move along the direction far away from the wall surface under the condition that the interaction force is greater than a second threshold value, wherein the second threshold value is the maximum value of the preset range.
5. The control method according to any one of claims 1 to 4, wherein the cleaning structure includes bristles, and the collecting of the interaction force between the cleaning structure of the cleaning robot and the wall surface includes:
and collecting the interaction force between the bristles and the wall surface by adopting an interaction force sensor.
6. A control device, comprising:
the collecting unit is used for collecting the interaction force between a cleaning structure of the cleaning robot and the wall surface;
a first control unit that controls a movement of the cleaning robot according to the interaction force,
the first control unit comprises a first determining module, a first obtaining module and a first control module, wherein the first determining module is used for determining whether the cleaning robot is in a working mode of being stuck to a wall for cleaning according to the current motion track, the first obtaining module is used for obtaining a preset range corresponding to the interaction force between a cleaning structure and the wall according to the state of the cleaning robot, the first control module is used for comparing the collected interaction force with the preset range and controlling the cleaning robot to move according to the comparison result,
the first control unit comprises a second control module, wherein the second control module is used for controlling the cleaning robot to move according to a preset route under the condition that the interaction force is in a preset range, the minimum value of the preset range is a first threshold value, the maximum value of the preset range is a second threshold value,
the control device further comprises a second control unit, the second control unit comprises a second acquisition module and a fifth control module, the second acquisition module is used for detecting the interaction force between the cleaning robot and the wall surface in the process that the cleaning robot moves according to the adjustment route, and the fifth control module is used for adjusting the adjustment route under the condition that the interaction force is not in the preset range until the interaction force between the cleaning robot and the wall surface is in the preset range.
7. A robot system comprising a cleaning robot and a control device, characterized in that the control device is the device according to claim 6 or a device that performs the control method according to any one of claims 1 to 5.
8. A storage medium characterized by comprising a stored program, wherein the program executes the control method of any one of claims 1 to 5.
9. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the control method according to any one of claims 1 to 5 when running.
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| CN112123060B (en) * | 2020-09-23 | 2022-05-20 | 广东博智林机器人有限公司 | Constant-pressure control method and device for wall surface grinding robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH064130A (en) * | 1992-06-23 | 1994-01-14 | Sanyo Electric Co Ltd | Cleaning robot |
| CN102083352B (en) * | 2008-04-24 | 2014-10-15 | 艾罗伯特公司 | Application of localization, positioning & navigation systems for robotic enabled mobile products |
| CN103876680B (en) * | 2013-07-08 | 2016-04-06 | 程亮然 | Spider robot |
| CN106073616B (en) * | 2016-05-31 | 2019-03-29 | 无锡昊瑜节能环保设备有限公司 | Cleaning method based on high-rise glass cleaning device |
| CN207912638U (en) * | 2017-05-23 | 2018-09-28 | 三星电子（中国）研发中心 | Sweeping robot |
| CN108814456A (en) * | 2018-09-03 | 2018-11-16 | 苏州洋紫瑞信息科技有限公司 | A kind of intelligent sweeping robot |
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