Robot cleaning method and device, robot and computer readable storage medium
A cleaning device and robot technology, which is applied in the direction of instruments, motor vehicles, transportation and packaging, etc., can solve the problems of robots not working normally, increasing costs, and inconvenient cleaning operations of cleaning robots
Active Publication Date: 2019-04-26
SHEN ZHEN 3IROBOTICS CO LTD
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Problems solved by technology
[0003] In order to facilitate edge cleaning such as walls, current cleaning robots usually adopt laser radar and edge sensors to achieve effective edge cleaning mode, but equipped with mainstream laser radar and then equipped with edge sensors will undoubtedly increase the cost; if the edge sensor is removed Continuing to use the traditional algorithm will not be able to distinguish between the wall and the baseboard, and the continuous collision with the baseboard will cause the robot to fail to work normally, which will bring inconvenience to the cleaning robot along the edge
Method used
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[0039] Hereinafter, various embodiments of the present disclosure will be described more fully. The present disclosure is capable of various embodiments, and adaptations and changes are possible therein. It is to be understood, however, that there is no intention to limit the various embodiments of the present disclosure to the particular embodiments disclosed herein, but that the present disclosure be construed to cover those falling within the spirit and scope of various embodiments of the present disclosure. All adjustments, equivalents and / or alternatives.
[0040] Hereinafter, the terms "comprising" or "may include" that may be used in various embodiments of the present disclosure indicate the presence of disclosed functions, operations, or elements, and do not limit the existence of one or more functions, operations, or elements. Increase. In addition, as used in various embodiments of the present disclosure, the terms "comprising", "having" and their cognates are only...
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The invention relates to a robot cleaning method and device, a robot and a computer readable storage medium. The robot cleaning method comprises the steps that first radar data corresponding to a first obstacle is obtained, wherein the first radar data comprises a first horizontal length corresponding to the first obstacle; whether the first horizontal length exceeds a preset length threshold or not is judged; when the first horizontal length exceeds the preset length threshold, the robot is adjusted to enter a first preset edge-along mode, so that the robot conducts edge-along cleaning work relative to the first obstacle according to a first preset edge-along distance; when the first preset edge-along mode is entered and it is detected that a collision occurs, the robot is adjusted to enter a second preset edge-along mode, so that the robot conducts edge-along cleaning work relative to the first obstacle according to a second preset edge-along distance, wherein the second preset edge-along distance is larger than the first preset edge-along distance. The robot is prevented from colliding with the same first obstacle many times, the work efficiency of the robot cleaning operation is improved, and the economic cost and the structure complexity are also reduced.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a robot cleaning method, device, robot and computer-readable storage medium. Background technique [0002] In the design of the living room, the skirting line is usually used. Using the linear feeling, material and color of the skirting line to echo each other indoors can have a better beautifying effect and a visual balance. In addition, the skirting line It can better make the combination between the wall and the ground firm, reduce the deformation of the wall, and avoid damage caused by external force collisions. [0003] In order to facilitate edge cleaning such as walls, current cleaning robots usually adopt laser radar and edge sensors to achieve effective edge cleaning mode, but equipped with mainstream laser radar and then equipped with edge sensors will undoubtedly increase the cost; if the edge sensor is removed Continuing to use the traditional algorithm will not be able ...
Claims
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0257G05D1/0276
Inventor 宫海涛杨勇郑志帆贺华元
Owner SHEN ZHEN 3IROBOTICS CO LTD