Rectangular sweeping robot control method and device and rectangular sweeping robot

Abstract

The embodiment of the invention provides a rectangular sweeping robot control method and device and a rectangular sweeping robot, and the method comprises the steps: determining obstacle information according to a collision position when it is detected that the rectangular sweeping robot collides in the advancing direction; determining a rotation collision-free curvature based on the collision position and a robot model, and controlling the rectangular sweeping robot to move by a corresponding distance in a direction opposite to the advancing direction according to the curvature; determining a to-be-rotated angle according to the obstacle information, controlling the rotation angle of the rectangular sweeping robot, and then controlling the rectangular sweeping robot to move by a first preset distance in a new advancing direction; in the process of moving in the new advancing direction, if a wall body is detected on the side, the rectangular sweeping robot is controlled to move along the wall along the side. According to the method, the wall-along cleaning function and the like of the rectangular sweeping robot can be achieved.

Description

technical field [0001] The present application relates to the technical field of rectangular sweeping robots, in particular to a control method and device for a rectangular sweeping robot and a rectangular sweeping robot. Background technique [0002] At present, sweeping robots are widely used in home life. However, most of the existing sweeping robots are circular, and it is often difficult to clean the corners of the walls, especially because the apartment structures and environments of different users are not the same. For rectangular sweeping robots, although the corners can be cleaned, how can they clean the corners of the walls? Cleaning as close to a wall as possible without hitting it is a challenge. Contents of the invention [0003] In view of this, embodiments of the present application provide a control method and device for a rectangular sweeping robot and a rectangular sweeping robot, the method can realize the movement of the rectangular sweeping robot alo...

AI Technical Summary

Problems solved by technology

However, most of the existing sweeping robots are circular, and it is often difficult to clean the corners of the walls, especially because the apartment structures and environments of different users are not the same. For rectangular sweeping robots, although the corners can be cleaned, how can they clean the corners of the walls? Cleaning as close to the wall as possible without hitting the wall is a challenge

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