Method and apparatus for cleaning using a cleaning robot, cleaning robot

Abstract

The application provides a cleaning method and device using a cleaning robot, the cleaning robot, an electronic device and a non-transitory computer readable storage medium. The method comprises determining a first cleaning area according to a first collision position when the cleaning robot collides with an obstacle; controlling the cleaning robot to clean in the first cleaning area in a first cleaning mode; monitoring the distance between the cleaning robot and the first collision position in a first predetermined direction in the first cleaning mode; and in response to the cleaning robot colliding in the first predetermined direction and the sum of the cleaning distance of the cleaning robot in the first predetermined direction before the first collision and the distance of the cleaning robot in the first predetermined direction after the first collision being greater than or equal to a preset distance interval, controlling the cleaning robot to switch to a second cleaning mode to clean in the first cleaning area. According to some embodiments, the number of collisions is reduced, and the cleaning efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of smart home, in particular, to a cleaning method and device using a cleaning robot, a cleaning robot, an electronic device and a non-transitory computer readable storage medium. BACKGROUND

[0002] Now, the cleaning robot needs to clean along the outline of the obstacle after detecting the obstacle in the cleaning process.

[0003] The cleaning robot detects the obstacle by using a laser radar, a line laser, an infrared sensor, etc., and these sensors can only detect the obstacle that is higher than the installation position or detection angle of the sensor. In actual life, the obstacle that is lower than the installation position or detection angle of the sensor, such as the threshold stone of the bathroom and the base of the floor fan, cannot be detected.

[0004] As shown in Figure 1 , the cleaning robot detects the low obstacle by triggering the collision sensor of the cleaning robot through the collision of the collision baffle installed on the front side. The cleaning robot identifies the object outline by colliding with the low obstacle frequently to clean around the obstacle. As shown in Figure 2 , the body turns an angle in the opposite direction, walks a short distance, and turns back to collide. If the collision sensor is still triggered, the previous operation is recycled until no collision is detected. This cleaning mode of colliding and colliding leads to low cleaning efficiency of the cleaning robot and poor user experience. SUMMARY

[0005] The present application provides a cleaning method and device using a cleaning robot, a cleaning robot, an electronic device and a non-transitory computer readable storage medium to solve at least one of the above problems.

[0006] According to an aspect of the present application, a cleaning method using a cleaning robot is provided, comprising determining a first cleaning area according to a first collision position when the cleaning robot collides with an obstacle for the first time; and controlling the cleaning robot to clean in the first cleaning area.

[0007] cleaning in the first cleaning area in the first cleaning mode; in the first cleaning mode, monitoring a distance of the cleaning robot from the first collision position in a first predetermined direction; and in response to the first collision occurring when the cleaning robot cleans in the first predetermined direction, and a sum of a cleaning distance of the cleaning robot in the first predetermined direction before the first collision occurs and a distance in the first predetermined direction after the first collision occurs is greater than or equal to a preset distance interval, in response to the first collision occurring when the cleaning robot cleans in a direction perpendicular to the first predetermined direction, and a distance in the first predetermined direction after the first collision occurs is greater than or equal to the preset distance interval, controlling the cleaning robot to switch to a second cleaning mode to clean in the first cleaning area.

[0008] According to some embodiments, the method further comprises, in the second cleaning mode, in response to a collision of the cleaning robot with an obstacle, recording a second collision position, and controlling the cleaning robot to switch to the first cleaning mode to clean in the first cleaning area.

[0009] According to some embodiments, the method further comprises, in the second cleaning mode, in response to a collision of the cleaning robot with an obstacle, recording a third collision position, controlling a current travel direction of the cleaning robot to rotate by a first preset angle, and continuing to clean in the second cleaning mode.

[0010] According to some embodiments, the method further comprises, in the second cleaning mode, in response to a collision of the cleaning robot with an obstacle, recording a second collision position, and controlling a current travel direction of the cleaning robot to rotate by a first preset angle, and continuing to clean in the second cleaning mode, the method further comprises: in the second cleaning mode, in response to the cleaning robot colliding with the obstacle again, and a distance of the position of the collision again from the third collision position in the first predetermined direction being less than the preset distance interval, controlling the cleaning robot to switch to the first cleaning mode to clean in the first cleaning area.

[0011] According to some embodiments, the controlling the cleaning robot to clean in the first cleaning area in the first cleaning mode from the first collision position comprises:

[0012] In the first cleaning mode, in response to each collision of the cleaning robot with an obstacle, controlling a current travel direction of the cleaning robot to rotate by a second preset angle.

[0013] Docket No.: 220597CI

[0014] According to some embodiments, the method further comprises, in the first cleaning mode, in response to the accumulated rotation of the current travel direction of the cleaning robot being greater than or equal to a third preset angle, controlling the cleaning robot to switch to a third cleaning mode for cleaning in the first cleaning area.

[0015] According to some embodiments, the method further comprises, in the third cleaning mode, continuing to monitor the travel distance of the cleaning robot in a first predetermined direction; and in response to the first collision occurring when the cleaning robot cleans in the first predetermined direction, and the sum of the cleaning distance of the cleaning robot in the first predetermined direction before the first collision and the distance in the first predetermined direction after the first collision being greater than or equal to a preset distance interval, or in response to the first collision occurring when the cleaning robot cleans in a direction perpendicular to the first predetermined direction, and the travel distance in the first predetermined direction from the first collision position after the first collision being greater than or equal to a preset distance interval, controlling the cleaning robot to switch to a second cleaning mode for cleaning in the first cleaning area.

[0016] According to some embodiments, the first cleaning mode is a side-sweeping-and-rotation cleaning mode; the second cleaning mode is a bow-shaped cleaning mode; and / or the third cleaning mode is a side-collision-and-sweeping cleaning mode.

[0017] According to some embodiments, the method further comprises, in response to the cleaning robot colliding with an obstacle at the boundary of the first cleaning area, recording a fourth collision position, and updating the first cleaning area according to the fourth collision position; and controlling the cleaning robot to clean in the updated first cleaning area starting from the fourth collision position.

[0018] According to some embodiments, the method further comprises determining the profile of the obstacle according to the collision position of the cleaning robot with the obstacle; and controlling the cleaning robot to perform a leak-sweeping cleaning operation along the profile of the obstacle.

[0019] According to some embodiments, the method further comprises excluding the cleaned area, the area of the known obstacle, and / or the wall area in the first cleaning area.

[0020] According to an aspect of the present application, a device for cleaning using a cleaning robot is provided, comprising a cleaning area determination unit configured to determine a first cleaning area according to a first collision position of the cleaning robot with an obstacle; a cleaning mode unit configured to control the cleaning robot to perform cleaning in the first cleaning area in a first cleaning mode in the first cleaning area.

[0021] switching unit for controlling the cleaning robot to switch to a second cleaning mode for cleaning in the first cleaning area in response to the distance in the first predetermined direction being greater than or equal to a preset distance interval.

[0022] According to an aspect of the present application, a cleaning robot is provided for performing the method according to any one of the preceding.

[0023] According to an aspect of the present application, an electronic device is provided, comprising one or more processing units; a storage unit for storing one or more programs; when the one or more programs are executed by the one or more processing units, the one or more processing units implement the method according to any one of the preceding.

[0024] According to an aspect of the present application, a non-transitory computer-readable storage medium is provided, having stored thereon computer readable instructions which, when executed by a processor, cause the processor to perform the method according to any one of the preceding.

[0025] According to the example embodiments of the present application, the number of collisions between the cleaning robot and obstacles is reduced, the cleaning efficiency is improved, and the user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed for use in the embodiment description will be briefly introduced.

[0027] Figure 1 A schematic diagram of a cleaning robot detecting low obstacles is shown.

[0028] Figure 2 A schematic diagram of a side collision and sweeping cleaning mode is shown.

[0029] Figure 3 A schematic diagram of a sweeping mode switching according to an example embodiment of the present application is shown.

[0030] Figure 4 A flowchart of a method of cleaning using a cleaning robot according to an example embodiment of the present application is shown.

[0031] Figure 5 A schematic diagram of a first cleaning area determination according to an example embodiment of the present application is shown.

[0032] Figure 6 A schematic diagram of a determined rectangular cleaning area according to an example embodiment of the present application is shown.

[0033] Figure 7A determined obstacle profile diagram is shown according to an example embodiment of the present application.

[0034] DOCKET NO.: 220597CI

[0035] Figure 8 An apparatus diagram for cleaning using a cleaning robot is shown according to an example embodiment of the present application.

[0036] Figure 9 An electronic device is shown according to an example embodiment of the present application. DETAILED DESCRIPTION

[0037] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the several views and the description.

[0038] The described features, structures, or characteristics can be combined in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the technology can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In some instances, well-known structures, methods, devices, implementations, materials, and so forth, are not described in detail in order to avoid obscuring the disclosure.

[0039] The flow diagrams shown in the Figures are merely examples and do not have to include all of the described steps or operations and do not have to be executed in the order described. For example, some operations / steps can be performed in a different order, or some operations / steps can be combined or partially combined, and thus the actual order executed can vary from the order described.

[0040] The terms "first", "second", and the like, in the description and in the claims of the present specification, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the descriptive terms "first", "second", etc., are to be interpreted, by those skilled in the art, as a structural or functional pertinence, but not a chronological or sequential pertinence. Furthermore, the terms "comprise", "comprising", "include", "including", and the like, are to be construed in an inclusive fashion, indicating open-ended inclusion of a non-exclusive succession, that something comprises, comprises or includes, without limitation, something else specified or something equivalent thereof. It will be apparent that aspects, as described herein, can be implemented in various forms of hardware, software, or combinations thereof; specific examples previously described are intended to be illustrative only and not limiting to the aspects as described herein. While exemplary aspects have been described above, it is to be understood that those skilled in the art will be able to design many alternative aspects without departing from the scope of the aspects as described herein, which is defined solely with regard to the claims that follow. The aspects disclosed herein are to be considered merely illustrative and not restrictive, and the scope of these aspects is not to be limited to the complete embodiments described hereinabove. Rather, various modifications can be made and equivalents can be substituted for elements of the aspects without departing from the scope of the aspects as described herein. Furthermore, many of the articles, materials, actions or events described above are meant to be illustrative only and do not limit the aspects described herein. As such, while exemplary aspects have been disclosed herein, many adaptations and modifications will be obvious to those skilled in the art to which the disclosed aspects pertain and this application is intended to cover any such adaptations or modifications. Therefore, it is to be understood that there is no intention to limit the aspects described herein to the specific illustrative embodiments disclosed in the specification and drawings. Rather, certain changes can be made in the firmware, software, wiring and / or connections, and / or operating

[0041] As described above, the cleaning robot detects obstacles using a laser radar, a line laser, an infrared sensor, etc., and these sensors can only detect obstacles that are higher than the installation position or detection angle of the sensors, and obstacles that are lower than the installation position or detection angle of the sensors cannot be detected in actual life.

[0042]

[0043] Based on this, Figure 3 A cleaning mode switching diagram according to an example embodiment of the present application is shown. According to the example embodiment of the present application, the cleaning area is cleaned according to the cleaning mode switching shown in Figure 3

[0044] According to some embodiments, an arch-shaped path information is provided in the cleaning area.

[0045] As shown in Figure 3 In the cleaning area, the cleaning robot cleans in the second cleaning mode. In the second cleaning mode, when an obstacle is detected according to one collision or multiple collisions, the cleaning mode is switched from the second cleaning mode to the first cleaning mode for cleaning.

[0046] If the cleaning robot cleans in the second cleaning mode, a collision occurs between the long side of the arch-shaped path and an obstacle. According to some embodiments, in the first cleaning mode, when the moving distance of the cleaning robot is greater than or equal to a preset distance threshold in the projection of the short side of the arch-shaped path, the cleaning mode is switched from the first cleaning mode to the second cleaning mode. Or in the first cleaning mode, when the deflection angle of the cleaning robot is greater than a preset deflection angle threshold, the cleaning mode is switched from the first cleaning mode to the third cleaning mode. In the third cleaning mode, if the position of the cleaning robot when cleaning in the third cleaning mode and the position of the cleaning robot when a collision occurs between the long side of the arch-shaped path are greater than or equal to a preset distance threshold in the projection of the moving distance on the short side of the arch-shaped path, the cleaning mode is switched from the third cleaning mode to the second cleaning mode.

[0047] ​​If the cleaning robot collides with the obstacle at the short side of the arch shape in the second cleaning mode, according to some embodiments, in the first cleaning mode, when the sum of the cleaning distance of the cleaning robot when cleaning in the second cleaning mode and the cleaning distance of the cleaning robot when cleaning in the first cleaning mode is greater than or equal to a preset distance threshold in the projection distance of the short side of the arch shape, the first cleaning mode is converted to the second cleaning mode. Or in the first cleaning mode, when the deflection angle of the cleaning robot is greater than a preset deflection angle threshold, the first cleaning mode is converted to the third cleaning mode. In the third cleaning mode, if the cleaning robot collides with the obstacle when cleaning in the third cleaning mode, when the sum of the moving distance of the cleaning robot before the collision and the moving distance of the cleaning robot after the collision in the projection of the short side of the arch shape is greater than or equal to a preset distance threshold, the third cleaning mode is converted to the second cleaning mode.

[0048] According to Figure 3 the embodiments shown in the drawings, the first cleaning mode is the edge-sweeping and edge-rotating cleaning mode, the second cleaning mode is the arch shape cleaning mode, and the third cleaning mode is the edge-sweeping and edge-colliding cleaning mode. In the edge-sweeping and edge-rotating cleaning mode, the cleaning robot rotates a preset deflection angle after each collision: 220597CI

[0049] degree, wherein the preset deflection angle is less than 90 degrees. In the arch shape cleaning mode, the cleaning robot is deflected by 90 degrees after the moving distance is greater than a preset distance threshold, and continues to clean in the arch shape cleaning mode.

[0050] According to Figure 3 the embodiments shown in the drawings, the number of collisions between the cleaning robot and the obstacle is reduced, the cleaning efficiency is improved, and the user experience is improved.

[0051] In order to make the above objectives, characteristics and advantages of the present application more apparent and easy to understand, various non-limiting embodiments in the present application will be exemplarily described below in conjunction with the drawings. Based on the embodiments in the present application, other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0052] The specific embodiments according to the present application will be described in detail below in conjunction with the drawings.

[0053] Figure 4 A flowchart of a cleaning method using a cleaning robot according to an example embodiment of the present application is shown. The cleaning method using a cleaning robot according to an example embodiment of the present application will be described in detail below with Figure 4 as an example.

[0054] As shown in Figure 4, the cleaning method using a cleaning robot includes three cleaning modes: a first cleaning mode, a second cleaning mode, and a third cleaning mode. According to the example embodiment of this application, the first cleaning mode is a sweeping and circling cleaning mode, the second cleaning mode is a bow-shaped cleaning mode, and / or the third cleaning mode is a bumping and sweeping cleaning mode.

[0055] In step S401, the first cleaning area is determined based on the first collision position when the cleaning robot collides with the obstacle.

[0056] According to an example embodiment of this application, the cleaning robot first divides the room into multiple rectangular areas based on the required cleaning area, and then cleans the contents of each rectangular area. According to some embodiments, the divided rectangular areas are parallel or perpendicular to the room's walls.

[0057] For example, the cleaning robot divides the room area into multiple 4*4 meter cleaning zones and uses a second cleaning mode, namely the bow-shaped cleaning mode, within the 4*4 meter zone.

[0058] Figure 5 This diagram illustrates a first cleaning area determination according to an example embodiment of this application, where the circular areas represent obstacle locations. Figure 5 As shown, when the cleaning robot is cleaning within the defined rectangular area, if it detects a low obstacle, it expands into a first cleaning area centered on the first collision position (x0, y0). According to some embodiments, the first cleaning area is parallel or perpendicular to the room walls.

[0059] Volume Number: 220597CI

[0060] According to an embodiment of this application, after determining the first cleaning area, the first cleaning area also needs to undergo optimization processing. For example... Figure 5 As shown, after determining the first cleaning area, the process first checks whether there are areas that have already been cleaned. If so, the cleaned areas are removed. Then, it checks whether there are known obstacles. If so, the areas containing the obstacles are removed. Finally, it checks whether there are areas containing walls. If so, the areas outside the walls are removed.

[0061] It should be noted that after determining the first cleaning area, the cleaning robot selects any cleaning mode and begins cleaning at any location within the first cleaning area.

[0062] For example, after determining the first cleaning area, the cleaning robot starts cleaning in the second cleaning mode from the first collision position. If the distance between the first collision position and the cleaning robot in the first preset direction is less than the preset distance interval, and collision occurs again, the cleaning robot is controlled to switch to the first cleaning mode in the first cleaning area, and step S403 is performed.

[0063] For example, after determining the first cleaning area, the cleaning robot starts cleaning in the first cleaning mode from the first collision position, and step S403 is performed.

[0064] In step S403, the cleaning robot is controlled to clean in the first cleaning mode in the first cleaning area.

[0065] According to some embodiments, in step S403, when the cleaning robot is cleaning in the first cleaning mode, the current travel direction of the cleaning robot is controlled to rotate a second preset angle in response to each collision of the cleaning robot with the obstacle. And step S405 is performed.

[0066] For example, when the cleaning robot is cleaning in the first cleaning mode, if collision with the obstacle occurs, the cleaning robot is controlled to rotate an angle a clockwise in the current travel direction, where a is less than 90 degrees.

[0067] In step S405, the distance between the cleaning robot and the first collision position in the first predetermined direction is monitored in the first cleaning mode.

[0068] According to some embodiments, as shown in Figure 5 The first predetermined direction is parallel to the horizontal direction of the boundary of the first cleaning area determined in step S401.

[0069] For example, the direction corresponding to the short side of the arch-shaped cleaning mode.

[0070] According to embodiments of the present application, in step S405, when the cleaning robot is in the first cleaning mode, if the cumulative rotation of the current travel direction of the cleaning robot is greater than or equal to a third preset angle:220597CI

[0071] If the angle is set to a, the cleaning robot is controlled to switch from the first cleaning mode to the third cleaning mode in the first cleaning area, and the travel distance of the cleaning robot in the first predetermined direction in the third cleaning mode is monitored in real time.

[0072] If the travel distance of the cleaning robot in the first predetermined direction in the third cleaning mode is greater than or equal to the preset distance interval, the cleaning robot is controlled to switch from the third cleaning mode to the second cleaning mode in the first cleaning area.

[0073] For example, the travel distance of the cleaning robot in the first predetermined direction from the first collision position is monitored in real time, and if the travel distance is greater than or equal to the preset distance interval, the cleaning robot is switched from the third cleaning mode to the second cleaning mode.

[0074] For another example, the travel distance of the cleaning robot in the first predetermined direction in the third cleaning mode is monitored in real time, and if the travel distance is greater than or equal to the preset distance interval, the cleaning robot is switched from the third cleaning mode to the second cleaning mode. If the travel distance of the cleaning robot in the first predetermined direction is greater than or equal to the preset distance interval, step S407 is performed.

[0075] According to other embodiments, if the cleaning robot collides in the first predetermined direction as described in step S401, when the sum of the cleaning distance of the cleaning robot in the first predetermined direction before the first collision occurs and the distance in the first predetermined direction after the first collision occurs is greater than or equal to the preset distance interval, step S407 is performed.

[0076] For example, the cleaning robot collides when cleaning in the first predetermined direction, such as at a position d0 from the position where the cleaning robot turns to the first predetermined direction, and then the cleaning robot switches to the first cleaning mode for cleaning. When the distance d from the first collision position in the first predetermined direction and d0+d are the preset distance interval, step S407 is performed.

[0077] For another example, the cleaning robot collides when cleaning in a direction perpendicular to the first predetermined direction, and the cleaning robot cleans in the first cleaning mode. When the distance d from the first collision position in the first predetermined direction is the preset distance interval, step S407 is performed. In step S407, in response to the distance in the first predetermined direction being greater than or equal to the preset distance interval, the cleaning robot is controlled to switch to the second cleaning mode for cleaning in the first cleaning area.

[0078] According to embodiments of the present application, in the second cleaning mode, in response to a collision of the cleaning robot with an obstacle, a second collision position is recorded, and the cleaning robot is controlled to switch to the first cleaning mode for cleaning in the first cleaning area. That is, when the cleaning robot is cleaning in the second cleaning mode, if a collision with an obstacle occurs, the cleaning robot is immediately switched from the second cleaning mode to the first cleaning mode, and cleaning continues.

[0079]

[0080] According to other embodiments of the present application, in the second cleaning mode, in response to a collision of the cleaning robot with an obstacle, a third collision position is recorded, the current travel direction of the cleaning robot is controlled to rotate by a first preset angle, and cleaning continues in the second cleaning mode.

[0081] ​For example, when the cleaning robot is cleaning along the long side of the bow-shaped cleaning mode, if an obstacle is encountered, the current travel direction of the cleaning robot is controlled to rotate 90 degrees, and the cleaning robot continues to clean along the short side of the bow-shaped cleaning mode.

[0082] For example, when the cleaning robot is cleaning along the long side of the bow-shaped cleaning mode, if an obstacle is encountered, the current travel direction of the cleaning robot is controlled to rotate 90 degrees, and the cleaning robot continues to clean along the short side of the bow-shaped cleaning mode.

[0083] According to some embodiments, in the second cleaning mode, in response to the cleaning robot colliding with the obstacle again, and the position of the collision again being less than a preset distance interval from the third collision position in a first predetermined direction, the cleaning robot is controlled to switch to the first cleaning mode to clean in the first cleaning area.

[0084] For example, in the bow-shaped cleaning mode, after the cleaning robot collides with the obstacle for the first time and rotates 90 degrees, the cleaning robot collides with the obstacle again, and in the second cleaning mode, in response to the cleaning robot colliding with the obstacle again, and the position of the collision again being less than a preset distance interval from the third collision position in a first predetermined direction, the cleaning robot is controlled to switch to the first cleaning mode to clean in the first cleaning area.

[0085] According to embodiments of the present application, in response to the cleaning robot colliding with the obstacle at the boundary of the first cleaning area, the fourth collision position is recorded, and the first cleaning area is updated according to the fourth collision position; and starting from the fourth collision position, the cleaning robot is controlled to clean in the updated first cleaning area. That is, if the cleaning robot collides at the boundary of the first cleaning area, the first cleaning area is updated.

[0086] For example, if the cleaning robot still collides at the edge area of the first cleaning area, it indicates that the first cleaning area determined in step S401 does not completely cover the low obstacle. Therefore, a new rectangular area is expanded with the edge collision point as a new collision point, then the first cleaning area and the expanded new rectangular area are merged into a new cleaning area, and steps S401-S407 are executed.

[0087] DOCKET NO.: 220597CI

[0088] According to example embodiments of the present application, the profile of the obstacle is determined according to the collision position of the cleaning robot with the obstacle; and the cleaning robot is controlled to perform a leak cleaning operation along the profile of the obstacle.

[0089] According to some embodiments, when the cleaning robot is cleaning in the second cleaning mode within the first cleaning area, if it finds that the cleaning robot has moved to the area that has been cleaned, it indicates that the obstacle avoidance has been completed. For example, when the cleaning robot is cleaning in the second cleaning mode within the first cleaning area, if it finds that the cleaning robot has moved to the long side of the bow shape preceding the first collision position, it is determined that the obstacle cleaning is complete.

[0090] Based on the recorded collision points, the outline of the low obstacle can be roughly drawn, and the cleaning robot will then clean along the outline curve.

[0091] It is important to note that if the cleaning robot still collides during the contour cleaning process, it will expand into a new rectangular cleaning area and merge it with the previously determined rectangular cleaning area, repeating steps S401 to S407. Since most of the newly determined rectangular cleaning area has already been cleaned, the actual cleaning area of ​​the cleaning robot is relatively small when repeating steps S401 to S407, allowing for quick cleaning completion.

[0092] according to Figure 4 The illustrated embodiment not only reduces the number of collisions between the cleaning robot and obstacles, improving cleaning efficiency, but also enhances the user experience.

[0093] For ease of explanation, the cleaning robots in the embodiments of this application all deflect in a clockwise direction. It should be noted that the implementation of this application is not limited to this; that is, the cleaning robot can also deflect counterclockwise to perform the cleaning task described in this application. Since only the direction of deflection differs, the specific cleaning method is the same as the previously described method and will not be repeated here.

[0094] The following section continues to use a robotic vacuum cleaner as an example to describe the specific execution process of cleaning using a cleaning robot in accordance with the method provided in this application.

[0095] like Figure 6 The X0*Y0 rectangular cleaning area is shown. When the cleaning robot is cleaning in the second cleaning mode, namely the bow-shaped cleaning mode, within this rectangular cleaning area, it collides with an obstacle at position (x0, y0). At the collision point (x0, y0), the cleaning robot first rotates 90 degrees clockwise and then travels a straight distance D.

[0096] If in Figure 6 If a low-impact collision occurs again within the horizontal distance D shown, then the cleaning volume number: 220597CI will be cleaned.

[0097] The cleaning mode of the robot is switched to the first cleaning mode, i.e., the edge-sweeping-and-encircling cleaning mode, and the position coordinates (x1, y1) of the collision at this time are recorded, and the horizontal straight-line distance (i.e., in the direction parallel to the short side of the arch-shaped short side) d1=x1-x0 of the two points (x0, y0) and (x1, y1) is calculated. Then, the robot is rotated by an angle a clockwise at (x1, y1) and continues to move straight.

[0098] If the collision occurs again, the position coordinates (x2, y2) of the collision at this time are recorded, and the horizontal straight-line distance d2=x2-x0 of the two points (x0, y0) and (x2, y2) is calculated. Then, the robot is rotated by an angle a clockwise at (x2, y2) and continues to move straight.

[0099] In this way, the coordinates (x n , y n ) of each collision and the horizontal straight-line distance d n =x n -x0 of each movement are recorded.

[0100] In the first cleaning mode, as shown by point A in Figure 6 , when d n >=D, regardless of whether n*α is greater than 90° or less than 90°, the cleaning robot is switched from the first cleaning mode to the second cleaning mode, i.e., from the edge-sweeping-and-encircling cleaning mode to the arch-shaped cleaning mode, and the cleaning is performed in the second cleaning mode along the arrow direction at A as shown by Figure 6 .

[0101] It should be noted that Figure 6 shown is that the cleaning robot collides with the obstacle on the long side of the arch shape. If the cleaning robot collides with the obstacle on the short side of the arch shape and the cleaning robot moves a distance d0 on the short side of the arch shape before colliding with the obstacle, then when d n +d0>=D, regardless of whether n*α is greater than 90° or less than 90°, the cleaning robot is switched from the first cleaning mode to the second cleaning mode.

[0102] In the second cleaning mode, the cleaning robot collides with the obstacle at the collision point B as shown by Figure 6 . First, the robot is rotated by 90° clockwise and then moves straight for a distance D. If no collision occurs within the distance D, the robot is rotated by 90° clockwise again and continues to move straight, still in the second cleaning mode, e.g., in the arrow direction as shown by Figure 6 , the cleaning is continued in the arch-shaped cleaning mode.

[0103] When the cleaning robot moves to the position as shown by Figure 6At point C, as previously described, due to multiple collisions occurring within a horizontal distance D, the cleaning robot will switch from the second cleaning mode to the first cleaning mode, that is, from the bow-shaped cleaning mode to the sweeping and circling cleaning mode for cleaning.

[0104] When the cleaning robot moves to such a position Figure 6 At point E, when the total rotation angle of the cleaning robot is greater than 90 degrees, i.e., n*α>90°, the cleaning robot switches from the first cleaning mode to the third cleaning mode, that is, from the sweeping and circling cleaning mode to the bumping and rubbing cleaning mode. (Volume number: 220597CI)

[0105] Cleaning mode, and record the horizontal straight-line distance d each time. n Wherein, the horizontal distance d n It can be either the horizontal distance from point C or the horizontal distance from point E.

[0106] like Figure 7 As shown, when the cleaning robot is cleaning the short side of the bow shape, it collides with an obstacle. When the cleaning robot's position in the cleaning mode and its position when it turns to clean the short side in the second cleaning mode are greater than the distance D in the direction on the short side of the bow shape, the cleaning robot switches from the third cleaning mode to the second cleaning mode, that is, from the side-bump cleaning mode to the bow-shaped cleaning mode.

[0107] It is important to note that if a collision still occurs when cleaning the edge area of ​​X0*Y0, it means that the current X0*Y0 area does not completely cover the low obstacle. In this case, take the edge collision point as the new (x0, y0), expand a new rectangular area of ​​X1*Y1, and then merge X0*Y0 and X1*Y1 into a new area X*Y. Then repeat the above steps.

[0108] When the cleaning robot moves to the cleaned area during the bow-shaped cleaning process within the X*Y area, it indicates that the cleaning robot has completed cleaning around the obstacle.

[0109] For example, when the cleaning robot has moved to the previous long side of the bow shape at the first collision position (x0, y0), it is determined that the obstacle cleaning is complete.

[0110] Based on the recorded collision points, the outline of the low obstacle can be roughly drawn. Finally, the robot vacuum cleaner will clean along the outline curve once more.

[0111] It should be noted here that depicting the outline of low obstacles, such as Figure 8If the cleaning robot still collides with the obstacle during the cleaning along the contour, the cleaning robot will expand a small area of M*N, and combine the area M*N and X*Y into a new cleaning area P*Q. The above steps are repeated to clean the new cleaning area P*Q. Since the inside of P*Q is basically an already cleaned area, the actual cleaning area is relatively small, and the cleaning can be completed quickly.

[0112] The above mainly introduces the embodiments of the present application from the perspective of method. Those skilled in the art should easily realize that, in combination with the operations or steps of each example described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or the combination of hardware and computer software. Those skilled in the art can use different ways for each specific operation or method to realize the described functions, and such realization should not be considered beyond the scope of the present application.

[0113] Docket No.: 220597CI

[0114] The device embodiments of the present application are described below. For details not explained in the device embodiments of the present application, refer to the method embodiments of the present application.

[0115] Figure 8 Fig. 1 shows a device diagram for cleaning by a cleaning robot according to an example embodiment of the present application. As shown in the figure, the device includes a cleaning area determination unit 101, a cleaning mode unit 103, a monitoring unit 105, and a mode switching unit 107, wherein the cleaning area determination unit 101 is configured to determine a first cleaning area according to a first collision position of a cleaning robot with an obstacle, the cleaning mode unit 103 is configured to control the cleaning robot to clean in the first cleaning area in a first cleaning mode starting from the first collision position, the monitoring unit 105 is configured to monitor a distance of the cleaning robot from the first collision position in a first predetermined direction in the first cleaning mode, and the mode switching unit 107 is configured to control the cleaning robot to switch to a second cleaning mode to clean in the first cleaning area in response to the distance in the first predetermined direction being greater than or equal to a preset distance interval. Figure 9 According to an embodiment of the present application, a cleaning robot is also proposed, which is configured to perform the method as described in any of the preceding.

[0116]

[0117] Fig. 2 shows an electronic device according to an example embodiment of the present application. The electronic device 200 according to this embodiment of the present application is described below with reference to Fig. 2. Figure 9 Figure 9 The electronic device 200 shown is merely an example, and should not impose any limitation on the functions and use range of the embodiments of the present application. Figure 1 The electronic device 200 shown is merely an example, and should not impose any limitation on the functions and use range of the embodiments of the present application.​

[0118] As shown in ​ FIG. 20, the electronic device 200 is in the form of a general computing device. Components of the electronic device 200 can include, but are not limited to, at least one processing unit 210, at least one memory unit 220, a bus 230 that connects the different system components including the memory unit 220 and the processing unit 210, a display unit 240, and the like.

[0119] The memory unit stores program code that can be executed by the processing unit 210 such that the processing unit 210 performs the methods described in this specification according to various exemplary embodiments of the present application. For example, the processing unit 210 can perform the methods as shown in ​ FIG. 21.

[0120] The memory unit 220 can include a readable medium in the form of volatile memory units such as a random access memory (RAM) 2201 and / or a cache memory unit 2202, and can further include a read-only memory (ROM) 2203.

[0121] DOCKET NUMBER: 220597CI

[0122] The memory unit 220 can further include a program / utility 2204 having a set of program modules 2205, including but not limited to, an operating system, one or more application programs, other program modules, and program data, and the like, each or a combination thereof, can include implementation of a network environment.

[0123] The bus 230 can be representative of one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of a variety of bus structures.

[0124] The electronic device 200 can also communicate with one or more external devices 300 such as a keyboard or pointing device, a Bluetooth device, or a database, and can communicate with one or more devices enabling user interaction with the electronic device 200 and / or communication of the electronic device 200 with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface 250. Still yet, the electronic device 200 can communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, via network adapter 260. The network adapter 260 can communicate with the other components of the electronic device 200 via bus 230. It should be understood that although not shown, other hardware and / or software components could be used in conjunction with the electronic device 200. These include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0125] Those skilled in the art will readily understand that the example embodiments described herein can be implemented by software and / or by software in combination with the requisite hardware. The technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB, a mobile hard disk, etc.) or a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to perform the above-mentioned methods according to the embodiments of the present application.

[0126] The software product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: 220597CI

[0127] The readable storage medium includes an electric connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or a flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0128] The computer readable storage medium can include a computer-readable medium in baseband or propagated as a carrier wave in a propagated signal, wherein the computer-readable medium bears computer readable code. Such a propagated signal can take a wide variety of forms including, but not limited to radio frequency signals, light signals, or any suitable combination thereof. The computer readable medium can be any medium that can be read by a computer, including but not limited to memory devices, optical storage devices, and any suitable combination thereof. The computer readable medium can be any medium that can be read by a computer, including but not limited to memory devices, optical storage devices, and any suitable combination thereof. The program code contained on the computer readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber cable, RF, and the like, or any suitable combination thereof.

[0129] The program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, and the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider (ISP).

[0130] The above computer readable medium bears one or more programs, when the one or more programs are executed by the device, the computer readable medium realizes the foregoing functions.

[0131] Those skilled in the art can understand that the above modules can be distributed in the device according to the description of the embodiments, and can also be changed in one or more devices different from the embodiments. The modules of the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0132] According to the embodiments of the present application, a computer program is provided, including computer program or instructions, which can execute the above described method when executed by a processor.

[0133] The above has carried out the detailed introduction to the embodiment of the application, the principle and implementation mode of the application have been described by applying specific examples in this paper, the above embodiment description is only used for helping understanding the method of the application and its core idea. At the same time, the changes or deformations made by the person skilled in the art on the basis of the specific implementation mode and the application range of the application according to the idea of the application all belong to the protection scope of the application. In summary, the content of the specification should not be understood as the limitation of the application.

Claims

1. A method of cleaning with a cleaning robot, characterized by, The method comprises: determining a first cleaning area according to a first collision position when the cleaning robot collides with an obstacle for the first time; in the first cleaning area, controlling the cleaning robot to clean in a first cleaning mode in the first cleaning area, including: in the first cleaning mode, in response to each collision of the cleaning robot with an obstacle, controlling the current travel direction of the cleaning robot to rotate by a second preset angle; in the first cleaning mode, monitoring the distance of the cleaning robot from the first collision position in a first predetermined direction; in response to the cleaning robot colliding in the first predetermined direction, and the sum of the cleaning distance of the cleaning robot in the first predetermined direction before the first collision and the distance in the first predetermined direction after the first collision being greater than or equal to a preset distance interval, or in response to the cleaning robot colliding in a direction perpendicular to the first predetermined direction, and the distance in the first predetermined direction after the first collision being greater than or equal to a preset distance interval, controlling the cleaning robot to switch to a second cleaning mode to clean in the first cleaning area; wherein, after determining the first cleaning area, it includes: determining whether there is an already cleaned area, and if so, excluding the already cleaned area; determining whether it includes a known obstacle, and if so, excluding the area where the known obstacle is located; determining whether it includes an area where a wall is located, and if so, excluding the area where the wall is located.

2. The method of claim 1, wherein, The method further comprises: in the second cleaning mode, in response to a collision of the cleaning robot with an obstacle, recording a second collision position, and controlling the cleaning robot to switch to the first cleaning mode to clean in the first cleaning area.

3. The method of claim 1, wherein, The method further comprises: in the second cleaning mode, in response to a collision of the cleaning robot with an obstacle, recording a third collision position, controlling the current travel direction of the cleaning robot to rotate by a first preset angle, and continuing to clean in the second cleaning mode.

4. The method of claim 3, wherein, After the second cleaning mode, in response to a collision of the cleaning robot with an obstacle, recording a third collision position, controlling the current travel direction of the cleaning robot to rotate by a first preset angle, and continuing to clean in the second cleaning mode, the method further comprises: in the second cleaning mode, in response to the cleaning robot colliding with the obstacle again, and the distance between the position of the collision again and the third collision position in the first predetermined direction being less than the preset distance interval, controlling the cleaning robot to switch to the first cleaning mode to clean in the first cleaning area.

5. The method of claim 1, wherein, The method further comprises: in the first cleaning mode, in response to the current travel direction of the cleaning robot rotating cumulatively by greater than or equal to a third preset angle, controlling the cleaning robot to switch to a third cleaning mode to clean in the first cleaning area.

6. The method of claim 5, wherein, The method further comprises: in the third cleaning mode, continuing to monitor the travel distance of the cleaning robot in the first predetermined direction; and in response to the first collision of the cleaning robot when cleaning in the first predetermined direction occurring, and the sum of the cleaning distance of the cleaning robot in the first predetermined direction before the first collision occurring and the distance in the first predetermined direction after the first collision occurring being greater than or equal to a preset distance interval, or in response to the first collision of the cleaning robot when cleaning in a direction perpendicular to the first predetermined direction occurring, and the distance in the first predetermined direction after the first collision occurring being greater than or equal to a preset distance interval, the cleaning robot is controlled to switch to a second cleaning mode to clean in the first cleaning area.

7. The method of claim 5, wherein, the first cleaning mode is a cleaning mode of sweeping while rotating, the second cleaning mode is a cleaning mode of arch shape cleaning, and / or the third cleaning mode is a cleaning mode of sweeping while colliding.

8. The method of claim 1, wherein, Further comprising: in response to the collision of the cleaning robot with the obstacle at the boundary of the first cleaning area, recording a fourth collision position, and updating the first cleaning area according to the fourth collision position; and controlling the cleaning robot to clean in the updated first cleaning area starting from the fourth collision position.

9. The method of claim 1, wherein, Further comprising: determining the contour of the obstacle according to the collision position of the cleaning robot with the obstacle; and controlling the cleaning robot to perform a leak cleaning operation along the contour of the obstacle.

10. An apparatus for cleaning using a cleaning robot, characterized by, Comprising: a cleaning area determination unit configured to determine a first cleaning area according to a first collision position when the cleaning robot collides with an obstacle; after determining the first cleaning area, determining whether there is an already cleaned area, and if so, excluding the already cleaned area; determining whether there is a known obstacle, and if so, excluding the area where the known obstacle is located; determining whether there is an area where a wall is located, and if so, excluding the area where the wall is located; a cleaning mode unit configured to control the cleaning robot to clean in the first cleaning area in a first cleaning mode in the first cleaning area; the cleaning mode unit is specifically configured to, in the first cleaning mode, in response to each collision of the cleaning robot with an obstacle, control the current travel direction of the cleaning robot to rotate a second preset angle; a monitoring unit configured to monitor the distance of the cleaning robot from the first collision position in a first predetermined direction in the first cleaning mode; a mode switching unit configured to, in response to the first collision of the cleaning robot when cleaning in the first predetermined direction occurring, and the sum of the cleaning distance of the cleaning robot in the first predetermined direction before the first collision occurring and the distance in the first predetermined direction after the first collision occurring being greater than or equal to a preset distance interval, or in response to the first collision of the cleaning robot when cleaning in a direction perpendicular to the first predetermined direction occurring, and the distance in the first predetermined direction after the first collision occurring being greater than or equal to a preset distance interval, control the cleaning robot to switch to a second cleaning mode to clean in the first cleaning area.

11. A cleaning robot, characterized in that, The cleaning robot is configured to perform the method of any one of claims 1-9.

12. An electronic device, comprising: comprising: one or more processing units; a storage unit configured to store one or more programs; when the one or more programs are executed by the one or more processing units, the one or more processing units are caused to implement the method of any one of claims 1-9.

13. A non-transitory computer readable storage medium having computer readable instructions stored thereon, which when executed by a processor, cause the processor to perform the method of any one of claims 1-9.

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