Control method and device of a robot sweeper, robot sweeper and storage medium

Abstract

The control method of the sweeping robot comprises the steps of: acquiring feature data of an environment in which the sweeping robot is currently located; judging whether the sweeping robot is located in a narrow path environment formed by a carpet and a wall according to the feature data; if yes, controlling the sweeping robot to rotate and the chassis of the sweeping robot to be inclined relative to the carpet plane; and controlling the sweeping robot to move along an arc-shaped movement track relative to the edge of the carpet until the sweeping robot leaves the narrow path environment. The application further provides a control device of the sweeping robot, the sweeping robot and a storage medium. In the technical scheme of the application, when the chassis of the sweeping robot is inclined relative to the carpet, the mop on the chassis is also inclined relative to the carpet, and at this time, the contact area between the mop and the carpet is small and the resistance is small, so that the sweeping robot is facilitated to move in the narrow path, and the sweeping robot is controlled to move along the arc-shaped movement track relative to the edge of the carpet, so that the sweeping robot is pulled away from the carpet by a certain distance and can effectively move in the narrow path until completely leaving the narrow path.

Description

Technical Field

[0001] This invention belongs to the field of sweeping robots, and particularly relates to a control method, device, storage medium, and sweeping robot for sweeping robots. Background Technology

[0002] Robotic vacuum cleaners are a type of smart home appliance. Most existing robotic vacuum cleaners have a mop attached to the back of the machine. As they move, the mop is used to clean the floor. To avoid the problem of the robotic vacuum cleaner being unable to move due to the high friction between the mop and the carpet, existing robotic vacuum cleaners will stop working immediately when they reach carpets. To ensure the most effective cleaning, robotic vacuum cleaners typically avoid carpets, using an avoidance curve to detect the carpet's contours and ensure that they do not get stuck while mopping.

[0003] However, when the distance between the carpet and the wall is narrow, forming a narrow path, the robot vacuum will walk along the wall until the end of the narrow path if it does not detect the carpet. At this time, since the robot vacuum cannot turn because one side is the wall and the other side is the carpet, if most of the robot body is moved up, the resistance generated by the contact between the mop and the carpet may make it difficult for the robot vacuum to turn.

[0004] If the rear of the robot vacuum cleaner rotates completely onto the carpet, causing the mop to come into full contact with the carpet, the robot vacuum cleaner will get stuck in its current position due to the significant resistance. Even if the robot vacuum cleaner has turned around, there is still a possibility that it may collide with the wall when leaving the narrow passage, causing it to turn around again and get stuck. Summary of the Invention

[0005] The purpose of this invention is to propose a control method for a robotic vacuum cleaner, in order to solve the technical problem in the prior art where a robotic vacuum cleaner, in mopping mode, cannot smoothly escape from the narrow passage between the carpet and the wall and gets trapped in the narrow passage, affecting the normal operation of the robotic vacuum cleaner and the user experience.

[0006] To address the aforementioned technical problems, in a first aspect, the present invention provides a control method for a sweeping robot, employing the technical solution described below, including the following steps:

[0007] Obtain feature data of the current environment of the robotic vacuum cleaner;

[0008] Based on the aforementioned feature data, it is determined whether the robotic vacuum cleaner is in a narrow passage environment formed by the carpet and the wall.

[0009] If so, control the robot vacuum to rotate onto the carpet, causing the robot vacuum's chassis to tilt relative to the carpet surface; and

[0010] The robot vacuum is controlled to move along an arc-shaped trajectory relative to the edge of the carpet until it leaves the narrow passage environment.

[0011] Secondly, the present invention provides a control device for a sweeping robot, comprising:

[0012] The acquisition unit is used to acquire feature data of the current environment of the sweeping robot;

[0013] The judgment unit is used to determine whether the sweeping robot is in a narrow passage environment formed by the carpet and the wall based on the feature data.

[0014] A first control unit is configured to, if so, control the robotic vacuum cleaner to rotate onto the carpet, causing the chassis of the robotic vacuum cleaner to tilt relative to the carpet surface; and

[0015] The second control unit is used to control the sweeping robot to move in an arc-shaped trajectory relative to the edge of the carpet until it leaves the narrow passage environment.

[0016] Thirdly, the present invention provides a robotic vacuum cleaner, comprising:

[0017] The system includes at least one memory, at least one processor, and at least one program instruction, wherein the program instruction is stored in the memory and can run on the processor, and the processor is used to execute the control method for the robotic vacuum cleaner described above.

[0018] Fourthly, the present invention provides a storage medium storing program instructions for executing the control method of the sweeping robot described above.

[0019] In the control method of the sweeping robot of the present invention, when the chassis of the sweeping robot is tilted relative to the carpet, the mop on it is also tilted relative to the carpet. At this time, the contact area between the mop and the carpet is small and the resistance is small, which makes it easier for the sweeping robot to move in narrow passages. Controlling the sweeping robot to move in an arc relative to the edge of the carpet can avoid the problem that the sweeping robot may stop running due to the continuous detection of the carpet when moving in a straight line, or collide with the wall to avoid the carpet and turn around again. In addition, the sweeping robot can identify the edge of the carpet multiple times by moving in an arc, so as to better identify the carpet outline, thereby marking the size and shape of the carpet, making it easier to avoid the carpet during subsequent cleaning.

[0020] In addition, because the resistance of the two wheels is inconsistent when a robot vacuum cleaner escapes in a narrow environment, it is actually difficult to move in a straight line. Therefore, straight-line movement will eventually become wobbly movement. The arc-shaped movement trajectory not only allows the robot vacuum cleaner to keep a certain distance from the carpet, but it is also smoother than trying to move in a straight line. This allows the robot vacuum cleaner to move effectively in narrow spaces until it is completely free. This can avoid the technical defects of existing robot vacuum cleaners working inefficiently in narrow environments, and can effectively clean narrow spaces, ensuring the normal operation of the robot vacuum cleaner. Attached Figure Description

[0021] To more clearly illustrate the solutions in this invention, the accompanying drawings used in the description of the embodiments of this invention will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a flowchart of an embodiment of the control method for the sweeping robot of the present invention;

[0023] Figure 2 This is a scene diagram of a robotic vacuum cleaner entering a narrow carpet path along the edge, as is currently known in technology.

[0024] Figure 3 This is a scene from existing technology where a robotic vacuum cleaner turns around in a corner or in the middle of a carpet;

[0025] Figure 4 This is a scene diagram of a robotic vacuum cleaner turning to face the right wall in existing technology;

[0026] Figure 5 This is a usage scenario diagram of the control method for the sweeping robot of the present invention;

[0027] Figure 6 This is a flowchart of a specific implementation of step S1 in the control method of the sweeping robot of the present invention;

[0028] Figure 7 This is a flowchart of a specific implementation of step S2 in the control method of the sweeping robot of the present invention;

[0029] Figure 8 This is a flowchart of a specific implementation of step S23 in the control method of the sweeping robot of the present invention;

[0030] Figure 9 This is a flowchart of a specific implementation of step S231 in the control method of the sweeping robot of the present invention;

[0031] Figure 10This is a flowchart of a specific implementation of step S3 in the control method of the sweeping robot of the present invention;

[0032] Figure 11 This is a flowchart of a specific implementation of step S4 in the control method of the sweeping robot of the present invention;

[0033] Figure 12 This is a schematic diagram of the structure of one embodiment of the control device for the sweeping robot of the present invention;

[0034] Figure 13 This is a structural schematic diagram of one embodiment of the sweeping robot of the present invention.

[0035] Figure 14 This is an exemplary system architecture diagram in which the present invention can be applied.

[0036] Explanation of key component symbols: 1-wall, 2-carpet, 3-robot forward direction, 4-robot, 5-robot escape direction. Detailed Implementation

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the specification is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings are used to distinguish different objects and not to describe a particular order.

[0038] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0040] In the technical solution of the present invention, after recognizing that the robot vacuum is in a narrow environment, the robot vacuum is controlled to tilt its chassis relative to the carpet plane to reduce the friction between the mop it carries and the carpet. Then, the robot vacuum is controlled to move in an arc trajectory to increase the distance between itself and the carpet and reduce friction. Through the recognition of the narrow environment between the carpet and the wall and the escape action design, the robot vacuum can smoothly enter and exit the narrow environment to clean without getting stuck.

[0041] Example 1

[0042] Please see Figure 1 The control method for the sweeping robot of the present invention includes the following steps:

[0043] Step S1: Obtain feature data of the current environment of the robot vacuum cleaner;

[0044] Step S2: Based on the feature data, determine whether the robot vacuum cleaner is in a narrow passage environment formed by the carpet and the wall;

[0045] Step S3: If yes, control the robot vacuum to rotate onto the carpet, so that the chassis of the robot vacuum is tilted relative to the carpet surface.

[0046] Step S4: Control the robot vacuum cleaner to move along an arc-shaped trajectory relative to the edge of the carpet until it leaves the narrow passage environment.

[0047] In the control method of the sweeping robot of the present invention, when the chassis of the sweeping robot is tilted relative to the carpet, the mop on it is also tilted relative to the carpet. At this time, the contact area between the mop and the carpet is small and the resistance is small, which makes it easier for the sweeping robot to move in narrow passages. Controlling the sweeping robot to move in an arc relative to the edge of the carpet can avoid the problem that the sweeping robot may stop running due to the continuous detection of the carpet when moving in a straight line, or collide with the wall to avoid the carpet and turn around again. In addition, the sweeping robot can recognize the edge of the carpet multiple times by moving in an arc, better identify the outline of the carpet, and thus mark the size and shape of the carpet, making it easier to avoid the carpet during subsequent cleaning.

[0048] In addition, because the resistance of the two wheels is inconsistent when a robot vacuum cleaner escapes from a narrow space, it is actually difficult to move in a straight line. Therefore, straight-line movement will eventually become wobbly movement. The thicker the carpet, the greater the resistance, and the more obvious this is. The arc-shaped movement trajectory not only allows the robot vacuum cleaner to keep a certain distance from the carpet, but it is also smoother than trying to move in a straight line. This allows the robot vacuum cleaner to move effectively in narrow spaces until it is completely free. This can avoid the technical defects of existing robot vacuum cleaners working inefficiently in narrow spaces, and can effectively clean narrow spaces, ensuring the normal operation of the robot vacuum cleaner.

[0049] The structure of the sweeping robot in this embodiment of the invention can be the same as that of existing common sweeping robots, that is, including a disc-shaped body, a front end located at the front of the body, a universal driven wheel located at the bottom of the front of the body and two driving wheels located at the bottom of the rear of the body, an ultrasonic sensor located below the front end or the bottom of the front of the body, and other functional sensors located on the body. In addition to being able to perform the control method of the sweeping robot described above, the sweeping robot of the present invention also has the common functions of existing sweeping robots, which will not be elaborated here.

[0050] Please combine Figures 2 to 4 ,in, Figure 2 The example shown is a scenario in the prior art where a robotic vacuum cleaner 4 enters the narrow passage between the wall 1 and the carpet 2 along the edge of the wall 1. Figure 3 yes Figure 2 The image shows a scenario where the robotic vacuum cleaner 4 turns around in the corner of a wall or in the middle of the carpet 2. Figure 4 yes Figure 2 The image shown depicts a scenario where the robotic vacuum cleaner 4 is turned to face the right wall 1. Specifically:

[0051] like Figure 2 As shown, when the robotic vacuum cleaner 4 enters the narrow passage, its direction of movement 3 is the same as the edge of the wall 1. During the movement, as shown... Figure 3 As shown, the robot vacuum 4 failed to recognize and avoid the scenario. After entering the narrow passage, the robot vacuum 4 was easily trapped in the corner or between the carpet 2. Specifically, the contact area between the mop on the robot vacuum 4 and the carpet 2 was large, resulting in great resistance. Or, the robot vacuum 4 was prone to collisions during the escape process, causing it to turn around again, which seriously affected the working efficiency of the robot vacuum 4.

[0052] In addition, such as Figure 4 As shown, when the robot vacuum 4 rotates to face the wall 1 on the right, the mop at the back of the robot vacuum 4 will come into full contact with the carpet 2. In this case, the robot vacuum 4 will get stuck on the wall 1 on the right due to the high resistance and will not be able to move, which will seriously affect the working efficiency of the robot vacuum 4 and reduce the user's satisfaction.

[0053] certainly, Figures 2 to 5 The scenario shown is merely illustrative. In other embodiments, the carpet may not necessarily be square, but may be other regular or irregular shapes such as rectangle, circle, or triangle. The carpet may not necessarily be against the upper wall shown in the figure, but may be against the lower or left wall, as long as it can form a narrow passage environment with the wall.

[0054] against Figures 2 to 4 The present invention proposes, as shown in the prior art, to address the following: Figure 1 The control method of the robotic vacuum cleaner shown below will be explained in detail.

[0055] It is understandable that since narrow passage environments are composed of both walls and carpets, the presence of walls is an important factor affecting the rotation of the robot vacuum cleaner. Carpet data is relatively more difficult to detect directly. Generally, the presence of carpet can only be detected when the robot vacuum cleaner approaches the carpet until its body is on the carpet. Therefore, when determining whether a narrow passage exists, it is necessary to first detect the wall data as a basic judgment factor.

[0056] Therefore, in this embodiment, the feature data of the current environment acquired by the robotic vacuum cleaner mainly consists of wall data. Wall data can include vertical plane data of a certain length. Of course, objects with vertical planes and relatively long lengths can also be considered walls, such as wardrobes, coffee tables, beds, boxes, and computer desks. When carpets are present near these objects, they can also create a narrow passageway environment, which can affect the operation of the robotic vacuum cleaner. The acquisition, identification, and judgment of wall data are mature technologies in this field and will not be described in detail here.

[0057] A narrow passage environment can be understood as a narrow channel between a carpet and a wall. It is a narrow environment formed by the carpet and the wall together. That is, a channel that meets certain width and length requirements can be considered a narrow passage environment. If the channel is wide but short, it should not be considered a narrow passage environment. The width and length used to specifically determine the narrow passage environment are related to the width of the robot vacuum cleaner and different environments, so they will not be elaborated here. You can set them according to different needs.

[0058] In narrow passageways, due to their narrow width and long length, robotic vacuum cleaners in their normal operating mode are prone to colliding with walls on one side, causing them to turn around. They are also prone to stopping or detouring when they detect carpet on the other side. If they collide with walls while detouring, they will turn around and be unable to escape the narrow passageway. Therefore, special movement patterns need to be designed to ensure that the robotic vacuum cleaner can successfully escape.

[0059] The chassis of a robotic vacuum cleaner is tilted relative to the carpet surface. This mainly refers to the fact that, with the carpet surface as a reference, the chassis of the robotic vacuum cleaner has a certain tilt angle relative to the carpet surface. For example, if one side of the robotic vacuum cleaner is higher than the other side, then part of the robotic vacuum cleaner can be on the carpet and the other part in the passage. The thickness of the carpet is used to achieve the tilting of the robotic vacuum cleaner, so that the mop attached to the rear of the robotic vacuum cleaner is also tilted relative to the carpet, thereby reducing friction between the robotic vacuum cleaner and the carpet and reducing resistance.

[0060] Moreover, when the robot vacuum escapes a narrow environment with its body tilted, one wheel is on the carpet and the other is under the carpet. Because the resistance of the two wheels is not the same, the robot vacuum can hardly move in a straight line. Therefore, it will eventually move in a wobbly manner. The thicker the carpet, the greater the resistance and the more obvious this is. Therefore, it is better to control the robot vacuum to move in an arc-shaped trajectory.

[0061] In this embodiment, the mop of the robotic vacuum cleaner can be a commonly used mop in existing robotic vacuum cleaner technologies. The mop is generally located at the rear of the robotic vacuum cleaner and is roughly semi-circular or quarter-circular in shape. Of course, the mop can be located in other positions or in other shapes, as long as it meets the cleaning requirements.

[0062] It is worth noting that when the robot vacuum is in the aforementioned tilted position, after rotation, its front is facing outward from the narrow path, and the ultrasonic sensor for detecting carpet located on the front is kept outside the carpet. This is to avoid the robot vacuum frequently stopping due to detecting carpet or affecting the robot vacuum's execution of the control method of this embodiment. To keep the ultrasonic sensor outside the carpet, this embodiment sets the robot vacuum to move a set distance away from the carpet when it detects carpet, and then controls the subsequent operation of the robot vacuum.

[0063] In this embodiment, the robot vacuum cleaner is controlled to move along an arc-shaped trajectory relative to the edge of the carpet. This arc-shaped trajectory can be a single arc or a combination of multiple arcs, and the movement includes various actions such as forward, backward, and turning, not just forward movement alone. Because the width of the narrow passage is limited and its length is relatively long, the arc-shaped trajectory in this embodiment is a combination of multiple arcs, and does not mean that the robot vacuum cleaner can simply move from one end of the narrow passage to the other using an arc-shaped trajectory to escape.

[0064] The advantage of a robotic vacuum cleaner moving along an arc-shaped trajectory relative to the edge of the carpet is that it can pull away from the carpet, reducing the contact area between the mop and the carpet, thus reducing the resistance between them and making it easier for the robot to escape. It also reduces the number of times the robot detects the carpet, minimizing interference with the robot.

[0065] Furthermore, the movement along this arc-shaped trajectory makes the robot vacuum cleaner more inclined to the floor between the carpet and the wall, thus cleaning more of the floor between the carpet and the wall and improving the cleaning effect of the robot vacuum cleaner.

[0066] In addition, in this embodiment, when the robot vacuum cleaner confirms that it is in a narrow passage environment, it records the environmental information scanned and acquired during the process of entering the narrow passage environment and stores it on an environmental map. When leaving the current narrow passage environment, the robot vacuum cleaner also scans, draws, and marks the current narrow passage environment on the environmental map. Thus, when the robot vacuum cleaner subsequently approaches the vicinity of this narrow passage environment, it can confirm its existence and specific details, such as the length and width of the narrow passage, through positioning or feature recognition. The control method of this embodiment can then be used to process the narrow passage environment, improving work efficiency. Once the robot vacuum cleaner has completely left the narrow passage environment, it can continue working according to the normal preset program, ensuring the normal progress of the cleaning work.

[0067] Please combine Figure 5 This is a usage scenario diagram of the control method for a sweeping robot according to an embodiment of the present invention. Figures 2 to 4 A comparison reveals that the specific difference between this embodiment and the prior art lies in the fact that, through environmental recognition, the robotic vacuum cleaner 4 determines whether it is currently in a narrow passage environment formed by the carpet 2 and the wall 1. When it is confirmed to be in a narrow passage environment, the robotic vacuum cleaner 4 is controlled to tilt relative to the carpet 2 and move in an arc trajectory. This arc trajectory consists of two different arcs, allowing the robotic vacuum cleaner 4 to move slightly while tilted relative to the carpet 2, thus escaping the narrow passage environment. Figure 5 As shown by the dashed and solid lines, it moves forward in a twisting motion until it successfully escapes the narrow passage environment.

[0068] Example 2

[0069] Furthermore, please refer to Figure 6 This is a flowchart of a specific implementation of step S1 in the control method of the sweeping robot of the present invention. Step S1 includes the following steps:

[0070] S11. Scan the surrounding environment of the robot vacuum cleaner to obtain environmental data;

[0071] S12. Fit the wall segments of all walls within the first set range of the sweeping robot based on environmental data; and

[0072] S13. Store all wall segments as feature data.

[0073] In practice, the environment around the robot vacuum can be scanned by a LiDAR to obtain environmental data. Since the LiDAR scans 360° around the robot vacuum, it will obtain a large amount of data, most of which is useless. At this point, the wall segments that may affect the movement of the robot vacuum can be screened out by data fitting. These wall segments represent the location of the walls in the actual environment. All wall segments are stored as feature data for the robot vacuum to perform comprehensive analysis and determination.

[0074] The methods by which lidar acquires environmental data and how it fits data to obtain wall segments are mature technologies in this field, and will not be elaborated here.

[0075] Since LiDAR can scan and determine the distance between the robot vacuum and the wall, if the wall is far away from the robot vacuum, the wall will not affect the operation of the robot vacuum and will not create a narrow passage environment. Moreover, if the wall at all distances is acquired indiscriminately, the accuracy of the judgment of the wall that affects the robot vacuum will decrease. Therefore, in this embodiment, the wall line segments within a first set range are acquired. On the one hand, this can avoid acquiring too much data and affecting the processing speed of the robot vacuum. On the other hand, it can improve the accuracy of acquiring wall data.

[0076] For example, the actual environmental data range ± (3% to 6%) can be used as the first set range for the robot vacuum cleaner. Alternatively, the robot vacuum cleaner can scan and determine the first set range based on the environment it is used in and can actively modify it according to different environments. Or, several first set range values ​​can be stored in the robot vacuum cleaner before it leaves the factory for users to select according to the actual usage environment. Or, the first set range can be manually entered by the user for the robot vacuum cleaner to execute.

[0077] The above description of the first defined scope is merely illustrative and should not be construed as a limitation of the present invention. Those skilled in the art can make specific selections according to their specific needs.

[0078] Example 3

[0079] Furthermore, please refer to Figure 7 , Figure 7 This is a flowchart of a specific implementation of step S2 in the control method of the sweeping robot of the present invention. Step S2 includes the following steps:

[0080] S21. Determine whether there is a carpet within the second preset range of the robot vacuum cleaner;

[0081] S22. If so, then search all wall segments to determine whether there is a wall segment to the left of the robot's forward direction.

[0082] S23. If so, determine whether the carpet and walls meet the necessary conditions for forming a narrow passage environment; and

[0083] S24. If so, the robot vacuum cleaner is determined to be in a narrow passage environment formed by the carpet and the wall.

[0084] Specifically, fitting and retrieving wall lines using point cloud data requires significant computation, consuming some of the robot vacuum's CPU resources and increasing its energy consumption. In contrast, detecting carpets consumes almost no resources. Furthermore, when cleaning in a home environment, there will always be some walls within a certain range, while carpet detection is only triggered when the robot vacuum comes into contact with the carpet, without requiring continuous detection.

[0085] Therefore, in this embodiment, in order to reduce the energy consumption of the robot vacuum cleaner, the robot vacuum cleaner is set to only determine whether there is a carpet within its second set range before searching for the walls within the current range. The setting of the second set range and the effect that can be achieved can be referred to the setting and effect of the first set range mentioned above, and will not be described in detail here.

[0086] In one embodiment, determining the presence of a carpet can be achieved by the robot vacuum cleaner detecting the presence of a carpet using an ultrasonic sensor at the bottom of its front during rotation. Since ultrasonic waves are directly absorbed or significantly absorbed by the carpet, if the robot vacuum cleaner does not receive an echo or the echo is less than a certain level, it indicates that a carpet exists within the robot vacuum cleaner's second set range. Upon detecting the carpet, the robot vacuum cleaner is controlled to stop immediately, maintaining its current posture to facilitate subsequent actions, avoiding further entry into the carpet and getting trapped, or performing avoidance maneuvers that would cause it to collide with the wall again and turn.

[0087] In step S22, since there is a situation where the robot vacuum enters a narrow passage but does not reach the end of the narrow passage, there is no wall in a certain range in front of the robot vacuum, so it will not impose too much restriction on the movement of the robot vacuum. Therefore, the wall in the direction of the robot vacuum's movement is not considered as a necessary condition for the robot vacuum to turn.

[0088] It is worth noting that the left side of the robot vacuum's forward direction mentioned in step S22 above refers to the left side of the robot vacuum's forward direction after it has turned, i.e., as shown in the image. Figure 5 The robot vacuum cleaner 4 shown on the left side. The robot vacuum cleaner turning around in a narrow environment may be caused by the following two situations:

[0089] 1. If the robot vacuum successfully enters a corner along the edge of the wall or other edges and collides with it, the robot vacuum will perform the following actions: turn around --> trigger carpet detection --> identify the wall --> confirm the narrow passage environment --> handle the narrow passage and escape;

[0090] 2. If the robot vacuum detects a carpet while moving along the edge of the wall (even if the robot vacuum has not reached the corner, the uneven resistance of the two wheels may cause it to sway after entering the narrow passage, which may result in the robot vacuum reaching the middle of the narrow passage and triggering carpet detection), the robot vacuum will perform the following actions: turn around --> identify the wall --> confirm the narrow passage environment --> handle the narrow passage and escape.

[0091] The reason for detecting the left side after the robot vacuum turns is to confirm whether the robot vacuum can turn directly out from the left. If there is a wall, it means that it cannot turn directly out and needs to further determine whether it is in a narrow environment. If so, it needs to make an escape action along the narrow path.

[0092] Therefore, this embodiment only selects to screen the left wall in the direction the robot vacuum cleaner is moving, and does not screen the wall in front of it. That is, it only identifies the factors that affect the robot vacuum cleaner's movement after turning, thereby improving the speed and accuracy of screening the wall.

[0093] In step S23, after confirming the existence of the wall segment on the left side of the robot's forward direction and the carpet within the second set range, based on the two main factors affecting the operation of the sweeping robot, namely the wall segment and the carpet, it is further determined whether the carpet and the wall meet the necessary conditions for forming a narrow passage environment. The necessary conditions may include whether the width between the wall and the carpet and the length of the wall and / or the carpet meet the definition of a narrow passage, thus accurately determining the existence of the narrow passage environment.

[0094] By implementing this embodiment, multiple methods are used to determine whether the robot vacuum is in a narrow environment formed by the carpet and the wall. These methods include judging whether there is a wall segment on the left side of the robot's forward direction, whether there is a carpet within a second set range, and whether the carpet and the wall meet the conditions required to form a narrow environment. This avoids misjudging that the robot vacuum is not in a narrow environment and provides more accurate environmental support for subsequent cleaning work.

[0095] Example 4

[0096] Furthermore, please refer to Figure 8 , Figure 8 This is a flowchart of a specific embodiment of step S23 in the control method of the sweeping robot of the present invention. Step S23 includes the following steps:

[0097] S231. Obtain the relative width between the edge of the carpet and the wall;

[0098] S232, Read the pre-stored maximum width threshold between the carpet edge and the wall;

[0099] S233. Compare the relative width with the maximum width threshold.

[0100] S234. If the relative width is less than the maximum width threshold, then the carpet and wall are determined to meet the conditions required to form a narrow passage environment; and

[0101] S235. If the relative width is greater than the maximum width threshold, then the carpet and the wall are determined to meet the conditions required to not constitute a narrow passage environment.

[0102] It is understandable that when there is a carpet and a wall near the robot vacuum, the relative width between the carpet and the wall is the main factor affecting whether the robot vacuum can move normally (rotate, move forward and backward, etc.). Therefore, when specifically determining whether the wall and carpet constitute a narrow passage environment, obtaining the relative width between the two is the first step.

[0103] After obtaining the relative width, it is necessary to determine whether the relative width between the edge of the carpet and the wall will affect the current action of the robot vacuum cleaner. If the relative width is greater than the maximum width threshold that affects the robot vacuum cleaner's action, the robot vacuum cleaner will not be trapped, and the wall and carpet will not form a narrow passage environment. If the relative width is less than the maximum width threshold that affects the robot vacuum cleaner's action, the robot vacuum cleaner's action will be greatly affected, and there is a greater possibility of it being trapped. In this case, the wall and carpet will form a narrow passage environment.

[0104] Generally, the maximum width threshold is slightly larger than the width of the robot vacuum cleaner's body to ensure that the robot vacuum cleaner can rotate and adjust its direction and posture in narrow environments. For example, in this embodiment, the maximum width threshold is set to the body width (for a circular robot vacuum cleaner, the width refers to the diameter) + test error (<5cm) to ensure that the robot vacuum cleaner can rotate normally.

[0105] Of course, the setting of the maximum width threshold can also refer to the setting of the first setting range mentioned above, and no specific restrictions are made here.

[0106] In addition, in this embodiment, there is a concept of a minimum width threshold between the edge of the carpet and the wall. When the width of the narrow path is less than the minimum width threshold, the robot vacuum cleaner will control itself to turn and avoid the carpet or stop running at the beginning because the ultrasonic sensor recognizes the carpet in the direction of movement, so as not to enter the narrow path and avoid the situation of moving directly on the carpet and being unable to move.

[0107] Generally speaking, the minimum width threshold that allows a robot vacuum to enter a narrow passage is affected by the location of the ultrasonic sensor hardware. If the ultrasonic sensor is located in the middle of the robot vacuum's body, then when the width of the narrow passage is less than half the width of the robot vacuum, the ultrasonic sensor will detect the presence of the carpet, and the robot vacuum will not be able to enter the narrow passage.

[0108] In other words, there is a prerequisite of a minimum width threshold for narrow passages. If this prerequisite is not met, the robot vacuum will not enter the narrow passage and no further processing is needed. If the robot vacuum can enter the narrow passage, it proves that the relative distance between the edge of the carpet and the wall meets the minimum width threshold condition, and no further judgment is needed.

[0109] By implementing this embodiment, by setting a maximum width threshold, it is possible to more accurately determine whether the carpet and wall meet the conditions required to form a narrow passage environment. This can avoid misjudging that the robot vacuum is not in a narrow passage environment and more accurately determine whether the robot vacuum is in a narrow passage environment, thus providing environmental support for subsequent cleaning work.

[0110] Example 5

[0111] Furthermore, please refer to Figure 9 , Figure 9 This is a flowchart of a specific embodiment of step S231 in the control method of the sweeping robot of the present invention. Step S231 includes the following steps:

[0112] S2311. Real-time detection of the robot vacuum's rotation;

[0113] S2312. When the robot vacuum cleaner rotates onto the carpet, record the robot vacuum cleaner's real-time coordinates;

[0114] S2313. Calculate the relative width between the carpet edge and the wall based on the real-time coordinates and the wall segment located on one side of the robot vacuum.

[0115] In the design of this invention, the robot vacuum cleaner will stop rotating immediately when the ultrasonic sensor detects the carpet. At this time, the position of the ultrasonic sensor can be roughly equivalent to the position of the carpet edge. The robot vacuum cleaner also stores the wall line segments. At this time, the relative width of the carpet edge relative to the wall can be calculated by recording the coordinates when the robot vacuum cleaner rotates onto the carpet.

[0116] In other embodiments, a distance detection sensor, such as an infrared sensor, can be installed on the side or at a designated location of the robot vacuum cleaner. When the robot vacuum cleaner rotates onto the carpet, it emits infrared light or other light sources to detect the width between the robot body and the wall.

[0117] Coordinate detection, distance conversion and estimation, and distance measurement are conventional techniques in this field and will not be elaborated here. The appropriate method can be selected in specific embodiments.

[0118] In addition, in this embodiment, during the entire process of the robot vacuum cleaner turning around at the corner to prepare to escape the narrow passage environment, it will also detect in real time whether the current environment meets the conditions for having escaped the narrow passage environment. The reason is:

[0119] Existing robotic vacuum cleaners have two sets of actions for handling carpets. One set is a general avoidance action, during which the mop is not allowed to get on the carpet. The other set is the escape action mentioned in this invention. However, since the robotic vacuum cleaner body is diagonally straddling the carpet in this embodiment, some of the mop will come into contact with the carpet.

[0120] However, in this embodiment, when the robot vacuum cleaner is detected to have entered a narrow environment, the highest priority is to escape quickly and avoid being trapped. At this time, the mop may wet the edge of the carpet. Therefore, the robot vacuum cleaner is set to resume its normal avoidance action after detecting that it has escaped the narrow environment, so as to avoid the mop continuing to wet the edge of the carpet and avoid further damage to the carpet.

[0121] Real-time environmental detection specifically refers to controlling the ultrasonic sensors to detect whether the robot vacuum has left the carpet, and simultaneously using the lidar to detect whether it has left the wall. In other words, the robot vacuum continuously monitors its surroundings during both the preparation and escape phases. When changes in the environment allow the robot vacuum to move freely, it indicates that it has escaped the narrow passage.

[0122] For example, if the robot vacuum detects a relative width between the edge of the carpet and the wall, and the relative width is less than the maximum width threshold, the robot vacuum will be controlled to perform an escape action. When the relative width is detected to be greater than the maximum width threshold, or when the robot vacuum detects that it has left the carpet and / or the wall, that is, when it detects that neither the carpet nor the wall exists, it means that the robot vacuum has escaped the narrow passage environment. At this time, the escape action will no longer be performed, and it can operate in the original way.

[0123] By implementing this embodiment, the rotation of the robot vacuum cleaner is detected in real time. When the robot vacuum cleaner rotates onto the carpet, its real-time coordinates are recorded. Then, based on the real-time coordinates and the wall segment located on one side of the robot vacuum cleaner, the relative width between the carpet edge and the wall is calculated, which can obtain the relative width between the carpet edge and the wall more accurately.

[0124] Example 6

[0125] Furthermore, Figure 10This is a flowchart of a specific implementation of step S3 in the control method of the sweeping robot of the present invention. Step S3 includes the following steps:

[0126] S31. Control the robot vacuum to rotate to the side where the carpet is located, until the right rear wheel and left rear wheel of the robot vacuum are on the carpet and the floor respectively.

[0127] Since the tilt relative to the carpet plane mentioned in step S3 means that part of the robot vacuum is on the carpet and the other part is on the ground, the robot vacuum's two sides are at different heights, thus tilting the robot vacuum's mop head at the back of the robot vacuum also tilts relative to the carpet plane.

[0128] Therefore, in this embodiment, the robot vacuum cleaner is controlled to rotate towards the side where the carpet is located to avoid collisions with the wall. Because the robot vacuum cleaner performs this rotation action as follows... Figure 5 As shown, the robot vacuum is facing outwards from the narrow passage. Therefore, when the robot vacuum rotates until the right rear wheel and the left rear wheel are on the carpet and the ground respectively, the robot vacuum can be tilted relative to the carpet surface.

[0129] In one embodiment, detecting whether the robot vacuum is tilted can be achieved by sensors such as gyroscopes or ultrasonic sensors. For example, if an ultrasonic sensor detects a carpet and then rotates slightly until it can no longer detect the carpet, its position at this point can be determined as tilted.

[0130] The above description of detecting whether a robotic vacuum cleaner is tilted is merely illustrative and should not be construed as a limitation of the present invention. The appropriate method should be chosen based on specific needs.

[0131] Example 7

[0132] Furthermore, Figure 11 This is a flowchart of a specific implementation of step S4 in the control method of the sweeping robot of the present invention. Step S4 includes the following steps:

[0133] S41. Control the sweeping robot to move backward along the first preset arc as its trajectory;

[0134] S42. Control the robot vacuum to rotate until the robot vacuum's forward direction is at least at a set angle to the edge of the carpet;

[0135] S43. Control the sweeping robot to move forward along the second preset arc as its trajectory;

[0136] S44. Repeat the above steps until the robot vacuum leaves the narrow passage environment.

[0137] Specifically, please combine Figure 5Since the robot vacuum cleaner 4 will stop immediately when it detects the carpet 2, at this time the robot vacuum cleaner 4 is in a position biased towards the carpet 2, that is, the front of the robot is facing the carpet 2. Therefore, the robot vacuum cleaner 4 is controlled to move along the first set arc ( Figure 5 The smaller arc shown (the dotted line) serves as the path of movement to move backward, equivalent to the action of "reversing," to avoid continuing forward and getting stuck on carpet 2.

[0138] Moreover, in this embodiment, the curvature of the first set arc is designed to be small, so that the movement of the sweeping robot 4 along the first set arc is a small-amplitude movement. Therefore, after the sweeping robot 4 reverses, the deviation angle between the front of the sweeping robot and the carpet 2 is not large. In order to enable the sweeping robot 4 to move further, after the sweeping robot 4 reverses, the universal wheel is controlled to rotate to the right side of the wall 1. That is, the sweeping robot 4 is controlled to rotate until the forward direction of the sweeping robot 4 is at least at a set angle with the edge of the carpet 2, giving it a slight deviation from the forward direction of the carpet 2.

[0139] Then, control the robot vacuum cleaner 4 to follow the second set arc ( Figure 5 The robot vacuum 4 moves forward along a solid arc with a larger radius. The second arc is designed to be large enough so that the robot vacuum 4 can move far enough. The arc-shaped trajectory prevents the robot vacuum 4 from colliding with the wall 1, thus avoiding the problem of the robot vacuum 4 rotating again. When the robot vacuum 4 has moved far enough and detects the carpet 2 again, the above action is repeated to make the robot vacuum twist and move forward until it successfully escapes the narrow passage environment.

[0140] In this embodiment, the specific actions of the sweeping robot when escaping a narrow environment can be analyzed as follows: retreating along a first set arc --> rotating --> moving forward along a second set arc. The first set arc and the second set arc form a serrated arc trajectory. Therefore, the "movement trajectory in an arc relative to the edge of the carpet" in step S4 can be understood as "movement trajectory in a serrated arc relative to the edge of the carpet".

[0141] exist Figure 5 In the embodiment shown, the robot vacuum cleaner 4 is initially at point a in the diagram, with its front facing the carpet 2. At this time, the robot vacuum cleaner 4 performs the following escape action:

[0142] 1. Move backward (i.e., back) from point a to point b along the first set arc. At point b, rotate to the right wall 1 until its forward direction is at least at a set angle to the edge of the carpet 2. Then move forward from point b to point c along the second set arc.

[0143] 2. Move backward from point c along the first set arc to point a, rotate to the right wall 1 at point a until its forward direction is at least at a set angle to the edge of the carpet 2, and then move forward from point a along the second set arc to point d.

[0144] 3. Move backward from point d along the first set arc to point c, rotate to the right wall 1 at point c until its forward direction is at least at a set angle to the edge of carpet 2, and then move forward from point c along the second set arc to point e.

[0145] 4. Move backward from point e along the first predetermined arc to point d, rotate to the right wall 1 at point d until its forward direction is at least at a predetermined angle to the edge of the carpet 2, and move forward from point d along the second predetermined arc to escape the narrow passage.

[0146] It is worth noting that the forward or backward movement of the robot vacuum cleaner 4 described above is based on the direction in which the robot vacuum cleaner 4 escapes the narrow passage, which is the direction of the robot vacuum cleaner 4's front.

[0147] In addition, due to the possibility of some errors during the movement, the robot vacuum cleaner 4 may not be able to reach the above-mentioned points a to e or other points completely accurately, but may be roughly within a certain range of points a to e. However, the fact that the robot vacuum cleaner 4 is not accurately located at the above-mentioned points a to e will not have much impact on the escape action performed by the robot vacuum cleaner 4. As long as the robot vacuum cleaner 4 uses the first set arc and the second set arc as the movement trajectory to perform the normal escape, it can escape normally.

[0148] Robotic vacuum cleaners, by moving in arcs, can better identify the contours of carpets, thus marking the size and shape of the carpet for easier subsequent cleaning. The reason they can avoid carpets is because:

[0149] When a robot vacuum moves in an arc in a narrow environment, the carpet status detected by the robot vacuum changes from 0 (no) to 1 (yes). The robot vacuum's current position can be approximately considered to be on the outline of the carpet. Therefore, the carpet recognition status keeps jumping back and forth between 0 and 1, which can identify the general outline of the entire carpet. This can be understood as marking the carpet outline. The forward movement of the robot vacuum in a zigzag arc formed by multiple arcs (first set arc + second set arc) can just meet this requirement.

[0150] The robotic vacuum cleaner moves in an arc, resulting in smoother movement. This is because the centers of the first and second preset arcs are near the right wheel of the robotic vacuum cleaner. In other words, the centers of the first and second preset arcs are within the preset range of the right wheel. Therefore, the left wheel moves forward in a larger arc. Since the left wheel does not contact the carpet, there is less resistance, and the left wheel drives the right wheel forward, making the robotic vacuum cleaner move more smoothly.

[0151] Based on the above points, the motion trajectory of the sweeping robot is designed as a combination of multiple arcs.

[0152] In one embodiment, the curvature and angle of the first and second set arcs can be determined through multiple actual experiments before the robot vacuum cleaner leaves the factory.

[0153] In another embodiment, reasonable adjustments can be made based on data acquired by the robot vacuum cleaner during actual operation. For example, the robot vacuum cleaner can communicate with a cloud server to upload data on different narrow environments and actual movement (such as movement trajectory) acquired during daily operation to the cloud server. The cloud server can then simulate the robot vacuum cleaner's movement in the narrow environment based on this data to reasonably adjust the first and second preset arcs, and then send the data to the robot vacuum cleaner for subsequent use. This makes the robot vacuum cleaner's movement more precise and controllable, adaptable to different usage environments, and improves its practicality.

[0154] In another embodiment, after determining that it has entered a narrow passage environment, the robot vacuum cleaner can also use the acquired data such as wall segments, carpet, and the relative width between the two to determine whether the current narrow passage environment is a narrow passage environment that it has entered before, or a narrow passage environment similar to a narrow passage environment that it has entered before, or a narrow passage environment that is the same as or similar to a preset narrow passage environment that has been stored. If so, the robot vacuum cleaner can directly call the first preset arc and the second preset arc that it used when moving in these narrow passage environments for current use, thereby improving the processing speed of the robot vacuum cleaner and thus improving its speed of leaving the narrow passage environment.

[0155] The settings for the first and second setting ranges mentioned above can also be referenced to the settings for the first and second setting arcs described above.

[0156] Example 8

[0157] Furthermore, please combine Figure 5 The second motion amplitude of the robot vacuum cleaner, which uses a second set arc as its motion trajectory, is at least twice the first motion amplitude of the robot vacuum cleaner using a first set arc.

[0158] Specifically, in this embodiment, the range of motion of the sweeping robot 4 includes its length and width during movement. In order to avoid collision between the sweeping robot 4 and the wall 1, the length and width are combined to represent the arc of the movement trajectory, which can also be understood as the sweeping robot 4 moving in a parabolic trajectory.

[0159] Combination Figure 5As shown, the length and width of the second set arc relative to the edge of the carpet 2 are at least twice the length and width of the first set arc relative to the edge of the carpet 2. In this way, on the one hand, when the robot vacuum 4 is moving backward along the first set arc, it can adjust the angle between the front of the robot and the carpet 2, and the robot body will not move backward too far. On the other hand, when the robot vacuum 4 is moving forward along the second set arc, it can move forward far enough without colliding with the wall 1, which can ensure the speed at which the robot vacuum 4 escapes the narrow environment.

[0160] Of course, in other embodiments, the second motion amplitude can be other multiples of the first motion amplitude, and is not limited to twice as described above. The specific design can be tailored to the specific embodiment.

[0161] Example 9

[0162] Figure 12 This is a schematic diagram of a structure of an embodiment of the control device 400 for the sweeping robot of the present invention, as a reference. Figure 1 The implementation of the control method for the robotic vacuum cleaner shown in this embodiment provides a control device for the robotic vacuum cleaner, which can be applied to various intelligent cleaning devices. This device embodiment is similar to... Figure 1 Corresponding to the method embodiment shown, the control device 400 includes:

[0163] The acquisition unit 401 is used to acquire feature data of the current environment of the sweeping robot;

[0164] The judgment unit 402 is used to determine, based on the feature data, whether the robot vacuum cleaner is in a narrow passage environment formed by the carpet and the wall;

[0165] The first control unit 403 is used to control the robot vacuum cleaner to rotate onto the carpet if the condition is met, so that the chassis of the robot vacuum cleaner is tilted relative to the carpet surface.

[0166] The second control unit 404 is used to control the sweeping robot to move in an arc-shaped trajectory relative to the edge of the carpet until it leaves the narrow environment.

[0167] The beneficial effects of the control device 400 for the sweeping robot in this embodiment of the invention are equivalent to the beneficial effects of the control method for the sweeping robot described above, and will not be repeated here.

[0168] It should be noted that the control method for the sweeping robot provided in the embodiments of the present invention is generally executed by a server / terminal device, and correspondingly, the control device for the sweeping robot is generally located in the server / terminal device.

[0169] Example 10

[0170] This invention also provides a robotic vacuum cleaner, which includes:

[0171] The system includes at least one memory, at least one processor, and at least one program instruction, wherein the program instruction is stored in the memory and can be executed on the processor, and the processor is used to execute the control method of the sweeping robot described above.

[0172] The beneficial effects of the sweeping robot in this embodiment of the invention are equivalent to the beneficial effects of the control method for the sweeping robot described above, and will not be repeated here.

[0173] Please refer to the details. Figure 13 , Figure 13 Here is a basic structural block diagram of the robotic vacuum cleaner in this embodiment:

[0174] The robotic vacuum cleaner 50 includes a memory 51, a processor 52, and a network interface 53 that are interconnected via a system bus. It should be noted that only a robotic vacuum cleaner 50 with the components memory 51, processor 52, and network interface 53 is shown in the figure; however, it should be understood that implementation of all shown components is not required, and more or fewer components may be implemented alternatively.

[0175] As will be understood by those skilled in the art, the computer device described herein is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0176] Computer devices can include desktop computers, laptops, handheld computers, and cloud servers. These devices allow for human-computer interaction with users through keyboards, mice, remote controls, touchpads, or voice-activated devices.

[0177] The memory 51 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc.

[0178] In some embodiments, the memory 51 may be an internal storage unit of the robot vacuum cleaner 50, such as the hard drive or memory of the robot vacuum cleaner 50.

[0179] In other embodiments, the memory 51 may also be an external storage device of the robot vacuum cleaner 50, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on the robot vacuum cleaner 50.

[0180] Of course, the memory 51 may include both the internal storage unit of the robot vacuum cleaner 50 and its external storage device.

[0181] In this embodiment, the memory 51 is typically used to store the operating system and various application software installed on the sweeping robot 50, such as computer-readable instructions for the control method of the sweeping robot.

[0182] In addition, the memory 51 can also be used to temporarily store various types of data that have been output or will be output.

[0183] In some embodiments, processor 52 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. This processor 52 is typically used to control the overall operation of the robotic vacuum cleaner 50.

[0184] In this embodiment, the processor 52 is used to execute computer-readable instructions stored in the memory 51 or process data, such as computer-readable instructions for running a control method for a sweeping robot.

[0185] The network interface 53 may include a wireless network interface or a wired network interface, which is typically used to establish a communication connection between the robot vacuum cleaner 50 and other electronic devices.

[0186] Example 11

[0187] This invention also provides a storage medium storing program instructions for executing the above-described control method for a sweeping robot.

[0188] The beneficial effects of the storage medium of the present invention are equivalent to the beneficial effects of the control method of the above-described sweeping robot, and will not be repeated here.

[0189] like Figure 14As shown, this embodiment of the invention provides a system architecture 100 for controlling a robotic vacuum cleaner. The system architecture 100 may include a first terminal device 101, a second terminal device 102, a third terminal device 103, a network 104, and a server 105. The network 104 serves as a medium for providing communication links between the first terminal device 101, the second terminal device 102, the third terminal device 103, and the server 105. The network 104 may include various connection types, such as wired or wireless communication links, or fiber optic cables, etc.

[0190] Users can use the first terminal device 101, the second terminal device 102, or the third terminal device 103 to interact with the server 105 via the network 104 to receive or send messages to control the robot vacuum cleaner.

[0191] The first terminal device 101, the second terminal device 102, and the third terminal device 103 can be equipped with various communication client applications, such as web browser applications, shopping applications, search applications, instant messaging tools, email clients, social platform software, etc.

[0192] The first terminal device 101, the second terminal device 102, the third terminal device 103, the network 104, and the server 105 can interact with the robot vacuum cleaner individually or simultaneously through the network 104. A single terminal device, such as the first terminal device 101, the second terminal device 102, or the third terminal device, can control the robot vacuum cleaner, or multiple terminal devices can be used together to control the operation of the robot vacuum cleaner.

[0193] The first terminal device 101, the second terminal device 102, or the third terminal device 103 can be various electronic devices with a display screen and support web browsing, including but not limited to smartphones, tablets, e-book readers, MP3 players (Moving Picture Experts Group Audio Layer III), MP4 players (Moving Picture Experts Group Audio Layer IV), laptops, and desktop computers, etc.

[0194] Server 105 can be a server that provides various services, such as a backend server that supports the pages displayed on the first terminal device 101, the second terminal device 102, and the third terminal device 103.

[0195] In this embodiment, the control method for the robotic vacuum cleaner operates on electronic devices (e.g., Figure 14The server / terminal device shown can receive control requests from the robotic vacuum cleaner via wired or wireless connection. It should be noted that the wireless connection methods mentioned above may include, but are not limited to, 3G / 4G / 5G connections, WiFi connections, Bluetooth connections, WiMAXX connections, Zigbee connections, UWB (ultra-wideband) connections, and other currently known or future wireless connection methods.

[0196] This invention can be used in a wide range of general-purpose or special-purpose computer system environments or configurations.

[0197] Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments that include any of the above systems or devices.

[0198] This invention can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules.

[0199] Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This invention can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via communication networks.

[0200] In a distributed computing environment, program modules can reside on local and remote computer storage media, including storage devices.

[0201] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer-readable instructions. These computer-readable instructions can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0202] It should be understood that although the steps in the flowcharts in the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order in which these steps are performed, and they may be performed in other orders.

[0203] Moreover, at least some steps in the flowchart of the attached figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. Their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0204] It should be understood that Figure 14 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0205] Obviously, the embodiments described above are only some embodiments of the present invention, and not all embodiments. The accompanying drawings show preferred embodiments of the present invention, but do not limit the scope of the invention. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the present invention.

[0206] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, whether directly or indirectly applied to other related technical fields, are similarly within the scope of protection of this patent.

Claims

1. A control method for a sweeping robot, characterized in that, Including the following steps: Obtain feature data of the current environment of the robotic vacuum cleaner; Based on the aforementioned feature data, it is determined whether the robotic vacuum cleaner is in a narrow passage environment formed by the carpet and the wall. If so, control the robot vacuum to rotate onto the carpet, causing the robot vacuum's chassis to tilt relative to the carpet surface; and The robot vacuum is controlled to move along an arc-shaped trajectory relative to the edge of the carpet until it leaves the narrow passage environment; Controlling the robotic vacuum cleaner to move along an arc-shaped trajectory relative to the edge of the carpet until it leaves the narrow passage environment includes: When a carpet is detected, the robot vacuum cleaner is controlled to stop moving forward, and then the robot vacuum cleaner is controlled to move backward along a first set arc as its trajectory. Control the robot vacuum to rotate towards one side of the wall until the robot vacuum's forward direction forms at least a set angle with the edge of the carpet; The robot vacuum cleaner is controlled to move forward along a second predetermined arc, ensuring that the second predetermined arc does not collide with the wall; and When the carpet is detected again, repeat the above steps until the robot vacuum leaves the narrow passage environment.

2. The control method for a sweeping robot according to claim 1, characterized in that, The acquisition of feature data of the current environment of the sweeping robot includes: The surrounding environment of the robotic vacuum cleaner is scanned to obtain environmental data; Based on the environmental data, wall segments of all walls within the first set range of the sweeping robot are fitted; and Store all wall segments as feature data.

3. The control method for a sweeping robot according to claim 2, characterized in that, The step of determining whether the robotic vacuum cleaner is in a narrow passage environment formed by the carpet and the wall based on the feature data includes: Determine whether a carpet exists within the second preset range of the sweeping robot; If so, then search all wall segments to determine whether there is a wall segment to the left of the robot's forward direction; If so, determine whether the carpet and walls meet the necessary conditions to form a narrow passage environment; and If so, it is determined that the robot vacuum cleaner is in a narrow passage environment formed by the carpet and the wall.

4. The control method for the sweeping robot according to claim 3, characterized in that, If so, then it is determined whether the carpet and wall meet the necessary conditions for forming a narrow passage environment, including: Get the relative width between the edge of the carpet and the wall; Read the pre-stored maximum width threshold between the carpet edge and the wall; Compare the relative width with the maximum width threshold; If the relative width is less than the maximum width threshold, then it is determined that the carpet and the wall meet the conditions required to form a narrow passage environment; and If the relative width is greater than the maximum width threshold, then it is determined that the carpet and the wall meet the conditions required to not constitute the narrow passage environment.

5. The control method for a sweeping robot according to claim 4, characterized in that, The process of obtaining the relative width between the edge of the carpet and the wall includes: The rotation of the sweeping robot is detected in real time; When the robotic vacuum cleaner rotates onto the carpet, its real-time coordinates are recorded; and The relative width between the carpet edge and the wall is calculated based on the real-time coordinates and the wall segment located on one side of the robot vacuum.

6. The control method for a sweeping robot according to claim 1, characterized in that, If so, then control the robot vacuum to rotate onto the carpet, causing the chassis of the robot vacuum to tilt relative to the carpet surface, including: Control the robot vacuum to rotate towards the side where the carpet is located, until the right rear wheel and left rear wheel of the robot vacuum are on the carpet and the ground respectively.

7. The control method for a sweeping robot according to claim 1, characterized in that, The second amplitude of the sweeping robot moving along the second predetermined arc is at least twice the first amplitude of the robot moving along the first predetermined arc.

8. A control device for a sweeping robot, characterized in that, include: The acquisition unit is used to acquire feature data of the current environment of the sweeping robot; The judgment unit is used to determine whether the sweeping robot is in a narrow passage environment formed by the carpet and the wall based on the feature data. A first control unit is configured to, if so, control the robotic vacuum cleaner to rotate onto the carpet, causing the chassis of the robotic vacuum cleaner to tilt relative to the carpet surface; and The second control unit is used to control the sweeping robot to move in an arc-shaped trajectory relative to the edge of the carpet until it leaves the narrow passage environment; The second control unit is specifically used for: When a carpet is detected, the robot vacuum cleaner is controlled to stop moving forward, and then the robot vacuum cleaner is controlled to move backward along a first set arc as its trajectory. Control the robot vacuum to rotate towards one side of the wall until the robot vacuum's forward direction forms at least a set angle with the edge of the carpet; The robot vacuum cleaner is controlled to move forward along a second predetermined arc as its trajectory, and the second predetermined arc does not collide with the wall. as well as When the carpet is detected again, repeat the above steps until the robot vacuum leaves the narrow passage environment.

9. A robotic vacuum cleaner, characterized in that, include: The system includes at least one memory, at least one processor, and at least one program instruction, the program instruction being stored in the memory and executable on the processor, the processor being configured to perform the control method for the sweeping robot as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores program instructions for executing the control method of the sweeping robot as described in any one of claims 1 to 7.

Images