Method and robot for cleaning obstacles

Abstract

The application provides a method and a robot for cleaning an obstacle. The method comprises: detecting shape information of the obstacle; wherein the shape information comprises height and width; determining whether the shape information satisfies a preset cleaning condition; wherein the cleaning condition comprises: the height is lower than a preset first height threshold, and the width is greater than a diameter of the cleaning robot; or the height is lower than a preset second height threshold, and the width is not greater than the diameter of the cleaning robot; and if yes, cleaning the obstacle. According to the application, for an obstacle with excessively large height, or an obstacle whose height and width do not satisfy the cleaning condition, the cleaning robot can directly avoid the obstacle, and for an obstacle that satisfies the cleaning condition and can be cleaned by the cleaning robot, the cleaning robot can normally perform the cleaning work.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a method and robot for cleaning obstacles. Background Technology

[0002] Cleaning robots may encounter obstacles during their work, but they can generally avoid them. However, the ability to clean obstacles such as floor fan bases, floor clothes rack bases, and thresholds demonstrates the robot's effective cleaning capabilities. Summary of the Invention

[0003] The purpose of this application is to provide a method and robot for cleaning obstacles.

[0004] On the one hand, this application provides a method for cleaning obstacles, applied to a cleaning robot, including:

[0005] Detect the shape information of the obstacle; wherein, the shape information includes height and width;

[0006] Determine whether the shape information meets preset cleaning conditions; wherein the cleaning conditions include: the height is lower than a preset first height threshold, and the width / radius is greater than the diameter of the cleaning robot; or, the height is lower than a preset second height threshold, and the width is not greater than the diameter of the cleaning robot;

[0007] If so, clean the obstacle.

[0008] In one embodiment, the first height threshold is determined based on the maximum height that the cleaning robot can climb.

[0009] The second height threshold is determined based on the maximum floating value between the drive wheels and the chassis of the cleaning robot or the maximum tilt angle allowed by the cleaning robot.

[0010] In one embodiment, cleaning the obstacle includes:

[0011] Determine the cleaning mode corresponding to the shape information;

[0012] Clean the obstacle according to the cleaning mode.

[0013] In one embodiment, cleaning the obstacle according to the cleaning mode includes:

[0014] If the width of the obstacle is greater than the diameter of the cleaning robot and the height is less than the first height threshold, the cleaning robot is controlled to move as a whole above the obstacle and clean the obstacle from above.

[0015] In one embodiment, cleaning the obstacle according to the cleaning mode includes:

[0016] If the width of the obstacle is not greater than the diameter of the cleaning robot and the height is lower than a preset first height threshold, the obstacle is cleaned according to the first mode or the second mode.

[0017] The first mode is: controlling the cleaning robot to move as a whole to above the obstacle, and keeping the center of the cleaning robot coincident with the center of the obstacle in the width direction of the obstacle;

[0018] The second mode is: controlling the cleaning robot part to move above the obstacle.

[0019] In one embodiment, the second mode includes:

[0020] The cleaning robot's single-sided dragging component is kept aligned with the center of the obstacle in the width direction of the obstacle.

[0021] In one embodiment, the execution conditions of the first mode include:

[0022] The maximum floating value between the drive wheels and the chassis of the cleaning robot is greater than the height of the obstacle.

[0023] In one embodiment, the execution conditions of the second model include:

[0024] The left-right floating difference of the drive wheels of the cleaning robot is greater than the height of the obstacle; or...

[0025] After the cleaning robot partially moves over the obstacle, the tilt angle of the cleaning robot does not exceed the maximum tilt angle allowed by the cleaning robot.

[0026] In one embodiment, the bottom of the cleaning robot is provided with drive wheels and mopping components. The drive wheels include two floating drive wheels disposed on both sides of the cleaning robot, and the mopping components include two floating rotating mopping components disposed on both sides of the cleaning robot.

[0027] On the other hand, this application also provides a robot, the robot comprising:

[0028] processor;

[0029] Memory used to store processor-executable instructions;

[0030] The processor is configured to perform the cleaning method for the aforementioned obstacles.

[0031] In this application, the cleaning robot can detect the shape information of obstacles and determine whether the shape information meets the preset cleaning conditions. When the height and width of the obstacle meet the cleaning conditions, the robot can clean the obstacle. For obstacles that are too tall, or obstacles whose height and width do not meet the cleaning conditions, the cleaning robot can directly avoid them. For obstacles that meet the cleaning conditions and that the cleaning robot can clean, the robot can perform cleaning work normally.

[0032] The cleaning robot is pre-configured with multiple cleaning modes and can adapt to obstacles of various shapes to clean in the most suitable way and achieve the best cleaning results. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0034] Figure 1 This is a schematic diagram of the structure of a robot provided in one embodiment of this application;

[0035] Figure 2 A schematic flowchart illustrating a method for cleaning obstacles according to an embodiment of this application;

[0036] Figure 3 A schematic diagram illustrating obstacle height detection according to an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the working state of a cleaning robot provided in an embodiment of this application;

[0038] Figure 5 A schematic diagram of a cleaning mode provided in an embodiment of this application;

[0039] Figure 6 A schematic diagram of a cleaning mode provided in an embodiment of this application;

[0040] Figure 7 A schematic diagram of a cleaning mode provided in an embodiment of this application;

[0041] Figure 8 A schematic diagram of a cleaning mode provided in an embodiment of this application;

[0042] Figure 9 A schematic diagram of a cleaning mode provided in an embodiment of this application;

[0043] Figure 10A block diagram of an obstacle cleaning device provided in an embodiment of this application. Detailed Implementation

[0044] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0045] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0046] like Figure 1 As shown, this embodiment provides a robot 1, including: at least one processor 11 and a memory 12. Figure 1 Taking a processor 11 as an example. The processor 11 and the memory 12 are connected via a bus 10. The memory 12 stores instructions that can be executed by the processor 11. The instructions are executed by the processor 11 to enable the robot 1 to perform all or part of the process of the method in the following embodiments.

[0047] The memory 12 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0048] This application also provides a computer-readable storage medium storing a computer program that can be executed by a processor 11 to perform the obstacle cleaning method provided in this application.

[0049] See Figure 2 This is a schematic flowchart of an obstacle cleaning method provided in an embodiment of this application, as shown below. Figure 2 As shown, the method may include steps 210-230.

[0050] Step 210: Detect the shape information of the obstacle; the shape information includes height and width.

[0051] During operation, cleaning robots may encounter obstacles that need cleaning, such as thresholds, coat rack bases, weighing scales, and floor fan bases. In such cases, the cleaning robot can detect the shape information of the obstacle. If the obstacle is rectangular, the shape information includes its height and width; if the obstacle is circular, the shape information includes its height and radius.

[0052] Cleaning robots can detect shape information using monocular vision technology, binocular vision technology, and other methods. (See also...) Figure 3 This is a schematic diagram of obstacle height detection provided in an embodiment of this application, as shown below. Figure 3 As shown, Cam is the camera mounted on the cleaning robot, Hcam is the camera height, θ is the downward angle of the camera; Hobj is the height of the obstacle to be detected; the black lines containing pb and pt are virtual image imaging surfaces, pb and pt are the top and bottom pixel positions of the obstacle in the image, respectively; Co is the pixel position of the camera height screen in the image; Cc is the pixel position of the camera optical center in the image. The obstacle height can be determined by the following formula (1):

[0053]

[0054] Where Hcam is the camera height; pt is the bottom pixel position of the obstacle in the image; pb is the top pixel position of the obstacle in the image; H is the image pixel height; β is half of the preset vertical field of view; and θ is the downward tilt angle of the camera.

[0055] Here, the downward angle of the camera can be determined by the following formula (2):

[0056]

[0057] Where Cc is the pixel position of the camera's optical center in the image; Co is the pixel position of the camera's height screen in the image; and f is the camera's focal length. The camera's focal length can be determined using the following formula (3):

[0058]

[0059] Where H is the image pixel height; β is half of the preset vertical field of view.

[0060] Step 220: Determine whether the shape information meets the preset cleaning conditions; wherein, the cleaning conditions include: the height is lower than the preset first height threshold and the width is greater than the diameter of the cleaning robot; or, the height is lower than the preset second height threshold and the width is not greater than the diameter of the cleaning robot.

[0061] Step 230: If so, clean the obstacle.

[0062] After obtaining the shape information of an obstacle, the cleaning robot can determine whether the obstacle's height and width (or radius) meet the cleaning conditions. If the cleaning conditions are not met, the cleaning robot can avoid the obstacle. If the cleaning conditions are met, the cleaning robot can clean the obstacle.

[0063] By taking the above measures, obstacles can be classified according to their shape information to determine whether the cleaning robot can clean them. If the robot cannot clean them, it can avoid the obstacles and perform the cleaning work correctly if it can clean them.

[0064] In one embodiment, the cleaning robot is equipped with drive wheels and a mopping component at its bottom. The drive wheels include two floating drive wheels located on both sides of the cleaning robot. The floating drive wheels can float within a certain range in the vertical direction, allowing the cleaning robot to adapt to uneven ground, obstacles, and other surfaces to be cleaned during its movement.

[0065] See Figure 4 This is a schematic diagram of the working state of a cleaning robot provided in an embodiment of this application, as shown below. Figure 4 As shown, one side of the cleaning robot is positioned on an obstacle with a height of Hobj. The floating value between the floating drive wheel on the obstacle and the chassis of the cleaning robot is D0, and the floating value between the floating drive wheel on the other side and the chassis is D1. When the sum of D0 and Hobj is the same as D1, the cleaning robot can maintain a horizontal position, thus achieving a better cleaning effect.

[0066] The mopping components can include two floating, rotating mopping components located on either side of the cleaning robot. These components can be a mop and a side brush, rotating as the cleaning robot moves to perform the cleaning task. Because the mopping components can float within a certain range in the vertical direction, the cleaning process can adapt to uneven surfaces, obstacles, and other surfaces that require cleaning.

[0067] In one embodiment, the first height threshold is determined based on the maximum height that the cleaning robot can climb. For example, the first height threshold may be equivalent to the maximum height that can be climbed, or it may be obtained by multiplying the maximum height that can be climbed by a coefficient no greater than 1.

[0068] In this case, the cleaning robot can clean obstacles whose height is lower than the maximum height that the cleaning robot can climb over, or whose width or radius is greater than the diameter of the cleaning robot.

[0069] The second height threshold is determined based on the maximum fluctuation between the drive wheels and the chassis of the cleaning robot. For example, the second height threshold may be equal to this maximum fluctuation value, or it may be obtained by multiplying the maximum fluctuation value by a coefficient no greater than 1.

[0070] In this situation, the cleaning robot can handle obstacles whose height is lower than the maximum floating value between the drive wheels and the chassis, and whose width or radius is no greater than the direct obstacle of the cleaning robot. For example... Figure 4 As shown, the cleaning robot can keep its body horizontal during the cleaning process.

[0071] Alternatively, the second height threshold can be determined based on the maximum tilt angle allowed by the cleaning robot. Here, the maximum tilt angle is the maximum angle the cleaning robot can tilt to perform its cleaning tasks normally. When one drive wheel of the cleaning robot moves onto an obstacle, while the other drive wheel is on the ground, and the height of the obstacle exceeds the maximum floating value between the drive wheel and the chassis, the cleaning robot no longer maintains a horizontal position and tilts. At this time, the cleaning robot can clean the obstacle while tilted.

[0072] Given the maximum tilt angle of the cleaning robot, a second height threshold is determined based on this maximum tilt angle and the diameter of the cleaning robot.

[0073] In one embodiment, when cleaning an obstacle, the cleaning robot can determine a cleaning mode corresponding to the obstacle's shape information. Multiple cleaning modes can be pre-configured for different shape information. For example, for an obstacle whose height is greater than the maximum floating value between the cleaning robot's drive wheels and chassis, less than the maximum height the cleaning robot can traverse, and whose width is greater than the cleaning robot's diameter, the cleaning robot can move onto the obstacle to clean it. For an obstacle whose height is less than the maximum floating value between the cleaning robot's drive wheels and chassis, and whose width is less than the cleaning robot's radius, the cleaning robot can move part of its body onto the obstacle and clean it using the side-mounted cleaning component.

[0074] After determining the cleaning mode corresponding to the shape information, the cleaning robot can clean the obstacles accordingly.

[0075] This measure allows the cleaning robot to adapt to the shape information of obstacles, thereby cleaning them in the most suitable cleaning mode and achieving the best cleaning effect.

[0076] In one embodiment, when cleaning an obstacle according to a cleaning mode, if the width of the obstacle is greater than the diameter of the cleaning robot and the height is less than a first height threshold, the cleaning robot can be controlled to move as a whole above the obstacle and clean the obstacle from above.

[0077] See Figure 5 This is a schematic diagram of a cleaning mode provided in an embodiment of this application, as shown below. Figure 5 As shown, the obstacle is rectangular. After the cleaning robot moves over the obstacle, it can move back and forth along the length of the obstacle, and with each movement, the center of its body gradually shifts along the width. At the beginning and end, the center of the body can move closer to the edge, causing the wiping component to extend beyond the edge of the obstacle. After multiple movements, the wiping component can complete the cleaning of the obstacle.

[0078] See Figure 6 This is a schematic diagram of a cleaning mode provided in an embodiment of this application, as shown below. Figure 6 As shown, the obstacle is circular, and its radius is larger than the diameter of the cleaning robot. After the cleaning robot moves above the obstacle, it can rotate around the center point of the obstacle. Figure 6 The dashed line represents the movement trajectory of the machine's center. After multiple rounds of rotational motion from the inside to the outside of the obstacle, the cleaning work on the obstacle can be completed by the wiping component.

[0079] By employing the above measures, when the width / radius of the obstacle is large, the cleaning robot can move as a whole to the top of the obstacle to perform cleaning work. This process can keep the robot body in a horizontal position, thereby achieving a good cleaning effect.

[0080] In one embodiment, when cleaning an obstacle according to a cleaning mode, if the width of the obstacle is not greater than the diameter of the cleaning robot and the height is lower than a first height threshold, the cleaning robot can clean the obstacle according to a first mode or a second mode.

[0081] The first mode involves controlling the cleaning robot to move entirely above the obstacle, maintaining the robot's center aligned with the obstacle's center along its width. In this mode, the cleaning robot moves above the obstacle while simultaneously cleaning it.

[0082] See Figure 7 This is a schematic diagram of a cleaning mode provided in an embodiment of this application, as shown below. Figure 7 As shown, the obstacle is rectangular. When the width of the obstacle is no greater than the diameter of the cleaning robot, the cleaning robot moves to a position above the obstacle, aligning with the center of the obstacle along its width. During its movement along the length of the obstacle, the cleaning robot can completely cover it. After several back-and-forth movements, the cleaning work can be completed.

[0083] The second mode involves controlling the cleaning robot to move above the obstacle. In this mode, the cleaning robot can clean the obstacle using a mopping attachment positioned above it.

[0084] See Figure 8 This is a schematic diagram of a cleaning mode provided in an embodiment of this application, as shown below. Figure 8 As shown, the obstacle is rectangular. If the width of the obstacle is no greater than the diameter of the cleaning robot, the cleaning robot can move one side of its body to the top of the obstacle. During the movement, the robot cleans the obstacle using the wiping component located on top of the obstacle.

[0085] See Figure 9 This is a schematic diagram of a cleaning mode provided in an embodiment of this application, as shown below. Figure 9 As shown, the obstacle is circular. When the radius of the obstacle is no larger than the diameter of the cleaning robot, the cleaning robot can move partially above the obstacle and rotate around the center point of the obstacle. The robot then cleans the obstacle using the wiping component above it. After several rounds of rotation, the cleaning work can be completed.

[0086] In one embodiment, for a rectangular obstacle, the second mode may include: keeping one side of the cleaning robot's wiping component aligned with the center of the obstacle in the width direction of the obstacle.

[0087] In one scenario, if the width of the obstacle is smaller than the radius of the cleaning robot, after the robot moves one side of its body over the obstacle, and keeps the center of the single-sided wiping component aligned with the center of the obstacle in the width direction, the single-sided wiping component can completely cover the obstacle during the movement. In this case, the cleaning robot can complete the cleaning of the obstacle in a single movement.

[0088] In another scenario, if the obstacle's width is not less than the cleaning robot's radius, after the robot moves one side of its body over the obstacle, while keeping the single-sided wiping component aligned with the obstacle's center in the width direction, the wiping component cannot completely cover the obstacle during the movement. In this case, the cleaning robot will miss the outer area of ​​the obstacle relative to the robot after one movement. Therefore, after one movement, the cleaning robot moves in the obstacle's width direction, moving the other side of its body over the obstacle, and again keeping the single-sided wiping component aligned with the obstacle's center to clean it. This time, the single-sided wiping component covers the previously missed outer area, thus completing the cleaning of the obstacle after two movements.

[0089] by Figure 8For example, when the cleaning robot first moves from right to left, it cleans the obstacle using the right-side mopping component. At this time, it may miss the right edge area of ​​the obstacle relative to the cleaning robot. When it reaches the leftmost end of the obstacle, the cleaning robot can adjust to clean the obstacle using the left-side mopping component and move from left to right. In this case, the previously missed area can be cleaned normally.

[0090] By taking the above measures, the contact area between the obstacle and the single-sided mopping component can be maximized, thereby achieving the best cleaning effect.

[0091] In one embodiment, the execution conditions of the first mode include: the maximum floating value between the drive wheels and the chassis of the cleaning robot is greater than the height of the obstacle. The maximum floating value between the drive wheels and the chassis can be equal to or slightly greater than the maximum height that the cleaning robot can climb.

[0092] In this scenario, when the cleaning robot is cleaning obstacles in the first mode, it can control the drive wheels to float, thereby raising the chassis height above the obstacle and moving normally above it to complete the cleaning work.

[0093] In one embodiment, the second execution condition includes: the left-right floating difference of the drive wheels of the cleaning robot is greater than the height of the obstacle, or, after the cleaning robot has partially moved above the obstacle, the tilt angle of the cleaning robot is not greater than the maximum tilt angle allowed by the cleaning robot.

[0094] On the one hand, when the left and right floating difference of the drive wheels is greater than the height of the obstacle, after the cleaning robot moves to above the obstacle, it can ensure that the left and right drive wheels are at different floating differences, so that the cleaning robot keeps its body level and achieves the best cleaning effect.

[0095] On the other hand, if the tilt angle of the cleaning robot is not greater than the maximum tilt angle allowed by the cleaning robot, and the cleaning robot moves above the obstacle, it cannot keep the body level by relying on the difference in floating of the left and right drive wheels. In this case, the cleaning robot can carry out cleaning work in a tilted state.

[0096] Through the above measures, the cleaning robot can be restricted to performing cleaning work only in the second mode when it is able to maintain a horizontal position, or it can be restricted to performing cleaning work even when the tilt angle is no greater than its maximum allowable tilt angle.

[0097] Figure 10 This is a block diagram of an obstacle cleaning device according to an embodiment of the present invention, such as... Figure 10 As shown, the device may include:

[0098] The detection module 1010 is used to detect the shape information of obstacles; wherein, the shape information includes height and width;

[0099] The judgment module 1020 is used to determine whether the shape information meets preset cleaning conditions; wherein the cleaning conditions include: the height is lower than a preset first height threshold and the width is greater than the diameter of the cleaning robot; or, the height is lower than a preset second height threshold and the width is not greater than the diameter of the cleaning robot.

[0100] The cleaning module 1030 is used to clean the obstacle if necessary.

[0101] The specific implementation process of the functions and roles of each module in the above-mentioned device can be found in the implementation process of the corresponding steps in the above-mentioned obstacle cleaning method, and will not be repeated here.

[0102] The apparatuses and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0103] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0104] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A method for cleaning obstacles, applied to a cleaning robot, characterized in that, include: Detect the shape information of the obstacle; wherein, the shape information includes height and width; Determine whether the shape information meets preset cleaning conditions; wherein the cleaning conditions include: the height is lower than a preset first height threshold and the width is greater than the diameter of the cleaning robot; or, the height is lower than a preset second height threshold and the width is not greater than the diameter of the cleaning robot; If so, clean the obstacle; The step of cleaning the obstacle includes: determining a cleaning mode corresponding to the shape information; and cleaning the obstacle according to the cleaning mode. The step of cleaning the obstacle according to the cleaning mode includes: if the width of the obstacle is not greater than the diameter of the cleaning robot and the height is lower than a preset first height threshold, cleaning the obstacle according to a first mode or a second mode; wherein, the first mode is: controlling the cleaning robot to move as a whole above the obstacle, keeping the center of the cleaning robot coincident with the center of the obstacle in the width direction of the obstacle; the second mode is: controlling the cleaning robot to move partially above the obstacle.

2. The method according to claim 1, characterized in that, The first height threshold is determined based on the maximum height that the cleaning robot can climb. The second height threshold is determined based on the maximum floating value between the drive wheels and the chassis of the cleaning robot or the maximum tilt angle allowed by the cleaning robot.

3. The method according to claim 1, characterized in that, The step of cleaning the obstacle according to the cleaning mode includes: If the width of the obstacle is greater than the diameter of the cleaning robot and the height is less than the first height threshold, the cleaning robot is controlled to move as a whole above the obstacle and clean the obstacle from above.

4. The method according to claim 1, characterized in that, The second mode includes: The cleaning robot's single-sided dragging component is kept aligned with the center of the obstacle in the width direction of the obstacle.

5. The method according to claim 1, characterized in that, The execution conditions for the first mode include: The maximum floating value between the drive wheels and the chassis of the cleaning robot is greater than the height of the obstacle.

6. The method according to claim 1, characterized in that, The execution conditions for the second mode include: The left-right floating difference of the drive wheels of the cleaning robot is greater than the height of the obstacle; or... After the cleaning robot partially moves over the obstacle, the tilt angle of the cleaning robot does not exceed the maximum tilt angle allowed by the cleaning robot.

7. The method according to claim 1, characterized in that, The bottom of the cleaning robot is equipped with drive wheels and mopping components. The drive wheels include two floating drive wheels located on both sides of the cleaning robot, and the mopping components include two floating rotating mopping components located on both sides of the cleaning robot.

8. A robot, characterized in that, The robot includes: processor; Memory used to store processor-executable instructions; The processor is configured to perform the obstacle cleaning method according to any one of claims 1-7.

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