Autonomous mobile device, operating method, and storage medium

Abstract

The present disclosure provides autonomous mobile devices, operation methods, and storage media. An operation method of an autonomous mobile device is for controlling the autonomous mobile device to travel along a work route, the method comprising: a first rotation step for causing the autonomous mobile device to rotate by a first angle at a first point on the work route towards a first direction, a first travel step for causing the autonomous mobile device to travel to a second point on the work route, a second rotation step for causing the autonomous mobile device to rotate by a second angle at the second point towards a second direction, and a second travel step for causing the autonomous mobile device to continue to travel along the work route, wherein the first rotation step, the first travel step, the second rotation step, and the second travel step are configured to be cyclic, and the method comprises repeatedly executing the cycle.

Description

TECHNICAL FIELD

[0001] The present disclosure belongs to the field of autonomous mobile devices, and in particular relates to an autonomous mobile device, an operating method and a storage medium. BACKGROUND

[0002] In recent years, autonomous mobile devices such as cleaning robots have been rapidly developed. A cleaning robot is capable of autonomously navigating and moving to complete cleaning work along a specific route. A mopping robot is a typical category of cleaning robots. The mopping robot is provided with one or more rotating or vibrating mop plates at the bottom, which clean the ground during the mopping robot's travel. The cleaning robot typically travels continuously along a working path, and each place on the working path is typically only passed by the cleaning robot once in this cleaning mode, which is difficult to meet the cleaning requirements of heavy pollution areas such as kitchens.

[0003] In addition, when the mop plate is working, different directions of force are applied to the ground during the travel of the mopping robot. Due to the mutual action of forces, this force applied to the ground can cause the mopping robot to slip or deflect, thereby causing deviation errors in the movement direction and distance of the mopping robot. At the same time, the mopping robot sprays water onto the ground, which can cause the ground to be slippery and exacerbate the slippage of the mopping robot, which can further increase the deviation error of the mopping robot. The accumulation of the above errors can cause inaccurate positioning and navigation of the mopping robot. SUMMARY

[0004] The purpose of the present disclosure is to overcome or at least alleviate the deficiencies of the prior art, and to provide an autonomous mobile device, an operating method and a storage medium.

[0005] According to a first aspect of the present disclosure, there is provided an operating method of an autonomous mobile device for controlling the autonomous mobile device to travel along a working route, the method comprising: a first rotation step for causing the autonomous mobile device to rotate by a first angle towards a first direction at a first point on the working route, a first travel step for causing the autonomous mobile device to travel to a second point on the working route, a second rotation step for causing the autonomous mobile device to rotate by a second angle towards a second direction at the second point, and a second travel step for causing the autonomous mobile device to continue to travel along the working route, wherein the first rotation step, the first travel step, the second rotation step and the second travel step are configured to be cyclic, and the method comprises repeatedly performing the cycle.

[0006] In some implementations, the first direction is opposite to the second direction, and a total rotation angle of the autonomous mobile device in the first direction during a time period from before the first rotation step to after the second rotation step is equal to a total rotation angle of the autonomous mobile device in the second direction during the time period.

[0007] In some implementations, the work route includes at least one route component of: traveling along a straight line, traveling along a curved line, and turning in response to a sensor detecting an obstacle.

[0008] In some implementations, the autonomous mobile device travels a first distance along a straight line in the first travel step, and travels a second distance along a straight line in the second travel step.

[0009] In some implementations, the first angle and the second angle are each equal to a positive integer multiple of 360 degrees.

[0010] In some implementations, the first angle and the second angle are each an odd multiple of 180 degrees.

[0011] In some implementations, the first distance and the second distance are each less than or equal to a working width of the autonomous mobile device.

[0012] In some implementations, the distance traveled in the first travel step is zero, the second rotation step includes: rotating the autonomous mobile device by a third angle toward the second direction, and then rotating the autonomous mobile device by a fourth angle toward the first direction, wherein the third angle is greater than the fourth angle, and the second angle is equal to a difference between the third angle and the fourth angle.

[0013] In some implementations, the first travel step further includes: a third travel step for causing the autonomous mobile device to travel a third distance along a straight line to a third point; a third rotation step for causing the autonomous mobile device to rotate by a third angle toward the first direction at the third point; a fourth travel step for causing the autonomous mobile device to travel a fourth distance along a straight line to a fourth point, wherein the third point and the fourth point are on opposite sides of the work route, and projections of the third point and the fourth point on the work route are between the first point and the second point; a fourth rotation step for causing the autonomous mobile device to rotate by a fourth angle toward the second direction at the fourth point; and a fifth travel step for causing the autonomous mobile device to travel a fifth distance along a straight line to the second point, wherein a sum of the first angle and the third angle is equal to a sum of the second angle and the fourth angle.

[0014] In some implementations, the distance traveled by the autonomous mobile device in the second travel step is zero.

[0015] In some implementations, the third distance, the fourth distance, and the fifth distance are each less than or equal to a working width of the autonomous mobile device.

[0016] In some implementations, the first traveling step further includes a third traveling step for causing the autonomous mobile device to travel a third distance to a third point on the work route, and a fourth traveling step for causing the autonomous mobile device to travel a fourth distance to the second point, wherein the first point, the second point, and the third point are all on the work route and the third point is between the first point and the second point, the autonomous mobile device rotates a third angle in the first direction during the third distance to cause the autonomous mobile device to travel the third distance along an arc, the autonomous mobile device rotates a fourth angle in the second direction during the fourth distance to cause the autonomous mobile device to travel the fourth distance along an arc, and the sum of the first angle and the third angle is equal to the sum of the second angle and the fourth angle.

[0017] In some implementations, the distance traveled by the autonomous mobile device in the second traveling step is zero.

[0018] In some implementations, the third distance and the fourth distance are each less than or equal to a working width of the autonomous mobile device.

[0019] According to a second aspect of the present disclosure, there is provided an autonomous mobile device, comprising: a drive module for moving the autonomous mobile device; and a control module for controlling the drive module to cause the autonomous mobile device to travel along a work route, wherein causing the autonomous mobile device to travel along a work route includes a first rotating step for causing the autonomous mobile device to rotate at a first point on the work route by a first angle towards a first direction, a first traveling step for causing the autonomous mobile device to travel to a second point on the work route, a second rotating step for causing the autonomous mobile device to rotate at the second point by a second angle towards a second direction, and a second traveling step for causing the autonomous mobile device to continue to travel along the work route, wherein the first rotating step, the first traveling step, the second rotating step, and the second traveling step are configured to be a loop, and the control module controls the drive module to repeatedly execute the loop.

[0020] In some implementations, the first direction is opposite to the second direction, and a total rotation angle in the first direction during a time period from before the first rotating step to after the second rotating step is equal to a total rotation angle in the second direction.

[0021] In some implementations, the work route includes at least one route constituting unit among the following: traveling along a straight line, traveling along a curve, and turning in response to a sensor detecting an obstacle.

[0022] In some implementations, the autonomous mobile device travels a first distance in a straight line in the first travel step, and travels a second distance in a straight line in the second travel step.

[0023] In some implementations, the first angle and the second angle are each equal to a positive integer multiple of 360 degrees.

[0024] In some implementations, the first angle and the second angle are each an odd multiple of 180 degrees.

[0025] In some implementations, the first distance and the second distance are each less than or equal to a working width of the autonomous mobile device.

[0026] In some implementations, the distance traveled in the first travel step is zero, the second rotation step includes: rotating the autonomous mobile device by a third angle toward the second direction, and then rotating the autonomous mobile device by a fourth angle toward the first direction, wherein the third angle is greater than the fourth angle, and the second angle is equal to a difference between the third angle and the fourth angle.

[0027] In some implementations, the first travel step further includes: a third travel step for causing the autonomous mobile device to travel a third distance in a straight line to a third point; a third rotation step for causing the autonomous mobile device to rotate by a third angle toward the first direction at the third point; a fourth travel step for causing the autonomous mobile device to travel a fourth distance in a straight line to a fourth point, wherein the third point and the fourth point are on two sides of the working route, and projections of the third point and the fourth point on the working route are between the first point and the second point; a fourth rotation step for causing the autonomous mobile device to rotate by a fourth angle toward the second direction at the fourth point; and a fifth travel step for causing the autonomous mobile device to travel a fifth distance in a straight line to the second point, wherein a sum of the first angle and the third angle is equal to a sum of the second angle and the fourth angle.

[0028] In some implementations, the distance traveled by the autonomous mobile device in the second travel step is zero.

[0029] In some implementations, the third distance, the fourth distance, and the fifth distance are each less than or equal to a working width of the autonomous mobile device.

[0030] In some implementations, the first traveling step further includes a third traveling step for causing the autonomous mobile device to travel a third distance to a third point, and a fourth traveling step for causing the autonomous mobile device to travel a fourth distance to the second point, wherein the first point, the second point, and the third point are all located on the working route and the third point is between the first point and the second point, the autonomous mobile device rotates a third angle in the first direction during traveling the third distance to cause the autonomous mobile device to travel the third distance along an arc, the autonomous mobile device rotates a fourth angle in the second direction during traveling the fourth distance to cause the autonomous mobile device to travel the fourth distance along an arc, and a sum of the first angle and the third angle is equal to a sum of the second angle and the fourth angle.

[0031] In some implementations, the distance traveled by the autonomous mobile device in the second traveling step is zero.

[0032] In some implementations, the third distance and the fourth distance are each less than or equal to a working width of the autonomous mobile device.

[0033] According to a third aspect of the present disclosure, there is provided an autonomous mobile device, comprising: a motion unit for moving the autonomous mobile device; one or more processors; and a memory,

[0034] which stores instructions, wherein the instructions, when executed by the one or more processors, cause the one or more processors to perform the operation method of the autonomous mobile device.

[0035] According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium storing instructions, wherein the instructions, when executed by one or more processors, cause the one or more processors to perform the operation method of the autonomous mobile device.

[0036] According to a fifth aspect of the present disclosure, there is provided a computer program product comprising instructions which, when executed by a computer, cause the computer to perform the operation method of the autonomous mobile device.

[0037] According to the technical solution of the present disclosure, the working area can be covered for a longer time by rotation, so as to improve the cleaning effect, and at the same time, the offset error generated in the working process of the floor mopping machine can be eliminated, and the positioning and navigation accuracy can be improved.

[0038] Other features and aspects of the present disclosure will become apparent from the following detailed description of example embodiments, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1A typical structure of a mopping machine according to an exemplary embodiment is shown.

[0040] Figure 2 A schematic view of a working route of a mopping machine according to an exemplary embodiment is shown.

[0041] Figure 3 A schematic view of a working operation method of a mopping machine according to an exemplary embodiment is shown.

[0042] Figure 4 A schematic view of an operation method of a mopping machine according to another exemplary embodiment is shown.

[0043] Figure 5 A schematic view of an operation method of a mopping machine according to yet another exemplary embodiment is shown.

[0044] Figure 6 A schematic view of an operation method of a mopping machine according to yet another exemplary embodiment is shown.

[0045] Figure 7 A schematic view of an operation method of a mopping machine according to yet another exemplary embodiment is shown.

[0046] Figure 8 A schematic view of an operation method of a mopping machine according to yet another exemplary embodiment is shown. DETAILED DESCRIPTION

[0047] Various exemplary embodiments, features, and aspects of the present disclosure will be explained below in detail with reference to the accompanying drawings. The same reference numerals are used throughout the drawings and the same elements are represented by the same characters without redundant description. Although various aspects of embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically noted.

[0048] The term "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0049] In addition, for the purpose of convenience and brevity, detailed descriptions of well-known functions and structures incorporated in the disclosure will be omitted. It will be appreciated that those skilled in the art can practice the present disclosure without these specific details. In some instances, well-known methods, procedures, components, and circuits have not been described in detail since it would be apparent to those skilled in the art that the present disclosure can be practiced without these specific details.

[0050] For example, in the following exemplary embodiments, a mopping machine is exemplified. However, it will be appreciated by those skilled in the art that the present disclosure can be applied to other autonomous mobile devices such as a sweeping machine, which needs to be positioned and navigated.

[0051] Figure 1A typical structure of a mopping robot according to an exemplary embodiment is shown. The autonomous mobile device, i.e., the mopping robot 10, includes a control module 20 and a driving module 30, the control module 20 controls the movement of the mopping robot 10 by controlling the driving module 30. The mopping robot 10 further includes a communication module 40; the communication module 40 is configured to enable the mopping robot 10 to communicate with devices such as mobile terminals, base stations, and / or servers, etc. The mopping robot 10 further includes a sensor module 50; the sensor module 50 includes, for example, an IMU (inertial measurement unit), an odometer, a laser range finder, and / or a camera, etc.; the control module 20 obtains data of various motion parameters (e.g., distance, speed, angular velocity, acceleration, etc.) and environmental parameters from the sensor module 50 and performs operations through corresponding algorithms to obtain the positions of the mopping robot 10 and various obstacles in the environment, thereby performing mapping and positioning and navigation of the mopping robot 10. The mopping robot 10 further includes a working module 60, the working module 60 includes a mop plate or other cleaning device for cleaning a working surface (e.g., a floor); the control module 20 controls the working module 60 to complete the cleaning of the working surface. For example, the mop plate can be one or more rotating plates with mops attached thereto to clean the working surface; the mop plate can also be a plate that reciprocates in one or more directions with mops attached thereto to clean the working surface. The mopping robot 10 can further include other modules typically included in cleaning robots, such as a water tank, a display module, a charging module, an alarm module, etc., which are not specifically limited in the present disclosure.

[0052] While the control module 20 controls the working module 60 to perform the cleaning operation, the control module 20 also controls the driving module 30 to cause the mopping robot to travel along a specific working route, thereby achieving cleaning of all working surfaces in the working area. As shown in FIG. 1, the mopping robot 10 is configured to perform cleaning along a working route 100. The working route 100 is a path along which the mopping robot 10 is configured to travel to clean the working surface. The working route 100 can be a closed loop or a loop that is not closed. The working route 100 can be a straight line or a line that is not straight. The working route 100 can be a path that is determined by the user or a path that is determined by the mopping robot 10. Figure 2As shown, the working route can be an arcuate ground coverage route, for example, the mopping machine travels along a first long side direction in a straight line; when encountering an obstacle in front, it turns clockwise to make its side surface approximately parallel to the edge of the obstacle, then travels along the edge of the obstacle for a short distance of a set distance of a short side (about one working width, such as 25 cm), then rotates in place to a second long side direction parallel and opposite to the first long side direction (this process can also be referred to as a U-turn), and travels forward along the second long side direction; when encountering another obstacle, it turns counterclockwise to make its side surface approximately parallel to the edge of the obstacle, then travels along the edge of the obstacle for the above-mentioned set distance of a short side, then rotates in place to the first long side direction (again a U-turn process), and continues to travel along the current first long side direction, and so on, to achieve an arcuate working route. In another embodiment, the working route can be an edge-following route, i.e., a route in which the mopping machine travels with its side surface approximately parallel to the edge of the obstacle and along the edge of the obstacle, for example, a route in which the mopping machine travels inside a room along the edge of the wall of the room and the edge of furniture close to the edge of the wall. In another embodiment, the working route can be an obstacle-avoiding route, i.e., a route in which the mopping machine travels in a curve to avoid obstacles (such as a dining table and chairs beside it in a room) in the working area and towards a target point or target area, for example, when the mopping machine encounters an obstacle, it starts to retreat and move away from the obstacle, and then travels to the target position on the ground without obstacles. In another embodiment, the working route can also be a navigation route, i.e., the mopping machine travels along a route determined by an algorithm based on the target position in the instruction and the map to reach the target position while keeping a sufficient distance from the surrounding obstacles. The working route can also be other planning routes typically adopted by cleaning robots, which are not specifically limited in the present disclosure. As can be seen from the above description of the working route, the working route can be divided into smaller route constituent units, such as traveling in a straight line (such as traveling along the first long side or the second long side direction in the above-mentioned arcuate ground coverage route), traveling in a curve (such as traveling in a curve or a broken line towards a target point or target area in the above-mentioned obstacle-avoiding route), turning in response to the detection of an obstacle by a sensor (such as a U-turn in the above-mentioned arcuate ground coverage route, or starting to retreat and moving away from the obstacle in the obstacle-avoiding route), which are typical and commonly used route constituent units.

[0053] In the process of the mopping machine traveling along the working route, the mopping machine can complete other specific steps described in the embodiments of the present disclosure to achieve the technical effects of the present disclosure.

[0054] First embodiment: Figure 3A schematic diagram showing a working operation method of the floor mopping machine according to an exemplary embodiment is shown. In the first embodiment, the floor mopping machine performs a first rotating step at a first point on the working route, i.e. rotating by a first angle towards a first direction. For example, the first direction can be clockwise and the first angle is 360 degrees. After the first rotating step, the floor mopping machine performs a first advancing step, e.g. advancing by a first distance along a straight line to a second point. After the first advancing step, the floor mopping machine performs a second rotating step at the second point, i.e. rotating by a second angle towards a second direction. For example, the second direction can be clockwise and the second angle is 360 degrees. After the second rotating step, the floor mopping machine performs a second advancing step, i.e. advancing along the working route. For example, the floor mopping machine can advance by a second distance along a straight line. The second distance can be the same as or different from the first distance.

[0055] The advancing of the floor mopping machine in the first advancing step and the advancing in the second step are both along the working route, and the first point and the second point are both on the working route. Therefore, after the floor mopping machine completes the above-mentioned first rotating step, first advancing step, second rotating step and second advancing step, it will complete a portion of the working route.

[0056] For example, the first rotating step, first advancing step, second rotating step and second advancing step can all be located in a straight portion of the working route. In such an embodiment, the first point and the second point are located on a straight line, and the first distance and the second distance are also on the straight line. The first rotating step, first advancing step, second rotating step and second advancing step can also be located in a non-straight portion of the working route, e.g. a turnaround portion of a bow-shaped working route when encountering an obstacle. In such an embodiment, the floor mopping machine can complete one turnaround during advancing the first distance or the second distance, and the first point and the second point are respectively on two long sides before and after the turnaround or respectively on one long side and one short side. The non-straight portion of the working route can also be a curve or a broken line to avoid an obstacle, e.g. the floor mopping machine bypasses the obstacle along the curve or broken line during advancing the first distance or the second distance.

[0057] After the floor mopping machine completes the second advancing step, the floor mopping machine can repeat the above steps in sequence to continue to complete subsequent portions of the working route. For example, the floor mopping machine can complete one cycle after advancing the second distance, and then perform the steps of the previous cycle again, i.e. repeat the first rotating step, first advancing step, second rotating step and second advancing step of the previous cycle in sequence, and repeat the cycle in this way to complete the mopping task along the working route. The disclosure does not specifically limit the time and position at which the floor mopping machine completes the above-mentioned repetition.

[0058] Since the floor mopping machine rotates on the working route, it can clean the working surface with greater intensity, achieving a better cleaning effect.

[0059] Second embodiment: Due to the mutual movement between the mop tray and the ground, and the wet and slippery ground, etc., the mopping machine may have an offset error after completing the first rotation step and the first advancing step. For example, due to the offset error, the actual angle of rotation of the mopping machine in the first rotation step may be less than or greater than 360 degrees, and a yaw is generated in the subsequent first advancing step.

[0060] Figure 4 A schematic diagram showing the operation method of the mopping machine according to another exemplary embodiment. In order to eliminate such offset error, in the second embodiment, the mopping machine rotates by a second angle in a second direction opposite to the first direction (e.g. clockwise direction) in the first rotation step in a second rotation step, and the second angle is the same size as the first angle (e.g. 360 degrees or an integer multiple thereof) rotated in the first rotation step; and then a second advancing step is performed. In this way, on a part of the working route, the mopping machine completes two or more 360-degree rotations in opposite directions, and the total rotation angle in the clockwise direction is equal to the total rotation angle in the counterclockwise direction, and the offset error of the mopping machine can be corrected. For example, the mopping machine rotates 360 degrees clockwise when performing the first rotation step, but there may be an offset error of, for example, 1% in the actual rotation angle during this process, for example, 1% less, then the mopping machine may slightly yaw to the left when advancing the first distance in the first advancing step, and then the mopping machine may rotate 360 degrees counterclockwise with the same 1% less error in the second rotation step, then the mopping machine can correct the offset error in the first rotation step at this time, and advance the second distance with the correct orientation in the second advancing step. Then on this part of the working route, the offset errors in the two opposite directions are eliminated overall during the completion of one cycle of advancing. Therefore, while achieving stronger cleaning of the working surface through rotation, the accuracy of the mopping machine's advancing route is improved.

[0061] Third embodiment: Figure 5 A schematic diagram showing the working operation method of the mopping machine according to another exemplary embodiment. In the third embodiment, the mopping machine rotates by an odd multiple of 180 degrees in a first direction, e.g. clockwise direction, at a first point on the working route. For example, if the mopping machine is charging with its front charging tab contacting the charging tab on the charging station, its front part is facing the charging station (state 1) when it is not leaving the charging station. After being started, the mopping machine performs the first rotation step for the first time with the starting point being its position on the charging station or its own position when it slightly retreats from the charging tab of the charging station, e.g. rotates 180 degrees in the clockwise direction to state 2, at which time its head is facing away from the charging station, and "advances" a first distance to achieve advancing along the working route.

[0062] Then, at the second point, the floor cleaning machine can rotate 180 degrees in the counterclockwise direction to state 3, and then travel (or, in terms of the orientation of the floor cleaning machine, retreat) a second distance, thereby completing the first cycle. The floor cleaning machine can then begin a second cycle, i.e., continue along the work path according to the first rotation step, the first travel step, the second rotation step, and the second travel step. In this embodiment, although the second travel step travels a second distance that is a retreat distance in terms of the orientation of the floor cleaning machine, the second distance is still a forward travel distance with respect to the work path because the second rotation step before the second travel step has turned the rear of the floor cleaning machine to face the forward direction of the work path. In this way, the floor cleaning machine can repeat the cycle of the first rotation step, the first travel step, the second rotation step, and the second travel step to complete the cleaning task along the work path.

[0063] Of course, those skilled in the art will appreciate that the floor cleaning machine can also be started with its front facing the forward direction of the work path, rotated 180 degrees an odd number of times at the first point in the first direction, e.g., the clockwise direction, so that its rear faces the forward direction of the work path, and then travel a first distance (the first travel step) to the second point; then rotated 180 degrees an odd number of times at the second point in the second direction, e.g., the counterclockwise direction (the second rotation step; the odd number of times of rotation is usually the same as the number of times in the first rotation step); at this time, the front of the floor cleaning machine faces the same direction as the forward direction of the work path, and then the floor cleaning machine travels a second distance (the second travel step) along the work path.

[0064] In the above embodiment, the floor cleaning machine achieves a stronger cleaning of the work surface by rotating; and the rotations at the first point and the second point are equal in size but opposite in direction, which can eliminate the offset error.

[0065] In the above first to third embodiments and other embodiments based thereon, the first distance can be equal to or different from the second distance. The first distance and the second distance can each be less than or equal to the work width of the autonomous mobile device. For example, the work width can be the total width of the mop plate. If the floor cleaning machine has only one mop plate, the work width can be the width of the mop plate; if the floor cleaning machine has two mop plates arranged side by side in the lateral direction, the work width can be the maximum width of the two mop plates in the lateral direction. The lateral direction here refers to the direction perpendicular to the running direction of the floor cleaning machine in normal operation. In such embodiments, it can be ensured that every place on the work path is covered by the rotation of the floor cleaning machine, thereby achieving a better cleaning effect.

[0066] Fourth embodiment: In the fourth embodiment, the distance of the first advancing step is zero. In other words, the mopping machine continuously performs the first and second rotating steps at the same point, i.e. the first point, without a substantial first advancing step. For example, the mopping machine can first rotate in a first direction, e.g. clockwise, by a first angle, e.g. 360 degrees (first rotating step), and then rotate in a second, opposite direction, e.g. counterclockwise, by a second angle equal to the first angle (second rotating step). At the same point, the mopping machine has performed two rotations of equal magnitude but opposite directions, thus being able to increase the cleaning effect on the floor at the first point while eliminating the offset error. And after performing the second rotating step, the orientation of the mopping machine is the same as before performing the first rotating step, and then the mopping machine can perform a second advancing step, advancing by a second distance along the working line, to complete a portion of the working line.

[0067] Figure 6 A schematic diagram showing the method of operation of a mopping machine according to yet another exemplary embodiment is shown. In another embodiment based on the fourth embodiment, i.e. the first distance of the first advancing step is still zero, the mopping machine performs a second rotating step after completing the first rotating step at the same point, i.e. the first point, i.e. rotating by a first angle in a first direction. The second rotating step comprises the mopping machine rotating by a third angle in a second direction opposite to the first direction, and then rotating by a fourth angle in the first direction, wherein the third angle is greater than the fourth angle. In this case, rotating by the third angle in the second direction and then rotating by the fourth angle in the first direction is equivalent to rotating by a second angle in the second direction, wherein the second angle is equal to the difference between the third angle and the fourth angle, and the second angle is still equal to the first angle.

[0068] For example Figure 6 As shown, in the above embodiment, the mopping machine starts from state 1, rotates by a first angle, i.e. 350 degrees, in a clockwise direction, i.e. the first direction in this embodiment, to state 2 in the first rotating step, and then rotates by a third angle, i.e. 370 degrees, in a counterclockwise direction, i.e. the second direction in this embodiment, to state 3 in the second rotating step, and finally rotates by a fourth angle, i.e. 20 degrees, in the clockwise direction to state 4. Subtracting the fourth angle from the third angle is equivalent to the mopping machine rotating by 350 degrees in the counterclockwise direction overall in the second rotating step. In this way, the total rotation angle of the mopping machine in the first direction and the total rotation angle in the second direction at the same point are still equal and opposite, thus being able to increase the cleaning effect on the floor at the first point while eliminating the offset error.

[0069] Fifth Embodiment: In the fifth embodiment, the angle rotated by the mop in the first rotation step is not an integer multiple of 180 degrees or 360 degrees. It is understood that after the first rotation step, the orientation of the mop may deviate from the working path. Therefore, to ensure that the mop remains on the working path after one cycle, the first travel step may further include: a third travel step, wherein the mop travels a third distance along a straight line to a third point; a third rotation step, wherein the mop rotates a third angle towards a first direction at the third point; a fourth travel step, wherein the mop travels a fourth distance along a straight line to a fourth point, wherein the third and fourth points are on opposite sides of the working path, and the projections of the third and fourth points onto the working path are located between the first and second points; a fourth rotation step, wherein the mop rotates a fourth angle towards the second direction at the fourth point; and a fifth travel step, wherein the mop travels a fifth distance along a straight line to the second point. At this point, the mop returns to the second point on the working path, but the orientation of the mop may have a certain angle with the working path. Then, the mopping robot performs a second rotation at the second point. In this embodiment, the sum of the first angle and the third angle is equal to the sum of the second angle and the fourth angle.

[0070] Figure 7 A schematic diagram illustrating a method of operating a floor cleaning machine according to yet another exemplary embodiment is shown. Figure 7 As shown, in the fifth embodiment, the mopping robot starts from state 1 and performs a first rotation step at the first point, rotating clockwise by a first angle, i.e., 350 degrees, to state 2. Then, the first travel step from the first point to the second point can be implemented as follows: The mopping robot first travels a third distance along a straight line to the third point. At this point, the mopping robot deviates from the working path, and its projection is located between the first and second points on the working path. Then, a third rotation step is performed at the third point, where the mopping robot rotates clockwise by 25 degrees to state 3. At this point, the extension line of the mopping robot's orientation intersects the working path. In the fourth travel step, the mopping robot travels a fourth distance along a straight line to the fourth point on the other side of the working path, and the projection of the fourth point is also located between the first and second points on the working path. A fourth rotation step is performed at the fourth point, where the mopping robot rotates counterclockwise by 30 degrees to state 4. At this point, the extension line of the mopping robot's orientation intersects the working path. Then, in the fifth travel step, the mop travels a fifth distance in a straight line to the second point on the work path. At this point, the mop has traveled from the first point to the second point, thus completing the first travel step. Note that although the mop is now at the second point, its orientation still forms a certain angle with the work path.

[0071] Next, the mopping machine performs a second rotation step at the second point, rotating in a counterclockwise direction by a second angle to state 5; wherein the sum of the first angle and the third angle is equal to the sum of the second angle and the fourth angle, and thus the second angle is 345 degrees.

[0072] In this way, the total rotation angle of the mopping machine in the first direction during the time period from the start of the first rotation step to the completion of the second rotation step is equal to the total rotation angle in the second direction, and the directions are opposite, thus the cumulative error can be eliminated. At this time, the mopping machine returns to the working route, and the orientation becomes the same as its orientation before the first rotation step, facilitating the second advancing step along the working route.

[0073] After the second advancing step, the mopping machine can repeat the first rotation step, the first advancing step, the second rotation step, and the second advancing step.

[0074] In another embodiment based on the above-mentioned embodiment five, the advancing distance in the second advancing step is zero, in other words, after the mopping machine completes the second rotation step at the second point, it performs the first rotation step of the next cycle without a substantial second advancing step.

[0075] In the fifth embodiment, there are two intermediate points, i.e., the third and fourth points, and three segments of the broken line between the first point and the second point. Those skilled in the art can also understand that more intermediate points and broken lines can be arranged between the first point and the second point, as long as the total rotation angle of the mopping machine in the first direction during the time period from the start of the first rotation step to the completion of the second rotation step is equal to the total rotation angle in the second direction, and the directions are opposite. The present disclosure will not specifically describe such embodiments.

[0076] In the above-mentioned fifth embodiment, the third distance, the fourth distance, and the fifth distance are each less than or equal to the working width of the autonomous mobile device. For example, the working width can be the width of the mop disc. In such an embodiment, it can be ensured that every place on the working route is covered by the rotation of the mopping machine, thereby achieving a better cleaning effect.

[0077] In the above-mentioned fifth embodiment, the third angle and the fourth angle by which the mopping machine rotates can be different, and the lengths of the third distance and the fifth distance can also be different, i.e., the broken line composed of the third distance, the fourth distance, and the fifth distance can be asymmetric with respect to the working route. The present disclosure will not specifically describe it. Those skilled in the art can understand that the specific shape of the broken line does not affect the technical solution and the corresponding technical effects of the present disclosure.

[0078] In the sixth embodiment, the mopping machine rotates an angle in the first rotating step which is not an integer multiple of 180 degrees or 360 degrees. It can be understood that after the first rotating step, the orientation of the mopping machine can deviate from the working route. Therefore, the first advancing step can further comprise a third advancing step in which the mopping machine advances a third distance to a third point, and a fourth advancing step in which the mopping machine advances a fourth distance to the second point. Wherein the first point, the second point and the third point are all required to be located on the working route, and the third point is between the first point and the second point. Therefore, the mopping machine rotates a third angle in the first direction during the advancing of the third distance, so as to advance the third distance along an arc. At this time, the mopping machine is located at the third point on the working route, but the orientation still has an angle with the working route. Then, the mopping machine rotates a fourth angle in the second direction during the advancing of the fourth distance, so as to advance the fourth distance along an arc. At this time, the mopping machine is located at the second point on the working route, but the orientation still has an angle with the working route. Then, the mopping machine performs a second rotating step at the second point. In this embodiment, the sum of the first angle and the third angle is equal to the sum of the second angle and the fourth angle.

[0079] Figure 8 A schematic diagram showing the operation method of the mopping machine according to yet another exemplary embodiment is shown. For example, as shown in Figure 8 the mopping machine starts from state 1, performs a first rotating step at the first point, rotates a first angle of 350 degrees in the clockwise direction to state 2. Then, the first advancing step from the first point to the second point can be implemented as follows. The mopping machine rotates 20 degrees (third angle) in the clockwise direction (first direction) while advancing a third distance to state 3, and advances to the third point along an arc. Then, the mopping machine rotates 25 degrees (fourth angle) in the counterclockwise direction (second direction) while advancing a fourth distance to state 4, and advances to the second point along an arc. At this time, the mopping machine has advanced from the first point to the second point, i.e. the first advancing step is completed. Please note that at this time, the mopping machine is at the second point, but the orientation still has an angle with the working route.

[0080] Next, the mopping machine performs a second rotating step at the second point, rotates a second angle in the counterclockwise direction to state 5; wherein the sum of the first angle and the third angle is equal to the sum of the second angle and the fourth angle, and the second angle is 345 degrees.

[0081] In this way, during the period from the start of the first rotating step to the completion of the second rotating step, the total rotation angle of the mopping machine in the first direction is equal to the total rotation angle in the second direction, and the directions are opposite, so as to eliminate the deviation error. At this time, the mopping machine returns to the working route, and the orientation becomes the same as the orientation before the first rotating step, so as to facilitate the second advancing step along the working route.

[0082] After the second advancing step, the mopping machine can repeat the first rotating step, the first advancing step, the second rotating step and the second advancing step.

[0083] In another embodiment based on the above-mentioned embodiment six, the advancing distance in the second advancing step is zero, in other words, after the mopping machine completes the second rotating step at the second point, it proceeds to the first rotating step of the next cycle without a substantial second advancing step.

[0084] In the sixth embodiment, there is a third point and two arcs between the first point and the second point. It is also understood by those skilled in the art that more intermediate points and arcs can be provided between the first point and the second point, as long as the total rotating angle in the first direction during the time period from the start of the first rotating step to the completion of the second rotating step is equal to the total rotating angle in the second direction and the directions are opposite. The present disclosure does not specifically describe such embodiments.

[0085] In the above sixth embodiment, the third distance and the fourth distance are each less than or equal to the working width of the autonomous mobile device. For example, the working width can be the width of the mop disc. In such embodiments, it can be ensured that every place on the working route is covered by the rotation of the mopping machine, thereby achieving better cleaning effect.

[0086] In the above sixth embodiment, the third angle and the fourth angle of the rotation of the mopping machine can be different, and the lengths of the third distance and the fourth distance and the speed of the mopping machine can also be different, i.e. the arc paths walked through during the third distance and the fourth distance can be different. The present disclosure does not specifically describe it. Those skilled in the art can understand that the specific shape of the arc path does not affect the technical solutions and the corresponding technical effects of the present disclosure.

[0087] In the above embodiments, the mopping machine can perform additional movements or rotations during the first advancing step and / or the second advancing step, such as actions for turning back or bypassing obstacles, to complete the working route. The present disclosure does not specifically describe or limit such additional movements or rotations.

[0088] In some embodiments, the control module 20 is configured to control the driving module 30 to make the mopping machine 10 advance along the working route and complete the cleaning work. Specifically, the control module 20 can control the driving module 30 to perform the method according to the above embodiments of the present disclosure to complete the advancement along the working route.

[0089] In some embodiments, the floor mopping machine 10 comprises a motion unit for its movement, one or more processors, and a memory storing instructions. The processor includes, but is not limited to, an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic elements, etc. The instructions, when executed by the one or more processors, cause the processor to control the motion unit to implement the method according to the above-mentioned embodiments of the present disclosure.

[0090] In some embodiments, a non-transitory computer readable storage medium or program product including instructions stored therein is also provided, which can be executed on a processor to complete the method according to the above-mentioned embodiments of the present disclosure. The processor includes, but is not limited to, an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic elements, etc.

[0091] As to the apparatus in the above-mentioned embodiments, the specific manner in which each module or unit performs the operation has been described in detail in the embodiments related to the method, and will not be described in detail here.

[0092] The above has described the embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical application, or improvement to the technology in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. An operating method of an autonomous mobile device for controlling the autonomous mobile device to travel along a work route, characterized by, The method comprises: a first rotation step for rotating the autonomous mobile device by a first angle in a first direction at a first point on the work route, a first advancing step for advancing the autonomous mobile device to a second point on the work route, a second rotation step for rotating the autonomous mobile device by a second angle in a second direction at the second point, and a second advancing step for continuing advancing the autonomous mobile device along the work route, wherein the first rotation step, the first advancing step, the second rotation step and the second advancing step are configured to be a loop, and the method comprises repeatedly executing the loop, wherein the first advancing step further comprises: a third advancing step for advancing the autonomous mobile device by a third distance along a straight line to a third point, a third rotation step for rotating the autonomous mobile device by a third angle in the first direction at the third point, a fourth advancing step for advancing the autonomous mobile device by a fourth distance along a straight line to a fourth point, wherein the third point and the fourth point are on two sides of the work route, and projections of the third point and the fourth point on the work route are between the first point and the second point, a fourth rotation step for rotating the autonomous mobile device by a fourth angle in the second direction at the fourth point, and a fifth advancing step for advancing the autonomous mobile device by a fifth distance along a straight line to the second point, wherein a sum of the first angle and the third angle is equal to a sum of the second angle and the fourth angle, or, wherein the first advancing step further comprises: a third advancing step for advancing the autonomous mobile device by a third distance to a third point, and a fourth advancing step for advancing the autonomous mobile device by a fourth distance to the second point, wherein the first point, the second point and the third point are all on the work route and the third point is between the first point and the second point, the autonomous mobile device rotates by a third angle in the first direction during advancing the third distance, so that the autonomous mobile device advances the third distance along an arc, the autonomous mobile device rotates by a fourth angle in the second direction during advancing the fourth distance, so that the autonomous mobile device advances the fourth distance along an arc, and a sum of the first angle and the third angle is equal to a sum of the second angle and the fourth angle.

2. The method of claim 1, wherein, the first direction is opposite to the second direction, and a total rotation angle of the autonomous mobile device in the first direction during a time period from before the first rotation step to after the second rotation step is equal to a total rotation angle of the autonomous mobile device in the second direction during the time period.

3. The method of claim 1, wherein, the work route comprises at least one route constituting unit of advancing along a straight line, advancing along a curve, and turning in response to detection of an obstacle by a sensor.

4. The method of claim 1, wherein, the distance that the autonomous mobile device advances in the second advancing step is zero.

5. The method of claim 1, wherein, The third distance, the fourth distance, and the fifth distance are each less than or equal to a working width of the autonomous mobile device.

6. An autonomous mobile device, comprising: Comprising: a drive module for moving the autonomous mobile device; and a control module for controlling the drive module to cause the autonomous mobile device to travel along a working route, wherein causing the autonomous mobile device to travel along a working route comprises: a first rotation step for causing the autonomous mobile device to rotate at a first point on the working route by a first angle towards a first direction, a first travel step for causing the autonomous mobile device to travel to a second point on the working route, a second rotation step for causing the autonomous mobile device to rotate at the second point by a second angle towards a second direction, and a second travel step for causing the autonomous mobile device to continue to travel along the working route, wherein the first rotation step, the first travel step, the second rotation step, and the second travel step are configured to be a loop, and the control module controls the drive module to repeatedly execute the loop, wherein the first travel step further comprises: a third travel step for causing the autonomous mobile device to travel a third distance along a straight line to a third point, a third rotation step for causing the autonomous mobile device to rotate at the third point by a third angle towards the first direction, a fourth travel step for causing the autonomous mobile device to travel a fourth distance along a straight line to a fourth point, wherein the third point and the fourth point are on two sides of the working route, and projections of the third point and the fourth point on the working route are between the first point and the second point, a fourth rotation step for causing the autonomous mobile device to rotate at the fourth point by a fourth angle towards the second direction, and a fifth travel step for causing the autonomous mobile device to travel a fifth distance along a straight line to the second point, wherein a sum of the first angle and the third angle is equal to a sum of the second angle and the fourth angle, or wherein the first travel step further comprises: a third travel step for causing the autonomous mobile device to travel a third distance to a third point, and a fourth travel step for causing the autonomous mobile device to travel a fourth distance to the second point, wherein the first point, the second point, and the third point are all on the working route and the third point is between the first point and the second point, the autonomous mobile device rotates by a third angle towards the first direction during the third distance to cause the autonomous mobile device to travel the third distance along an arc, the autonomous mobile device rotates by a fourth angle towards the second direction during the fourth distance to cause the autonomous mobile device to travel the fourth distance along an arc, and a sum of the first angle and the third angle is equal to a sum of the second angle and the fourth angle.

7. An autonomous mobile device, comprising: Comprising: a motion unit for moving the autonomous mobile device; one or more processors; and a memory storing instructions, wherein the instructions, when executed by the one or more processors, cause the one or more processors to perform the method of any of claims 1-5.

8. A computer-readable storage medium storing instructions, the instructions comprising: the instructions, when executed by one or more processors, cause the one or more processors to perform the method of any of claims 1-5.

9. A computer program product comprising computer instructions, characterized in that, the instructions, when executed by one or more processors, cause the one or more processors to perform the method of any of claims 1-5.

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