A method for slope navigation of a cleaning robot

Abstract

The application discloses a method for slope navigation of a cleaning robot, and belongs to the technical field of robots. The method comprises the following steps: obtaining reference position information of a slope; controlling the cleaning robot to detect the slope based on the reference position information to determine slope parameters of the slope; the slope parameters at least comprise one of width information, gradient information and length information; determining whether the slope is a passable slope based on the slope parameters; when there is a passable slope between the position of the cleaning robot and a to-be-cleaned area, controlling the cleaning robot to enter the to-be-cleaned area through the passable slope. The application solves the technical problem that the existing cleaning robot is inefficient when passing through a slope, and may misjudge or incorrectly plan a navigation route due to the inability to provide detailed information about the width and position of the slope.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a ramp navigation method for a cleaning robot. Background Technology

[0002] With the continuous development of robotics technology, intelligent robots are increasingly being used in home and commercial environments. However, robots often encounter difficulties when crossing thresholds or areas with limited height. Traditional robot structural designs limit their crossing capabilities, making it impossible for users to pass directly through some threshold locations in the home environment.

[0003] Traditional robots are often limited by their body structure design, making it difficult to easily overcome high thresholds or other height restrictions in home environments. These limitations include the robot's body height and chassis structure, which typically prevent the robot from easily crossing high thresholds. When attempting to cross, the robot may dangle in mid-air or get stuck on the threshold, preventing successful passage. Therefore, users can add ramps to thresholds that cannot be directly crossed to allow the robot to pass. The height of the ramp's apex is usually lower than the horizontal plane of the robot's laser detection system (LDS); otherwise, the robot might mistake it for an impassable wall, making ramp identification impossible using the LDS.

[0004] Existing technological solutions typically require robots to explore passable areas through multiple collisions and trial and error. This approach is not only inefficient but also degrades the user experience. Robots may be damaged, and unnecessary noise and interference may occur. Furthermore, because current technologies cannot provide detailed information about the width and location of ramps, robots may misjudge or misplan their navigation routes, ultimately leading to accidents such as getting stuck on a single wheel while going uphill or falling off the ramp. Summary of the Invention

[0005] This application provides a ramp navigation method for a cleaning robot to solve the following technical problem: existing cleaning robots are inefficient when passing through ramps, and due to the inability to provide detailed information about the width and location of the ramp, they may misjudge or incorrectly plan navigation routes.

[0006] The technical solution adopted in this application is as follows:

[0007] This application provides a ramp navigation method for a cleaning robot. The method includes: acquiring reference position information of the ramp; controlling the cleaning robot to detect the ramp based on the reference position information to determine the ramp parameters; the ramp parameters include at least one of width information, slope information, and length information; determining whether the ramp is a passable ramp based on the ramp parameters; and controlling the cleaning robot to enter the area to be cleaned via the passable ramp when there is a passable ramp between the position of the cleaning robot and the area to be cleaned.

[0008] The cleaning robot in this application embodiment can assess whether a ramp can be safely cleaned by detecting ramp parameters, such as width and slope, enabling the robot to perform efficient cleaning work in various complex environments. By acquiring and using reference position information, the cleaning robot can accurately detect the shape and size of the ramp. Based on the ramp parameters, the cleaning robot can determine whether it can enter the area to be cleaned via the ramp, allowing it to perform intelligent path planning in complex environments and complete the task in the most efficient way. The ramp navigation function of the cleaning robot can reduce the dangers of manual operation.

[0009] In one implementation of this application, obtaining the reference location information of the ramp specifically includes: obtaining the ramp marker drawn by the user in the work area map; and determining the reference location information of the ramp based on the position of the ramp marker in the work area map.

[0010] This application embodiment obtains the reference location information of ramps. Users can directly draw ramp markers on the work area map, making the acquisition of ramp reference location information very convenient and intuitive. User-drawn ramp markers accurately represent the location and shape of the ramp, which helps improve the accuracy of the cleaning robot's measurement and calculation of ramp parameters. Since users can add, modify, or delete ramp markers on the work area map at any time as needed, this allows the cleaning robot to flexibly adapt to various terrains and environments. By using user-drawn ramp markers, the cleaning robot can determine the ramp's reference location information more quickly, thereby enabling faster navigation and cleaning operations.

[0011] In one implementation of this application, controlling a cleaning robot to enter a cleaning area via a passable ramp specifically includes: determining the entrance center position and uphill direction of the passable ramp based on the ramp parameters and the reference position information; controlling the cleaning robot to move from the entrance center position towards the uphill direction to the cleaning area; and during the movement, acquiring the drop sensor information of the cleaning robot and adjusting the movement direction based on the drop sensor information.

[0012] In one implementation of this application, the cleaning robot detects the ramp based on reference position information to determine the ramp parameters, specifically including: determining the edge point based on the reference position information; controlling the cleaning robot to collide with the edge of the ramp starting from the edge point to determine the width information of the ramp; controlling the cleaning robot to enter the ramp and determining the slope information of the ramp based on the tilt angle of the cleaning robot's body.

[0013] This embodiment of the application accurately determines the width of a ramp by controlling a cleaning robot to collide with the ramp along its edge, starting from an edge point. Simultaneously, determining the ramp's slope based on the robot's tilt angle further improves the accuracy of parameter determination. Since it does not rely on specific sensors or equipment but utilizes existing sensors and equipment of the cleaning robot, the solution offers high flexibility and facilitates the extension of ramp detection functionality to other cleaning robot models or series.

[0014] In one implementation of this application, determining the edge point based on reference position information specifically includes: determining the detection starting point based on the reference position information; controlling the cleaning robot to move to the detection starting point; controlling the cleaning robot to conduct collision tests on the ramp starting from the detection starting point, and determining the edge point based on the collision situation of the cleaning robot.

[0015] In this embodiment, the cleaning robot can move to a defined starting point and then perform collision exploration based on reference location information and a work area map. This allows the cleaning robot to find edge points more quickly, thereby improving overall work efficiency.

[0016] In one implementation of this application, the reference location information is obtained based on the ramp markings drawn by the user on the cleaning work map, the ramp markings including the reference outline of the ramp; based on the reference location information, the detection starting point is determined, specifically including: based on the reference outline and the cleaning work map, determining the target side on both sides of the ramp that is relatively far from the wall; determining the center point of the target side based on the reference outline; and determining the detection starting point according to the position of the reference outline and the center point.

[0017] This application embodiment determines the target side that is relatively far from the wall on both sides of the ramp, and determines the center point of the target side based on the reference contour. This allows for a faster detection starting point and helps improve the working efficiency of the cleaning robot.

[0018] In one implementation of this application, the cleaning robot is controlled to conduct collision probing of the ramp starting from the detection starting point, and the edge point is determined based on the collision situation of the cleaning robot. Specifically, this includes: controlling the cleaning robot to move towards the target side; when the cleaning robot collides for the first time, controlling the cleaning robot to move along the edge of the ramp on the target side towards the top of the ramp based on the reference contour and the work area map; and when the cleaning robot collides for the second time, determining the edge point where the cleaning robot reaches the ramp.

[0019] In one implementation of this application, the cleaning robot is controlled to collide with the edge of the ramp starting from the edge point to determine the width information of the ramp. Specifically, this includes: controlling the cleaning robot to collide with the edge of the ramp along a first traveling direction starting from the edge point, and marking the location where the edge collision signal is detected as a target side contour point; when the edge collision signal is lost, the traveling direction of the cleaning robot is adjusted to a second traveling direction based on the reference position information and the work area map; the second traveling direction is perpendicular to the first traveling direction; when the drop sensor is triggered, the cleaning robot is controlled to collide with the edge of the ramp along a third traveling direction, and marking the location where the edge collision signal is detected as a contour point on the other side of the ramp; the third traveling direction is the opposite direction of the first traveling direction.

[0020] This embodiment of the application accurately determines the width of a ramp by controlling a cleaning robot to collide with the ramp along its edge, starting from an edge point. Furthermore, determining the edge point based on the robot's collision patterns improves the accuracy of parameter determination. This approach adapts to ramps of various shapes and sizes, regardless of their width, steepness, or gentleness; the width information can be determined by adjusting the robot's direction of travel and edge collision methods, thus enhancing the adaptability of the solution.

[0021] In one implementation of this application, after adjusting the traveling direction of the cleaning robot to a second traveling direction, the method further includes: obtaining the initial tilt angle of the cleaning robot after the traveling direction is adjusted to the second traveling direction; during the movement of the cleaning robot along the second traveling direction, monitoring in real time whether the body tilt angle of the cleaning robot is equal to the initial tilt angle; when the traveling tilt angle is less than the initial tilt angle, adjusting the robot to rotate towards the slope until the traveling tilt angle is equal to the initial tilt angle; when the traveling tilt angle is greater than the initial tilt angle, adjusting the robot to rotate towards the direction deviating from the slope until the traveling tilt angle is equal to the initial tilt angle.

[0022] This embodiment of the application obtains the initial tilt angle of the cleaning robot after its travel direction is adjusted to a second travel direction, and monitors in real time whether the robot's body tilt angle is equal to the initial tilt angle, thus ensuring the stability of the cleaning robot's travel on the slope. When the travel tilt angle is less than the initial tilt angle, the robot is adjusted to rotate towards the slope to maintain a stable travel direction; when the travel tilt angle is greater than the initial tilt angle, the robot is adjusted to rotate away from the slope to correct the excessive tilt angle. By monitoring the cleaning robot's body tilt angle in real time, deviations in the travel direction can be detected in a timely manner, allowing for timely adjustments to avoid accidental collisions or rollovers, thereby improving the robot's safety. By adjusting the cleaning robot's rotation angle, the direction and distance of the cleaning robot's travel on the slope can be accurately controlled, thus improving the accuracy of parameter determination.

[0023] In one implementation of this application, entering the area to be cleaned via a ramp includes: calculating the uphill speed and downhill speed of the cleaning robot based on ramp parameters; during the process of entering the area to be cleaned via the ramp, the robot goes uphill based on the uphill speed and goes downhill based on the downhill speed until the cleaning robot's posture returns to horizontal.

[0024] In one implementation of this application, the ramp parameters further include length information; based on the ramp parameters, the uphill speed and downhill speed of the cleaning robot are calculated, specifically including: calculating the ramp influence value based on the ramp length information and slope information; determining the uphill speed of the cleaning robot based on the ramp influence value and the motor power of the cleaning robot; and determining the downhill speed of the cleaning robot based on the uphill speed. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0026] Figure 1 A flowchart illustrating a ramp navigation method for a cleaning robot provided in this application embodiment;

[0027] Figure 2 A schematic diagram illustrating the construction of ramp markers in a cleaning work map, provided as an embodiment of this application;

[0028] Figure 3 This is a schematic diagram provided for displaying the target side of a ramp that is relatively far from the wall, according to an embodiment of this application.

[0029] Figure 4 This application provides a schematic diagram of controlling a cleaning robot to move to a detection starting point.

[0030] Figure 5 This is a schematic diagram illustrating a cleaning robot reaching a target side, provided as an embodiment of this application.

[0031] Figure 6 A schematic diagram illustrating a cleaning robot reaching the edge point of a ramp, provided as an embodiment of this application;

[0032] Figure 7 This is a schematic diagram illustrating a cleaning robot colliding with the edge of a ramp along a first traveling direction, as provided in an embodiment of this application.

[0033] Figure 8 A schematic diagram illustrating a cleaning robot traveling along a second direction, provided as an embodiment of this application;

[0034] Figure 9 This is a schematic diagram illustrating a cleaning robot colliding with the edge of a ramp along a third traveling direction, as provided in an embodiment of this application.

[0035] Figure 10 A schematic diagram showing the contour points on the target side and the contour points on the other side of the ramp, provided for an embodiment of this application;

[0036] Figure 11 A schematic diagram illustrating adjustment when the travel tilt angle is less than the initial tilt angle, provided as an embodiment of this application;

[0037] Figure 12 A schematic diagram illustrating adjustment when the travel tilt angle is greater than the initial tilt angle, provided as an embodiment of this application;

[0038] Figure 13 A schematic diagram illustrating the control of a cleaning robot entering a ramp, provided as an embodiment of this application;

[0039] Figure 14 This is a schematic diagram illustrating a process of entering a cleaning area via a ramp, as provided in an embodiment of this application. Detailed Implementation

[0040] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0041] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0042] Furthermore, it should be understood in the description of this application that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0043] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "implementation," "example," "a particular embodiment," "example," or "specific example," etc., indicate that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0045] This application provides a ramp navigation method for a cleaning robot to solve the following technical problem: existing cleaning robots are inefficient when passing through ramps, and due to the inability to provide detailed information about the width and location of the ramp, they may misjudge or incorrectly plan navigation routes.

[0046] The technical solutions proposed in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0047] Figure 1 This is a flowchart illustrating a ramp navigation method for a cleaning robot, as provided in an embodiment of this application. Figure 1 As shown in the figure, the ramp navigation method for a cleaning robot provided in this application embodiment specifically includes the following steps:

[0048] Step 101: Obtain the reference location information of the ramp.

[0049] In one embodiment of this application, after a ramp is added to the working environment, in order for the cleaning robot to purposefully detect the added ramp, it is first necessary to obtain the reference position information of the ramp.

[0050] In one embodiment of this application, obtaining the reference location information of a ramp specifically includes: obtaining ramp markers drawn by the user in the work area map; and determining the reference location information of the ramp based on the position of the ramp markers in the work area map.

[0051] It should be noted that the reference location information can be obtained from the ramp markers drawn by the user on the cleaning work map, and the ramp markers include the reference outline of the ramp.

[0052] Specifically, users draw ramp marker polygons based on the preset APP visual interface; they then drag the ramp marker polygons into the preset ramp marker range on the cleaning work map to complete the manual ramp marking.

[0053] In one embodiment of this application, since the cleaning robot still needs to detect the ramp, a fixed style of ramp marker can be set in the APP visual interface. When constructing the ramp marker, it can be dragged directly to the specific area. Figure 2 A schematic diagram illustrating the construction of ramp markers in a cleaning work map, provided as an embodiment of this application; Figure 2 As shown, a fixed style of ramp marker is provided, and users can simply drag and drop the ramp marker to place it in a specific area.

[0054] It is understandable that the location of the ramp marker within a specific area is the reference location information corresponding to the ramp marker.

[0055] Furthermore, the ramp markings are then sent to the cleaning robots.

[0056] It's worth noting that if the ramp in a real-world application has an NFC or communication module, the process of creating ramp markers on the cleaning work map can be simplified. With an NFC or communication module, the robot can determine the relative position of the ramp to its current location based on the detected NFC or communication signals, thus determining the ramp's reference position information. Furthermore, after triggering the NFC or communication module, the specific ramp marker can be directly placed on the cleaning work map based on the determined reference position information.

[0057] Step 102: The cleaning robot detects the ramp based on the reference location information to determine the ramp parameters.

[0058] In one embodiment of this application, after the cleaning robot obtains the reference position information of the ramp, the cleaning robot probes the ramp based on the reference position information to determine the ramp parameters. It should be noted that the ramp parameters in this application include at least one of the following: width information, slope information, and length information.

[0059] Specifically, based on the reference position information, the edge point is determined; the cleaning robot is controlled to collide with the edge of the ramp starting from the edge point to determine the width information of the ramp; the cleaning robot is controlled to enter the ramp, and the slope information of the ramp is determined according to the tilt angle of the cleaning robot.

[0060] In one embodiment of this application, determining the edge point based on reference position information specifically includes: determining the detection starting point based on the reference position information; controlling the cleaning robot to move to the detection starting point; controlling the cleaning robot to conduct collision probing of the ramp, and determining the edge point based on the collision situation of the cleaning robot.

[0061] Furthermore, based on reference location information, the detection starting point is determined, specifically including: based on the reference contour and the cleaning work map, determining the target side on both sides of the ramp that is relatively far from the wall, such as... Figure 3 As shown. Figure 3 This application provides a schematic diagram for displaying the target side that is relatively far from the wall on both sides of a ramp. Further, the center point of the target side is determined based on a reference contour; a point at a preset distance from the center point is determined as the detection starting point. It is understood that determining the target side that is relatively far from the wall on both sides of the ramp involves comparing the distance between the left side and the left wall, and the distance between the right side and the right wall; rather than comparing the distance between the left side and the right wall, or the distance between the right side and the left wall.

[0062] In one embodiment of this application, after determining the detection starting point, the cleaning robot is controlled to move to the detection starting point, such as... Figure 4 As shown. Figure 4 This is a schematic diagram illustrating how to control a cleaning robot to move to a detection starting point, as provided in an embodiment of this application.

[0063] Furthermore, the cleaning robot is controlled to conduct collision probing of the ramp, and the edge point is determined based on the collision situation of the cleaning robot. Specifically, this includes: controlling the cleaning robot to move towards the target side; when the cleaning robot has its first collision, based on the reference contour and the work area map, controlling the cleaning robot to move along the edge of the ramp on the target side towards the top of the ramp; when the cleaning robot has its second collision, determining the edge point where the cleaning robot reaches the ramp.

[0064] In one embodiment of this application, it is understood that when the cleaning robot experiences its first collision, it is determined that the cleaning robot has reached the target side, such as... Figure 5 As shown, Figure 5 This is a schematic diagram illustrating a cleaning robot reaching a target side, provided in an embodiment of this application. Further, when the cleaning robot experiences a second collision, the point where the cleaning robot reaches the edge of the ramp is determined, such as... Figure 6 As shown, Figure 6 This is a schematic diagram of a cleaning robot reaching the edge point of a ramp, provided as an embodiment of this application.

[0065] In one implementation of this application, the cleaning robot is controlled to collide with the edge of the ramp starting from an edge point to determine the width information of the ramp. Specifically, this includes: controlling the cleaning robot to collide with the edge of the ramp along a first traveling direction starting from an edge point, and marking the location where the edge collision signal is detected as a target side contour point, such as... Figure 7 As shown, Figure 7 This is a schematic diagram illustrating a cleaning robot colliding with the edge of a ramp along a first traveling direction, as provided in an embodiment of this application.

[0066] Furthermore, upon detecting the loss of edge collision signals, based on reference position information and the work area map, the cleaning robot's direction of travel is adjusted to a second direction of travel; the second direction of travel is perpendicular to the first direction of travel; such as... Figure 8 As shown, Figure 8 This is a schematic diagram of a cleaning robot traveling in a second direction, provided as an embodiment of this application.

[0067] Furthermore, upon detecting a fall sensor trigger, the cleaning robot is controlled to collide with the edge of the ramp along a third direction of travel, and the location where the edge collision signal is detected is marked as a contour point on the other side of the ramp; the third direction of travel is the opposite of the first direction of travel; such as Figure 9 As shown, Figure 9 This is a schematic diagram illustrating a cleaning robot colliding with the edge of a ramp along a third traveling direction, as provided in an embodiment of this application.

[0068] It should also be noted that the contour points on the target side correspond one-to-one with the contour points on the other side of the ramp, such as... Figure 10 As shown, Figure 10 This is a schematic diagram showing the contour points on the target side and the contour points on the other side of the ramp, provided as an embodiment of this application.

[0069] In one embodiment of this application, after adjusting the traveling direction of the cleaning robot to a second traveling direction, the method further includes: obtaining the initial tilt angle of the cleaning robot after the traveling direction is adjusted to the second traveling direction; during the movement of the cleaning robot along the second traveling direction, monitoring in real time whether the body tilt angle of the cleaning robot is equal to the initial tilt angle; when the traveling tilt angle is less than the initial tilt angle, adjusting the robot to rotate towards the slope until the traveling tilt angle is equal to the initial tilt angle, such as... Figure 11 As shown, Figure 11 This diagram illustrates an adjustment mechanism when the traveling tilt angle is less than the initial tilt angle, as provided in an embodiment of this application. When the traveling tilt angle is greater than the initial tilt angle, the robot is adjusted to rotate in a direction deviating from the slope until the traveling tilt angle equals the initial tilt angle. Figure 12 As shown, Figure 12 This is a schematic diagram illustrating the adjustment when the travel tilt angle is greater than the initial tilt angle, as provided in an embodiment of this application.

[0070] Furthermore, based on the ramp profile information, the ramp width and length are calculated. Assuming the target side profile point coordinates are [{Xa1,Ya1},...{Xan,Yan}], and the other side profile point is [{Xb1,Yb1},...,{Xbn,Ybn}], then the ramp width and length information are calculated as follows:

[0071] W = Min([ABS(Yan-Ya1),ABS(Ybn-Yb1)]);

[0072] L=Min([ABS(Xa1-Xb1),...,ABS(Xan-Xbn)],L1);

[0073] Where W represents the width information, L represents the length information, and L1 represents the distance the cleaning robot travels along the second direction of travel.

[0074] Furthermore, the cleaning robot is controlled to enter the ramp, and the ramp's slope information is determined based on the robot's tilt angle, such as... Figure 13 As shown, Figure 13 This is a schematic diagram illustrating the control of a cleaning robot entering a ramp, as provided in an embodiment of this application.

[0075] Step 103: Determine whether the ramp is a passable ramp based on the ramp parameters.

[0076] In one embodiment of this application, determining whether a ramp is a passable ramp based on ramp parameters specifically includes: determining whether the width information of the ramp is less than the minimum passable width of the cleaning robot, and determining whether the slope information of the ramp is greater than the passable limit of the cleaning robot, so as to determine whether the cleaning robot can pass the ramp.

[0077] Step 104: When there is a ramp between the cleaning robot's location and the area to be cleaned, enter the area to be cleaned via the ramp.

[0078] In one embodiment of this application, if a passable ramp is determined, the area to be cleaned is accessed via the passable ramp.

[0079] Specifically, based on the ramp parameters, the uphill speed and downhill speed of the cleaning robot are calculated; during the process of entering the area to be cleaned through the accessible ramp, the robot goes uphill based on the uphill speed and goes downhill based on the downhill speed until the cleaning robot's posture returns to horizontal.

[0080] In one embodiment of this application, the uphill and downhill speeds of the cleaning robot are calculated based on ramp parameters. Specifically, this includes: calculating the ramp influence value based on the ramp's length and slope information; assuming the ramp length is L and the ramp inclination angle is θ, the ramp influence value A is L*θ. The uphill speed of the cleaning robot is determined based on the ramp influence value and the cleaning robot's motor power; assuming the motor power is β, then the uphill speed V = A*β. Further, the downhill speed of the cleaning robot is determined based on the uphill speed; typically, the downhill speed of the cleaning robot is less than its uphill speed.

[0081] Furthermore, the robot ascends at its uphill speed, and descends at its downhill speed once the angle sensor determines that the robot's posture has changed from tilting upwards to tilting downwards, until the robot's posture returns to horizontal. For example... Figure 14 As shown, Figure 14 This is a schematic diagram illustrating a process of entering a cleaning area via a ramp, as provided in an embodiment of this application.

[0082] In one embodiment of this application, controlling a cleaning robot to enter a cleaning area via a passable ramp specifically includes: determining the entrance center position and uphill direction of the passable ramp based on the ramp parameters and the reference position information; controlling the cleaning robot to move from the entrance center position towards the uphill direction to the cleaning area; and during the movement, acquiring the drop sensor information of the cleaning robot and adjusting the movement direction based on the drop sensor information.

[0083] According to such Figures 10-13 In the illustrated embodiment, the cleaning robot can determine the ramp's outline based on the ramp's reference position information and detected ramp parameters. Based on this outline, the center position of the ramp entrance and the uphill direction can be determined. To facilitate accurate ramp ascent and prevent falls, the cleaning robot can be controlled to ascend from the center position of the ramp entrance. For example, when entering a cleaning area, it can be pre-navigated to the center position of the ramp entrance and then rotated to move uphill. During this process, if the cleaning robot deviates from the ramp's centerline and moves to the ramp edge, the fall sensor on the bottom of the robot will be triggered. The robot can adjust its direction of travel in time based on the triggered fall sensor information; for example, when the left fall sensor is triggered, it can rotate to the right.

[0084] In one embodiment of this application, after entering the area to be cleaned via a ramp, the method further includes: recording ramp markers and ramp parameters into the storage device of the cleaning robot so that the cleaning robot can pass directly when it passes the ramp again.

[0085] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0086] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and medium embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the description of the method embodiments.

[0087] The devices and media provided in this application are one-to-one with the methods. Therefore, the devices and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0088] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0089] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0090] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0091] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0092] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0093] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0094] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0095] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0096] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A ramp navigation method for a cleaning robot, characterized in that, The method includes: Obtain the reference location information of the ramp; Based on the reference position information, determine the edge points; The cleaning robot is controlled to collide with the edge of the ramp along the first direction of travel, starting from the edge point, and the location where the edge collision signal is detected is marked as the target side contour point. When the loss of the edge collision signal is detected, the travel direction of the cleaning robot is adjusted to a second travel direction based on the reference position information and the work area map; the second travel direction is perpendicular to the first travel direction. When the fall sensor is detected, the cleaning robot is controlled to collide with the edge of the ramp along the third direction of travel, and the location where the edge collision signal is detected is marked as a contour point on the other side of the ramp; the third direction of travel is the opposite direction of the first direction of travel. The cleaning robot is controlled to enter the ramp, and the slope information of the ramp is determined according to the tilt angle of the cleaning robot. The ramp parameters include at least one of the width information, slope information, and length information. Determine whether the ramp is a passable ramp based on the ramp parameters; When there is a ramp between the location of the cleaning robot and the area to be cleaned, the cleaning robot is controlled to enter the area to be cleaned via the ramp.

2. The ramp navigation method for a cleaning robot according to claim 1, characterized in that, The acquisition of the ramp's reference location information specifically includes: Retrieve the ramp markers drawn by the user on the work area map; The reference location information of the ramp is determined based on the position of the ramp marker on the work area map.

3. The ramp navigation method for a cleaning robot according to claim 1, characterized in that, The process of controlling the cleaning robot to enter the area to be cleaned via the accessible ramp specifically includes: The entrance center position and uphill direction of the passable ramp are determined based on the ramp parameters and the reference position information. Control the cleaning robot to move from the center of the entrance towards the uphill direction to the area to be cleaned; During movement, the robot acquires fall sensor information and adjusts its direction of movement based on the fall sensor information.

4. The ramp navigation method for a cleaning robot according to claim 1, characterized in that, The determination of the edge point based on the reference position information specifically includes: Based on the reference location information, the detection starting point is determined; Control the cleaning robot to move to the detection starting point; The cleaning robot is controlled to conduct collision tests on the ramp starting from the detection starting point, and the edge point is determined based on the collision results of the cleaning robot.

5. A ramp navigation method for a cleaning robot according to claim 4, characterized in that, The reference location information is obtained based on the ramp markers drawn by the user on the work area map, and the ramp markers include the reference outline of the ramps; Determining the detection starting point based on the reference position information specifically includes: Based on the reference contour and the work area map, determine the target side on both sides of the ramp that is relatively far from the wall; The center point of the target side is determined based on the reference contour; The detection starting point is determined based on the reference profile and the position of the center point.

6. A ramp navigation method for a cleaning robot according to claim 5, characterized in that, The cleaning robot is controlled to conduct collision tests on the ramp starting from the detection starting point, and the edge points are determined based on the collision results of the cleaning robot. Specifically, this includes: Control the cleaning robot to move towards the target side; When the cleaning robot experiences its first collision, based on the reference contour and the work area map, the cleaning robot is controlled to move along the edge of the ramp on the target side towards the top of the ramp. When the cleaning robot experiences a second collision, the point at which the cleaning robot reaches the edge of the ramp is determined.

7. A ramp navigation method for a cleaning robot according to claim 1, characterized in that, After adjusting the cleaning robot's direction of travel to the second direction of travel, the method further includes: Obtain the initial tilt angle of the cleaning robot after its direction of travel is adjusted to the second direction of travel; During the movement of the cleaning robot along the second direction of travel, the tilt angle of the robot body is monitored in real time to see if it is equal to the initial tilt angle. When the tilt angle of the robot body is less than the initial tilt angle, the robot is adjusted to rotate in the direction of the slope until the tilt angle of the robot body is equal to the initial tilt angle. When the tilt angle of the robot body is greater than the initial tilt angle, the robot is adjusted to rotate in a direction away from the slope until the tilt angle of the robot body is equal to the initial tilt angle.

8. A ramp navigation method for a cleaning robot according to claim 1, characterized in that, The process of controlling the cleaning robot to enter the area to be cleaned via the accessible ramp specifically includes: Based on the ramp parameters, the uphill speed and downhill speed of the cleaning robot are calculated. During the process of entering the area to be cleaned via the accessible ramp, the robot goes uphill at the uphill speed and downhill at the downhill speed until its posture returns to horizontal.

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