Sweeping robot cleaning control method and device, storage medium and intelligent robot

Abstract

The application is suitable for the field of artificial intelligence technology, and provides a sweeping control method and device of a sweeping robot, a storage medium and an intelligent robot. The method comprises the following steps: when the sweeping robot is controlled to perform edge sweeping, if a specified event is triggered, it is determined whether there is a missed sweeping area between an event object in the specified event and a corresponding target environment boundary. The triggering of the specified event comprises collision of the sweeping robot or detection of an obstacle by the sweeping robot, and the missed sweeping area is an area through which the sweeping robot can pass. When it is determined that the missed sweeping area exists, the sweeping robot is controlled to sweep the missed sweeping area. The application can effectively improve the comprehensiveness and effectiveness of sweeping of the sweeping robot, avoid the situation of missed sweeping and large-area missed sweeping as much as possible, and thus enhance the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of artificial intelligence, and in particular to a cleaning control method and device for a sweeping robot, a storage medium and an intelligent robot. BACKGROUND

[0002] With the development of science and technology and economy, various types of intelligent devices are widely used to provide convenience for people's life. For example, more and more residents use sweeping robots to clean their houses.

[0003] The cleaning process of a sweeping robot (which can be simply referred to as a sweeping robot) generally includes edge cleaning and full-coverage cleaning. Generally, the sweeping robot first performs edge cleaning to form a closed area, and then performs full-coverage cleaning in the closed area. However, in the cleaning process, when the sweeping robot encounters an obstacle, it will rotate by a certain angle to bypass the obstacle and then continue cleaning, which is easy to cause the situation of area missing cleaning or even large-area missing cleaning, and the effectiveness of the sweeping robot cleaning is poor, which undoubtedly brings a bad experience to the user. SUMMARY

[0004] The present application provides a cleaning control method and device for a sweeping robot, a storage medium and an intelligent robot, which can effectively improve the comprehensiveness and effectiveness of the sweeping robot cleaning, avoid the situation of missing cleaning and large-area missing cleaning as much as possible, and thus enhance the user experience.

[0005] In a first aspect, an embodiment of the present application provides a cleaning control method for a sweeping robot, and the method comprises:

[0006] When the sweeping robot performs edge cleaning, if a specified event is triggered, it is determined whether there is a missing cleaning area between an event object in the specified event and a corresponding target environment boundary, the triggering of the specified event includes collision of the sweeping robot or detection of an obstacle by the sweeping robot, and the missing cleaning area is a region that can be passed through by the sweeping robot.

[0007] When it is determined that the missing cleaning area exists, the sweeping robot is controlled to clean the missing cleaning area.

[0008] In a possible implementation manner of the first aspect, if the specified event is triggered, it is determined whether there is a missing cleaning area between the event object in the specified event and the corresponding target environment boundary, comprising:

[0009] It is determined whether there is an uncleaned area between the event object and the environment boundary.

[0010] When it is determined that the uncleaned area exists, it is determined whether the sweeping robot can pass through the uncleaned area according to the current position of the sweeping robot, the position of the event object and the position of the target environment boundary.

[0011] If it can pass, the unswept area is determined as a missed sweeping area;

[0012] If it cannot pass, or there is no unswept area between the event object and the environment boundary, it is determined that there is no missed sweeping area.

[0013] In a possible implementation manner of the first aspect, the determining whether the sweeping robot can pass through the unswept area according to the current position of the sweeping robot, the position of the event object, and the position of the target environment boundary comprises:

[0014] determining whether a target angle between a first position point and a second position point is greater than a preset angle threshold based on the current position of the sweeping robot, wherein the first position point is a position point on the event object closest to the sweeping robot, and the second position point is a position point on the target environment boundary closest to the sweeping robot;

[0015] determining whether a target distance between the first position point and the second position point is greater than a preset distance threshold;

[0016] If the target angle is greater than the preset angle threshold, and the target distance is greater than the preset distance threshold, it is determined that the sweeping robot can pass through the unswept area.

[0017] In a possible implementation manner of the first aspect, the controlling the sweeping robot to sweep the missed sweeping area comprises:

[0018] calculating a target angle between a first position point and a second position point based on the current position of the sweeping robot, wherein the first position point is a position point on the event object closest to the sweeping robot, and the second position point is a position point on the target environment boundary closest to the sweeping robot;

[0019] determining a to-be-rotated angle according to the target angle and the sweeping direction of the edge-sweeping;

[0020] controlling the sweeping robot to sweep the missed sweeping area after rotating based on the to-be-rotated angle.

[0021] In a possible implementation manner of the first aspect, the controlling the sweeping robot to perform edge-sweeping comprises:

[0022] acquiring an edge distance between the sweeping robot and the environment boundary in real time in the edge-sweeping process;

[0023] controlling the sweeping robot to adjust a side wheel speed based on the edge distance.

[0024] In a possible implementation manner of the first aspect, the sweeping robot comprises a first side wheel and a second side wheel, and the controlling the sweeping robot to adjust the speed of the side wheels based on the along-edge distance comprises:

[0025] when the along-edge distance is less than a preset along-edge distance threshold, controlling the first side wheel of the sweeping robot to decelerate and the second side wheel of the sweeping robot to accelerate;

[0026] when the along-edge distance is greater than the preset along-edge distance threshold, controlling the first side wheel of the sweeping robot to accelerate and the second side wheel of the sweeping robot to decelerate;

[0027] wherein the first side wheel is a side wheel close to one side of the environment boundary.

[0028] In a possible implementation manner of the first aspect, the method further comprises:

[0029] when it is determined that there is no missed sweeping area or after the sweeping robot sweeps the missed sweeping area, controlling the sweeping robot to continue performing the along-edge sweeping according to the initial sweeping plan until a closed trajectory is formed by the along-edge sweeping trajectory.

[0030] In a second aspect, an embodiment of the present application provides a sweeping robot sweeping control device, the device comprising:

[0031] a missed sweeping judgment unit configured to, when the sweeping robot performs along-edge sweeping, determine whether there is a missed sweeping area between an event object in a specified event and a corresponding target environment boundary if the specified event is triggered, the triggering of the specified event comprising collision of the sweeping robot or detection of an obstacle by the sweeping robot, and the missed sweeping area being an area through which the sweeping robot can pass;

[0032] a sweeping control unit configured to, when it is determined that there is the missed sweeping area, control the sweeping robot to sweep the missed sweeping area.

[0033] In a third aspect, an embodiment of the present application provides an intelligent robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the sweeping robot sweeping control method of the first aspect when executing the computer program.

[0034] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, and the computer program is executable on a processor to implement the sweeping robot sweeping control method of the first aspect.

[0035] In a fifth aspect, the embodiments of the present application provide a computer program product, which, when running on the intelligent robot, causes the intelligent robot to perform the cleaning control method of the sweeping robot as described in the first aspect above.

[0036] In the embodiments of the present application, during the edge-following cleaning process of the sweeping robot, if a specified event is triggered, i.e., a collision occurs or an obstacle is detected, it is immediately determined whether there is a missed cleaning area between the event object in the specified event and the corresponding target environment boundary. When it is determined that there is the missed cleaning area, the sweeping robot is controlled to clean the missed cleaning area, so as to avoid the missed cleaning caused by the obstacle-avoiding detour during the edge-following cleaning, and effectively improve the comprehensiveness and effectiveness of the sweeping robot cleaning, thereby enhancing the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0038] Figure 1 is a scene schematic diagram of right edge-following cleaning provided by the embodiments of the present application;

[0039] Figure 2 is another scene schematic diagram of right edge-following cleaning provided by the embodiments of the present application;

[0040] Figure 3 is an implementation flowchart of the cleaning control method of the sweeping robot provided by the embodiments of the present application;

[0041] Figure 4 is a specific implementation flowchart of the cleaning control method of the sweeping robot provided by the embodiments of the present application to determine whether there is a missed cleaning area;

[0042] Figure 5.1 is a scene schematic diagram of the cleaning control method of the sweeping robot provided by the embodiments of the present application;

[0043] Figure 5.2 is a scene schematic diagram of the sweeping robot after rotation in the cleaning control method of the sweeping robot provided by the embodiments of the present application;

[0044] Figure 6 is a scene schematic diagram of the sweeping robot and the environment boundary in the cleaning control method of the sweeping robot provided by the embodiments of the present application;

[0045] Figure 7 is a structure block diagram of the cleaning control device of the sweeping robot provided by the embodiments of the present application;

[0046] Figure 8 is a schematic diagram of an intelligent robot provided by an embodiment of the present application. DETAILED DESCRIPTION

[0047] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular architectures, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application.

[0048] It is to be understood that the terminology "includes", "has", "holds", "contains" or "comprises", "comprising", or "including" when used in this specification and in the following claims, specifies the presence of the stated features, integers, steps, operations, elements, or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0049] It is also to be understood that the terminology "and / or" when used in this specification and in the following claims, refers to at least one of the items, or any combination of the items, and includes all possible combinations of the items.

[0050] As used in this specification and in the claims, the terms "if" and "when" can be interpreted to mean "upon" or "in response to a determination" or "in response to a detection" depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted to mean "upon determining" or "in response to a determining" or "upon detecting [the described condition or event]" or "in response to a detection [of the described condition or event]" depending on the context.

[0051] In addition, the terms "first", "second", "third", etc. in the description of the present application are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0052] Reference in the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in additional embodiments", etc. in various places in the specification are not necessarily all referring to the same embodiment, although they can. The terms "comprise", "comprising", "have", "having", "include", "including", "contain", "containing", and variants thereof, mean "including but not limited to", unless otherwise specified.

[0053] The cleaning process of a robotic vacuum cleaner generally consists of two parts: edge cleaning and full-coverage cleaning. It typically starts by cleaning along the edges to form a closed area, and then performs full-coverage cleaning within that closed area. Edge cleaning is usually divided into left edge cleaning and right edge cleaning. The cleaning directions for left and right edge cleaning are different; left edge cleaning is generally clockwise, while right edge cleaning is generally counter-clockwise.

[0054] Taking right-side edge cleaning as an example, the sweeper cleans along the right-side environmental boundary. During the edge cleaning process, when the sweeper encounters the environmental boundary or an obstacle, it will rotate to the left at a certain angle and then continue cleaning along the right-side environmental boundary until the cleaning trajectory forms a closed area, at which point the edge cleaning is finished.

[0055] like Figure 1 As shown, the area to be cleaned is a square area. The process of the sweeper cleaning along the edge is as follows: the sweeper starts from position ①, goes to positions ②, ③, and ④ in sequence, and finally returns to position ①, forming a closed square area. This edge cleaning of the area is then completed.

[0056] After a robot vacuum collides with an obstacle along the edge, it rotates at a certain angle to avoid the obstacle and continue cleaning along the edge. However, the applicant discovered that this process of avoiding obstacles and continuing edge cleaning may result in missed areas. Figure 2 As shown, when the sweeper is performing edge cleaning, it collides with the left side of the sweeper at position ④. The sweeper rotates to the left at a certain angle and then moves to position ⑤. It then continues to perform the edge cleaning process and reaches position ⑥ before returning to position ①. However, there may be a missed area at position ④.

[0057] In view of this, embodiments of this application provide a sweeping robot cleaning control method, device, storage medium, and intelligent robot. When the sweeping robot performs edge cleaning and a collision occurs or an obstacle is detected, it immediately determines whether there are any missed areas at the current location. This avoids missed areas caused by obstacle avoidance during edge cleaning, effectively improving the comprehensiveness and effectiveness of the sweeping robot's cleaning, thereby enhancing the user experience. For more specific technical implementation details of the embodiments of this application, please refer to the various embodiments described below.

[0058] It should be understood that the sweeping robot cleaning control method provided in the various method embodiments of this application is applicable to various types of intelligent robots that need to perform cleaning services or move along edges, and the embodiments of this application do not limit the specific type of intelligent robot.

[0059] Figure 1 The implementation flow of the sweeping robot cleaning control method provided in this application embodiment is illustrated. The method flow includes steps S301 to S302. The specific implementation principle of each step is as follows:

[0060] Step S301: When the robot cleaner is controlled to perform the edge cleaning, if a specified event is triggered, it is determined whether there is a missed cleaning area between an event object in the specified event and a corresponding target environment boundary.

[0061] The specified event includes a collision of the robot cleaner or an obstacle detected by the robot cleaner. In this embodiment, the missed cleaning area is an area through which the robot cleaner can pass.

[0062] The target environment boundary is a boundary in an environment area in which the robot cleaner performs the edge cleaning, specifically, a boundary at which the robot cleaner performs the edge cleaning when the specified event is triggered. In this embodiment, according to a position of the event object and a current position of the robot cleaner, a target environment boundary corresponding to the event object in the environment area in which the robot cleaner performs the edge cleaning is determined, and the event object and the target environment boundary are on two sides of the robot cleaner in a cleaning direction. As shown in FIG. 4, the robot cleaner at position 4 has a collision object on the left side and a target environment boundary on the right side. Figure 2

[0063] When the robot cleaner performs the edge cleaning, if a collision occurs, the event object is the collision object, and it is determined whether there is a missed cleaning area between the collision object and the target environment boundary.

[0064] When the robot cleaner performs the edge cleaning, if an obstacle is detected, the event object is the obstacle, and it is determined whether there is a missed cleaning area between the collision object and the target environment boundary.

[0065] In this embodiment, the robot cleaner is provided with a laser radar and a collision sensor. The laser radar is used to detect obstacles around the robot cleaner, and the collision sensor is used to detect whether a collision occurs. In some embodiments, the laser radar can rotate 360°, and can record the angle of rotation and the measured distance during rotation. Specifically, the laser radar rotates at a fixed angle, and measures the distance at each fixed angle.

[0066] In this embodiment, when the robot cleaner performs the edge cleaning, the laser radar is used to detect obstacles in real time, and the collision sensor is used to detect whether a collision occurs in real time. When an obstacle or a collision is detected, it is immediately determined whether there is a missed cleaning area between the obstacle or the collision object and the environment boundary.

[0067] As a possible implementation manner of the present application, Figure 4 A specific implementation process of determining whether there is a missed cleaning area in the robot cleaner cleaning control method provided by the present application is shown, and is described in detail as follows:

[0068] ​A1: Determine whether there is an uncleaned area between the event object and the environmental boundary. An uncleaned area refers to an area where there is no cleaning trajectory. In this embodiment, the existence of an uncleaned area between the collision object or obstacle and the environmental boundary can be determined based on the cleaning trajectory of edge cleaning.

[0069] A2: When an uncleaned area is determined, the robot vacuum cleaner can pass through the uncleaned area based on the current position of the robot vacuum cleaner, the position of the event object, and the position of the target environment boundary.

[0070] In one possible implementation, based on the current position of the robot vacuum, its center point is determined. Using this center point as a vertex, the angle between a first position point and a second position point is obtained; this angle is the target angle, and the opening of the target angle faces the same direction as the current travel direction of the robot vacuum. It is determined whether the target angle between the first and second position points is greater than a preset angle threshold, which can be 120°. Here, the first position point is the closest position point on the event object to the robot vacuum, and the second position point is the closest position point on the boundary of the target environment to the robot vacuum. It is also determined whether the target distance between the first and second position points is greater than a preset distance threshold, which can be the diameter of the robot vacuum. If the target angle is greater than the preset angle threshold, and the target distance is also greater than the preset distance threshold, then it is determined that the robot vacuum can pass through the uncleaned area.

[0071] For example, such as Figure 5.1 As shown, the robot vacuum performs right-edge cleaning. Based on the robot vacuum's current position, it determines the nearest points on the right and left. The nearest point on the left is the point on an obstacle or collision object closest to the robot vacuum, and the nearest point on the right is the point on the target environment boundary closest to the robot vacuum. Using the robot vacuum's center point as the vertex, it determines the target angle theta between the nearest points on the left and right. It then checks if theta is greater than 120° and if the target distance between the nearest points on the left and right is greater than the robot vacuum's diameter. If theta is greater than 120° and the target distance is greater than the robot vacuum's diameter, then the robot vacuum can pass through the uncleaned area.

[0072] A3: If it passes, the uncleaned area is identified as a missed area.

[0073] A4: If it fails, or if there is no uncleaned area between the event object and the environmental boundary, then it is determined that there is no missed area.

[0074] In this embodiment, when it is found that there is an unswept area, whether the sweeper can pass through the unswept area is evaluated through the above operation, and the narrow unswept area that the sweeper can pass through is determined as the missed-sweeping area, the sweeper can be controlled to attempt to enter the missed-sweeping area for cleaning, so as to avoid the occurrence of missed-sweeping. For the unswept area that the sweeper cannot enter, it is defaulted that there is no missed-sweeping in the area.

[0075] In some embodiments, the unswept area that the sweeper cannot pass through is marked in the grid map to prompt the user that the sweeper cannot pass through the unswept area for cleaning.

[0076] Step S302: When it is determined that the missed-sweeping area exists, the sweeper is controlled to clean the missed-sweeping area.

[0077] In some embodiments, when it is determined that the missed-sweeping area exists, the sweeper is controlled to first adjust the orientation by rotating a certain angle, and then clean the missed-sweeping area based on the adjusted orientation.

[0078] As a possible implementation manner of the present application, based on the current position of the sweeper, a target angle between a first position point and a second position point is calculated, wherein the first position point is the position point on the event object closest to the sweeper, and the second position point is the position point on the target environment boundary closest to the sweeper. According to the target angle and the cleaning direction of the edge-sweeping, a rotation angle to be rotated is determined, the rotation angle to be rotated including a rotation angle and a rotation direction. The sweeper is controlled to rotate based on the rotation angle to be rotated, and then clean the missed-sweeping area.

[0079] In this embodiment, the rotation angle is the difference between 180° and the target angle, and the rotation direction is opposite to the cleaning direction of the edge-sweeping of the sweeper this time.

[0080] When the cleaning direction is counterclockwise, the sweeper is controlled to continue to clean the missed-sweeping area after rotating clockwise based on the rotation angle. When the cleaning direction is clockwise, the sweeper is controlled to continue to clean the missed-sweeping area after rotating counterclockwise based on the rotation angle. That is, before cleaning the missed-sweeping area, for right edge-sweeping, the rotation direction of the sweeper is to the right, and for left edge-sweeping, the rotation direction of the sweeper is to the left.

[0081] Exemplarily, as shown in FIG. 6, when it is determined that the target angle is theta, the rotation angle gama = 180-theta is determined. The sweeper is controlled to rotate gama degrees to the right, and then the cleaning process is performed. The sweeper after rotation is as shown in FIG. 7. Figure 5.1 Figure 5.2

[0082] ​​In this embodiment, the cleaning robot is controlled to rotate based on the to-be-rotated angle and then clean the missed cleaning area, aiming to avoid obstacles and avoid the collision object or obstacle in the above-mentioned specified event from blocking the cleaning of the missed cleaning area.

[0083] As a possible implementation of the present application, when it is determined that there is no missed cleaning area, or after the cleaning robot is controlled to clean the missed cleaning area, the cleaning robot is controlled to continue to perform the edge cleaning according to the initial cleaning plan until the edge cleaning track forms a closed track.

[0084] When it is determined that there is no missed cleaning area, the cleaning robot is first controlled to rotate to adjust the orientation, and then the edge cleaning is continued according to the initial plan. Specifically, the cleaning robot is rotated by a target angle, and the rotation direction is the same as the cleaning direction of the edge cleaning of the cleaning robot this time.

[0085] When the cleaning direction is counterclockwise, the cleaning robot is controlled to continue to perform the edge cleaning after counterclockwise rotation based on the target angle. When the cleaning direction is clockwise, the cleaning robot is controlled to continue to perform the edge cleaning after clockwise rotation based on the target angle. That is, before the edge cleaning is continued after it is determined that there is no missed cleaning area, for right edge cleaning, the rotation direction of the cleaning robot is left, and for left edge cleaning, the rotation direction of the cleaning robot is right.

[0086] The control of the cleaning robot to perform the edge cleaning specifically includes: acquiring an edge distance between the cleaning robot and the environment boundary in real time during the edge cleaning; and controlling the cleaning robot to adjust the speed of the side wheels based on the edge distance.

[0087] In a possible implementation, the cleaning robot includes a first side wheel and a second side wheel, and the control of the cleaning robot to adjust the speed of the side wheels based on the edge distance includes:

[0088] (1) When the edge distance is less than a preset edge distance threshold, the first side wheel of the cleaning robot is controlled to decelerate, and the second side wheel of the cleaning robot is controlled to accelerate;

[0089] (2) When the edge distance is greater than the preset edge distance threshold, the first side wheel of the cleaning robot is controlled to accelerate, and the second side wheel of the cleaning robot is controlled to decelerate.

[0090] The first side wheel is the side wheel close to one side of the environment boundary.

[0091] For example, the cleaning robot includes a first side wheel and a second side wheel, as shown in Figure 6As shown, a coordinate system is established with the center point of the robot as the origin, and the distance h from a fixed angle to the environment boundary is measured by a laser radar distance sensor. In order to enable the robot to keep a set distance s along the boundary to clean, the speed of the wheels of the two robots needs to be effectively controlled by a control algorithm, and a PID algorithm is generally used for control. In simple terms, when h is less than s, the robot is too close to the environment boundary, and the right wheel needs to be controlled to slow down and the left wheel needs to be controlled to speed up. Conversely, when h is greater than s, the robot is too far from the environment boundary, which is prone to cause incomplete cleaning, and the right wheel needs to be controlled to speed up and the left wheel needs to be controlled to slow down.

[0092] In a possible implementation, during the cleaning of the missed cleaning area, if the area of the missed cleaning area is large enough, that is, the area of the missed cleaning area reaches a preset area threshold, the robot also runs the mode of first along the boundary and then full coverage cleaning in the missed cleaning area. The control method of along-the-boundary cleaning is the same as the above, which will not be described here.

[0093] In the embodiments of the present application, during the along-the-boundary cleaning process of the robot, if a specified event is triggered, that is, a collision occurs or an obstacle is detected, it is immediately determined whether there is a missed cleaning area between the event object in the specified event and the corresponding target environment boundary. When it is determined that there is a missed cleaning area, the robot is controlled to clean the missed cleaning area, avoiding missed cleaning due to along-the-boundary cleaning obstacle avoidance, which can effectively improve the comprehensiveness and effectiveness of the robot cleaning, thereby enhancing the user experience.

[0094] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0095] Corresponding to the cleaning control method of the robot described in the above embodiments, Figure 7 The structure block diagram of the cleaning control device of the robot provided by the embodiments of the present application is shown, and only the parts related to the embodiments of the present application are shown for ease of description.

[0096] Referring to Figure 7 The cleaning control device of the robot is applied to a robot, and the above cleaning control device of the robot comprises a missed cleaning judgment unit 71 and a cleaning control unit 72.

[0097] The missed cleaning judgment unit 71 is used to control the robot to execute along-the-boundary cleaning, and if a specified event is triggered, it is determined whether there is a missed cleaning area between the event object in the specified event and the corresponding target environment boundary. The specified event triggering includes a collision of the robot or an obstacle detected by the robot, and the missed cleaning area is a region that can be passed through by the robot;

[0098] The cleaning control unit 72 is configured to control the robot cleaner to clean the missed cleaning area when it is determined that the missed cleaning area exists.

[0099] As a possible implementation of the present application, the missed cleaning determination unit 71 comprises:

[0100] The missed cleaning determination unit 71 comprises:

[0101] The missed cleaning determination unit 71 comprises:

[0102] As a possible implementation of the present application, the missed cleaning determination unit 71 comprises:

[0103] The missed cleaning determination unit 71 comprises:

[0104] The missed cleaning determination unit 71 comprises:

[0105] The missed cleaning determination unit 71 comprises:

[0106] As a possible implementation of the present application, the cleaning control unit 72 comprises:

[0107] The cleaning control unit 72 comprises:

[0108] The cleaning control unit 72 comprises:

[0109] The cleaning control unit 72 comprises:

[0110] As a possible implementation of the present application, the cleaning control unit 72 comprises:

[0111] a distance acquisition module, configured to acquire, in real time, an edge distance between the cleaning robot and the environment boundary during the edge cleaning process;

[0112] a speed control module, configured to control the cleaning robot to adjust the speed of the side wheels based on the edge distance.

[0113] As a possible implementation of the present application, the cleaning robot comprises a first side wheel and a second side wheel, and the speed control module is specifically configured to:

[0114] when the edge distance is less than a preset edge distance threshold, control the first side wheel of the cleaning robot to decelerate and the second side wheel of the cleaning robot to accelerate;

[0115] when the edge distance is greater than the preset edge distance threshold, control the first side wheel of the cleaning robot to accelerate and the second side wheel of the cleaning robot to decelerate.

[0116] wherein the first side wheel is the side wheel close to one side of the environment boundary.

[0117] As a possible implementation of the present application, the cleaning control unit 72 is further configured to:

[0118] when it is determined that there is no missed cleaning area, or after controlling the cleaning robot to clean the missed cleaning area, control the cleaning robot to continue to perform edge cleaning according to the initial cleaning plan until the trajectory of the edge cleaning forms a closed trajectory.

[0119] In the embodiments of the present application, during the edge cleaning process of the cleaning robot, if a specified event is triggered, i.e., a collision occurs or an obstacle is detected, it is immediately determined whether there is a missed cleaning area between the event object in the specified event and the corresponding target environment boundary, and when it is determined that there is a missed cleaning area, the cleaning robot is controlled to clean the missed cleaning area, so as to avoid missing cleaning due to obstacle avoidance during edge cleaning, and effectively improve the comprehensiveness and effectiveness of cleaning of the cleaning robot, thereby enhancing the user experience.

[0120] It should be noted that the information interaction, execution process, etc. between the above devices / units, since based on the same concept as the method embodiments of the present application, the specific functions and the technical effects brought by them can be referred to the method embodiments part, and will not be repeated here.

[0121] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of any one of the cleaning robot cleaning control methods represented by Figures 3 to 6 .

[0122] The embodiment of the present application further provides an intelligent robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the cleaning control method of the sweeping robot as shown in any of the following formulas when executing the computer program. Figures 3 to 6 The steps of the cleaning control method of the sweeping robot as shown in any of the following formulas.

[0123] The embodiment of the present application further provides a computer program product, which, when running on a server, causes the server to implement the steps of the cleaning control method of the sweeping robot as shown in any of the following formulas. Figures 3 to 6 The steps of the cleaning control method of the sweeping robot as shown in any of the following formulas.

[0124] Figure 8 is a schematic diagram of an intelligent robot provided by an embodiment of the present application. As shown in the formula, Figure 8 The intelligent robot 8 of the embodiment comprises a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80. The processor 80 implements the steps in each of the cleaning control method embodiments of the sweeping robot when executing the computer program 82, for example, the steps S301-S302 as shown in the formula, Figure 1 Alternatively, the processor 80 implements the functions of each module / unit in each of the device embodiments when executing the computer program 82, for example, the functions of the units 71-72 as shown in the formula. Figure 7

[0125] For example, the computer program 82 can be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more modules / units can be a series of computer readable instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 82 in the intelligent robot 8.

[0126] The intelligent robot 8 can be a sweeping robot. The intelligent robot 8 can comprise, but is not limited to, the processor 80, the memory 81. Those skilled in the art can understand that, Figure 8 The intelligent robot 8 is only an example and does not constitute a limitation on the intelligent robot 8, and can include more or fewer components than the diagram, or combine certain components, or different components, for example, the intelligent robot 8 can also include an input / output device, a network access device, a bus, etc.

[0127] ​The processor 80 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0128] The memory 81 can be an internal storage unit of the intelligent robot 8, such as a hard disk or a memory of the intelligent robot 8. The memory 81 can also be an external storage device of the intelligent robot 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the intelligent robot 8. Further, the memory 81 can also include both the internal storage unit and the external storage device of the intelligent robot 8. The memory 81 is used to store the computer program and other programs and data required by the intelligent robot. The memory 81 can also be used to temporarily store data that has been output or will be output.

[0129] It should be noted that the information interaction, execution process, etc. between the above devices / units, since based on the same concept as the method embodiments of the present application, the specific functions and the technical effects brought by them can be referred to the method embodiments part, and will not be repeated here.

[0130] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific name of each functional unit and module is only for easy distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the above system can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0131] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods, which can be completed by instructing related hardware through a computer program. The computer program can be stored in a computer readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0132] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0133] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for controlling cleaning of a robot vacuum cleaner, characterized by The method comprises: When the sweeping robot performs the edge cleaning, if a specified event is triggered, it is determined whether there is a missed cleaning area between an event object in the specified event and a corresponding target environment boundary, comprising: determining whether there is an uncleaned area between the event object and the target environment boundary; when it is determined that there is an uncleaned area, it is determined whether the sweeping robot can pass through the uncleaned area according to the current position of the sweeping robot, the position of the event object and the position of the target environment boundary; if it can pass through, the uncleaned area is determined as a missed cleaning area; if it cannot pass through, or there is no uncleaned area between the event object and the target environment boundary, it is determined that there is no missed cleaning area; the specified event triggered includes that the sweeping robot collides or the sweeping robot detects an obstacle, and the missed cleaning area is an area that the sweeping robot can pass through; the determination of whether the sweeping robot can pass through the uncleaned area according to the current position of the sweeping robot, the position of the event object and the position of the target environment boundary comprises: determining whether a target angle between a first position point and a second position point is greater than a preset angle threshold based on the current position of the sweeping robot, wherein the first position point is the closest position point on the event object to the sweeping robot, and the second position point is the closest position point on the target environment boundary to the sweeping robot; determining whether a target distance between the first position point and the second position point is greater than a preset distance threshold; if the target angle is greater than the preset angle threshold and the target distance is greater than the preset distance threshold, it is determined that the sweeping robot can pass through the uncleaned area; When it is determined that there is a missed cleaning area, the sweeping robot is controlled to clean the missed cleaning area.

2. The method of claim 1, wherein, The control of the sweeping robot to clean the missed cleaning area comprises: Based on the current position of the sweeping robot, the target angle between the first position point and the second position point is calculated, wherein the first position point is the closest position point on the event object to the sweeping robot, and the second position point is the closest position point on the target environment boundary to the sweeping robot; According to the target angle and the cleaning direction of the edge cleaning, a rotation angle to be rotated is determined; After the sweeping robot is controlled to rotate based on the rotation angle to be rotated, the missed cleaning area is cleaned.

3. The method of claim 1, wherein, The control of the sweeping robot to perform the edge cleaning comprises: The edge distance between the sweeping robot and the environment boundary in the edge cleaning process is acquired in real time; Based on the edge distance, the speed of the side wheels of the sweeping robot is adjusted.

4. The cleaning control method of the robot cleaner according to claim 3, wherein The sweeping robot comprises first side wheels and second side wheels, and the control of the sweeping robot to adjust the speed of the side wheels based on the edge distance comprises: When the edge distance is less than a preset edge distance threshold, the first side wheels of the sweeping robot are controlled to decelerate, and the second side wheels of the sweeping robot are controlled to accelerate; When the edge distance is greater than the preset edge distance threshold, the first side wheels of the sweeping robot are controlled to accelerate, and the second side wheels of the sweeping robot are controlled to decelerate; The first side wheels are the side wheels close to one side of the target environment boundary.

5. The method according to any one of claims 1 to 4, wherein The method further comprises: When it is determined that the missed sweeping area does not exist, or after controlling the sweeping robot to sweep the missed sweeping area, the sweeping robot continues to perform the edge sweeping according to the initial sweeping plan until a closed trajectory is formed by the edge sweeping trajectory.

6. A cleaning control device for a robot vacuum cleaner, characterized in that The device comprises: A missed sweeping judgment unit is configured to determine whether a missed sweeping area exists between an event object in a specified event and a corresponding target environment boundary when the sweeping robot performs edge sweeping, the specified event including collision of the sweeping robot or detection of an obstacle by the sweeping robot, and the missed sweeping area being a region through which the sweeping robot can pass; the missed sweeping judgment unit comprises: An unswept area judgment module is configured to determine whether an unswept area exists between the event object and the target environment boundary; A missed sweeping area determination module is configured to determine whether the sweeping robot can pass through the unswept area according to a current position of the sweeping robot, a position of the event object, and a position of the target environment boundary when it is determined that the unswept area exists, and determine the unswept area as the missed sweeping area if the sweeping robot can pass through the unswept area, determine that the missed sweeping area does not exist if the sweeping robot cannot pass through the unswept area or the unswept area does not exist between the event object and the target environment boundary, determine whether a target angle between a first position point and a second position point is greater than a preset angle threshold based on the current position of the sweeping robot, the first position point being a position point on the event object closest to the sweeping robot, and the second position point being a position point on the target environment boundary closest to the sweeping robot, determine whether a target distance between the first position point and the second position point is greater than a preset distance threshold, and determine that the sweeping robot can pass through the unswept area if the target angle is greater than the preset angle threshold and the target distance is greater than the preset distance threshold; A sweeping control unit is configured to control the sweeping robot to sweep the missed sweeping area when it is determined that the missed sweeping area exists.

7. An intelligent robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the sweeping robot sweeping control method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, the computer-readable storage medium comprising: The computer program is executed by the processor to implement the sweeping robot sweeping control method according to any one of claims 1 to 5.

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