Control method of cleaning robot

Abstract

The invention provides a control method for a cleaning robot, and the method comprises the steps: determining a turning circle center according to the position information and / or distance information of a driving part and a cleaning part when the cleaning robot carries out the obstacle avoidance turning according to a first path; judging whether the distance between the turning circle center and the encountered obstacle is greater than a first distance; wherein the first distance is the maximum distance between the turning circle center and the edge of the bottom surface of the cleaning robot; if the judgment result indicates that the distance between the turning circle center and the obstacle is larger than the first distance, the cleaning robot is controlled to rotate by a preset angle indicated by the first path with the turning circle center as the center, and the cleaning robot is controlled to continue to advance according to the first path after rotation. In the application, the turning circle center is determined according to the position information and / or the distance information of the driving component and the cleaning component, so that the cleaning robot does not generate a cleaning blind area when turning around the determined turning circle center, and the cleaning effect is fully ensured.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and in particular to a control method for a cleaning robot. Background Art

[0002] With the development of science and technology, cleaning robots such as sweeping robots and sweeping and mopping robots have been widely used in people's lives. The cleaning robot is equipped with cleaning parts such as mops and driving parts such as driving wheels; when cleaning, the driving parts drive the cleaning robot to move along the preset trajectory, and at the same time, the cleaning parts clean the areas that the cleaning robot passes through during the movement.

[0003] At present, the cleaning robot is symmetrically provided with two driving components. When the cleaning robot turns, it will rotate with one of the driving components as the rotation center. However, in the existing cleaning robot products, the cleaning component is usually located in front of or behind the driving component. In this case, when the cleaning robot turns in the above manner, a cleaning blind spot will be generated. The more turns, the more cleaning blind spots will be formed. The existence of cleaning blind spots greatly reduces the cleaning effect. For example, when the cleaning robot turns as follows: Figure 1 When the preset travel track shown by the arrow turns, the cleaning component 20 will form a Figure 2 The cleaning track shown by the shadow shows that a cleaning blind area A is formed at the turning point. The larger the turning angle, the larger the area of ​​the cleaning blind area A. Figure 2 The drive wheel 10 shown in FIG. 1 is the center of rotation.

[0004] In the prior art, the blind spots are cleaned by overlapping the coverage areas. However, this method requires repeated cleaning of the same area, resulting in low cleaning efficiency. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a control method for a cleaning robot, thereby avoiding the generation of cleaning blind spots and ensuring the cleaning effect.

[0006] The present application provides a control method for a cleaning robot, wherein a cleaning component and a driving component are provided on the bottom surface of the cleaning robot, and the cleaning component and the driving component are arranged at intervals in the longitudinal direction, and the driving component is located in front of the cleaning component, or the driving component is located behind the cleaning component; the control method for the cleaning robot comprises: when the cleaning robot turns to avoid obstacles along a first path, determining the center of a turning circle according to position information and / or distance information of the driving component and the cleaning component; judging whether the distance between the center of a turning circle and an encountered obstacle is greater than a first distance; wherein the first distance is the maximum distance between the center of a turning circle and an edge of a bottom surface of the cleaning robot; if the judgment result indicates that the distance between the center of a turning circle and the obstacle is greater than the first distance, controlling the cleaning robot to rotate by a preset angle indicated by the first path with the center of a turning circle as the center, and controlling the cleaning robot to continue to move along the first path after the rotation.

[0007] In one embodiment, a plurality of driving components are provided; the driving components include a target driving component; the center of a turning circle is determined according to position information and / or distance information between the driving component and the cleaning component, including: determining the target driving component according to the turning direction of the cleaning robot indicated by the first path; and determining the center of a turning circle based on the position information and / or distance information between the target driving component and the cleaning component.

[0008] In one embodiment, two driving components are provided, and the two driving components are divided into a first driving component and a second driving component; the first driving component and the second driving component are arranged in a lateral interval, and the first driving component is located on the right side of the cleaning robot, and the second driving component is located on the left side of the cleaning robot; according to the turning direction of the cleaning robot indicated by the first path, the target driving component is determined, including: if the turning direction is clockwise, the target driving component is the first driving component; if the turning direction is counterclockwise, the target driving component is the second driving component.

[0009] In one embodiment, the distance information between the target driving component and the cleaning component includes a lateral distance W between the target driving component and the cleaning component and a longitudinal distance H between the target driving component and the cleaning component; based on the position information and / or distance information of the target driving component and the cleaning component, determining the center of the turning circle includes: based on the position information, the lateral distance W and the longitudinal distance H between the target driving component and the cleaning component, determining the center of the turning circle.

[0010] In one embodiment, the center of the turning circle is determined based on the positional relationship between the target driving component and the cleaning component, the lateral distance W and the longitudinal distance H, including: when the target driving component is located inside the cleaning component, the center of the turning circle is determined according to the difference between the lateral distance W and the longitudinal distance H; when the target driving component is not located inside the cleaning component, the center of the turning circle is determined according to the sum of the lateral distance W and the longitudinal distance H.

[0011] In one embodiment, two driving components are provided, and the two driving components are arranged at intervals in the transverse direction; the turning center is determined according to the difference between the transverse distance W and the longitudinal distance H, including: if the transverse distance W is greater than the longitudinal distance H, a first target point located outside the two driving components and at a transverse distance WH from the target driving component is used as the turning center; if the transverse distance W is less than the longitudinal distance H, a second target point located between the two driving components and at a transverse distance HW from the target driving component is used as the turning center.

[0012] In one embodiment, two driving components are provided, and the two driving components are arranged in a lateral interval; the turning center is determined according to the sum of the lateral distance W and the longitudinal distance H, including: taking a third target point located between the two driving components and with a lateral distance H+W from the target driving component as the turning center.

[0013] In one embodiment, when controlling the cleaning robot to take the turning circle center as the center, the control method of the cleaning robot further includes: if the judgment result indicates that the distance between the turning circle center and the obstacle is not greater than the first distance, controlling the cleaning robot to move to the target position; wherein the distance between the turning circle center and the obstacle at the target position is greater than the first distance;

[0014] After the movement is successful, the cleaning robot is controlled to rotate by a preset angle indicated by the first path with the turning circle as the center, and after the rotation, the cleaning robot is controlled to continue to move along the first path.

[0015] In one embodiment, the transverse distance W is the shortest distance between the target driving component and the cleaning component in the transverse direction; and the longitudinal distance H is the shortest distance between the target driving component and the cleaning component in the longitudinal direction.

[0016] In one embodiment, the lateral distance W is 1 to 6 cm, and the longitudinal distance H is 1 to 6 cm.

[0017] In the present application, the turning center is determined based on the position information and / or distance information of the driving component and the cleaning component, so that the cleaning robot can avoid cleaning blind spots when turning with the determined turning center, and the cleaning effect is fully guaranteed. At the same time, compared with the prior art, the present application does not need to repeatedly clean the same area, and the cleaning efficiency is high. In addition, the present application only turns when it is determined that the distance between the turning center and the obstacle encountered is greater than the maximum distance between the turning center and the bottom edge of the cleaning robot, which effectively avoids the cleaning robot from colliding with obstacles and avoiding damage to the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings required for use in the embodiments of the present application are briefly introduced below.

[0019] Figure 1 A schematic diagram of a preset travel trajectory provided in an embodiment of the present application;

[0020] Figure 2 A cleaning schematic diagram of the cleaning robot provided in the first embodiment of the present application;

[0021] Figure 3 A schematic bottom view of a cleaning robot provided in the first embodiment of the present application;

[0022] Figure 4 A schematic bottom view of a cleaning robot provided in a second embodiment of the present application;

[0023] Figure 5 A schematic bottom view of a cleaning robot provided in a third embodiment of the present application;

[0024] Figure 6 A connection diagram of a control unit provided in one embodiment of the present application;

[0025] Figure 7 A schematic diagram of a flow chart of a control method for a cleaning robot provided in one embodiment of the present application;

[0026] Figure 8 A schematic bottom view of a cleaning robot provided in a fourth embodiment of the present application;

[0027] Fig. 9 A schematic diagram of a process for determining a turning center provided in an embodiment of the present application;

[0028] Fig.10 A schematic bottom view of a cleaning robot provided in a fifth embodiment of the present application;

[0029] Fig.11 A schematic bottom view of a cleaning robot provided in a sixth embodiment of the present application;

[0030] Fig.12 A cleaning schematic diagram of a cleaning robot provided in the second embodiment of the present application;

[0031] Fig.13 A schematic bottom view of a cleaning robot provided in a seventh embodiment of the present application;

[0032] Fig.14 A schematic diagram of the movement of the cleaning robot provided in the first embodiment of the present application;

[0033] Fig.15 A schematic bottom view of a cleaning robot provided in an eighth embodiment of the present application;

[0034] Fig.16 A cleaning schematic diagram of a cleaning robot provided in the third embodiment of the present application;

[0035] Fig.17 A schematic diagram of the movement of the cleaning robot provided in the second embodiment of the present application;

[0036] Fig.18 A schematic bottom view of a cleaning robot provided in a ninth embodiment of the present application;

[0037] Fig.19 A cleaning schematic diagram of a cleaning robot provided in the fourth embodiment of the present application;

[0038] Fig. 20 A schematic bottom view of a cleaning robot provided in the tenth embodiment of the present application;

[0039] Fig.21 A schematic bottom view of a cleaning robot provided in the eleventh embodiment of the present application;

[0040] Fig. 22 This is a schematic bottom view of the cleaning robot provided in the twelfth embodiment of the present application.

[0041] Reference numerals:

[0042] 1-cleaning robot; 10-driving component; 11-first driving component; 12-second driving component; 20-cleaning component; 21-first end surface; 22-second end surface; 30-control unit; 31-bus; 32-processor; 33-memory. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0044] Similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0045] The present application provides a cleaning robot 1 for cleaning a surface to be cleaned on the ground. Specifically, the cleaning robot 1 may be a sweeping robot or a sweeping and mopping robot. Figure 3 , which is a bottom view of the cleaning robot 1 provided in the first embodiment of the present application. Figure 4 , which is a bottom view of the cleaning robot 1 provided in the second embodiment of the present application. Figure 5 , which is a bottom view of the cleaning robot 1 provided in the third embodiment of the present application. Figure 6 , which is a connection diagram of the control unit 30 provided in one embodiment of the present application. Figure 3 , Figure 4 and Figure 5 As shown, a cleaning component 20 and a driving component 10 are provided on the bottom surface of the cleaning robot 1. The cleaning component 20 and the driving component 10 are arranged at intervals in the longitudinal direction. The driving component 10 is located at the front side of the cleaning component 20 (such as Figure 3 and Figure 5 Alternatively, the driving component 10 is located at the rear side of the cleaning component 20 (as shown in Figure 4 As shown), the cleaning component 20 may be a roller mop (as shown Figure 3 and Figure 4 As shown) or can be a double turntable mop (as Figure 5 As shown in Figure 6 As shown, the cleaning robot 1 in the present application further includes a control unit 30, and the control unit 30 includes: at least one processor and a memory 33, Figure 6 A processor is taken as an example. The processor 32 and the memory 33 are connected via a bus 31, and the memory 33 stores instructions that can be executed by the processor 32, and the instructions are executed by the processor 32. The control unit 30 is used to execute the control method of the cleaning robot 1 provided in the following embodiments of the present application.

[0046] The control unit 30 can be connected to the driving component 10 and the cleaning component 20 . The driving component 10 is used to drive the cleaning robot 1 to move under the control of the control unit 30 , and the cleaning component 20 is used to clean the area passed by the cleaning robot 1 during its movement under the control of the control unit 30 .

[0047] Please refer to Figure 7 , which is a flow chart of a control method of a cleaning robot 1 provided in an embodiment of the present application. Figure 7 As shown, the method includes the following steps S210 to S220.

[0048] Step S210 : when the cleaning robot 1 turns along the first path to avoid obstacles, the center of the turning circle is determined according to the position information and / or distance information of the driving component 10 and the cleaning component 20 .

[0049] In this step, when the control unit 30 receives the operation instruction, it controls the driving component 10 to operate, so that the driving component 10 drives the cleaning robot 1 to move along the preset first path to clean the ground surface to be cleaned. When encountering obstacles along the preset first path, it is necessary to avoid the obstacles by turning. At this time, the control unit determines the turning center according to the position information and / or distance information of the driving component 10 and the cleaning component 20, so that the cleaning robot can turn around the turning center.

[0050] Step S220: Determine whether the distance between the turning circle center and the encountered obstacle is greater than a first distance, wherein the first distance is the maximum distance between the turning circle center and the bottom edge of the cleaning robot.

[0051] In this step, after determining the turning center, the control unit can determine whether the distance between the turning center and the obstacle is greater than the maximum distance between the turning center and the bottom edge of the cleaning robot. In this way, the cleaning robot is processed for anti-collision to avoid collision between the cleaning robot and the obstacle. Figure 8 As shown in the figure, I1 is the determined turning center. At this time, the cleaning robot needs to Figure 8 The cleaning robot rotates in the clockwise direction O1 as shown in the figure. At this time, before the rotation, the control unit determines whether the distance D between the turning center I1 and the obstacle is greater than the maximum distance d between the turning center I1 and the edge of the bottom surface of the cleaning robot. If the judgment result indicates that the distance D between the turning center I1 and the obstacle is greater than the maximum distance d between the turning center I1 and the edge of the bottom surface of the cleaning robot, the cleaning robot is controlled to execute step S230 to make the cleaning robot perform a turning operation. If the judgment result indicates that the distance D between the turning center I1 and the obstacle is not greater than the maximum distance d between the turning center I1 and the edge of the bottom surface of the cleaning robot, it means that the turning cleaning robot will collide with the obstacle at this time. At this time, in order to avoid the collision between the cleaning robot and the obstacle, the control unit first controls the cleaning robot to move to the target position. After the movement is successful, the cleaning robot is controlled to execute step S230 to make the cleaning robot perform a turning operation; wherein, the distance D between the turning center I1 of the cleaning robot at the target position and the obstacle is greater than the maximum distance d between the turning center I1 and the edge of the bottom surface of the cleaning robot.

[0052] Step S230: If the judgment result indicates that the distance between the turning center and the obstacle is greater than the first distance, the cleaning robot 1 is controlled to rotate around the turning center to a preset angle indicated by the first path, and after the rotation, the cleaning robot 1 is controlled to continue to move along the first path.

[0053] In this step, after the distance between the turning center and the obstacle is greater than the first distance, the control unit can drive the component 10 to rotate the preset angle indicated by the first path around the turning center, and after the rotation, the driving component 10 continues to drive the cleaning robot 1 to move along the first path to clean the surface to be cleaned. The preset angle can be 45°, 90°, 135°, 180°, etc.

[0054] During the entire process of cleaning the surface to be cleaned, as long as the cleaning robot 1 reaches a turning point, the above steps S210 to S220 are executed until the cleaning of the surface to be cleaned is stopped.

[0055] It can be seen from the above content that in the present application, the turning center is determined according to the position information and / or distance information of the driving component 10 and the cleaning component 20, so that the cleaning robot 1 can avoid generating a cleaning blind spot when turning at the determined turning center, thereby fully ensuring the cleaning effect. At the same time, compared with the prior art, there is no need to repeatedly clean the same area in the present application, and the cleaning efficiency is high. Furthermore, the present application avoids the collision of the cleaning robot with obstacles when turning, and protects the cleaning robot 1. At the same time, the problem of low cleaning efficiency caused by rotating in place due to collision with obstacles is avoided, thereby improving the cleaning efficiency. In addition, the continuity of turning and the smoothness of operation are guaranteed.

[0056] In one embodiment, a plurality of driving components 10 are provided, and in this case, the control unit 30 can be Fig. 9 Steps S310-S320 shown in FIG. 1 determine the turning center:

[0057] Step S310: determining a target driving component 10 according to the turning direction of the cleaning robot 1 indicated by the first path.

[0058] The driving component 10 includes a target driving component 10 .

[0059] In this step, when determining the turning center, the control unit 30 can first select one or more of the multiple driving targets as the target driving component 10 according to the turning direction of the cleaning robot 1 indicated by the first path. After the selection is successful, the turning center is determined according to the position information and / or distance information between the target driving component 10 and the cleaning component 20.

[0060] In one embodiment, if Fig.10 As shown, two driving components 10 are provided, and the two driving components 10 are divided into a first driving component 11 and a second driving component 12; the first driving component 11 and the second driving component 12 are arranged on the bottom surface of the cleaning robot 1 in a lateral interval, and the first driving component 11 is located on the right side of the cleaning robot 1, and the second driving component 12 is located on the left side of the cleaning robot 1. When the driving components 10 are arranged on the bottom surface of the cleaning robot 1 in the above manner, the target driving component 10 can be determined in the following manner: when the first path indicates that the turning direction of the cleaning robot 1 is Fig.10 The cleaning robot 1 needs to follow the clockwise direction indicated by O1. Fig.10 When the first path indicates that the cleaning robot 1 is turning in the clockwise direction as shown in FIG. Fig.10 The counterclockwise direction indicated by O2 in FIG. 1 is the direction in which the cleaning robot 1 needs to move. Fig.10When rotating counterclockwise as shown by O2, the second driving component 12 is used as the target driving component 10. Whether the cleaning component 20 is located at the front or rear side of the driving component 10, whether the cleaning component 20 is a roller mop or a double-disc mop, the target driving component 10 can be determined in the above manner.

[0061] Step S320: determining the turning center based on the position information and / or distance information of the target driving component 10 and the cleaning component 20.

[0062] In this step, after the target drive component 10 is successfully determined, the center of the turning circle can be determined based on the position information and / or distance information of the target drive component 10 and the cleaning component 20. Specifically, the distance information between the target drive component 10 and the cleaning component 20 includes the lateral distance W between the target drive component 10 and the cleaning component 20 and the longitudinal distance H between the target drive component 10 and the cleaning component 20; at this time, the center of the turning circle can be determined based on the position information, lateral distance W and longitudinal distance H between the target drive component 10 and the cleaning component 20. The lateral distance W is the shortest distance between the target drive component 10 and the cleaning component 20 in the lateral direction; the longitudinal distance H is the shortest distance between the target drive component 10 and the cleaning component 20 in the longitudinal direction. Exemplarily, the lateral distance W is 1 to 6 cm, and the longitudinal distance H is 1 to 6 cm.

[0063] Below Fig.10 The driving component 10 shown in the figure is in front of the cleaning component 20, the cleaning component 20 is a roller mop, and the driving component 10 is provided with two, and both are arranged according to Fig.10 Taking the method shown as an example of the bottom surface of the cleaning robot 1, the principle of determining the turning center based on the position information of the target driving component 10 and the cleaning component 20, the lateral distance W and the longitudinal distance H is explained in detail:

[0064] 1. When the target driving component 10 is located inside the cleaning component 20, the turning center is determined according to the difference between the lateral distance W and the longitudinal distance H.

[0065] In this embodiment, according to the relationship between the lateral distance H and the longitudinal distance W, different methods can be used to determine the turning center.

[0066] ① If the lateral distance W is greater than the longitudinal distance H, the first target point located outside the two driving components 10 and at a lateral distance WH from the target driving component 10 is used as the turning center. When the cleaning robot 1 rotates in the clockwise direction O1, the target driving component 10 is the first driving component 11; when the cleaning robot 1 rotates in the counterclockwise direction O2, the target driving component 10 is the second driving component 12.

[0067] Among them, Fig.11As shown, when the cleaning component 20 is a roller mop, there is a maximum rectangular surface in the cross section of the roller mop. When the driving component 10 is located in front of the cleaning component 20, the longitudinal distance H is the distance between the target driving component 10 and the upper edge of the rectangle in the maximum rectangular surface in the longitudinal direction. The roller mop has two end surfaces, namely the first end surface 21 and the second end surface 22. The transverse distance W is the distance between the target driving component 10 and the end surface closest to it in the transverse direction.

[0068] In this embodiment, if the lateral distance W is greater than the longitudinal distance H, and the cleaning robot 1 rotates in the clockwise direction O1, the point P1 located outside the two driving components 10 and at a distance WH from the first driving component 11 can be used as the turning center. If the lateral distance W is greater than the longitudinal distance H, and the cleaning robot 1 rotates in the counterclockwise direction O2, the point P2 located outside the two driving components 10 and at a distance WH from the second driving component 12 can be used as the turning center.

[0069] Please refer to Fig.12 , which is a cleaning schematic diagram of the cleaning robot 1 provided in the second embodiment of the present application. Fig.12 As shown, it is a schematic diagram of the cleaning robot 1 when turning after determining the turning center according to the method in this embodiment. Fig.12 It can be seen that when the cleaning robot 1 turns with the turning circle center determined in this embodiment, there is no blind spot for cleaning, which fully ensures the cleaning effect. In FIG. 12(a), the cleaning robot 1 turns 90° clockwise, in FIG. 12(b), the cleaning robot 1 turns 45° clockwise, and in FIG. 12(c), the cleaning robot 1 turns 180° clockwise.

[0070] ② If the lateral distance W is smaller than the longitudinal distance H, the second target point located between the two driving components 10 and at a lateral distance HW from the target driving component 10 is used as the turning center.

[0071] The definitions of the horizontal distance H and the vertical distance W refer to the description of the above embodiment and will not be repeated here.

[0072] Please refer to Fig.13 , which is a bottom view of the cleaning robot 1 provided in the seventh embodiment of the present application. Fig.13 As shown, in this embodiment, if the lateral distance W is less than the longitudinal distance H, and the cleaning robot 1 rotates in the clockwise direction O1, the point E1 located between the two driving components 10 and at a distance HW from the first driving component 11 can be used as the turning center. If the lateral distance W is greater than the longitudinal distance H, and the cleaning robot 1 rotates in the counterclockwise direction O2, the point E2 located between the two driving components 10 and at a distance HW from the second driving component 12 can be used as the turning center.

[0073] Please refer to Fig.14 , which is a motion diagram of the cleaning robot 1 provided in the first embodiment of the present application, such as Fig.14 As shown in FIG. 1 , the cleaning robot 1 rotates 90° clockwise, J1 is the position of the first driving component 11 before the rotation, and J2 is the position of the first driving component 11 after the rotation; T1 is the position of the cleaning component 20 before the rotation, and J2 is the position of the cleaning component 20 after the rotation. A cleaning blind area U is formed during the rotation, but the cleaning robot 1 will move toward Fig.14 The robot 1 moves in a straight line in the direction indicated by the middle arrow, and at this time, the cleaning blind area U can be covered, thereby avoiding the generation of the cleaning blind area. In the prior art, after the above-mentioned cleaning blind area U is formed after turning, even if the cleaning robot 1 moves in a straight line after turning, it will not cover the cleaning blind area U. Based on this, it can be seen that when the cleaning robot 1 turns with the turning circle center determined in this embodiment, no cleaning blind area is generated, and the cleaning effect is fully guaranteed.

[0074] Second, when the target driving component 10 is not located inside the cleaning component 20, the turning center is determined according to the sum of the lateral distance W and the longitudinal distance H.

[0075] ① When the target driving component 10 is located outside the cleaning component 20, the turning center is determined according to the sum of the lateral distance W and the longitudinal distance H.

[0076] The definitions of the lateral distance H and the longitudinal distance W refer to the description of the above embodiment and are not repeated here. In this embodiment, if the target driving component 10 is located outside the cleaning component 20, a third target point located between the two driving components 10 and having a lateral distance H+W from the target driving component 10 can be used as the turning center. Fig.15 , which is a bottom view of the cleaning robot 1 provided in the eighth embodiment of the present application. Fig.15 As shown, if the target driving component 10 is located outside the cleaning component 20, and the cleaning robot 1 rotates in the clockwise direction O1, the point V1 located between the two driving components 10 and at a distance H+W from the first driving component 11 can be used as the turning center. If the target driving component 10 is located outside the cleaning component 20, and the cleaning robot 1 rotates in the counterclockwise direction O2, the point V2 located between the two driving components 10 and at a distance H+W from the second driving component 12 can be used as the turning center.

[0077] Please refer to Fig.16 , which is a cleaning schematic diagram of the cleaning robot 1 provided in the third embodiment of the present application. Fig.16 As shown, it is a schematic diagram of the cleaning robot 1 when turning after determining the turning center according to the method in this embodiment. Fig.16It can be seen that when the cleaning robot 1 turns with the turning circle center determined in this embodiment, there is no blind spot for cleaning, which fully ensures the cleaning effect. In FIG. 16(a), the cleaning robot 1 turns 90° clockwise, in FIG. 16(b), the cleaning robot 1 turns 45° clockwise, and in FIG. 16(c), the cleaning robot 1 turns 180° clockwise.

[0078] Please refer to Fig.17 , which is a schematic diagram of the movement of the cleaning robot 1 provided in the second embodiment of the present application. Fig.17 As shown in FIG. 1 , the cleaning robot 1 rotates 90° clockwise, C1 is the position of the first driving component 11 before the rotation, and C2 is the position of the first driving component 11 after the rotation; F1 is the position of the cleaning component 20 before the rotation, and F2 is the position of the cleaning component 20 after the rotation. A blind area M is formed during the rotation, but the cleaning robot 1 will move toward Fig.17 The robot 1 moves in a straight line in the direction indicated by the middle arrow, and at this time, the cleaning blind area M can be covered, thereby avoiding the generation of the cleaning blind area. In the prior art, after the above-mentioned cleaning blind area M is formed after turning, even if the cleaning robot 1 moves in a straight line after turning, it will not cover the cleaning blind area M. Based on this, it can also be seen that when the cleaning robot 1 turns with the turning circle center determined in this embodiment, no cleaning blind area is generated, and the cleaning effect is fully guaranteed.

[0079] ② When the end faces of the target driving component 10 and the cleaning component 20 are aligned, the center of the turning circle is determined according to the sum of the lateral distance W and the longitudinal distance H.

[0080] The definitions of the lateral distance H and the longitudinal distance W refer to the description of the above embodiment and will not be repeated here. However, at this time, the lateral distance H is equal to 0. In this embodiment, if the target driving component 10 is located outside the cleaning component 20, a third target point located between the two driving components 10 and at a lateral distance H+W from the target driving component 10 can be used as the turning center. However, since W is 0 at this time, a third target point located between the two driving components 10 and at a lateral distance H from the target driving component 10 can be used as the turning center. For details, please refer to Fig.18 , which is a bottom view of the cleaning robot 1 provided in the ninth embodiment of the present application. Fig.18 As shown, if the target driving component 10 is aligned with the end surface of the cleaning component 20, and the cleaning robot 1 rotates in the clockwise direction O1, the point N1 located between the two driving components 10 and at a distance H from the first driving component 11 can be used as the turning center. If the target driving component 10 is aligned with the end surface of the cleaning component 20, and the cleaning robot 1 rotates in the counterclockwise direction O2, the point N2 located between the two driving components 10 and at a distance H from the second driving component 12 can be used as the turning center.

[0081] Please refer to Fig.19 , which is a cleaning schematic diagram of the cleaning robot 1 provided in the fourth embodiment of the present application. Fig.19 As shown, it is a schematic diagram of the cleaning robot 1 when turning after determining the turning center according to the method in this embodiment. Fig.19 It can be seen that when the cleaning robot 1 turns with the turning center determined in this embodiment, there is no blind spot for cleaning, which fully ensures the cleaning effect. In FIG. 19(a), the cleaning robot 1 turns 90° clockwise, in FIG. 19(b), the cleaning robot 1 turns 45° clockwise, and in FIG. 19(c), the cleaning robot 1 turns 180° clockwise.

[0082] In one embodiment, please refer to Fig. 20 , which is a bottom view of the cleaning robot 1 provided in the tenth embodiment of the present application. Fig. 20 As shown, the driving component 10 is at the rear side of the cleaning component 20, the cleaning component 20 is a roller mop, and the driving component 10 is provided with two, and both are arranged according to Fig.10 The method shown is arranged on the bottom surface of the cleaning robot 1. At this time, when the cleaning component 20 is a roller mop, there is a maximum rectangular surface in the cross section of the roller mop. When the driving component 10 is located at the rear side of the cleaning component 20, the longitudinal distance H is the distance between the target driving component 10 and the lower edge of the rectangle in the maximum rectangular surface in the longitudinal direction. The roller mop has two end surfaces, namely the first end surface 21 and the second end surface 22. The lateral distance W is the distance between the target driving component 10 and the end surface closest to it in the lateral direction. Except that the definitions of the above-mentioned lateral distance H and longitudinal distance W are different from those when the driving component 10 is in front of the cleaning component 20, the method of determining the turning center in this embodiment is the same as that when the driving component 10 is in front of the cleaning component 20, which will not be repeated here.

[0083] In one embodiment, please refer to Fig.21 , which is a bottom view of the cleaning robot 1 provided in the eleventh embodiment of the present application. Fig.21 As shown, at this time, the cleaning component 20 is a double-turntable mop, and the minimum circumscribed rectangle of the double-turntable mop is first generated in this embodiment. After generation, the lateral distance W is the distance between the target driving component 10 and the rectangular side closest to it in the minimum circumscribed rectangle in the lateral direction, and the longitudinal distance H is the distance between the target driving component 10 and the rectangular side closest to it in the minimum circumscribed rectangle in the longitudinal direction. Except that the definitions of the above-mentioned lateral distance H and longitudinal distance W are different from those in the above-mentioned embodiment, the method of determining the turning center in this embodiment is the same as that in the above-mentioned embodiment, and will not be repeated here.

[0084] Please refer to Fig. 22, which is a schematic diagram of the bottom surface of the cleaning robot 1 provided in the twelfth embodiment of the present application. In the above embodiment, the cleaning component 20 is symmetrical about the central axis. In this embodiment, the cleaning component 20 is non-symmetrical about the central axis. At this time, the method in the above embodiment can also be used to determine the turning center. In the above embodiment, when the cleaning component 20 is symmetrical about the central axis, in the structure of a cleaning robot 1, the turning center can be determined in the same way regardless of whether the cleaning robot 1 rotates clockwise or counterclockwise, except that the selected target drive component 10 is different. In this embodiment, when the cleaning component 20 is non-symmetrical about the central axis, it needs to be disassembled, and the turning center is determined based on different methods when the cleaning robot 1 rotates clockwise or counterclockwise. In addition, when the cleaning component 20 is non-symmetrical about the central axis, the lateral distance H and the longitudinal distance W are the same as those defined in the above embodiment, except that when the first drive component 11 and the second drive component 12 are respectively used as the target drive component 10, the values ​​of the lateral distance H and the longitudinal distance W may be different, so different letters can be used to represent them, such as Fig. 22 , W1 is the lateral distance when the first driving component 11 is used as the target driving component 10; W2 is the lateral distance when the second driving component 12 is used as the target driving component 10.

[0085] like Fig. 22 As shown, when the cleaning component 20 rotates in the clockwise direction O1, the first driving component 11 is used as the target driving component 10. At this time, the first driving component 11 is located outside the cleaning component 20. According to the description of the above embodiment, the point G1 located between the two driving components 10 and at a lateral distance H+W1 from the first driving component 11 can be used as the turning center. When the cleaning component 20 rotates in the counterclockwise direction O2, the second driving component 12 is used as the target driving component 10. At this time, the second driving component 12 is located inside the cleaning component 20, and the lateral distance W2 is less than the longitudinal distance H. According to the description of the above embodiment, the point G1 located between the two driving components 10 and at a lateral distance H-W2 from the second driving component 12 can be used as the turning center.

[0086] From the above content, it can be seen that in this application, no matter the cleaning component 20 is located in front of or behind the driving component 10, no matter the cleaning component 20 is a roller mop or a double turntable mop, the turning center can be effectively determined to avoid the blind spot of cleaning, and the application range is wide. At the same time, this application can adaptively determine the turning center according to the rotation direction of the cleaning robot 1. In addition, during the entire cleaning process, the overlapping area is small and the cleaning efficiency is high.

[0087] In several embodiments provided in the present application, the disclosed devices and methods may also be implemented in other ways. The device embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment or a part of a code, and a module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0088] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0089] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes. The aforementioned memory 33 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, disk or optical disk.

Claims

1. A control method for a cleaning robot, characterized in that: A cleaning component and a driving component are provided on the bottom surface of the cleaning robot, the cleaning component and the driving component are arranged at intervals in the longitudinal direction, the driving component is located in front of the cleaning component, or the driving component is located behind the cleaning component; The control method of the cleaning robot comprises: When the cleaning robot turns to avoid obstacles along the first path, determining the turning center according to the position information and / or distance information between the driving component and the cleaning component; Determine whether the distance between the turning circle center and the encountered obstacle is greater than a first distance; wherein the first distance is the maximum distance between the turning circle center and the edge of the bottom surface of the cleaning robot; If the judgment result indicates that the distance between the turning center and the obstacle is greater than the first distance, the cleaning robot is controlled to rotate around the turning center to a preset angle indicated by the first path, and after the rotation, the cleaning robot is controlled to continue to move along the first path.

2. The control method of the cleaning robot according to claim 1, characterized in that: The driving components are provided in plurality; the driving components include a target driving component; The step of determining the turning center according to the position information and / or distance information between the driving component and the cleaning component comprises: determining the target driving component according to the turning direction of the cleaning robot indicated by the first path; The turning center is determined based on the position information and / or distance information between the target driving component and the cleaning component.

3. The control method of the cleaning robot according to claim 2, characterized in that: The driving components are provided with two, and the two driving components are divided into a first driving component and a second driving component; the first driving component and the second driving component are arranged in a lateral interval, and the first driving component is located on the right side of the cleaning robot, and the second driving component is located on the left side of the cleaning robot; The step of determining the target driving component according to the turning direction of the cleaning robot indicated by the first path includes: If the turning direction is clockwise, the target driving component is the first driving component; If the turning direction is counterclockwise, the target driving component is the second driving component.

4. The control method of the cleaning robot according to claim 2, characterized in that: The distance information between the target driving component and the cleaning component includes a lateral distance W between the target driving component and the cleaning component and a longitudinal distance H between the target driving component and the cleaning component; The determining the turning center based on the position information and / or distance information between the target driving component and the cleaning component includes: Based on the position information of the target driving component and the cleaning component, the lateral distance W, and the longitudinal distance H, the turning center is determined.

5. The control method of the cleaning robot according to claim 4, characterized in that: The determining the turning center based on the positional relationship between the target driving component and the cleaning component, the lateral distance W, and the longitudinal distance H includes: When the target driving component is located inside the cleaning component, determining the turning center according to the difference between the lateral distance W and the longitudinal distance H; When the target driving component is not located inside the cleaning component, the turning center is determined according to the sum of the lateral distance W and the longitudinal distance H.

6. The control method of the cleaning robot according to claim 5, characterized in that: There are two driving components, and the two driving components are spaced apart in the lateral direction; The determining the turning center according to the difference between the lateral distance W and the longitudinal distance H comprises: If the lateral distance W is greater than the longitudinal distance H, a first target point located outside the two driving components and having a lateral distance WH from the target driving component is used as the turning circle center; If the lateral distance W is smaller than the longitudinal distance H, a second target point located between the two driving components and having a lateral distance HW from the target driving component is used as the turning center.

7. The control method of the cleaning robot according to claim 5, characterized in that: There are two driving components, and the two driving components are spaced apart in the lateral direction; The determining the turning center according to the sum of the lateral distance W and the longitudinal distance H comprises: A third target point located between the two driving components and at a lateral distance H+W from the target driving component is used as the turning circle center.

8. The control method of the cleaning robot according to claim 1, characterized in that: The control method of the cleaning robot also includes: If the judgment result indicates that the distance between the center of the turning circle and the obstacle is not greater than the first distance, controlling the cleaning robot to move to a target position; wherein the distance between the center of the turning circle and the obstacle at the target position is greater than the first distance; After the movement is successful, the cleaning robot is controlled to rotate by a preset angle indicated by the first path with the turning circle as the center, and after the rotation, the cleaning robot is controlled to continue to move along the first path.

9. The control method of the cleaning robot according to claim 4, characterized in that: The lateral distance W is the shortest distance between the target driving component and the cleaning component in the lateral direction; The longitudinal distance H is the shortest distance between the target driving member and the cleaning member in the longitudinal direction.

10. The control method of the cleaning robot according to claim 4, characterized in that: The lateral distance W is 1 to 6 cm, and the longitudinal distance H is 1 to 6 cm.

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