Pile returning control method for self-moving robot
By configuring a pile return signal receiver and safety sensor on the self-mobile robot, collecting scan signals and performing edge actions, the problem of the sweeping and mopping robot colliding with obstacles during pile return, and the success rate of pile return is improved.
Patent Information
- Application Number
- CN202311142752.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-06
- Publication Date
- 2025-03-07
AI Technical Summary
During the pile return process, the sweeping and mopping robot is prone to collision with obstacles, resulting in a circle winding phenomenon, which in turn leads to failure to pile return.
By configuring a pile return signal receiver and a safety sensor on the self-mobile robot, in response to the trigger of the safety sensor, backwards away from the dangerous area, and collects a scan signal through rotation to determine the target pile return signal, and then performs an edge action to bypass obstacles.
The success rate of the self-mobile robot pile return control method is improved, and the pile return failure caused by looping around obstacles is prevented.
Smart Images
Figure CN119575958A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of computer technology, and in particular to a method for controlling a self-moving robot to return to a pile. Background Art
[0002] As a popular household cleaning device nowadays, sweeping and mopping robots are widely used in people's daily lives.
[0003] The sweeping and mopping robot is mainly divided into the robot body and the workstation body. The robot body is mainly used for cleaning, and the workstation is used to charge the robot. The sweeping and mopping robot needs to return to the workstation regularly for charging to maintain long-term daily continuous work. During the return process, if the sweeping and mopping robot collides with an obstacle, in order to avoid it being stuck in place, the sweeping and mopping robot is usually moved along the edge of the obstacle by executing the edge strategy.
[0004] However, in some cases, such a return-to-pile method may easily cause the sweeping and mopping robot to continuously circle around obstacles, resulting in a return-to-pile failure problem. Summary of the invention
[0005] In order to solve the above technical problems, the present disclosure provides a control method for a self-moving robot to return to a pile, so as to improve the success rate of the control method for a self-moving robot to return to a pile.
[0006] In a first aspect, an embodiment of the present disclosure provides a method for controlling a self-propelling robot to return to a pile. The method is applied to a self-propelling device system. The self-propelling device system includes a self-propelling robot and a workstation. The self-propelling robot is configured with at least one return-to-pile signal receiver and a safety sensor. The return-to-pile signal receiver is used to receive a return-to-pile signal transmitted by the workstation. The safety sensor includes a downward cliff sensor or a collision sensor, including:
[0007] During the process of the self-moving robot returning to the pile, in response to the safety sensor being triggered, the self-moving robot is controlled to retreat to avoid a dangerous area, where the dangerous area is an obstacle area or a cliff area;
[0008] After avoiding the dangerous area, controlling the self-propelled robot to rotate left and / or right at least once, and collecting a scanning signal during the rotation process, wherein the scanning signal is a return signal received by the self-propelled robot through the return signal receiver during the rotation process;
[0009] The self-propelled robot is controlled to perform edge motions with respect to the dangerous area according to the scanning signal until the self-propelled robot receives a target return signal and enters a return path; wherein the target return signal is used to indicate that the self-propelled robot has bypassed the dangerous area.
[0010] In some embodiments, controlling the self-propelled robot to perform a first edge action for the dangerous area according to the scanning signal until the self-propelled robot receives a target return signal includes:
[0011] Determine the target return signal corresponding to the scanning signal according to the preset signal mapping relationship;
[0012] Controlling the self-propelled robot to perform a first edge action with respect to the dangerous area;
[0013] When the return-to-pole signal receiver disposed on the side of the self-moving robot away from the dangerous area receives the target return-to-pole signal, the first edge-following action is stopped.
[0014] In some embodiments, the workstation is configured with a plurality of return-to-pile signal transmitting sources for transmitting return-to-pile signals;
[0015] The return signal transmission source includes at least a first transmission source, a second transmission source, a third transmission source, and a fourth transmission source;
[0016] The first return signal emitted by the first emission source covers the left near field area of the workstation, the second return signal emitted by the second emission source covers the right near field area of the workstation, the third return signal emitted by the third emission source covers the left far field area of the workstation, and the fourth return signal emitted by the fourth emission source covers the right far field area of the workstation;
[0017] The overlapping area of the left near-field area and the right near-field area is the middle area, and the middle area is the area directly in front of the accommodating cavity of the workstation for accommodating the self-moving robot.
[0018] In some embodiments, when the scanning signal is any one of a combination signal consisting of the first return-to-pile signal, the second return-to-pile signal, the third return-to-pile signal and the fourth return-to-pile signal, and an intermediate signal, the target return-to-pile signal is an intermediate signal, and the intermediate signal is composed of the first return-to-pile signal and the second return-to-pile signal;
[0019] When the scanning signal is the third return signal, the target return signal is any one of the first return signal, the second return signal, the intermediate signal, and the fourth return signal;
[0020] When the scanning signal is the fourth return signal, the target return signal is any one of the first return signal, the second return signal, the intermediate signal, and the third return signal;
[0021] When the scanning signal is no signal, the target return signal is any one of the first return signal, the second return signal, the third return signal, the fourth return signal, and an intermediate signal.
[0022] In some embodiments, the method further includes: in response to the safety sensor being triggered for the second time, calculating the change angle of the heading angle of the self-moving robot from the moment when the safety sensor is triggered for the first time to the moment when the self-moving robot enters the pile return path;
[0023] If the change angle is greater than a second preset angle, a second edge action is adopted when controlling the self-moving robot to perform an edge action for the dangerous area according to the scanning signal; the second edge action is opposite to the first edge action performed when the safety sensor is triggered for the first time.
[0024] In some embodiments, the second preset angle is 180 degrees.
[0025] In some embodiments, before controlling the self-moving robot to retreat to avoid a dangerous area, the method further includes:
[0026] Recording a first heading angle of the self-propelled robot when the safety sensor is triggered;
[0027] Before entering the pile return path, the method further includes:
[0028] Recording the current second heading angle of the self-moving robot;
[0029] The calculation of the change in the heading angle of the self-propelled robot from the moment when the safety sensor is triggered for the first time to the moment when the robot enters the pile return path includes:
[0030] Calculate the change angle between the first heading angle and the second heading angle.
[0031] In some embodiments, the method further comprises:
[0032] If the self-moving robot moves from the coverage area of any return-to-pile signal to a signal-free area and remains in the signal-free area for more than a first preset time, the self-moving robot is controlled to rotate by a third preset angle and then move for a second preset time so that the self-moving robot moves to the coverage area of any return-to-pile signal, and the second preset time is greater than the first preset time.
[0033] In some embodiments, the workstation is configured with a plurality of return-to-pile signal transmitting sources, and the return-to-pile signal transmitting sources are used to transmit return-to-pile signals covering different areas, and the entering the return-to-pile path includes:
[0034] According to the relative position relationship between the current area of the self-moving robot and the middle area and the installation position of the return-to-pile signal receiver on the self-moving robot that receives the return-to-pile signal, control the self-moving robot to move to the middle area, wherein the middle area is the area directly in front of the accommodating cavity of the workstation for accommodating the self-moving robot;
[0035] According to the return signal covering the middle area, the self-moving robot is controlled to move into the workstation.
[0036] In a second aspect, an embodiment of the present disclosure provides a self-propelled robot return control device, comprising:
[0037] A first control module is used for controlling the self-propelled robot to retreat and avoid a dangerous area in response to the safety sensor being triggered during the self-propelled robot returning to the pile, wherein the dangerous area is an obstacle area or a cliff area;
[0038] A second control module is used to control the self-propelled robot to rotate left and / or right at least once after avoiding the dangerous area, and collect a scanning signal during the rotation process, wherein the scanning signal is a return signal received by the self-propelled robot through the return signal receiver during the rotation process;
[0039] The third control module is used to control the self-moving robot to perform edge action for the dangerous area according to the scanning signal until the self-moving robot receives a target return signal and enters a return path; wherein the target return signal is used to indicate that the self-moving robot has bypassed the dangerous area.
[0040] The self-moving robot return-to-pole control method provided by the disclosed embodiment collects scanning signals by retreating and rotating after the self-moving robot approaches a dangerous area. When the self-moving robot performs an edge action in the dangerous area, the timing to stop executing the edge action is determined in time according to the scanning signal, so as to continue returning to the pole, thereby preventing the self-moving robot from circling around an obstacle and causing a failure in returning to the pole, thereby improving the success rate of the self-moving robot return-to-pole control method. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.
[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0043] Figure 1 A flow chart of a method for controlling a self-moving robot to return to a pile provided by an embodiment of the present disclosure;
[0044] Figure 2 A schematic diagram of an application scenario provided by an embodiment of the present disclosure;
[0045] Figure 3 A schematic diagram of a self-moving robot provided in an embodiment of the present disclosure;
[0046] Figure 4 A flow chart of a method for controlling a self-moving robot to return to a pile provided by another embodiment of the present disclosure;
[0047] Figure 5 A schematic diagram of a pile return scenario provided by an embodiment of the present disclosure;
[0048] Figure 6 A schematic diagram of a workstation signal area provided in an embodiment of the present disclosure;
[0049] Figure 7 A flow chart of a method for controlling a self-moving robot to return to a pile provided by another embodiment of the present disclosure;
[0050] Figure 8 A schematic diagram of an application scenario provided by an embodiment of the present disclosure;
[0051] Fig. 9 A schematic diagram of a self-moving robot provided in an embodiment of the present disclosure;
[0052] Fig.10 A schematic diagram of the structure of a self-moving robot return control device provided by an embodiment of the present disclosure;
[0053] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION
[0054] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.
[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.
[0056] The disclosed embodiment provides a method for controlling a self-moving robot to return to a pile, which is described below in conjunction with a specific embodiment.
[0057] Figure 1 This is a flow chart of the control method for returning a self-propelled robot to a pile provided by an embodiment of the present disclosure. This method can be applied to Figure 2 The application scenario shown includes a self-moving equipment system, specifically a self-moving robot 21 and a workstation 22, wherein the workstation 22 includes multiple return-to-pile signal transmitting sources, each of which can transmit a return-to-pile signal to guide the self-moving robot to move to the charging area in the workstation 22 for charging.
[0058] Figure 3 Schematic diagram of a self-moving robot provided by an embodiment of the present disclosure. The self-moving robot 21 includes a plurality of return-to-pile signal receivers, which are respectively installed at different positions of the self-moving robot 21, such as Figure 3 The return-to-pile signal receivers a to f are respectively installed at the front, back, left, and right positions of the self-moving robot, and each return-to-pile signal receiver can be used to receive the return-to-pile signal emitted by the return-to-pile signal transmitting source of the workstation 22. The self-moving robot 21 is also equipped with safety sensors, such as a downward-looking cliff sensor arranged at the bottom and a collision sensor arranged at the side. The self-moving robot 21 can detect whether there is a cliff-type ground that is easy to fall in the environment through the downward-looking cliff sensor, and detect obstacles in the environment through the collision sensor. It can be understood that the return-to-pile control method of the self-moving robot provided in the embodiment of the present disclosure can also be applied in other scenarios.
[0059] Combine the following Figure 2 The application scenario shown is Figure 1 The method for controlling the self-propelled robot to return to the pile is introduced, and the specific steps of the method are as follows:
[0060] S101. During the process of the self-moving robot returning to the pile, in response to the safety sensor being triggered, the self-moving robot is controlled to retreat to avoid a dangerous area, where the dangerous area is an obstacle area or a cliff area.
[0061] The workstation transmits return-to-pile signals outwardly through multiple return-to-pile signal transmitting sources. The coverage area of each return-to-pile signal is different. Specifically, the coverage area of each return-to-pile signal is different from the relative position of the workstation. The mobile robot can determine its current return-to-pile signal coverage area through the return-to-pile signal received by one or more return-to-pile signal receivers, and further determine the next direction of travel based on the currently received return-to-pile signal.
[0062] During the return to the pile, the self-moving robot 21 can detect whether there are dangerous areas such as cliff areas or obstacle areas in the environment through the downward cliff sensor configured on its bottom edge and the collision sensor configured on its side. When an obstacle area or cliff area is detected, the self-moving robot is controlled to retreat to avoid the detected obstacle area or cliff area.
[0063] In some embodiments, there is a small gap between the obstacle and the ground, such as a sofa, and the return signal emitted by the workstation return signal transmitting source can be transmitted through the gap, so that the self-propelled robot can receive the return signal but cannot pass through the gap. In this case, the self-propelled robot will collide with the obstacle. Figure 2 As shown, the self-moving robot moves toward the location of the workstation during the return process, and the positions of the two return signal receivers ab are the front side of the self-moving robot, the corresponding position of the return signal receiver f is the left side of the self-moving robot, and the position of the return signal receiver c is the right side of the self-moving robot. When the self-moving robot collides with an obstacle, in response to the collision sensor detecting that the self-moving robot collides with the obstacle, the self-moving robot is controlled to move backward to avoid the obstacle.
[0064] S102. After avoiding the dangerous area, control the self-propelled robot to rotate left and / or right at least once, and collect a scanning signal during the rotation process, wherein the scanning signal is a return signal received by the self-propelled robot through the return signal receiver during the rotation process.
[0065] In some embodiments, after the self-mobile robot retreats to avoid a dangerous area, the self-mobile robot can be controlled to rotate left and right by a first preset angle (for example, 180 degrees) to obtain a return signal received by each return signal receiver; based on the return signal received by each return signal receiver, the scanning signal received by the self-mobile robot at the moment of triggering the safety sensor is determined.
[0066] S103, controlling the self-moving robot to perform edge motion for the dangerous area according to the scanning signal, until the self-moving robot receives a target return signal and enters a return path; wherein the target return signal is used to indicate that the self-moving robot has bypassed the dangerous area.
[0067] by Figure 2 Taking the scenario shown in FIG. 1 as an example, after the scanning signal is collected, the self-propelled robot can be controlled to perform the first edge action (right edge action) for the obstacle according to the scanning signal, so that the self-propelled robot can bypass the obstacle. Figure 2In the scenario shown, the self-propelled robot may also perform a left edge action on the obstacle to bypass the obstacle from the right side of the obstacle, which is not limited in the embodiments of the present disclosure.
[0068] In one embodiment, the self-moving robot can determine the target return signal corresponding to the scanning signal according to a preset signal mapping relationship, and then control the self-moving robot to perform a first edge action for the dangerous area; when the return signal receiver installed on the side of the self-moving robot away from the obstacle receives the target return signal, the self-moving robot is controlled to stop executing the current edge action and continue to return to the obstacle.
[0069] When the movable device performs the first edge action, the return-to-pile signal receiver on the side close to the obstacle can receive the return-to-pile signal, while the return-to-pile signal receiver on the side far from the obstacle cannot receive any return-to-pile signal due to the orientation. At this time, the distance between the return-to-pile signal receiver on the side far from the obstacle and the workstation is greater than the distance between the return-to-pile signal receiver on the side close to the obstacle and the workstation. During the movable device performing the first edge action, the orientation of the return-to-pile signal receiver on the side far from the obstacle gradually changes until the return-to-pile signal receiver on the side far from the obstacle receives the target signal. At this time, the distance between the return-to-pile signal receiver on the side far from the obstacle and the workstation is less than the distance between the return-to-pile signal receiver on the side close to the obstacle and the workstation. The return-to-pile signal receiver on the side far from the obstacle is closer to the workstation than the return-to-pile signal receiver on the side close to the obstacle. It can be judged that the self-moving robot is between the obstacle and the workstation at this time, that is, the self-moving robot has bypassed the obstacle, and the self-moving robot is controlled to stop executing the current edge action and enter the return-to-pile path.
[0070] The disclosed embodiment controls the self-moving robot to return to the pile according to the return-to-pile signal received by one or more return-to-pile signal receivers; in response to the self-moving robot colliding with an obstacle at the first collision moment during the return-to-pile process, controls the self-moving robot to perform an edge-following action with respect to the obstacle; when the return-to-pile signal receiver installed on the side of the self-moving robot away from the obstacle receives a target return-to-pile signal, controls the self-moving robot to stop performing the edge-following action, enters the return-to-pile path and continues to return to the pile, wherein the received target return-to-pile signal is used to indicate that the self-moving robot has bypassed the obstacle. When the return-to-pile signal receiver installed on the side of the self-moving robot away from the obstacle receives the target return-to-pile signal, stops performing the edge-following action and continues to return to the pile, which can prevent the self-moving robot from circling around the obstacle and causing a return-to-pile failure, thereby improving the success rate of the return-to-pile control method for the self-moving robot.
[0071] Figure 4 This is a flow chart of a method for controlling a self-propelled robot to return to a pile provided by another embodiment of the present disclosure. Figure 4 As shown, the method includes the following specific steps:
[0072] S401, controlling the self-propelled robot to return to the pole according to the return-to-pole signal received by one or more return-to-pole signal receivers.
[0073] Specifically, the self-moving robot is controlled to move to the middle area according to the relative position relationship between the current area of the self-moving robot and the middle area and the installation position of the return signal receiver on the self-moving robot that receives the return signal.
[0074] Figure 5 A schematic diagram of a pile return scenario provided by an embodiment of the present disclosure. Figure 5 As shown in FIG. 1 , a schematic diagram of a self-moving robot returning to a pile from different positions is given. The self-moving device system includes a self-moving robot 51 and a workstation 52, wherein the self-moving robot 51 includes a plurality of return-to-pile signal receivers, which are respectively installed at different positions of the self-moving robot 51, such as Figure 5 Each of the return-to-pole signal receivers a to f shown in the figure can be used to receive the return-to-pole signal emitted by the return-to-pole signal emission source of the workstation 52 .
[0075] Figure 6 A schematic diagram of a workstation signal area provided in an embodiment of the present disclosure. Figure 6 As shown, the workstation includes multiple return signal transmission sources (a first transmission source, a second transmission source, a third transmission source, and a fourth transmission source), and the first return signal (A) transmitted by the first transmission source covers the left near field area ( Figure 5 or Figure 6 The second return signal (B) emitted by the second transmitting source covers the right near field area ( Figure 5 or Figure 6 The third return signal (C) emitted by the third transmitting source covers the left far field area ( Figure 5 or Figure 6 The fourth return signal (D) emitted by the fourth transmitting source covers the right far field area ( Figure 5 or Figure 6 middle D area).
[0076] In addition, the overlapping area of the left near field area and the right near field area is the middle area ( Figure 5 or Figure 6 The middle AB area corresponds to the AB signal), and the middle area is the area directly in front of the accommodating cavity of the workstation for accommodating the self-moving robot (that is, the charging area of the self-moving robot in the workstation).
[0077] The controlling the self-moving robot to return to the pile comprises: controlling the self-moving robot to move to the middle area according to the relative position relationship between the area where the self-moving robot is currently located and the middle area and the installation position of the return-to-pile signal receiver on the self-moving robot that receives the return-to-pile signal, wherein the middle area is the area directly in front of the accommodating cavity of the workstation for accommodating the self-moving robot;
[0078] According to the return signal covering the middle area, the self-moving robot is controlled to move into the accommodating cavity of the workstation.
[0079] When the autonomous robot enters the return path and returns to the pile, the obstacle-free return strategy is executed by default. The barrier-free return strategy refers to a strategy for controlling the self-moving robot to return to the pile when there is no obstacle between the self-moving robot and the workstation, specifically including: navigating by laser radar, guiding the self-moving robot to move to the area covered by the return signal, and then starting to return to the pile, first controlling the self-moving robot to rotate in place for one circle, judging which area or areas covered by the return signal the self-moving robot is currently in, and further controlling the self-moving robot to move to the target area according to the relative position relationship between the target signal and the current area and the installation position of the return signal receiver on the self-moving robot that receives the return signal; in the target area, controlling the self-moving robot to rotate, aligning one or more target signal receivers located in front of the self-moving robot among the multiple signal receivers at the same time with the workstation (for example, ab return signal receivers are aligned with the workstation at the same time), so as to ensure that the self-moving robot's forward direction is toward the workstation (specifically, the charging area in the workstation), and controlling the self-moving robot to move forward until the magnetic stripe signal between the self-moving robot and the workstation is triggered, indicating that the distance between the self-moving robot and the workstation is close at this time, and controlling the self-moving robot to rotate 180 degrees and then pour into the workstation, completing an barrier-free return process.
[0080] S402: In response to the safety sensor being triggered during the return to pile process, the self-moving robot is controlled to retreat a preset distance to avoid a dangerous area.
[0081] For example, in response to the collision sensor being triggered, the self-moving robot is controlled to retreat a preset distance to approach the obstacle area; in response to the downward cliff sensor being triggered, the self-moving robot is controlled to retreat a preset distance to avoid the cliff area.
[0082] S403: Control the self-moving robot to rotate left and / or right by a first preset angle to obtain a return-to-pile signal received by each return-to-pile signal receiver.
[0083] S404: Determine, according to the return-to-pole signal received by each return-to-pole signal receiver, a scanning signal received by the self-moving robot when the safety sensor is triggered.
[0084] For example, at the first collision moment, the self-moving robot collides with an obstacle. In order to accurately judge the scanning signal received by the self-moving robot at the first collision moment, it is necessary to determine the return signal received by each return signal receiver at the position of the self-moving robot at the first collision moment.
[0085] At the first collision moment, the self-moving robot and the obstacle are in contact with each other, and obtaining the return signal received by each return signal receiver at the position of the self-moving robot at the first collision moment requires controlling the self-moving robot to rotate. Therefore, after the self-moving robot collides with the obstacle at the first moment, the self-moving robot is first controlled to retreat a preset distance to stay away from the obstacle to prevent the obstacle from hindering the rotation of the self-moving robot.
[0086] Further, the self-moving robot is controlled to rotate by a preset angle so that each return-to-pile signal receiver on the self-moving robot can receive the return-to-pile signal during the rotation process. Specifically, controlling the self-moving robot to rotate by a preset angle can be controlling the obstacle to rotate in different directions, for example, controlling the self-moving robot to rotate 180 degrees to the left and right to perform signal scanning and determine the scanning signal.
[0087] Specifically, the scanning signal includes the signal received by each return-to-pole signal receiver on the mobile robot during the rotation process, that is, the scanning signal can be a single return-to-pole signal, or a combined signal composed of any multiple return-to-pole signals.
[0088] In one possible situation, when each return-to-pile signal receiver on the self-moving robot does not receive any return-to-pile signal during the rotation process, the self-moving robot is currently outside the return-to-pile signal coverage area, and the scanning signal received by the self-moving robot at the first collision moment is recorded as no signal.
[0089] S405: Determine the target return signal corresponding to the scanning signal according to a preset signal mapping relationship.
[0090] Specifically, the preset signal mapping relationship is as follows: when the scanning signal is a combination signal consisting of the first return-to-pile signal, the second return-to-pile signal, the third return-to-pile signal and the fourth return-to-pile signal, or any one of the intermediate signals, the target return-to-pile signal is an intermediate signal, and the intermediate signal is composed of the first return-to-pile signal and the second return-to-pile signal; when the scanning signal is the third return-to-pile signal, the target return-to-pile signal is any one of the first return-to-pile signal, the second return-to-pile signal, the intermediate signal, and the fourth return-to-pile signal; when the scanning signal is the fourth return-to-pile signal, the target return-to-pile signal is any one of the first return-to-pile signal, the second return-to-pile signal, the intermediate signal, and the third return-to-pile signal; when the scanning signal is no signal, the target return-to-pile signal is any one of the first return-to-pile signal, the second return-to-pile signal, the third return-to-pile signal, the fourth return-to-pile signal, and the intermediate signal.
[0091] For example, in Figure 5 In the scenario shown, if the scanning signal is a combination signal composed of C and D or any one of A, B, and AB signals, the target return signal is determined to be the AB signal; if the scanning signal is the C signal, the target return signal is determined to be any one of A, B, AB, and D signals; if the scanning signal is the D signal, the target return signal is determined to be any one of A, B, AB, and C signals; if the scanning signal is no signal, the target return signal is determined to be any one of A, B, C, D, and AB signals.
[0092] S406: Control the self-propelled robot to perform a first edge action in the dangerous area.
[0093] The first edge action refers to an action in which one side of the self-moving robot always faces the obstacle and moves along the edge of the obstacle. For example, the first edge action can be one of a left edge action and a right edge action. The left edge action refers to an action in which the left side of the self-moving robot always faces the obstacle and moves along the edge of the obstacle; the right edge action refers to an action in which the right side of the self-moving robot always faces the obstacle and moves along the edge of the obstacle.
[0094] S407: When the return-to-pole signal receiver installed on the side of the self-moving robot away from the obstacle receives a target return-to-pole signal, the self-moving robot is controlled to stop executing the first edge-following action and enter the return-to-pole path to continue returning to the pole.
[0095] When the return signal receiver installed on the side of the self-moving robot away from the obstacle receives the target return signal to indicate that the self-moving robot has bypassed the obstacle, the self-moving robot is controlled to return to the obstacle according to the obstacle-free return strategy.
[0096] The disclosed embodiment determines the target return signal corresponding to the scanning signal according to a preset signal mapping relationship, so that the self-moving robot can accurately judge whether to bypass the obstacle according to whether the target return signal is received, thereby further improving the accuracy of the self-moving robot return control method.
[0097] Figure 7 This is a flow chart of a method for controlling a self-moving robot to return to a pile provided by another embodiment of the present disclosure. The method can be applied to Figure 8 The application scenarios shown are as follows: Figure 8 As shown in the figure, there is a cliff inaccessible area between the self-moving robot and the workstation. Figure 8 The application scenario shown is Figure 7 The method for controlling the self-propelled robot to return to the pile is introduced, and the specific steps of the method are as follows:
[0098] S701: Control the self-propelled robot to return to the pole according to the return-to-pole signal received by one or more return-to-pole signal receivers.
[0099] S702: During the process of returning to the pile, in response to the safety sensor being triggered, controlling the self-moving robot to retreat and avoid a dangerous area.
[0100] S703: After avoiding the dangerous area, control the self-propelled robot to rotate left and / or right at least once, and collect scanning signals during the rotation process.
[0101] S704: Control the self-propelled robot to perform a first edge action for the dangerous area according to the scanning signal, until the self-propelled robot receives a target return signal and enters a return path.
[0102] Specifically, the implementation process and principle of S701 to S704 refer to the above embodiment and will not be described in detail here.
[0103] S705: In response to the safety sensor being triggered for the second time, calculate the change angle of the heading angle of the self-propelled robot from the time when the safety sensor is triggered for the first time to the time when the self-propelled robot enters the pile return path.
[0104] The self-propelled robot can record the first heading angle of the self-propelled robot when the safety sensor is triggered for the first time, and can record the current second heading angle of the self-propelled robot before entering the pile return path. When the safety sensor is triggered for the second time, the change angle between the first heading angle and the second heading angle is calculated.
[0105] S706. If the change angle is greater than a second preset angle, a second edge action is adopted when controlling the self-moving robot to perform an edge action for the dangerous area according to the scanning signal; the second edge action is opposite to the first edge action performed when the safety sensor is triggered for the first time.
[0106] If the change angle is greater than 180°, in response to the safety sensor being triggered, the self-moving robot is controlled to retreat to avoid the dangerous area; after avoiding the dangerous area, the self-moving robot is controlled to rotate left and / or right at least once, and a scanning signal is collected during the rotation process; according to the scanning signal, the self-moving robot is controlled to perform a second edge action for the dangerous area until the self-moving robot receives a target return signal and enters the return path. The second edge action is opposite to the first edge action.
[0107] See also Figure 8 , the self-moving robot moves to position 1 when the safety sensor is triggered for the first time, and then starts to perform the first edge action (right edge action) according to S701 to S704. After passing through path 1 and path 2, the self-moving robot moves from position 1 to position 3 via position 2. At this time, when the return signal receiver f installed on the side away from the cliff area receives the target return signal, the self-moving robot is controlled to stop performing the first edge action, enter the return path and continue to return along path 3, and the safety sensor at position 1 is triggered for the second time. At this time, the change angle of the heading angle of the self-moving robot in the process from the time when the safety sensor is first triggered to the time when it enters the return path is detected.
[0108] Specifically, when the safety sensor is triggered for the first time, the self-moving robot detects the cliff based on the downward-looking cliff sensor, etc., and records the first heading angle of the self-moving robot at this time; when the return-to-pile signal receiver installed on the side away from the cliff area receives the target return-to-pile signal, it stops executing the first edge action, and records the second heading angle of the self-moving device at this time, and further calculates the change angle of the heading angle of the self-moving robot from the moment of recording the first heading angle to the moment of recording the second heading angle.
[0109] It should be noted that the change angle of the heading angle of the self-moving robot refers to the integral value of the heading angle of the self-moving robot from the time when the safety sensor is first triggered to the time when the robot enters the pile return path. Figure 8 In the process of the self-moving robot moving from position one to position three via path 1 and path 2, the change angle of the heading angle of the self-moving robot should be 270°, rather than the difference in the heading angle of the self-moving robot from the moment the safety sensor is triggered for the first time to the moment the first edge action is stopped.
[0110] In some embodiments, the second preset angle is 180°.
[0111] In some embodiments, the movement direction of the first edge-along action is different from the movement direction of the second edge-along action. Specifically, the movement direction of the first edge-along action is opposite to the movement direction of the second edge-along action.
[0112] If the change angle is greater than the second preset angle, it is considered that the self-moving robot is trapped in a repetitive dilemma when executing the first edge action. At this time, the direction of the edge action is changed, that is, the self-moving robot is controlled to execute a second edge action for the obstacle to try to bypass the obstacle from another direction.
[0113] For example, in Figure 8 In the scenario shown, after the safety sensor is triggered for the second time, the self-mobile robot executes the left edge strategy from position one and reaches position four via path 4.
[0114] S707: When the return-to-pole signal receiver installed on the side of the self-moving robot away from the cliff area receives a target return-to-pole signal, the self-moving robot is controlled to stop executing the second edge-following action and continue to return to the pole.
[0115] Similar to the judgment principle of stopping the first edge action, when the return-to-pole signal receiver installed on the side of the self-propelled robot away from the obstacle receives the target return-to-pole signal, it indicates that the self-propelled robot has bypassed the previous dangerous area, stops executing the second edge action, and enters the return-to-pole path to continue returning to the pole.
[0116] The disclosed embodiment determines whether the self-moving robot is in a repeated predicament according to the change in the heading angle of the self-moving robot, and timely adjusts the edge strategy of the self-moving robot, so that the self-moving robot can escape from the predicament, further improving the flexibility of the intelligent return-to-pile method.
[0117] Based on the above embodiment, the method also includes: if the self-mobile robot moves from any signal coverage area to a no-signal area and stays in the no-signal area for more than a first preset time, the self-mobile robot is controlled to rotate a third preset angle and then move for a second preset time, so that the self-mobile robot moves to any signal coverage area, and the second preset time is greater than the first preset time.
[0118] Fig. 9 A schematic diagram of a self-propelled robot provided in an embodiment of the present disclosure. In some unexpected situations, the self-propelled robot may move out of the effective signal area covered by any signal and move to a signal-free area. At this time, the self-propelled robot needs to be controlled to return to the effective signal area.
[0119] like Fig. 9 As shown, the self-moving robot follows path 1, passes through the signal coverage area, then goes out of the signal effective area and reaches the no-signal area. When the self-moving robot is in the no-signal area for more than the first preset time, the self-moving robot is controlled to rotate by a third preset angle and then move, so as to try to return to the signal effective area again along path 2.
[0120] The second preset time is greater than the first preset time to ensure that the mobile device can at least return to the position at the last moment before leaving the signal effective area.
[0121] Repeat the above steps until the autonomous robot enters the signal valid area again.
[0122] In some embodiments, the third preset angle is 180 degrees, and controlling the self-moving robot to rotate the third preset angle and then move is equivalent to making the self-moving robot move in the opposite direction.
[0123] In some embodiments, the first preset time is 30 seconds and the second preset time is 90 seconds.
[0124] The disclosed embodiment controls the self-moving robot to change its moving direction and try to re-enter the valid area when the self-moving robot accidentally goes out of the signal valid area during the return-to-pole process, thereby avoiding the self-moving robot's failure to return to the pole due to the lack of return-to-pole signal guidance, thereby further improving the success rate of the self-moving robot's return-to-pole control method.
[0125] Fig.10 The structure diagram of the self-moving robot return control device provided in the embodiment of the present disclosure. The self-moving robot return control device may be the self-moving robot as described in the above embodiment, or the self-moving robot return control device may be a component or assembly in the self-moving robot. The self-moving robot return control device provided in the embodiment of the present disclosure may execute the processing flow provided in the self-moving robot return control method embodiment, such as Fig.10As shown, the self-moving robot return-to-pile control device 100 includes: a first control module 1001, a second control module 1002, and a third control module 1003; wherein, the first control module 1001 is used to control the self-moving robot to retreat and avoid a dangerous area in response to the safety sensor being triggered during the self-moving robot's return-to-pile process, and the dangerous area is an obstacle area or a cliff area; the second control module 1002 is used to control the self-moving robot to rotate left and / or right at least once after avoiding the dangerous area, and collect a scanning signal during the rotation process, and the scanning signal is a return-to-pile signal received by the self-moving robot through the return-to-pile signal receiver during the rotation process; the third control module 1003 is used to control the self-moving robot to perform an edge action for the dangerous area according to the scanning signal until the self-moving robot receives a target return-to-pile signal and enters a return-to-pile path; wherein, the target return-to-pile signal is used to indicate that the self-moving robot has bypassed the dangerous area.
[0126] Optionally, the third control module 1003 includes:
[0127] A first determining unit, configured to determine a target return signal corresponding to the scanning signal according to a preset signal mapping relationship;
[0128] An edge unit, used for controlling the self-propelled robot to perform a first edge action with respect to the dangerous area;
[0129] The stopping unit is used to stop the first edge motion when a return-to-pole signal receiver arranged on a side of the self-moving robot away from the dangerous area receives the target return-to-pole signal.
[0130] Optionally, the workstation is configured with multiple return-to-pile signal transmitting sources for transmitting return-to-pile signals; the return-to-pile signal transmitting sources include at least a first transmitting source, a second transmitting source, a third transmitting source, and a fourth transmitting source; the first return-to-pile signal emitted by the first transmitting source covers the left near-field area of the workstation, the second return-to-pile signal emitted by the second transmitting source covers the right near-field area of the workstation, the third return-to-pile signal emitted by the third transmitting source covers the left far-field area of the workstation, and the fourth return-to-pile signal emitted by the fourth transmitting source covers the right far-field area of the workstation; the overlapping area of the left near-field area and the right near-field area is the middle area, and the middle area is the area directly in front of the accommodating cavity of the workstation for accommodating the self-moving robot.
[0131] Optionally, when the scanning signal is any one of a combination signal or an intermediate signal consisting of the first return-to-pile signal, the second return-to-pile signal, the third return-to-pile signal and the fourth return-to-pile signal, the target return-to-pile signal is an intermediate signal, and the intermediate signal is composed of the first return-to-pile signal and the second return-to-pile signal; when the scanning signal is the third return-to-pile signal, the target return-to-pile signal is any one of the first return-to-pile signal, the second return-to-pile signal, the intermediate signal and the fourth return-to-pile signal; when the scanning signal is the fourth return-to-pile signal, the target return-to-pile signal is any one of the first return-to-pile signal, the second return-to-pile signal, the intermediate signal and the third return-to-pile signal; when the scanning signal is no signal, the target return-to-pile signal is any one of the first return-to-pile signal, the second return-to-pile signal, the third return-to-pile signal, the fourth return-to-pile signal and the intermediate signal.
[0132] Optionally, the device further comprises:
[0133] A calculation module, configured to calculate, in response to the safety sensor being triggered for the second time, a change in the heading angle of the self-propelled robot during a process from the moment when the safety sensor is triggered for the first time to the moment when the self-propelled robot enters a pile return path;
[0134] The fourth control module is used to adopt a second edge action when controlling the self-moving robot to perform an edge action for the dangerous area according to the scanning signal if the change angle is greater than a second preset angle; the second edge action is opposite to the first edge action performed when the safety sensor is triggered for the first time.
[0135] Optionally, the second preset angle is 180 degrees.
[0136] Optionally, the device further comprises:
[0137] A first recording module, used for recording a first heading angle of the self-moving robot at the moment when the safety sensor is triggered before controlling the self-moving robot to retreat to avoid a dangerous area;
[0138] A second recording module is used to record the current second heading angle of the self-propelled robot before entering the pile return path;
[0139] The calculation module is used to calculate the change angle between the first heading angle and the second heading angle.
[0140] Optionally, the self-moving robot return-to-pole control device 100 also includes a fifth control module, which is used to control the self-moving robot to rotate by a third preset angle and move for a second preset time if the self-moving robot moves from the coverage area of any return-to-pole signal to a signal-free area and stays in the signal-free area for more than a first preset time, so that the self-moving robot moves to the coverage area of any return-to-pole signal, and the second preset time is greater than the first preset time.
[0141] Optionally, the workstation is configured with a plurality of return-to-pile signal transmitting sources, and the return-to-pile signal transmitting sources are used to transmit return-to-pile signals covering different areas, and the third control module includes:
[0142] A second control unit is used to control the self-moving robot to move to the middle area according to the relative position relationship between the area where the self-moving robot is currently located and the middle area and the installation position of the return signal receiver on the self-moving robot that receives the return signal, wherein the middle area is the area directly in front of the accommodating cavity of the workstation for accommodating the self-moving robot;
[0143] The third control unit is used to control the self-moving robot to move into the accommodating cavity of the workstation according to the return signal covering the middle area.
[0144] Fig.10 The self-moving robot return-to-pile control device of the illustrated embodiment can be used to execute the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.
[0145] Fig.11 The electronic device provided in the embodiment of the present disclosure can execute the processing flow provided in the embodiment of the control method for returning the self-moving robot to the pile, such as Fig.11 As shown, the electronic device 110 includes: a memory 111, a processor 112, a computer program and a communication interface 113; wherein the computer program is stored in the memory 111 and is configured so that the processor 112 executes the self-moving robot return control method as described above.
[0146] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method for controlling the self-moving robot to return to the pile as described in the above embodiment.
[0147] In addition, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the self-moving robot return control method as described above is implemented.
[0148] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0149] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method for controlling a self-propelled robot to return to a pile, the method being applied to a self-propelled device system, the self-propelled device system comprising a self-propelled robot and a workstation, the self-propelled robot being equipped with at least one return-to-pile signal receiver and a safety sensor, the return-to-pile signal receiver being used to receive a return-to-pile signal emitted by the workstation, the safety sensor comprising a downward cliff sensor or a collision sensor, characterized in that: The method comprises: During the process of the self-moving robot returning to the pile, in response to the safety sensor being triggered, the self-moving robot is controlled to retreat to avoid a dangerous area, where the dangerous area is an obstacle area or a cliff area; After avoiding the dangerous area, controlling the self-propelled robot to rotate left and / or right at least once, and collecting a scanning signal during the rotation process, wherein the scanning signal is a return signal received by the self-propelled robot through the return signal receiver during the rotation process; The self-propelled robot is controlled to perform edge motions with respect to the dangerous area according to the scanning signal until the self-propelled robot receives a target return signal and enters a return path; wherein the target return signal is used to indicate that the self-propelled robot has bypassed the dangerous area.
2. The method according to claim 1, characterized in that The step of controlling the self-propelled robot to perform a first edge motion in the dangerous area according to the scanning signal until the self-propelled robot receives a target return signal comprises: Determine the target return signal corresponding to the scanning signal according to the preset signal mapping relationship; Controlling the self-propelled robot to perform a first edge action with respect to the dangerous area; When the return-to-pole signal receiver disposed on the side of the self-moving robot away from the dangerous area receives the target return-to-pole signal, the first edge-following action is stopped.
3. The method according to claim 1, characterized in that The workstation is equipped with a plurality of return-to-pile signal transmitting sources for transmitting return-to-pile signals; The return signal transmission source includes at least a first transmission source, a second transmission source, a third transmission source, and a fourth transmission source; The first return signal emitted by the first emission source covers the left near field area of the workstation, the second return signal emitted by the second emission source covers the right near field area of the workstation, the third return signal emitted by the third emission source covers the left far field area of the workstation, and the fourth return signal emitted by the fourth emission source covers the right far field area of the workstation; The overlapping area of the left near-field area and the right near-field area is the middle area, and the middle area is the area directly in front of the accommodating cavity of the workstation for accommodating the self-moving robot.
4. The method according to claim 3, characterized in that When the scanning signal is any one of a combination signal consisting of the first return-to-pile signal, the second return-to-pile signal, the third return-to-pile signal and the fourth return-to-pile signal, and an intermediate signal, the target return-to-pile signal is an intermediate signal, and the intermediate signal is composed of the first return-to-pile signal and the second return-to-pile signal; When the scanning signal is the third return signal, the target return signal is any one of the first return signal, the second return signal, the intermediate signal, and the fourth return signal; When the scanning signal is the fourth return signal, the target return signal is any one of the first return signal, the second return signal, the intermediate signal, and the third return signal; When the scanning signal is no signal, the target return signal is any one of the first return signal, the second return signal, the third return signal, the fourth return signal, and an intermediate signal.
5. The method according to claim 1, characterized in that The method further comprises: In response to the safety sensor being triggered for the second time, calculating a change angle of the heading angle of the self-propelled robot during a process from the moment when the safety sensor is triggered for the first time to the moment when the self-propelled robot enters the pile return path; If the change angle is greater than a second preset angle, a second edge action is adopted when controlling the self-moving robot to perform an edge action for the dangerous area according to the scanning signal; the second edge action is opposite to the first edge action performed when the safety sensor is triggered for the first time.
6. The method according to claim 5, characterized in that The second preset angle is 180 degrees.
7. The method according to claim 5, characterized in that Before controlling the self-moving robot to retreat to avoid the dangerous area, the method further includes: Recording a first heading angle of the self-propelled robot when the safety sensor is triggered; Before entering the pile return path, the method further includes: Recording the current second heading angle of the self-moving robot; The calculation of the change in the heading angle of the self-propelled robot from the moment when the safety sensor is triggered for the first time to the moment when the robot enters the pile return path includes: Calculate the change angle between the first heading angle and the second heading angle.
8. The method according to claim 1, characterized in that The method further comprises: If the self-moving robot moves from the coverage area of any return-to-pile signal to a signal-free area and remains in the signal-free area for more than a first preset time, the self-moving robot is controlled to rotate by a third preset angle and then move for a second preset time so that the self-moving robot moves to the coverage area of any return-to-pile signal, and the second preset time is greater than the first preset time.
9. The method according to claim 1, characterized in that: The workstation is equipped with a plurality of return-to-pile signal transmitting sources, and the return-to-pile signal transmitting sources are used to transmit return-to-pile signals covering different areas, and the entering the return-to-pile path includes: According to the relative position relationship between the current area of the self-moving robot and the middle area and the installation position of the return-to-pile signal receiver on the self-moving robot that receives the return-to-pile signal, control the self-moving robot to move to the middle area, wherein the middle area is the area directly in front of the accommodating cavity of the workstation for accommodating the self-moving robot; According to the return signal covering the middle area, the self-moving robot is controlled to move into the accommodating cavity of the workstation.
10. A self-propelling robot return control device, the device is applied to a self-propelling device system, the self-propelling device system comprises a self-propelling robot and a workstation, the self-propelling robot is equipped with at least one return signal receiver and a safety sensor, the return signal receiver is used to receive the return signal emitted by the workstation, the safety sensor comprises a downward cliff sensor or a collision sensor, and is characterized in that: The device comprises: A first control module is used for controlling the self-propelled robot to retreat and avoid a dangerous area in response to the safety sensor being triggered during the self-propelled robot returning to the pile, wherein the dangerous area is an obstacle area or a cliff area; A second control module is used to control the self-propelled robot to rotate left and / or right at least once after avoiding the dangerous area, and collect a scanning signal during the rotation process, wherein the scanning signal is a return signal received by the self-propelled robot through the return signal receiver during the rotation process; The third control module is used to control the self-moving robot to perform edge action for the dangerous area according to the scanning signal until the self-moving robot receives a target return signal and enters a return path; wherein the target return signal is used to indicate that the self-moving robot has bypassed the dangerous area.