Sweeping robot route control method and device, sweeping robot and medium

Abstract

The embodiment of the invention provides a route control method and device of a sweeping robot, the sweeping robot and a medium, and relates to the technical field of intelligent robots. According to the specific implementation scheme, in response to a generated edge sweeping route of the sweeping robot, whether a target sweeping missing area exists or not if edge sweeping is carried out according to the edge sweeping route is recognized; if yes, based on a control strategy corresponding to the target corner type, the sweeping robot is controlled to sweep a to-be-swept edge area where the edge sweeping route is located. Visibly, according to the scheme of the application, the occurrence of sweeping omission in the process that the sweeping robot sweeps the corners along the edges can be effectively reduced.

Description

Technical Field

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

[0002] Generally, in order to improve the cleaning coverage rate, the sweeping robot can have the function of cleaning along the edges. Here, cleaning along the edges means that the sweeping robot senses the obstacles at the boundary of the cleaning area (such as walls, beds, tables, etc.) and cleans the inner edge contour of the cleaning area.

[0003] However, when cleaning along the edge according to the edge cleaning route, obstacles may have corners, and the sweeping robot may miss the corners when cleaning along the edge.

[0004] For example, Figure 1 This is a structural diagram of a sweeping robot. Figure 1 The sweeping robot comprises wheels 101, wheels 102 and a roller brush 103. The center of the line connecting the wheels 101 and 102 is the movement center of the sweeping robot. Figure 2 yes Figure 1 Schematic diagram of the sweeping robot cleaning inner corners; Figure 2 There is an inner corner between the middle wall 205 and the wall 204 ; due to the size of the sweeping robot, the sweeping robot 201 cleans along the planned edge cleaning route 203 , and there is a missed cleaning area 202 . Figure 3 This is a schematic diagram of the sweeping robot cleaning the outer corners; Figure 3 There is an outer corner between the middle wall 304 and the wall 305; when the sweeping robot 301 cleans the outer corner according to the planned edge cleaning route 303, the roller brush will slip and the sweeping area 302 will be missed. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a route control method, device, sweeping robot and medium for a sweeping robot, so as to effectively reduce the occurrence of missed sweeps when the sweeping robot is cleaning along the corners.

[0006] The specific technical solutions are as follows:

[0007] In a first aspect, the present application provides a route control method for a sweeping robot, the method comprising:

[0008] In response to generating a side cleaning route for the sweeping robot, identifying whether there is a target missed-sweep area if side cleaning is performed according to the side cleaning route; wherein the target missed-sweep area is a missed-sweep area within a corner of an inner corner type or an outer corner type;

[0009] If so, based on the control strategy corresponding to the target corner type, controlling the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located;

[0010] Among them, the target corner type is the type of corner to which the target missed-sweep area belongs; the control strategy corresponding to the target corner type is: a strategy for controlling the sweeping robot to clean according to a target route combination comprising multiple route segments, and the multiple route segments are used to enable the existing missed-sweep areas to be covered during driving.

[0011] In a second aspect, the present application provides a route control device for a sweeping robot, the device comprising:

[0012] an identification module, configured to, in response to generating a side-cleaning route for the sweeping robot, identify whether a target missed-sweep area exists if side-cleaning is performed along the side-cleaning route; wherein the target missed-sweep area is a missed-sweep area within a corner of an inner corner type or an outer corner type;

[0013] a control module configured to control the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located based on a control strategy corresponding to the target corner type, if any;

[0014] Among them, the target corner type is the type of corner to which the target missed-sweep area belongs; the control strategy corresponding to the target corner type is: a strategy for controlling the sweeping robot to clean according to a target route combination comprising multiple route segments, and the multiple route segments are used to enable the existing missed-sweep areas to be covered during driving.

[0015] In a third aspect, the present application provides a sweeping robot, comprising:

[0016] Memory for storing computer programs;

[0017] The processor is configured to implement any of the above-mentioned route control methods for the sweeping robot when executing the program stored in the memory.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any of the above-mentioned route control methods for a sweeping robot.

[0019] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described route control methods for a sweeping robot.

[0020] Beneficial effects of the embodiments of the present application:

[0021] The solution of the present application, after generating a side-sweeping route for a sweeping robot, can identify whether there are any missed-sweeping areas within the corners of the inner corner type or the outer corner type if the side-sweeping route is followed. If so, the solution can control the sweeping robot to clean the side-sweeping area to be cleaned along the side-sweeping route using a control strategy corresponding to the type of corner to which the missed-sweeping area belongs, so that the sweeping robot can cover the missed-sweeping area during driving. It can be seen that the solution of the present application can effectively reduce the occurrence of missed sweeps during the side-sweeping process of the sweeping robot performing side-sweeping at corners.

[0022] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0024] Figure 1 A schematic diagram of a sweeping robot provided in an embodiment of the present application cleaning an inner corner;

[0025] Figure 2 Schematic diagram of a sweeping robot provided in an embodiment of the present application cleaning an outer corner

[0026] Figure 3 A schematic structural diagram of a sweeping robot provided in an embodiment of the present application;

[0027] Figure 4 A schematic flow chart of a route control method for a sweeping robot provided in an embodiment of the present application;

[0028] Figure 5 A schematic diagram of controlling a sweeping robot to clean an edge area to be cleaned along an edge cleaning route according to a control strategy corresponding to an inner corner type provided in an embodiment of the present application;

[0029] Figure 6 A schematic diagram of controlling a sweeping robot to clean an edge area to be cleaned along an edge cleaning route according to a control strategy corresponding to an outer corner type provided in an embodiment of the present application;

[0030] Figure 7A schematic structural diagram of a route control device for a sweeping robot provided in an embodiment of the present application;

[0031] Figure 8 This is a schematic structural diagram of a sweeping robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application fall within the scope of protection of this application. In the technical solution of the present application, the operations such as acquisition, storage, use, processing, transmission, provision and disclosure of the environmental information involved are all carried out with the user's authorization.

[0033] In order to effectively reduce the occurrence of missed sweeps during the edge cleaning of corners by a sweeping robot, the embodiments of the present application provide a route control method, device, sweeping robot and medium for a sweeping robot.

[0034] The following first introduces a route control method for a sweeping robot provided in an embodiment of the present application. The route control method for a sweeping robot provided in an embodiment of the present application can be applied to a control module of the sweeping robot. The control module of the sweeping robot can be a control module inside the sweeping robot, such as a processor inside the sweeping robot; the control module of the sweeping robot can also be an electronic device that communicates with the sweeping robot and is used to control the sweeping robot, such as a server, mobile phone, computer, etc.

[0035] Among them, a route control method of a sweeping robot provided in an embodiment of the present application may include:

[0036] In response to generating a side cleaning route for the sweeping robot, identifying whether there is a target missed-sweep area if side cleaning is performed according to the side cleaning route; wherein the target missed-sweep area is a missed-sweep area within a corner of an inner corner type or an outer corner type;

[0037] If so, based on the control strategy corresponding to the target corner type, controlling the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located;

[0038] Among them, the target corner type is the type of corner to which the target missed-sweep area belongs; the control strategy corresponding to the target corner type is: a strategy for controlling the sweeping robot to clean according to a target route combination comprising multiple route segments, and the multiple route segments are used to enable the existing missed-sweep areas to be covered during driving.

[0039] The solution of the present application, after generating a side-sweeping route for a sweeping robot, can identify whether there are any missed-sweeping areas within the corners of the inner corner type or the outer corner type if the side-sweeping route is followed. If so, the solution can control the sweeping robot to clean the side-sweeping area to be cleaned along the side-sweeping route using a control strategy corresponding to the type of corner to which the missed-sweeping area belongs, so that the sweeping robot can cover the missed-sweeping area during driving. It can be seen that the solution of the present application can effectively reduce the occurrence of missed sweeps during the side-sweeping process of the sweeping robot performing side-sweeping at corners.

[0040] like Figure 4 As shown, a route control method for a sweeping robot provided in an embodiment of the present application may include the following steps:

[0041] S401, in response to generating a side cleaning route for the robot vacuum cleaner, identifying whether there is a target missed-sweep area if side cleaning is performed according to the side cleaning route; wherein the target missed-sweep area is a missed-sweep area within a corner of an inner corner type or an outer corner type;

[0042] In the edge cleaning scenario, the robot vacuum cleaner can detect the area to be cleaned using its own detection sensors (such as visual sensors, radar sensors, etc.) to obtain environmental data related to the area to be cleaned, and generate an edge cleaning route based on the detected environmental data of the area to be cleaned. In this application, the method of generating the edge cleaning route of the robot vacuum cleaner is not the invention point. Any method that can generate the edge cleaning route of the robot vacuum cleaner can be applied to the solution of this application, and this application does not limit this.

[0043] The sweeping robot has a corresponding detection range, and the area to be cleaned can be the area to be cleaned planned by the sweeping robot from the area of ​​the detection range detected by the sweeping robot for the uncleaved area; and the sweeping robot can continuously detect the detection range, and accordingly, based on the continuously detected environment-related data, continuously generate edge cleaning routes, so that in the edge cleaning process, the generated edge cleaning routes can be multiple; and, in response to generating the edge cleaning route of the sweeping robot, identifying whether there is a target missed sweep area if the edge cleaning is performed according to the edge cleaning route, can be immediately executing the step of identifying whether there is a target missed sweep area if the edge cleaning is performed according to the edge cleaning route after the edge cleaning route is generated, or can be executing the step of identifying whether there is a target missed sweep area if the edge cleaning is performed according to the edge cleaning route after a specified time interval after the edge cleaning route is generated, which is both reasonable.

[0044] Since the reason why the sweeping robot misses a sweep is that the obstacle has an inner corner or an outer corner, for example, in one implementation, determining whether there is a target missed sweep area can be achieved by identifying whether the edge cleaning route is a route that passes through an inner corner or an outer corner. If the edge cleaning route is a route that passes through an inner corner or an outer corner, it can be indicated that there is a missed sweep area. Furthermore, if the corner passed through is an inner corner, then the corner is of the inner corner type; if the corner passed through is an outer corner, then the corner is of the inner corner type.

[0045] It should be noted that other implementation methods for identifying whether there is a target missed area when edge cleaning is performed according to the edge cleaning route will be introduced in subsequent embodiments.

[0046] S402: If the target corner exists, controlling the robot vacuum cleaner to clean the edge area to be cleaned where the edge cleaning route is located based on a control strategy corresponding to the target corner type;

[0047] Among them, the target corner type is the type of corner to which the target missed-sweep area belongs; the control strategy corresponding to the target corner type is: a strategy for controlling the sweeping robot to clean according to a target route combination comprising multiple route segments, and the multiple route segments are used to enable the existing missed-sweep areas to be covered during driving.

[0048] In this application, corresponding control strategies are pre-set for inner corner types and outer corner types. According to the control strategy corresponding to the inner corner type, the sweeping robot can cover the missed sweeping area in the inner corner when cleaning the inner corner. According to the control strategy corresponding to the outer corner type, the sweeping robot can cover the missed sweeping area in the outer corner when cleaning the outer corner.

[0049] In the scenario of the present application, the priority of the control strategy corresponding to the target corner type is higher than the priority of edge cleaning according to the edge cleaning route. Thus, by utilizing the control strategy corresponding to the target corner type, the sweeping robot can be controlled to clean the edge area to be cleaned where the edge cleaning route is located. It is not necessary to clean according to the edge cleaning route, but to clean according to the target route combination with multiple routes, so that the missed cleaning areas can be covered during driving. Moreover, by cleaning according to the target route combination containing multiple routes, the cleaning process of the sweeping robot can be split into multiple sub-processes for the area to be cleaned where the edge cleaning route is located. It can also be understood that the cleaning action is split into multiple actions, each action being a cleaning action under one route in the target route combination, thereby covering the missed cleaning areas.

[0050] The solution of the present application, after generating a side-sweeping route for a sweeping robot, can identify whether there are any missed-sweeping areas within the corners of the inner corner type or the outer corner type if the side-sweeping route is followed. If so, the solution can control the sweeping robot to clean the side-sweeping area to be cleaned along the side-sweeping route using a control strategy corresponding to the type of corner to which the missed-sweeping area belongs, so that the sweeping robot can cover the missed-sweeping area during driving. It can be seen that the solution of the present application can effectively reduce the occurrence of missed sweeps during the side-sweeping process of the sweeping robot performing side-sweeping at corners.

[0051] In the present application, there are multiple ways to identify whether there is a target missed area when edge cleaning is performed according to the edge cleaning route.

[0052] Optionally, in one implementation, the step of identifying whether there is a target missed area when performing edge cleaning according to the edge cleaning route includes: steps A1 to A3,

[0053] Step A1: performing line segment fitting processing on the edge cleaning route to convert the edge cleaning route into at least one line segment.

[0054] A side-cleaning route is composed of multiple points, and the robot vacuum moves along each of these points to clean. However, due to factors such as the environment, noise, and accuracy, there may be deviations in these points. In this case, the line connecting the points is not a smooth line but may have irregular shapes such as waves.

[0055] The line segment fitting processing of the present application can fit the lines connecting various position points into smooth line segments, so as to facilitate the subsequent identification of whether inner corners and outer corners are passed and whether there are missed scanning areas.

[0056] The line segment is obtained by converting the edge cleaning route. Therefore, the line segment can be used to indicate the cleaning route of the sweeping robot. The sweeping robot can clean according to the route indicated by the line segment. It can be understood that the route indicated by the line segment may be different from the edge cleaning route.

[0057] Optionally, the process of performing line segment fitting processing on the edge cleaning route includes:

[0058] When there is an arc-shaped route portion in the edge cleaning route, a quadrilateral circumscribed envelope of the arc-shaped route portion is generated as a line segment corresponding to the arc-shaped route portion, and the starting edge of the quadrilateral circumscribed envelope is tangent to the starting point of the arc.

[0059] The straight line portion in the edge cleaning route may be directly fitted into a line segment.

[0060] In the edge cleaning route, there may be arc-shaped route parts, such as Figure 1 and Figure 2 As shown, the route of the corner area is usually an arc-shaped route.

[0061] It can be understood that there can be two starting points of the arc, so that the directions of the two starting edges of the circumscribed envelope of the quadrilateral can be determined, and the two starting edges are two adjacent edges, so the other two edges of the circumscribed envelope of the quadrilateral can be determined according to the directions of the two starting edges.

[0062] For the arc-shaped route part, the two sides tangent to the arc in the circumscribed envelope of the quadrilateral can be used as the fitted line segments.

[0063] In addition, it should be emphasized that any implementation method that can perform line segment fitting processing on the edge cleaning route to convert the edge cleaning route into at least one line segment can be applied to the embodiments of the present application, and the embodiments of the present application do not limit the specific implementation method.

[0064] Step A2: Based on the obtained line segments, identifying whether the edge cleaning route is a route passing through an inner corner or an outer corner;

[0065] If the number of line segments converted from the edge cleaning route is two or more, it indicates that the edge cleaning route is a route passing through an inner corner or an outer corner.

[0066] Furthermore, based on the included angle between any two connected line segments, it can be determined whether the type of the corner corresponding to the any two line segments is an inner corner or an outer corner.

[0067] In the above embodiment, two implementation methods are introduced for determining whether the corner passed by the edge cleaning route is an inner corner or an outer corner by using the data detected by the detection sensor. The following is an introduction on how to determine whether the type of corner corresponding to any two connected line segments is an inner corner or an outer corner based on the angle between the two connected line segments.

[0068] When cleaning along edges, a robot vacuum can use sensors to detect the distance to obstacles it's following. Maintaining the distance between the robot and the obstacle within a specified range allows for effective edge cleaning. When cleaning along edges, the robot knows in advance which side (left or right) is closest to the obstacle. This allows the robot to determine whether the corner it's cleaning along is an inner or outer corner based on which side it's cleaning.

[0069] Therefore, for example, when the left side of the sweeping robot is close to an obstacle, if the angle between any two connected line segments is less than 180 degrees, it is an inner corner; if the angle between any two connected line segments is greater than 180 degrees, it is an outer corner;

[0070] When the right side of the sweeping robot is close to an obstacle, if the angle between any two connected line segments is less than 180 degrees, it is an outer corner; if the angle between any two connected line segments is greater than 180 degrees, it is an inner corner.

[0071] The angle between any two connected line segments is determined by the clockwise direction, based on the line segment that the robot passes first and the line segment that the robot passes later, if cleaning along the route indicated by the fitted line segments. Determining the angle counterclockwise is also possible, and the principle is the same as above, so we will not elaborate on it here.

[0072] Step A3: If yes, analyze whether there is a target missed area if edge cleaning is performed along the edge cleaning route according to an analysis method corresponding to the type of the corner passed.

[0073] Even if there are corners, the robot vacuum cleaner will not necessarily miss any areas if it performs edge cleaning around them. For example, if the corner is large, the robot vacuum cleaner can clean the corner completely by following the edge cleaning route, eliminating any missed areas. Alternatively, if the corner is small, the robot vacuum cleaner cannot enter the corner area, and the missed areas are also small and can be ignored, eliminating the need to clean the smaller corners. Therefore, the presence of a target missed area can be determined based on the angle of the inner or outer corner.

[0074] Specifically, a predetermined angle range of the inner corner that causes the existence of a missed scanning area, and a predetermined angle range of the outer corner that causes the existence of a missed scanning area can be pre-set. And for different environments and different sweeping robots, the predetermined angle range of the inner corner that causes the existence of a missed scanning area and the predetermined angle range of the outer corner that causes the existence of a missed scanning area can be different. For example, sweeping robot A and sweeping robot B are sweeping robots of different sizes. When the inner corner of sweeping robot A is 80 degrees, there is a missed scanning area at the corner. When the inner corner of sweeping robot B is 80 degrees, there is no missed scanning area at the corner. This application does not limit the predetermined angle range of the inner corner that causes the existence of a missed scanning area and the predetermined angle range of the outer corner that causes the existence of a missed scanning area.

[0075] If the corner passed through is an inner corner, and the size of the inner corner is within the predetermined angle range of the inner corner that may cause the existence of a missed scanning area, then there is a target missed scanning area; if the corner passed through is an outer corner, and the size of the outer corner is within the predetermined angle range of the outer corner that may cause the existence of a missed scanning area, then there is a target missed scanning area.

[0076] Optionally, in another implementation method, the outline of the target obstacle obtained by the sweeping robot through its own detection sensor can be used to analyze whether the edge cleaning route is a route passing through an inner corner or an outer corner, wherein the target obstacle is: the obstacle that the sweeping robot has to pass through if edge cleaning is performed according to the edge cleaning route.

[0077] In the scenario of the present application, it is possible to identify whether there is a target missed area if cleaning along the edge according to the edge cleaning route by identifying whether there is a corner.

[0078] In this implementation, it is possible to analyze whether the target obstacle has a corner based on the outline of the target obstacle.

[0079] There are many ways to analyze whether the target obstacle has a corner based on the contour of the target obstacle. Specifically, one way is to trigger the detection sensor of the sweeping robot to detect the contour data of the obstacles in the area to be cleaned, and filter out the contour data belonging to the target obstacle. The target obstacle is the obstacle passed by the edge cleaning route. Based on the contour data of the target obstacle, it can be analyzed whether the target obstacle has a corner, thereby determining whether the edge cleaning route is a route passing through an inner corner or an outer corner.

[0080] For example, the detection sensor may be a visual sensor that can capture images of the area to be cleaned and perform image analysis on the captured images to obtain contour data of obstacles in the area to be cleaned. This application does not limit the specific type of detection sensor or the method for determining contour data of obstacles in the area to be cleaned.

[0081] Another way is to directly use the relevant data of the area to be cleaned used to generate the edge cleaning route to determine whether the edge cleaning route is a route passing through an inner corner or an outer corner.

[0082] Since the environment-related data of the area to be cleaned includes the contour data of the obstacles in the area to be cleaned, the contour data of the obstacles in the environment-related data of the area to be cleaned can be directly used to analyze whether the obstacles passed by the edge cleaning route have corners, thereby determining whether the edge cleaning route is a route passing through an inner corner or an outer corner.

[0083] The method of this embodiment can effectively determine whether there is a target missed area when edge cleaning is performed along the edge cleaning route.

[0084] Optionally, in one implementation, the analysis method corresponding to the type of the corner passed is: an analysis method for analyzing whether there is a missed scan area based on the angle between the first line segment and the second line segment, and the obtained line segment length information;

[0085] The first line segment is a line segment among the obtained line segments where the cleaning robot is currently located, and the second line segment is a line segment among the obtained line segments that intersects with the first line segment.

[0086] In this embodiment, only the corner corresponding to the line segment where the current position of the sweeping robot is located can be analyzed. This corner is the first corner passed by the sweeping robot if it performs edge cleaning according to the edge cleaning route. It can also be called the first corner corresponding to the edge cleaning route.

[0087] The sweeping robot can periodically and continuously detect the environmental data of the area to be cleaned, and generate the edge cleaning route of the sweeping robot. The sweeping robot can clean according to the latest generated edge cleaning route, and the generation interval between two edge cleaning routes is relatively short. It can be understood that the solution of the present application is triggered and executed each time a new edge cleaning route is generated. Once a new edge cleaning route is generated, the solution of the present application can be executed according to the new edge cleaning route. Since the generation interval between the two edge cleaning routes is relatively short, for corner A, there may be a situation where the first corner corresponding to multiple edge cleaning routes is corner A.

[0088] Therefore, in order to reduce computing resource consumption, only the corner formed by the first line segment and the second line segment may be analyzed.

[0089] The length of a line segment can affect the size of the cleaning area and whether the robot vacuum can enter corners. If the line segment length is too short, the missed cleaning area may be small and / or the robot vacuum cannot enter corners. In this case, it can be determined that there is no missed cleaning area at the corner corresponding to the first and second line segments.

[0090] In the method of this embodiment, it is possible to analyze whether there is a missed cleaning area at the first corner passed by the sweeping robot when performing edge cleaning according to the edge cleaning route.

[0091] Specifically, the analyzing method corresponding to the type of corner passed through to determine whether there is a target missed area when performing edge cleaning along the edge cleaning route includes:

[0092] In a case where the type of corner passed by is an inner corner type, analyzing whether the length of the second line segment is greater than a predetermined first threshold value, and whether the angle between the first line segment and the second line segment is within a predetermined angle range; if both are true, determining that there is a target missed sweeping area when the sweeping robot travels along the edge along the edge cleaning route; otherwise, determining that there is no target missed sweeping area; the predetermined angle range is a range set based on the minimum corner angle that the sweeping robot can enter and the minimum corner angle that can cause missed sweeping;

[0093] and / or,

[0094] In the case where the type of corner passed is an external corner type, determine whether, in the route indicated by the first line segment, the route not cleaned by the sweeping robot is less than a second threshold, whether the length of the second line segment is greater than a predetermined first threshold, and whether the angle between the first line segment and the second line segment is within a predetermined angle range. If all of them are yes, determine that if the sweeping robot is traveling along the edge along the edge cleaning route, there is a target missed sweep area; otherwise, determine that there is no target missed sweep area.

[0095] The relevant contents regarding the angle have been introduced in the above embodiments and will not be elaborated here.

[0096] Regardless of whether the type of corner passed is an inner corner type or an outer corner type, if the length of the second line segment is less than the predetermined first threshold, it means that the area corresponding to the passed corner is small and / or the sweeping robot cannot enter the corner, and the corner can be ignored. Therefore, it can be determined that there is no target missed scanning area at the corner.

[0097] In the case of an outer corner, if the length of the route indicated by the first line segment that the robot has not cleaned is greater than the second threshold, it indicates that the robot is far from the corner to be passed. As the robot approaches the corner, a new edge cleaning route may be generated. Therefore, the robot can temporarily ignore the corner and determine that there is no target missed area. It is understood that the robot can record the areas that have been cleaned.

[0098] Similarly, when the type of corner passed is an inner corner type, when the route not cleaned by the sweeping robot in the route indicated by the first line segment is greater than the second threshold, the corner can be temporarily ignored and it can be determined that there is no target missed area.

[0099] It can be seen that through the implementation method of the present application, it is possible to effectively determine whether there is a target missed cleaning area if edge cleaning is performed along the edge cleaning route.

[0100] Optionally, in one implementation, the analysis method corresponding to the type of corner passed is: for any two connected line segments, based on the angle between the first line segment and the second line segment, and the obtained line segment length information, analyzing whether there is a missed scan area;

[0101] The first line segment is the line segment that the sweeping robot passes through first among any two line segments if cleaning along the route indicated by the fitted line segment is performed, and the second line segment is the line segment that the sweeping robot passes through later among any two line segments.

[0102] In this implementation, when analyzing whether there are any missed areas when the robot vacuum cleaner follows the edge cleaning route, each corner can be analyzed. The principle of analysis is the same as that of analyzing the corner corresponding to the line segment where the robot vacuum cleaner is currently located in the above embodiment, and will not be elaborated here.

[0103] In the present application, for inner corners and outer corners, the specific implementation methods of the control strategy based on the target corner type and the steps of controlling the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located are different.

[0104] In one implementation, the control strategy based on the target corner type controls the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located, including: step B1-step B2,

[0105] Step B1: When the target corner type is an inner corner type, control the cleaning robot to move straight along the route indicated by the first line segment;

[0106] This implementation is when the target corner type is an inner corner type.

[0107] In the above embodiment, the robot vacuum cleaner can be controlled to clean along the route indicated by the converted line segment. When the target corner type is an inner corner type, the robot vacuum cleaner can be controlled to move straight along the route indicated by the first line segment.

[0108] Figure 5 This is a schematic diagram of controlling the sweeping robot to clean the edge area to be cleaned along the edge cleaning route according to the control strategy corresponding to the inner corner type.

[0109] Figure 5In the figure, the leftmost schematic diagram shows the robot vacuum moving straight along the route indicated by the first line segment. The robot vacuum 503 can be controlled to clean along the route 504 indicated by the first line segment. During its movement, the robot vacuum 503 can approach the wall 501. The edge of the wall 501 is the edge of an object parallel to the second line segment. The edge of the wall 502 is the edge of an object parallel to the first line segment. 5031 is the front end of the robot vacuum 503, which is the end where the roller brush is located.

[0110] Step B2: in response to a predetermined stop condition being met, controlling the cleaning robot to perform a backward movement, wherein the backward movement is used to enable the cleaning robot to enter the route indicated by the second line segment, and after the backward movement is completed, controlling the cleaning robot to move to the route indicated by the second line segment and continue traveling;

[0111] Among them, the predetermined stopping condition is used to characterize: the distance between the sweeping robot and the edge of the target object has reached the minimum allowable distance, and the edge of the target object is the edge of the object parallel to the second line segment; the first line segment route is the line segment obtained by fitting the edge cleaning route, and the current position of the sweeping robot is located, and the second line segment is the line segment obtained by fitting the edge cleaning route and intersects with the first line segment.

[0112] For an inner corner, the robot vacuum moves along the route indicated by the first line segment. There may be an edge of an object in front of it that is parallel to the second line segment. This edge of the object can block the robot vacuum's movement along the route indicated by the first line segment. This edge of the object is the target object edge. If the distance between the robot vacuum and the target object edge reaches the minimum allowable distance, the robot vacuum completes cleaning the corner corresponding to the first and second line segments, with no areas missed.

[0113] The minimum allowable distance can be a pre-set safety distance to prevent the robot vacuum from colliding with the edge of an obstacle. If the distance between the robot vacuum and the edge of an obstacle exceeds the minimum allowable distance, the robot vacuum may collide with the obstacle. The first preset distance and the minimum allowable distance can be set according to the specific scenario and are not limited in this application.

[0114] In the present application, the distance between the sweeping robot and the edge of the target object reaches the minimum allowable distance, which may refer to the distance between the front end of the sweeping robot structure and the edge of the target object reaching the minimum allowable distance. Of course, it may also refer to other positions of the sweeping robot structure, such as the distance between the center of the sweeping robot structure and the edge of the target object. This application does not limit this.

[0115] After the distance between the sweeping robot and the edge of the target object has reached the minimum allowable distance, the sweeping robot cannot move forward or turn. At this time, in order to enter the route indicated by the second line segment, the sweeping robot needs to move backward.

[0116] In one implementation, the retreat action may be to control the cleaning robot to retreat in a straight line for a predetermined distance, so that the cleaning robot can enter the route indicated by the second line segment.

[0117] After retreating a predetermined distance, the robot vacuum cleaner has sufficient space to adjust its direction, thereby controlling the robot vacuum cleaner to enter the route indicated by the second line segment. The predetermined distance can be set according to actual conditions and is not limited in this application. It is understood that in this implementation, the robot vacuum cleaner also retreats along the edge.

[0118] In another implementation, the cleaning robot may be controlled to retreat a predetermined distance and a predetermined yaw angular velocity may be set for the cleaning robot during the process of retreating the predetermined distance, so that the cleaning robot can enter the route indicated by the second line segment.

[0119] In this implementation, the reason for controlling the sweeping robot to retreat a predetermined distance is the same as that in the above embodiment.

[0120] In this implementation, the sweeping robot is controlled to retreat a predetermined distance and a predetermined yaw angular velocity is set for the sweeping robot during the process of retreating the predetermined distance. This can enable the sweeping robot to stay away from the edge of the object parallel to the first line segment during the retreat process, and can reduce the probability of abnormal alarms caused by touching the edge of the object during the retreat process.

[0121] Figure 5 The middle schematic diagram is a schematic diagram for controlling the sweeping robot to retreat a predetermined distance in a straight line. Figure 5 As shown, after the predetermined stop condition is met, the sweeping robot can be controlled to retreat a predetermined distance and a predetermined yaw angular velocity can be set for the sweeping robot during the process of retreating the predetermined distance. 505 is the retreat trajectory, so that the sweeping robot stays away from the wall 502.

[0122] The predetermined stop condition may include one or more sub-conditions. If one of the sub-conditions is met, the cleaning robot can be controlled to perform a backward motion.

[0123] Optionally, one of the multiple sub-conditions included in the predetermined stop condition is: the distance between the sweeping robot and the edge of the target object reaches a minimum allowable distance.

[0124] Optionally, one of the multiple sub-conditions included in the predetermined stop condition is: the distance between the cleaning robot and the second line segment is less than a first preset distance;

[0125] The distance between the sweeping robot and the second line segment may refer to the distance between the front end of the sweeping robot structure and the second line segment. Of course, it may also refer to other positions of the sweeping robot structure, such as the distance between the center of the sweeping robot structure and the edge of the target object. This application does not limit this.

[0126] The second line segment is obtained by performing line segment fitting processing on the edge cleaning route. Usually, the route indicated by the edge cleaning route is half the width of the sweeping robot at a distance from the obstacle parallel to it. The distance between the second line segment and the edge of the target object parallel to the second line segment may also be half the width of the sweeping robot. Therefore, in order to determine the distance between the sweeping robot and the edge of the target object based on the distance between the sweeping robot and the second line segment and to achieve the minimum allowable distance, the first preset distance may be: the minimum allowable distance - the distance between the edge of the target object and the second line segment. Exemplarily, if the minimum allowable distance is 1 cm and the distance between the edge of the target object and the second line segment is 6 cm, then the first preset distance may be -5 cm. It is understandable that at this time, the sweeping robot may exceed the second line segment.

[0127] The distance between the cleaning robot and the second line segment is less than the first preset distance, which can also represent that the distance between the cleaning robot and the edge of the target object reaches the minimum allowable distance.

[0128] Optionally, one of the multiple sub-conditions included in the predetermined stop condition is: detecting that the sweeping robot is triggered to retreat.

[0129] Typically, a vacuum robot is configured to be triggered to retreat after colliding with an obstacle.

[0130] In the scenario of the present application, the sweeping robot being triggered to retreat after colliding with an obstacle can be used as the predetermined stopping condition. In this scenario, after being triggered to retreat, the steps of controlling the sweeping robot to perform the retreat action of the present application can be executed, and after the retreat action is completed and the predetermined distance is reached, controlling the sweeping robot to move to the route indicated by the second line segment and continue traveling can be performed. Since the sweeping robot is usually triggered to retreat when it is close to an obstacle as the original movement strategy of the sweeping robot, then, by detecting that the sweeping robot is triggered to retreat as a sub-condition, the control logic used to implement the route control method of the sweeping robot of the present application is made compatible with the original control logic of the sweeping robot.

[0131] In the scenario of this application, the priority of the steps of detecting that the sweeping robot is triggered to move backward, controlling the sweeping robot to perform the backward action, and controlling the sweeping robot to move to the route indicated by the second line segment to continue driving after the backward action is completed and reaches a predetermined distance, is higher than the originally set backward action when the sweeping robot is triggered to move backward.

[0132] Figure 5 The diagram on the right in the middle is a diagram for controlling the sweeping robot to enter the route indicated by the second line segment. Figure 5 As shown, after the sweeping robot 503 retreats a predetermined distance, the sweeping robot 503 can be controlled to enter the route indicated by the second line segment, and the direction indicated by 506 is the direction of the route indicated by the second line segment.

[0133] In the scenario of the present application, the obstacle that the sweeping robot collides with is most likely the edge of the target object. At this time, the distance between the sweeping robot and the edge of the target object has exceeded the minimum allowable distance, which indicates that the sweeping robot has completed cleaning the corners corresponding to the first line segment and the second line segment, and there is no missed area.

[0134] In the solution of this embodiment, whether the sweeping robot has completed cleaning the missed-cleaning areas can be determined by whether the sweeping robot meets the predetermined stop condition.

[0135] The solution of this implementation method can use the control strategy corresponding to the inner corner type to control the sweeping robot to clean the missed sweep area in the corner where the target corner type is an inner corner type.

[0136] In one implementation, the control strategy based on the target corner type controls the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located, including steps C1 and C2.

[0137] Step C1: When the target corner type is an outside corner type, control the cleaning robot to move straight along the route indicated by the first line segment;

[0138] This implementation is when the target corner type is an external corner type.

[0139] Step C2: in response to the distance between the cleaning robot and the second line segment route being no less than a second preset distance, controlling the cleaning robot to rotate so that the side of the cleaning robot is parallel to the route indicated by the second line segment and the driving direction is toward the route indicated by the second line segment, and controlling the cleaning robot to continue driving;

[0140] Among them, the first line segment route is the line segment among the line segments obtained by fitting the edge cleaning route, at which the sweeping robot is currently located, and the second line segment is the line segment among the line segments obtained by fitting the edge cleaning route, which intersects with the first line segment.

[0141] It can be understood that, when the target corner type is an external corner type, the vehicle goes straight along the route indicated by the first line segment without being blocked by any obstacles.

[0142] When the distance between the robot vacuum cleaner and the second line segment is no less than a second preset distance, the robot vacuum cleaner's rotation center is located on the route indicated by the second line segment. At this point, the robot vacuum cleaner can be controlled to rotate so that its side is parallel to the route indicated by the second line segment and its driving direction is toward the route indicated by the second line segment, and the robot vacuum cleaner can be controlled to continue driving.

[0143] Since in this embodiment, the sweeping robot rotates in place, and is controlled to continue moving along the route indicated by the second line segment only after the rotation is completed, the situation in which the roller brush slips and misses sweeping areas due to arc movement at outer corners can be reduced.

[0144] Figure 6 This is a schematic diagram of controlling the sweeping robot to clean the edge area to be cleaned along the edge cleaning route according to the control strategy corresponding to the outer corner type. Figure 6 The leftmost schematic diagram in the figure is a schematic diagram for controlling the sweeping robot to move straight along the route indicated by the first line segment. Figure 6 As shown, the cleaning robot 605 can be controlled to clean along the route 604 indicated by the first line segment. Figure 6 The edge of the middle wall 601 is the edge of the object parallel to the first line segment. Figure 6 , the distance between the cleaning robot and the route 603 indicated by the second line segment is no less than the second preset distance. Figure 6 The edge of the middle wall 602 is the edge of the object parallel to the second line segment. Figure 6 In the figure, 6051 is the front end of the structure of the sweeping robot 605.

[0145] Figure 6 The schematic diagram in the middle is a schematic diagram for controlling the rotation of the sweeping robot. Figure 6 As shown, the cleaning robot 605 can be controlled to rotate so that the side of the cleaning robot is parallel to the wall 602.

[0146] Figure 6The diagram on the right in the middle is a diagram for controlling the sweeping robot to continue traveling along the route indicated by the second line segment. Figure 6 As shown, the cleaning robot is parallel to the wall 602, and the wall 602 is the edge of the object parallel to the second line segment. The cleaning robot 605 can continue to move forward along the route 603 indicated by the second line segment.

[0147] The solution of this implementation method can use the control strategy corresponding to the outer corner type to control the sweeping robot to clean the missed sweep area in the corner where the target corner type is an outer corner type.

[0148] Below, the route control method of the sweeping robot of the present application is introduced through a specific embodiment.

[0149] Step 1: Get the reference route along the edge.

[0150] The edge reference route is the edge cleaning route of the above embodiment. The edge reference route is generated by the edge module planner. The edge module is a module of the sweeping robot. When performing edge cleaning, the edge module planner can generate the edge reference route of the sweeping robot.

[0151] The reference route along the edge belongs to the input conditions, that is, the data used. This application does not focus on the calculation method of the reference route along the edge.

[0152] Step 2: By filtering the reference route along the edge, the reference route along the edge is converted into a continuous line segment, and subsequent splitting strategies will be implemented based on the continuous line segment.

[0153] It's important to note that if the edge reference path is an arc, the filter calculation can be converted into a regular quadrilateral circumscribed envelope, with the starting edge of the envelope tangent to the arc's starting point. This processing method isn't limited to this one; the main goal is to process the edge reference path into a combination of long line segments, with a segment length greater than half the machine width.

[0154] The filtering process for the reference route along the edge corresponds to the line segment fitting process for the cleaning route along the edge in the above embodiment, and will not be elaborated here.

[0155] Step 3: If the corner passed is an inner corner, execute the splitting strategy for the inner corner.

[0156] Due to the robot's shape, if you clean the inner corner at one time, there will inevitably be an area that is not swept. To solve the splitting strategy for the inner corner, you can split the inner corner route into three combined routes:

[0157] The first segment: a straight line segment, which can control the sweeping robot to travel along the route indicated by the straight line segment to the extreme position, that is, the distance between the sweeping robot and the obstacle has reached the minimum allowable distance, so that the front edge of the roller brush is close to the obstacle, and the obstacle can be a wall.

[0158] The first paragraph corresponds to the content of controlling the cleaning robot to move straight along the route indicated by the first line segment when the target corner type is an inner corner type.

[0159] Figure 5 The sweeping robot in the middle left schematic diagram is controlled to move according to the straight line segment.

[0160] The second section: backward section. Due to the characteristics of the right side edge, if the robot moves backward with a certain yaw angular velocity, it can achieve backward movement in the left rear arc (in the angle of the robot coordinate system).

[0161] The second paragraph corresponds to the content of controlling the sweeping robot to perform a backward action when the target corner type is an inner corner type.

[0162] Figure 5 The sweeping robot in the middle schematic diagram is controlled to move according to the backward section.

[0163] The third section: Continue cleaning. After completing the cleaning of the inner corners and inner edges, you can continue cleaning by marking the cleaned areas to prevent logical disorder.

[0164] The third paragraph corresponds to the content of controlling the sweeping robot to move to the route indicated by the second line segment and continue driving when the target corner type is an inner corner type.

[0165] Figure 5 The sweeping robot in the schematic diagram on the right is controlled to move according to the continued cleaning section.

[0166] The sweeping robot can mark the cleaned areas, which can effectively avoid repeated cleaning of the cleaned areas.

[0167] The inner corner route is split into three combined routes, which corresponds to the control strategy corresponding to the inner corner type in the above embodiment, and will not be elaborated here.

[0168] Below is a detailed introduction on splitting the inner corner route into three combined routes.

[0169] 1. A normal edge cleaning route plan can be obtained. The edge cleaning route plan is the line segment converted from the edge cleaning route in the above embodiment. Let the first line segment be AB, the second line segment be BC, the split point be B, and the angle between the two line segments be theta.

[0170] The inner corners that need to be split must meet the following requirements:

[0171] ‖BC‖>L c ;

[0172] theta∈(theta d ,theta u );

[0173] ‖BC‖ is the length of the second line segment BC, L c Theta is the width of the sweeping robot. Theta is the size of the inner corner. d ,theta u ) is the predetermined angle range mentioned above, in the case of the corner type within the type of corner passed.

[0174] Predetermined angle range and L c Can be debugged according to actual test conditions

[0175] 2. Determination of feasible domain.

[0176] Since a backward movement is required, it is necessary to determine whether there is enough backward space near the split point B.

[0177] The purpose of judging whether there is enough space to retreat near the split point B is to control the sweeping robot to perform a retreat action. If there is not enough space to retreat, an alarm or other operation may be performed.

[0178] 3. Straight line segment planning and control.

[0179] After the split is completed, you can first control the robot to drive to the split edge and try to stay as close to the wall as possible.

[0180] During driving, the planned route can be continuously generated and split judgment can be continuously performed.

[0181] When the length of the straight segment route, that is, the route indicated by the first line segment, is less than the threshold LS1, the cleaned area is marked in real time until the length of the straight segment route is less than the threshold LS2, the straight segment control is completed, and the state machine jumps to the backward state. The threshold LS1 can be the above-mentioned second threshold, and the threshold LS2 can be the above-mentioned minimum allowable distance. It should be noted that due to precision errors during the forward process, the collision plate may be accidentally touched and retreated, and the state machine will be taken over by a more advanced exception handling, and the compatibility of the two needs to be handled. The content described here corresponds to the above-mentioned predetermined stop conditions, and will not be elaborated here.

[0182] 4. Determine the cleaned area.

[0183] In normal cleaning mode, if there is a cache of cleaned area coordinates, the cleaned area coordinates and the edge-planned route need to be judged. If the AB segment route overlaps with the cleaned area, that is, the area corresponding to the AB segment route is the cleaned area, the route of point B will no longer be split.

[0184] At the same time, based on the current position of the sweeping robot, the cache of the cleaned area is updated and outdated data is discarded in time. Specifically, for a certain area, the cached data for that area can be discarded after a predetermined time after the area is cleaned.

[0185] 5. Continue cleaning.

[0186] According to the above steps, after completing the inner corner splitting action, there is no need to manually jump to the state machine, and the route tracking of the next section can be achieved to achieve continuous cleaning.

[0187] In this embodiment, the inner corner turning action is split into three combined routes, which correspond to the control strategies corresponding to the inner corner types in the above embodiments.

[0188] Step 4: If the corner passed is an external corner, execute the splitting strategy for the external corner.

[0189] In order to solve the problem of brush slippage during circular turns, the outer corner turning action can be divided into three combined routes:

[0190] The first segment: a straight line segment.

[0191] The robot's rotation center can be driven to the corner of the planned route.

[0192] The first paragraph corresponds to the content of the above embodiment, which controls the cleaning robot to move straight along the route indicated by the first line segment when the target corner type is an external corner type.

[0193] Figure 6 The middle one on the left indicates that the vehicle is controlled to travel according to the straight line segment.

[0194] Second section: right turn action section.

[0195] Since the robot is close to the right edge, no collision will occur during the right turn. The right turn action segment can be the target angle of the robot vacuum cleaner to turn right, so that the robot vacuum cleaner faces the direction of the next route.

[0196] The second paragraph corresponds to the content of the above embodiment, in which, when the target corner type is an outer corner type, the cleaning robot is controlled to rotate so that the side of the cleaning robot is parallel to the route indicated by the second line segment.

[0197] Figure 6The sweeping robot in the middle schematic diagram is controlled to move according to the right turn action segment.

[0198] The third section: Continue cleaning.

[0199] After completing the rotation in place, you can continue cleaning as usual following the planned route.

[0200] The third paragraph corresponds to the content of the above embodiment, in which, when the target corner type is an external corner type, the sweeping robot is controlled to continue traveling along the route indicated by the second line segment.

[0201] Figure 6 The sweeping robot in the schematic diagram on the right is controlled to move according to the continued cleaning section.

[0202] Below is a detailed introduction on splitting the outer corner route into three combined routes.

[0203] 1. External corner judgment

[0204] Get the normal route planning along the edge, let the first line segment be AB, the second line segment be BC, the split point be B, and the angle between the two line segments be theta.

[0205] The outer corners that need to be split must meet the following requirements:

[0206] ‖AB‖ <L o ;

[0207] ‖BC‖>L c ;

[0208] theta∈(theta d ,theta u );

[0209] ‖AB‖ is the length of the route not cleaned by the sweeping robot in the first line segment AB, ‖BC‖ is the length of the second line segment BC, L o Can be the length of the sweeping robot, L c Theta is the width of the sweeping robot. Theta is the size of the inner corner. d ,theta u ) is the predetermined angle range when the corner passed through is an outer corner type.

[0210] L o , L c and (theta d ,theta u ) and other related parameters need to be debugged according to the actual test situation.

[0211] 2. Straight segment planning and control

[0212] After the split is achieved, the robot needs to be controlled to move along the edge to the split point.

[0213] During driving, the planned route is continuously generated and split judgment is continuously performed. If splitting is found to be necessary, the split point is continuously updated and the length of the straight line segment is calculated.

[0214] The length of the straight line segment, that is, the length of the route not cleaned by the sweeping robot in the first line segment AB is greater than the threshold value L o When LS2 is reached, the robot is too far from the outer corner and the outer corner split is abandoned. When the straight segment length is less than the threshold LS2, the straight segment control is completed and the state machine jumps to the right turn action. When the straight segment length is less than the threshold LS2, the robot's rotation center has reached the corner of the planned route.

[0215] 3. Turn right

[0216] Due to the sensor's field of view, the right turn process continuously updates edge perception information. Therefore, the right turn also requires real-time edge route calculation and continuous adjustment of the right turn target angle. When the angle deviation is less than the threshold TL, the rotation is completed and the state machine jumps to edge cleaning. When the angle deviation is less than the threshold TL, it indicates that the side of the robot is parallel to the second line segment BC.

[0217] In this embodiment, the outer corner turning action is split into three combined routes, which correspond to the control strategies corresponding to the outer corner types in the above embodiments.

[0218] This embodiment processes the edge reference trajectory to transform the arc trajectory into a line segment trajectory with better segmentation geometric features. The line segment trajectory features are judged to identify possible missed areas, and the robot can reconstruct the missed areas by segmenting the sweeping robot's movements.

[0219] The present application also provides a route control device for a sweeping robot. Figure 7 As shown, the device includes:

[0220] an identification module 701 for identifying, in response to generating a side-cleaning route for the robot vacuum, whether a target missed-sweep area exists if side-cleaning is performed along the side-cleaning route; wherein the target missed-sweep area is a missed-sweep area within a corner of an inner corner type or an outer corner type;

[0221] A control module 702 is configured to control the cleaning robot to clean the edge area to be cleaned where the edge cleaning route is located based on a control strategy corresponding to the target corner type, if any;

[0222] Among them, the target corner type is the type of corner to which the target missed-sweep area belongs; the control strategy corresponding to the target corner type is: a strategy for controlling the sweeping robot to clean according to a target route combination comprising multiple route segments, and the multiple route segments are used to enable the existing missed-sweep areas to be covered during driving.

[0223] The solution of the present application, after generating a side-sweeping route for a sweeping robot, can identify whether there are any missed-sweeping areas within the corners of the inner corner type or the outer corner type if the side-sweeping route is followed. If so, the solution can use a control strategy corresponding to the type of the missed-sweeping area to control the sweeping robot to clean the side-sweeping area to be cleaned along the side-sweeping route, so that the sweeping robot can cover the missed-sweeping area during driving. It can be seen that the solution of the present application can effectively reduce the occurrence of missed sweeps during the side-sweeping process of the sweeping robot performing side-sweeping at corners.

[0224] Optionally, the identification module includes:

[0225] a conversion unit, configured to perform line segment fitting processing on the edge cleaning route to convert the edge cleaning route into at least one line segment;

[0226] an identification unit, configured to identify, based on the obtained line segments, whether the edge cleaning route is a route passing through an inner corner or an outer corner;

[0227] If so, according to the analysis method corresponding to the type of the corner passed, it is analyzed whether there is a target missed area if the edge cleaning route is used to perform edge cleaning.

[0228] Optionally, the process of performing line segment fitting processing on the edge cleaning route includes:

[0229] When there is an arc-shaped route portion in the edge cleaning route, a quadrilateral circumscribed envelope of the arc-shaped route portion is generated as a line segment corresponding to the arc-shaped route portion, and the starting edge of the quadrilateral circumscribed envelope is tangent to the starting point of the arc.

[0230] Optionally, the analysis method corresponding to the type of the corner passed is: an analysis method of analyzing whether there is a missed scanning area based on the angle between the first line segment and the second line segment, and the obtained line segment length information;

[0231] The first line segment is a line segment among the obtained line segments where the cleaning robot is currently located, and the second line segment is a line segment among the obtained line segments that intersects with the first line segment.

[0232] Optionally, analyzing whether there is a target missed area when edge cleaning is performed along the edge cleaning route according to an analysis method corresponding to the type of the corner passed by includes:

[0233] In a case where the type of corner passed by is an inner corner type, analyzing whether the length of the second line segment is greater than a predetermined first threshold value, and whether the angle between the first line segment and the second line segment is within a predetermined angle range; if both are true, determining that there is a target missed sweeping area when the sweeping robot travels along the edge along the edge cleaning route; otherwise, determining that there is no target missed sweeping area; the predetermined angle range is a range set based on the minimum corner angle that the sweeping robot can enter and the minimum corner angle that can cause missed sweeping;

[0234] and / or,

[0235] In the case where the type of corner passed is an external corner type, determine whether the length of the route not cleaned by the sweeping robot in the route indicated by the first line segment is less than a second threshold, whether the length of the second line segment is greater than a predetermined first threshold, and whether the angle between the first line segment and the second line segment is within a predetermined angle range. If all of them are yes, it is determined that if the sweeping robot is traveling along the edge along the edge cleaning route, there is a target missed sweeping area; otherwise, it is determined that there is no target missed sweeping area.

[0236] Optionally, the control module includes:

[0237] a first control unit, configured to control the cleaning robot to move straight along a route indicated by a first line segment when the target corner type is an inner corner type;

[0238] a second control unit, configured to, in response to a predetermined stop condition being met, control the cleaning robot to perform a backward movement, wherein the backward movement is configured to enable the cleaning robot to enter the route indicated by the second line segment, and, after the backward movement is completed, control the cleaning robot to move to the route indicated by the second line segment and continue traveling;

[0239] Among them, the predetermined stopping condition is used to characterize: the distance between the sweeping robot and the edge of the target object has reached the minimum allowable distance, and the edge of the target object is the edge of the object parallel to the second line segment; the first line segment route is the line segment obtained by fitting the edge cleaning route, and the current position of the sweeping robot is located, and the second line segment is the line segment obtained by fitting the edge cleaning route and intersects with the first line segment.

[0240] Optionally, the predetermined stop condition includes:

[0241] The distance between the cleaning robot and the second line segment is less than a first preset distance;

[0242] or,

[0243] It is detected that the sweeping robot is triggered to retreat.

[0244] Optionally, the control module includes:

[0245] a third control unit, configured to control the cleaning robot to move straight along the route indicated by the first line segment when the target corner type is an outside corner type;

[0246] a fourth control unit, configured to, in response to the distance between the cleaning robot and the second line segment route being not less than a second preset distance, control the cleaning robot to rotate so that a side of the cleaning robot is parallel to the route indicated by the second line segment and a driving direction of the cleaning robot is toward the route indicated by the second line segment, and control the cleaning robot to continue driving;

[0247] The first line segment is the line segment obtained by fitting the edge cleaning route, at which the sweeping robot is currently located, and the second line segment is the line segment obtained by fitting the edge cleaning route, which intersects with the first line segment.

[0248] The present application also provides a sweeping robot. Figure 8 Shown, including:

[0249] Memory 801, used for storing computer programs;

[0250] The processor 802 is configured to implement any of the above-mentioned route control methods for the sweeping robot when executing the program stored in the memory 801 .

[0251] In addition, the above-mentioned sweeping robot may further include a communication bus and / or a communication interface, and the processor 802, the communication interface, and the memory 801 communicate with each other via the communication bus.

[0252] The communication bus mentioned above for the robot vacuum cleaner can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0253] The communication interface is used for communication between the above-mentioned sweeping robot and other devices.

[0254] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0255] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0256] In another embodiment provided in the present application, a computer-readable storage medium is further provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of the route control method of any of the above-mentioned sweeping robots are implemented.

[0257] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the route control method of any sweeping robot in the above embodiments.

[0258] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0259] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0260] Each embodiment in this specification is described in a related manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0261] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A route control method for a sweeping robot, characterized in that: The method comprises: In response to generating a side cleaning route for the sweeping robot, identifying whether there is a target missed-sweep area if side cleaning is performed according to the side cleaning route; wherein the target missed-sweep area is a missed-sweep area within a corner of an inner corner type or an outer corner type; If so, based on the control strategy corresponding to the target corner type, controlling the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located; Among them, the target corner type is the type of corner to which the target missed-sweep area belongs; the control strategy corresponding to the target corner type is: a strategy for controlling the sweeping robot to clean according to a target route combination comprising multiple route segments, and the multiple route segments are used to enable the existing missed-sweep areas to be covered during driving.

2. The method according to claim 1, characterized in that The identifying whether there is a target missed area when performing edge cleaning according to the edge cleaning route includes: performing line segment fitting processing on the edge cleaning route to convert the edge cleaning route into at least one line segment; Based on the obtained line segments, identifying whether the edge cleaning route is a route passing through an inner corner or an outer corner; If so, according to the analysis method corresponding to the type of the corner passed, it is analyzed whether there is a target missed area if the edge cleaning route is used to perform edge cleaning.

3. The method according to claim 2, characterized in that The process of performing line segment fitting processing on the edge cleaning route includes: When there is an arc-shaped route portion in the edge cleaning route, a quadrilateral circumscribed envelope of the arc-shaped route portion is generated as a line segment corresponding to the arc-shaped route portion, and the starting edge of the quadrilateral circumscribed envelope is tangent to the starting point of the arc.

4. The method according to claim 2, characterized in that The analysis method corresponding to the type of the corner passed is: an analysis method for analyzing whether there is a missed scanning area based on the angle between the first line segment and the second line segment and the obtained line segment length information; The first line segment is a line segment among the obtained line segments where the cleaning robot is currently located, and the second line segment is a line segment among the obtained line segments that intersects with the first line segment.

5. The method according to claim 4, characterized in that The analyzing method corresponding to the type of corner passed through is used to determine whether there is a target missed area when performing edge cleaning along the edge cleaning route, including: In a case where the type of corner passed by is an inner corner type, analyzing whether the length of the second line segment is greater than a predetermined first threshold value, and whether the angle between the first line segment and the second line segment is within a predetermined angle range; if both are true, determining that there is a target missed sweeping area when the sweeping robot travels along the edge along the edge cleaning route; otherwise, determining that there is no target missed sweeping area; the predetermined angle range is a range set based on the minimum corner angle that the sweeping robot can enter and the minimum corner angle that can cause missed sweeping; and / or, In the case where the type of corner passed is an external corner type, determine whether the length of the route not cleaned by the sweeping robot in the route indicated by the first line segment is less than a second threshold, whether the length of the second line segment is greater than a predetermined first threshold, and whether the angle between the first line segment and the second line segment is within a predetermined angle range. If all of them are yes, it is determined that if the sweeping robot is traveling along the edge along the edge cleaning route, there is a target missed sweeping area; otherwise, it is determined that there is no target missed sweeping area.

6. The method according to any one of claims 1 to 5, characterized in that The control strategy corresponding to the target corner type is used to control the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located, including: When the target corner type is an inner corner type, controlling the cleaning robot to move straight along the route indicated by the first line segment; In response to a predetermined stop condition being met, controlling the cleaning robot to perform a backward movement, wherein the backward movement is used to enable the cleaning robot to enter the route indicated by the second line segment, and after the backward movement is completed, controlling the cleaning robot to move to the route indicated by the second line segment to continue traveling; Among them, the predetermined stopping condition is used to characterize: the distance between the sweeping robot and the edge of the target object has reached the minimum allowable distance, and the edge of the target object is the edge of the object parallel to the second line segment; the first line segment route is the line segment obtained by fitting the edge cleaning route, and the current position of the sweeping robot is located, and the second line segment is the line segment obtained by fitting the edge cleaning route and intersects with the first line segment.

7. The method according to claim 6, characterized in that The predetermined stop condition includes: The distance between the cleaning robot and the second line segment is less than a first preset distance; or, It is detected that the sweeping robot is triggered to retreat.

8. The method according to any one of claims 1 to 5, characterized in that The control strategy corresponding to the target corner type is used to control the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located, including: When the target corner type is an outer corner type, controlling the cleaning robot to move straight along the route indicated by the first line segment; In response to the distance between the cleaning robot and the second line segment route being no less than a second preset distance, controlling the cleaning robot to rotate so that the side of the cleaning robot is parallel to the route indicated by the second line segment and the driving direction is toward the route indicated by the second line segment, and controlling the cleaning robot to continue driving; The first line segment is the line segment obtained by fitting the edge cleaning route, at which the sweeping robot is currently located, and the second line segment is the line segment obtained by fitting the edge cleaning route, which intersects with the first line segment.

9. A route control device for a sweeping robot, characterized in that: The device comprises: an identification module, configured to, in response to generating a side-cleaning route for the sweeping robot, identify whether a target missed-sweep area exists if side-cleaning is performed along the side-cleaning route; wherein the target missed-sweep area is a missed-sweep area within a corner of an inner corner type or an outer corner type; a control module configured to control the sweeping robot to clean the edge area to be cleaned where the edge cleaning route is located based on a control strategy corresponding to the target corner type, if any; Among them, the target corner type is the type of corner to which the target missed-sweep area belongs; the control strategy corresponding to the target corner type is: a strategy for controlling the sweeping robot to clean according to a target route combination comprising multiple route segments, and the multiple route segments are used to enable the existing missed-sweep areas to be covered during driving.

10. A sweeping robot, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 8 when executing a program stored in a memory.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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