Control method and device of mobile robot, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a control method and device of a mobile robot, a storage medium and electronic equipment, and the method comprises the steps: determining whether a first sensor of the mobile robot detects a target object or not under the condition that the mobile robot executes a target event; under the condition that a first sensor of the mobile robot detects the target object, the mobile robot is controlled to rotate in the first direction, and whether the first sensor detects the target object or not in the process that the mobile robot rotates in the first direction is determined; under the condition that the first sensor does not detect the target object, the mobile robot is controlled to rotate in the second direction, whether the first sensor detects the target object or not in the process that the mobile robot rotates in the second direction is determined, and the first direction and the second direction are opposite directions; and under the condition that the first sensor detects the target object, the mobile robot is controlled to execute the target event according to the first route.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of smart home, in particular, to a control method and device of a mobile robot, a storage medium and an electronic device. BACKGROUND

[0002] With the development of social economy and rapid progress of technology, the demand for automated cleaning in modern homes and offices is growing. Mobile robots (such as sweeping robots) gradually become an important tool to improve the cleaning condition of living and working environment with their efficient and convenient characteristics. They not only can autonomously plan cleaning routes, but also can provide various cleaning services such as cleaning and mopping according to different scenes and needs, greatly reducing people's daily cleaning labor and improving the efficiency and quality of cleaning.

[0003] However, the diversity and complexity of cleaning areas, especially the ground covered by some other objects (such as carpets, door mats, floor mats), bring new challenges to mobile robots. In the related art, when the mobile robot adopts a standard mode, if it enters an area covered by other objects, the mobile robot will perform backward, rotation, and then advance according to an arc line, the direction of the arc line is opposite to the direction of rotation, and then clean the surrounding area of the area covered by other objects. At this time, the running track is like a zigzag, the mobile robot repeatedly advances and retreats, resulting in low cleaning efficiency.

[0004] In view of the problem of low cleaning efficiency of the mobile robot in the related art when cleaning outside the area covered by other objects, an effective solution has not been proposed so far.

[0005] Therefore, it is necessary to improve the related art to overcome the defects in the related art. SUMMARY

[0006] The embodiments of the present application provide a control method and device of a mobile robot, a storage medium and an electronic device to at least solve the problem of low cleaning efficiency of the mobile robot in the related art when cleaning outside the area covered by other objects.

[0007] According to an embodiment of the present application, a control method of a mobile robot is provided, including: in a case where the mobile robot performs a target event, determining whether a first sensor of the mobile robot detects a target object; in a case where the first sensor of the mobile robot detects the target object, controlling the mobile robot to rotate in a first direction, and determining whether the first sensor detects the target object in a process in which the mobile robot rotates in the first direction; in a case where the first sensor does not detect the target object, controlling the mobile robot to rotate in a second direction, and determining whether the first sensor detects the target object in a process in which the mobile robot rotates in the second direction, wherein the first direction and the second direction are opposite directions; and in a case where the first sensor detects the target object, controlling the mobile robot to perform the target event according to a first route.

[0008] In an example embodiment, after the mobile robot is controlled to perform the target event according to the first route, the method further includes: determining whether the first sensor detects the target object; in a case where the first sensor does not detect the target object, controlling the mobile robot to rotate in the second direction, and determining whether the first sensor detects the target object in a process in which the mobile robot rotates in the second direction; and in a case where the first sensor detects the target object, controlling the mobile robot to perform the target event according to a second route.

[0009] In an example embodiment, after the mobile robot is controlled to perform the target event according to the first route, the method further includes at least one of: determining whether an execution track of the mobile robot performing the target event is closed, and in a case where the execution track is closed, performing the target event based on a standard mode; and determining whether the mobile robot moves to a preset boundary, wherein the preset boundary includes at least one of: a physical boundary and a virtual boundary, and in a case where the mobile robot moves to the preset boundary, performing the target event based on the standard mode.

[0010] In an example embodiment, controlling the mobile robot to perform the target event according to the first route includes: determining a first module of the mobile robot located in a target region and a second module of the mobile robot not located in the target region, wherein the first module and the second module are used to perform the target event, and the target region is a region corresponding to the target object; controlling the first module to stop performing the target event, and controlling the mobile robot to perform the target event according to the first route and the second module.

[0011] In an example embodiment, the control of the mobile robot to rotate in the first direction comprises: determining whether the second sensor of the mobile robot detects the target object, wherein the second sensor is located at a distance less than a preset threshold from the first module and / or the second module of the mobile robot, and the first module and the second module are used to perform the target event; and in the case that the second sensor detects the target object, the control of the mobile robot to rotate in the first direction.

[0012] In an example embodiment, the control of the mobile robot to rotate in the first direction comprises: determining a target distance between the first sensor and a boundary of the target object; in the case that the target distance is greater than or equal to a preset distance, determining whether a target module of the mobile robot is located within a target area, wherein the target module is used to perform the target event, and the target area corresponds to the target object; in the case that at least one target module of the mobile robot is not located within the target area, the control of the mobile robot to rotate in the first direction; and in the case that all target modules of the mobile robot are located within the target area, the control of the mobile robot to move along a third path until the at least one target module is not located within the target area, and the control of the mobile robot to rotate in the first direction.

[0013] According to another embodiment of the present application, a control device of a mobile robot is provided, comprising: a determination module configured to determine whether a first sensor of the mobile robot detects a target object in the case that the mobile robot performs a target event; a first control module configured to control the mobile robot to rotate in a first direction in the case that the first sensor of the mobile robot detects the target object, and determine whether the first sensor detects the target object in the process of the mobile robot rotating in the first direction; a second control module configured to control the mobile robot to rotate in a second direction in the case that the first sensor does not detect the target object, and determine whether the first sensor detects the target object in the process of the mobile robot rotating in the second direction, wherein the first direction and the second direction are opposite directions; and a third control module configured to control the mobile robot to perform the target event according to a first route in the case that the first sensor detects the target object.

[0014] According to yet another embodiment of the present application, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0015] According to a further embodiment of the present application, an electronic device is also provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor being arranged to run the computer program to perform the steps of any of the method embodiments described above.

[0016] According to a further embodiment of the present application, a computer program product is also provided, comprising a computer program which, when executed by a processor, implements the steps of any of the method embodiments described above.

[0017] With the present application, in the case that a mobile robot performs a target event, it is determined whether a target object is detected by a first sensor of the mobile robot; in the case that the target object is detected by the first sensor of the mobile robot, the mobile robot is controlled to rotate in a first direction, and it is determined whether the target object is detected by the first sensor in the process that the mobile robot rotates in the first direction; in the case that the target object is not detected by the first sensor, the mobile robot is controlled to rotate in a second direction, and it is determined whether the target object is detected by the first sensor in the process that the mobile robot rotates in the second direction, wherein the first direction and the second direction are opposite directions; in the case that the target object is detected by the first sensor, the mobile robot is controlled to perform the target event according to a first route. In the embodiments of the present application, in the process of detecting and avoiding a target object, the robot dynamically adjusts its travel path according to the real-time feedback of the sensor. This adaptive path planning reduces invalid travel and ensures that the robot can quickly find the shortest path to bypass the obstacle, improving the cleaning efficiency. Therefore, the problem that the cleaning efficiency of the mobile robot is not high when cleaning outside the area covered by other objects can be solved. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application together with the specification.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the accompanying drawings needed to be used in the embodiments or related art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0020] Figure 1 is a schematic diagram of the movement action of a mobile robot in the related art;

[0021] Figure 2 is a schematic diagram of the movement trajectory of a mobile robot in the related art;

[0022] Figure 3 is a hardware structure block diagram of a mobile robot according to an embodiment of the present application;

[0023] Figure 4 is a flowchart of a control method of a mobile robot according to an embodiment of the present application (I);

[0024] Figure 5 is a schematic diagram of a moving action of a mobile robot according to an embodiment of the present application (I);

[0025] Figure 6 is a schematic diagram of a moving track of a mobile robot according to an embodiment of the present application;

[0026] Figure 7 is a schematic diagram of a moving track of a mobile robot according to an embodiment of the present application (II);

[0027] Figure 8 is a schematic diagram of a mobile robot according to an embodiment of the present application;

[0028] Figure 9 is a flowchart of a control method of a mobile robot according to an embodiment of the present application (II);

[0029] Figure 10 is a structure block diagram of a control device of a mobile robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings and in conjunction with embodiments.

[0031] It should be noted that the terms “first”, “second”, and the like in the description and claims of the present application and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence.

[0032] As shown in Figure 1 and Figure 2 in the related art, when a mobile robot detects a carpet, it is instructed to first perform a backward operation, then perform a rotation, and then move forward according to a reverse arc track. This series of actions causes the moving path of the mobile robot to exhibit a sawtooth feature, that is, the mobile robot will experience multiple forward and backward alternations during the cleaning process, thereby significantly reducing the overall cleaning efficiency. In view of this deficiency, the present application provides a control method of a mobile robot.

[0033] The method embodiments provided in the embodiments of the present application can be executed in a mobile robot or similar computing device. Taking a mobile robot as an example, Figure 3 is a hardware structure block diagram of a mobile robot according to an embodiment of the present application. As shown in Figure 3As shown, the mobile robot can include one or more Figure 3 A processor 302 (which can include, but is not limited to, a MicroProcessor Unit (MPU) or a programmable logic device, etc.) and a memory 304 for storing data are shown in the figure, wherein the mobile robot can further include a transmission device 306 for communication function and an input / output device 308. Those skilled in the art can understand that Figure 3 The structure shown is only schematic, which does not limit the structure of the mobile robot. For example, the mobile robot can further include more or less components than those shown in the figure, or have a different configuration from that shown. Figure 3 The figure shows more or less components, or has a different configuration from that shown. Figure 3

[0034] The memory 304 can be used to store computer programs, such as software programs of application software and modules, such as the computer program corresponding to the control method of the mobile robot in the embodiments of the present application. The processor 302 executes various functional applications and data processing by running the computer program stored in the memory 304, i.e. implements the above method. The memory 304 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 304 can further include a memory remotely arranged with respect to the processor 302, which can be connected to the mobile robot through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0035] The transmission device 306 is used to receive or send data via a network. The specific example of the above network can include a wireless network provided by a communication provider of the mobile robot. In one example, the transmission device 306 includes a network adapter (NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 306 can be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.

[0036] In the embodiments, a control method of a mobile robot is provided, which is applied to the mobile robot, Figure 4 is a flowchart of the control method of the mobile robot according to the embodiments of the present application, which includes the following steps as shown in the figure: Figure 4

[0037] ​​Step S402, in the case that the mobile robot executes a target event, determine whether the first sensor of the mobile robot detects a target object;

[0038] The target event can be understood as a cleaning event, and the target object can be understood as an object covered on the ground, such as a carpet, a floor mat, etc.

[0039] Step S404, in the case that the first sensor of the mobile robot detects a target object, control the mobile robot to rotate in a first direction, and determine whether the first sensor detects the target object in the process that the mobile robot rotates in the first direction;

[0040] In the case that the target object is detected, the mobile robot will rotate in a first direction (for example, counterclockwise) to try to bypass or avoid the target object.

[0041] Step S406, in the case that the first sensor does not detect the target object, control the mobile robot to rotate in a second direction, and determine whether the first sensor detects the target object in the process that the mobile robot rotates in the second direction, wherein the first direction and the second direction are opposite directions;

[0042] If the sensor no longer detects the target object when rotating in the first direction, it indicates that the robot successfully changes the direction, but at this time, the direction deviates from the direction in which the mobile robot wants to move, at this time, the robot will rotate in the opposite direction (the second direction, for example, clockwise) to continue to find the correct moving direction.

[0043] It should be noted that, in the case that the first direction is counterclockwise, the second direction is clockwise; in the case that the first direction is clockwise, the second direction is counterclockwise; in the case that the first direction is left, the second direction is right; in the case that the first direction is right, the second direction is left; in the case that the first direction is east, the second direction is west; in the case that the first direction is west, the second direction is east; the first direction and the second direction are not affected by the angle factor.

[0044] Step S408, in the case that the first sensor detects the target object, control the mobile robot to execute the target event according to a first route.

[0045] In the case that the target object is detected again, it is determined that the mobile robot is in the correct moving direction, at this time, the mobile robot is controlled to move and clean in the current direction.

[0046] In the case that the mobile robot performs a target event, it is determined whether the target object is detected by the first sensor of the mobile robot; in the case that the target object is detected by the first sensor of the mobile robot, the mobile robot is controlled to rotate in a first direction, and it is determined whether the target object is detected by the first sensor during the rotation of the mobile robot in the first direction; in the case that the target object is not detected by the first sensor, the mobile robot is controlled to rotate in a second direction, and it is determined whether the target object is detected by the first sensor during the rotation of the mobile robot in the second direction, wherein the first direction and the second direction are opposite directions; in the case that the target object is detected by the first sensor, the mobile robot is controlled to perform the target event according to a first route. In the process of detecting and avoiding the target object, the robot dynamically adjusts its travel path according to the real-time feedback of the sensor. This adaptive path planning reduces invalid travel and ensures that the robot can quickly find the shortest path to bypass the obstacle, improving cleaning efficiency. Therefore, the problem of low cleaning efficiency of the mobile robot when cleaning outside the area covered by other objects can be solved.

[0047] Optionally, after the mobile robot is controlled to perform the target event according to the first route, the method further comprises: determining whether the target object is detected by the first sensor; in the case that the target object is not detected by the first sensor, the mobile robot is controlled to rotate in the second direction, and it is determined whether the target object is detected by the first sensor during the rotation of the mobile robot in the second direction; in the case that the target object is detected by the first sensor, the mobile robot is controlled to perform the target event according to a second route.

[0048] After receiving the instruction, the mobile robot will perform the cleaning operation according to the pre-planned path (first route). During the cleaning operation, the mobile robot will use the first sensor (such as a laser radar, an ultrasonic sensor, a camera, etc.) carried by the mobile robot to monitor the surrounding environment and determine whether it needs to rotate.

[0049] If the first sensor fails to detect the target object, the mobile robot moves to the boundary of the target object at this time, and the robot will adjust according to the pre-set strategy, i.e., rotate in a second direction. The "second direction" here can be the clockwise direction. During the rotation, the first sensor will continuously monitor the environment to try to capture the signal of the target object. This is to capture the target object within the field of view or perception range of the mobile robot, so as to adjust the direction of the robot's action.

[0050] Once the target object is detected, the robot will re-plan the path (second route) to ensure that it can directly or more efficiently approach the target object and perform the target event, wherein performing the target event according to the second route can be understood as moving in a straight line in the current direction and cleaning.

[0051] The embodiments of the present application improve the flexibility and autonomy of the mobile robot when performing tasks, and can dynamically plan and adjust through sensor feedback without completely relying on the preset path to cope with complex environmental changes, thereby improving the success rate and efficiency of task execution.

[0052] Optionally, the rotating movement schematic diagram of the mobile robot is as shown in Figure 5 and Figure 7 Based on the rotating movement of the embodiments of the present application, the movement trajectory of the mobile robot is as shown in Figure 6 Compared with the prior art, the embodiments of the present application reduce the movement trajectory of the target object avoidance, improve the efficiency of the target object avoidance, and can better clean the area on the edge of the target object, so that the outer covering of the target object is washed as much as possible.

[0053] Optionally, after the mobile robot performs the target event according to the first route, the method further comprises at least one of the following: determining whether the execution trajectory of the mobile robot performing the target event is closed, and performing the target event based on a standard mode in the case that the execution trajectory is closed; determining whether the mobile robot moves to a preset boundary, wherein the preset boundary at least comprises one of the following: a physical boundary and a virtual boundary, and performing the target event based on a standard mode in the case that the mobile robot moves to the preset boundary.

[0054] During the execution of the target event by the robot, it will check whether the movement trajectory of the robot during the execution of the task forms a closed shape. If the trajectory is closed, it means that the robot may have completed cleaning a region, or is in a closed environment and cannot continue to move forward. In this case, the "standard mode" is switched to perform the target event.

[0055] Optionally, the trajectory being closed can be understood as the trajectory of the robot moving around the carpet forming a closed loop. This usually occurs after the robot completes a complete round action by passing around the carpet. By detecting the position and path of the robot, it can be judged whether it returns to the starting point or completes the carpet round, at which time it can be considered that the carpet area has been completely avoided.

[0056] Optionally, whether the movement path of the mobile robot constitutes a closure can be determined by recording and analyzing the position information of the mobile robot, such as using GPS, indoor positioning system or vision-based positioning technology.

[0057] In the process of the robot executing the target event, it is also determined whether the robot has moved to a preset boundary, which can be a physical entity wall, obstacle, or a virtual boundary set by programming (such as a virtual wall in the home or a cleaning range set on the map). After reaching the boundary, the robot switches to "standard mode" to perform the task, which helps the robot even if it switches to the standard mode.

[0058] In the process of the robot executing the target event, physical obstacles can be detected by sensors (such as infrared, ultrasonic, visual sensors, etc.), or virtual boundaries can be identified by a pre-drawn room map and a positioning system.

[0059] Optionally, in the intelligent cleaning robot, the user can define an area that the robot cannot enter by setting a virtual wall or a restricted area. If the robot encounters a pre-set virtual boundary during the carpet avoidance process, it means that the robot cannot continue to move in the current direction, as it may mean entering a restricted area or repeating the cleaning of an already completed area, so it should exit the avoidance mode.

[0060] Optionally, when the robot avoids the carpet, if it encounters a physical wall and cannot continue to move forward, it also indicates that the carpet area has been completely bypassed, or the effective cleaning area of the robot is limited, at which time the avoidance mode should be exited and the cleaning path should be re-planned.

[0061] In the embodiments of the present application, when the mobile robot moves in the target area avoidance mode, it continuously monitors its own movement trajectory to determine whether a complete bypass has been formed or whether a virtual boundary or physical wall has been touched. Once any of these conditions is met, the robot will determine that the target area has been effectively avoided, thereby exiting the avoidance mode and resuming normal cleaning operations. This intelligent judgment mechanism ensures efficient operation of the robot in complex environments, avoids unnecessary repeated movement or entry into restricted areas, and improves overall cleaning efficiency and safety.

[0062] Optionally, the control of the mobile robot to execute the target event according to the first route comprises: determining a first module of the mobile robot located in a target area and a second module of the mobile robot not located in the target area, wherein the first module and the second module are used to execute the target event, and the target area is a region corresponding to the target object; controlling the first module to stop executing the target event, and controlling the mobile robot to execute the target event according to the first route and the second module.

[0063] The mobile robot is integrated with multiple functional modules inside, each of which is responsible for different aspects of task execution. For example, as Figure 8As shown, for a sweeping robot, the first module and the second module can be understood as a mop or other cleaning tool located at the bottom of the robot. Through built-in sensors (such as cameras, lidar, infrared sensors, etc.), the robot will distinguish between the module currently working in the target area (first module) and the module that has not yet entered the target area (second module) based on the results of environmental perception. After determining that the first module is within the target area, the first module will be instructed to pause or change its current working mode to avoid unnecessary interference or damage to the target area. For example, on a sweeping robot, if the first module is a mop and a carpet is detected, the system will command the mop to stop working to prevent the wet mop from contacting the carpet. During this process, the second module will continue to perform the original task, such as cleaning non-carpet areas, while the first module will be temporarily deactivated or switched to an operating mode suitable for carpet areas. This collaboration and switching between modules ensures the cleaning efficiency and adaptability of the robot in different environments.

[0064] In this embodiment of the application, by precisely positioning and controlling the start and stop of different modules, the robot can flexibly adapt to various work scenarios, such as carpet avoidance and cleaning under furniture, thereby improving overall cleaning efficiency and user experience. In addition, it can effectively protect special floor surfaces such as carpets from damage, extending their service life.

[0065] Optionally, controlling the mobile robot to rotate in a first direction includes: determining whether the second sensor of the mobile robot detects the target object, wherein the distance between the second sensor and the first module and / or the second module of the mobile robot is less than a preset threshold, and the first module and the second module are used to execute the target event; in case the second sensor detects the target object, controlling the mobile robot to rotate in the first direction.

[0066] like Figure 7 As shown, the sensor above the image is the first sensor, and the sensor below the image is the second sensor. In this embodiment, in addition to the first sensor, a second sensor is also provided to enhance the robot's perception capability. The second sensor can have a different sensing principle or coverage range.

[0067] In this embodiment of the present application, a preset distance threshold is set between the second sensor and the first module and / or the second module. This threshold is set based on the effective sensing range of the sensor, the working radius of the cleaning module, and the safe distance when the robot approaches or contacts the target object (such as a furniture leg, a wall, a carpet edge, etc.).

[0068] Placing the second sensor in close proximity to the first or second module allows the robot to more accurately perceive the environment around the cleaning module, especially in the edge region of the target object. In this way, the robot can more intelligently adjust its cleaning path or mode to ensure that the cleaning module can effectively work even in narrow or complex edge zones without missing corners or over-cleaning leading to inefficiency.

[0069] In the scenario of cleaning the edge of a carpet, if the second sensor is deployed too far away, it can not accurately detect the relative position of the carpet boundary and the cleaning module, thereby limiting the robot's cleaning ability on the edge of the carpet. On the contrary, when the distance between the second sensor and the first or second module is less than a preset threshold, it can more accurately determine when the cleaning module is close to or in contact with the boundary of the target object, thereby enabling the robot to better adapt to the edge cleaning needs.

[0070] When both the first sensor and the second sensor detect the target object, the mobile robot is controlled to rotate in a "first direction", wherein the "first direction" can be dynamically determined according to the specific position of the target object and the current pose of the robot, for example, clockwise or counterclockwise.

[0071] Optionally, controlling the mobile robot to rotate in the first direction includes: determining a target distance between the first sensor and the boundary of the target object; in a case where the target distance is greater than or equal to a preset distance, determining whether a target module of the mobile robot is located within a target area, wherein the target module is used to perform the target event, and the target area is a region corresponding to the target object; in a case where at least one target module of the mobile robot is not located within the target area, controlling the mobile robot to rotate in the first direction; in a case where all target modules of the mobile robot are located within the target area, controlling the mobile robot to move along a third path until the at least one target module is not located within the target area, and controlling the mobile robot to rotate in the first direction.

[0072] In the embodiments of the present application, by measuring the target distance, the robot can determine its proximity to the target object. If the measured target distance is greater than or equal to a preset distance, the robot will enter the next step of checking whether its target module is located on the target object. The target module refers to those robot components that directly participate in the execution of the target event, such as a dust collector, a mop, and other cleaning tools.

[0073] If at least one target module does not contact the target object (such as a carpet), the robot will rotate in the "first direction" so as to clean the area outside the target object corresponding to the at least one target module. If all target modules are in contact with the target object (such as all cleaning tools are on the carpet), the robot will move along the "third path" (for example, retreat, sidestep) until at least one target module moves out of the target object area. After that, the robot will also rotate in the first direction to optimize its cleaning path.

[0074] In order to better understand the process of the above-mentioned control method of the mobile robot, the implementation method flow of the control of the above-mentioned mobile robot will be described in combination with optional embodiments below, but not used to limit the technical solutions of the embodiments of the present application.

[0075] In the present embodiment, a control method of a mobile robot is provided, Figure 9 is a flowchart of the control method of the mobile robot according to the embodiments of the present application (two), as shown in Figure 9 The specific steps are as follows:

[0076] Step S901: the robot in normal cleaning mode;

[0077] The robot enters the normal cleaning mode and cleans the ground along the preset path or in the autonomous exploration mode.

[0078] Step S902: monitor whether the sensor 1 detects the carpet, if the carpet is detected, execute step S903, otherwise execute step S901;

[0079] Step S903: monitor whether the sensor 2 detects the carpet, if the carpet is detected, execute step S904, otherwise execute step S901;

[0080] Step S904: start the carpet avoidance mode.

[0081] Step S905: rotate counterclockwise until the device sensor 1 detects the non-carpet, stop counterclockwise rotation;

[0082] Step S906: start clockwise rotation until the standby sensor 1 detects the carpet, stop clockwise rotation;

[0083] Step S907: straight forward;

[0084] Step S908: whether the carpet area is closed is detected, if the carpet area is closed is detected, execute step S910, otherwise execute step S909;

[0085] Real-time detection of whether the carpet area forms a closed track, or whether it encounters a virtual boundary or a physical wall. If it is detected that the carpet area has closed or encountered a boundary, the robot exits the carpet avoidance mode and returns to normal cleaning. If the above exit conditions are not detected, the robot continues to move straight ahead.

[0086] Step S909: whether the device sensor 1 detects a non-carpet, if detected, execute step S906, no carpet detected, the robot continues to execute the straight ahead in step S907, continuously detects the carpet area state until the exit condition is met;

[0087] Step S910: exit the carpet avoidance mode.

[0088] In addition, the embodiment of the present application keeps the right side mop closed after entering the carpet avoidance mode, and keeps the left side mop operating, which can better clean the area of the carpet edge, so that the carpet outside is cleaned by the mop as much as possible, and the carpet inside is not contaminated by the mop.

[0089] Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present application.

[0090] In the present embodiment, a control device for a mobile robot is also provided, which is used to implement the above embodiments and preferred embodiments, which have been described and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware, or a combination of software and hardware implementations are also possible and contemplated.

[0091] Figure 10 is a structural block diagram of a control device for a mobile robot according to the embodiments of the present application, as shown in Figure 10 The device comprises:

[0092] The determining module 102 is configured to determine whether the first sensor of the mobile robot detects a target object when the mobile robot executes a target event.

[0093] The first control module 104 is configured to control the mobile robot to rotate in a first direction when the first sensor of the mobile robot detects a target object, and determine whether the first sensor detects the target object during the rotation of the mobile robot in the first direction.

[0094] The second control module 106 is configured to control the mobile robot to rotate in a second direction when the first sensor does not detect the target object, and determine whether the first sensor detects the target object during the rotation of the mobile robot in the second direction, wherein the first direction and the second direction are opposite directions.

[0095] The third control module 108 is configured to control the mobile robot to perform the target event according to a first route when the first sensor detects the target object.

[0096] With the above device, when the mobile robot performs a target event, it is determined whether a first sensor of the mobile robot detects a target object; when the first sensor of the mobile robot detects a target object, the mobile robot is controlled to rotate in a first direction, and it is determined whether the first sensor detects the target object during the rotation of the mobile robot in the first direction; when the first sensor does not detect the target object, the mobile robot is controlled to rotate in a second direction, and it is determined whether the first sensor detects the target object during the rotation of the mobile robot in the second direction, wherein the first direction and the second direction are opposite directions; when the first sensor detects the target object, the mobile robot is controlled to perform the target event according to a first route. In the embodiment of the application, in the process of detecting and avoiding the target object, the robot dynamically adjusts its travel path according to the real-time feedback of the sensor. This adaptive path planning reduces invalid travel and ensures that the robot can quickly find the shortest path to bypass the obstacle, improving cleaning efficiency. Therefore, the problem of low cleaning efficiency of the mobile robot when cleaning outside the area covered by other objects can be solved.

[0097] In one example embodiment, the third control module 108 is configured to determine whether the first sensor detects the target object; control the mobile robot to rotate in the second direction when the first sensor does not detect the target object, and determine whether the first sensor detects the target object during the rotation of the mobile robot in the second direction; control the mobile robot to perform the target event according to a second route when the first sensor detects the target object.

[0098] In an example embodiment, the third control module 108 is configured to at least one of: determine whether an execution trajectory of the mobile robot performing the target event is closed, and perform the target event based on a standard mode in a case that the execution trajectory is closed; determine whether the mobile robot moves to a preset boundary, wherein the preset boundary comprises at least one of a physical boundary and a virtual boundary, and perform the target event based on the standard mode in a case that the mobile robot moves to the preset boundary.

[0099] In an example embodiment, the third control module 108 is configured to determine a first module of the mobile robot located in a target region and a second module of the mobile robot not located in the target region, wherein the first module and the second module are configured to perform the target event, and the target region is a region corresponding to the target object; control the first module to stop performing the target event, and control the mobile robot to perform the target event according to the first module and the second module based on a first route.

[0100] In an example embodiment, the first control module 104 is configured to determine whether the second sensor of the mobile robot detects the target object, wherein a distance between the second sensor and a first module and / or a second module of the mobile robot is less than a preset threshold, and the first module and the second module are configured to perform the target event; and control the mobile robot to rotate in a first direction in a case that the second sensor detects the target object.

[0101] In an example embodiment, the first control module 104 is configured to determine a target distance between the first sensor and a boundary of the target object; determine whether a target module of the mobile robot is located in a target region in a case that the target distance is greater than or equal to a preset distance, wherein the target module is configured to perform the target event, and the target region is a region corresponding to the target object; control the mobile robot to rotate in a first direction in a case that at least one target module of the mobile robot is not located in the target region; and control the mobile robot to move along a third path until the at least one target module is not located in the target region, and control the mobile robot to rotate in the first direction in a case that all the target modules of the mobile robot are located in the target region.

[0102] It should be noted that each of the above modules can be implemented by software or hardware, and for the latter, the following implementation manners can be used, but are not limited thereto: all the above modules are located in the same processor; or the above modules are located in different processors in any combination.

[0103] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is configured to execute the steps in any of the method embodiments when running.

[0104] Optionally, in the embodiment, the storage medium is configured to store program code for executing the following steps.

[0105] S1, in the case that a mobile robot executes a target event, determining whether a first sensor of the mobile robot detects a target object;

[0106] S2, in the case that the first sensor of the mobile robot detects the target object, controlling the mobile robot to rotate in a first direction, and determining whether the first sensor detects the target object in the process that the mobile robot rotates in the first direction;

[0107] S3, in the case that the first sensor does not detect the target object, controlling the mobile robot to rotate in a second direction, and determining whether the first sensor detects the target object in the process that the mobile robot rotates in the second direction, wherein the first direction and the second direction are opposite directions;

[0108] S4, in the case that the first sensor detects the target object, controlling the mobile robot to execute the target event according to a first route.

[0109] In an example embodiment, the computer readable storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer programs.

[0110] The embodiment of the present application further provides an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to execute the steps in any of the method embodiments.

[0111] In an example embodiment, the electronic device can further comprise a transmission device and an input and output device, wherein the transmission device is connected with the processor, and the input and output device is connected with the processor.

[0112] Optionally, in the embodiment, the processor is configured to execute the following steps through the computer program.

[0113] S1, in a case where a mobile robot executes a target event, determining whether a first sensor of the mobile robot detects a target object;

[0114] S2, in a case where the first sensor of the mobile robot detects the target object, controlling the mobile robot to rotate in a first direction, and determining whether the first sensor detects the target object in a process in which the mobile robot rotates in the first direction;

[0115] S3, in a case where the first sensor does not detect the target object, controlling the mobile robot to rotate in a second direction, and determining whether the first sensor detects the target object in a process in which the mobile robot rotates in the second direction, wherein the first direction and the second direction are opposite directions;

[0116] S4, in a case where the first sensor detects the target object, controlling the mobile robot to execute the target event according to a first route.

[0117] Embodiments of the present application also provide a computer program product, the computer program product comprising a computer program, the computer program being executed by a processor to implement the steps in any of the method embodiments.

[0118] Embodiments of the present application also provide another computer program product, comprising a non-volatile computer readable storage medium, the non-volatile computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the steps in any of the method embodiments.

[0119] Embodiments of the present application also provide a computer program, the computer program comprising computer instructions stored in a computer readable storage medium; a processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the steps in any of the method embodiments.

[0120] Optionally, in the present embodiment, the processor can be configured to perform the following steps by means of the computer program:

[0121] S1, in a case where a mobile robot executes a target event, determining whether a first sensor of the mobile robot detects a target object;

[0122] S2, in a case where the first sensor of the mobile robot detects the target object, controlling the mobile robot to rotate in a first direction, and determining whether the first sensor detects the target object in a process in which the mobile robot rotates in the first direction;

[0123] S3, in a case where the first sensor does not detect the target object, controlling the mobile robot to rotate in a second direction, and determining whether the first sensor detects the target object in a process in which the mobile robot rotates in the second direction, wherein the first direction and the second direction are opposite directions;

[0124] S4, in a case where the first sensor detects the target object, controlling the mobile robot to perform the target event according to a first route.

[0125] The specific examples in the embodiments can refer to the examples described in the above embodiments and exemplary embodiments, and the embodiments will not be described here again.

[0126] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be realized by general computing devices, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, which can be realized by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be manufactured into individual integrated circuit modules, or multiple modules or steps can be manufactured into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

[0127] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a mobile robot, characterized in that: include: determining whether a first sensor of the mobile robot detects a target object when the mobile robot performs a target event; In a case where a first sensor of the mobile robot detects a target object, controlling the mobile robot to rotate in a first direction, and determining whether the first sensor detects the target object during the process of the mobile robot rotating in the first direction; If the first sensor does not detect the target object, controlling the mobile robot to rotate in a second direction, and determining whether the first sensor detects the target object during the process of the mobile robot rotating in the second direction, wherein the first direction and the second direction are opposite directions; In a case where the first sensor detects the target object, the mobile robot is controlled to execute the target event according to a first route.

2. The method according to claim 1, characterized in that After controlling the mobile robot to execute the target event according to the first route, the method further includes: determining whether the first sensor detects the target object; In a case where the first sensor does not detect the target object, controlling the mobile robot to rotate in the second direction, and determining whether the first sensor detects the target object during the process of the mobile robot rotating in the second direction; In a case where the first sensor detects the target object, the mobile robot is controlled to execute the target event according to a second route.

3. The method according to claim 1, characterized in that After controlling the mobile robot to execute the target event according to the first route, the method further includes at least one of the following: determining whether an execution trajectory of the mobile robot executing the target event is closed, and executing the target event based on a standard mode if the execution trajectory is closed; Determine whether the mobile robot moves to a preset boundary, wherein the preset boundary includes at least one of the following: a physical boundary and a virtual boundary, and execute the target event based on a standard mode when the mobile robot moves to the preset boundary.

4. The method according to claim 1, wherein Controlling the mobile robot to execute the target event according to the first route includes: Determine a first module of the mobile robot located in a target area and a second module not located in the target area, wherein the first module and the second module are used to execute the target event, and the target area is an area corresponding to the target object; The first module is controlled to stop executing the target event, and the mobile robot is controlled to execute the target event according to the first route and the second module.

5. The method according to claim 1, wherein Controlling the mobile robot to rotate in a first direction includes: determining whether a second sensor of the mobile robot detects the target object, wherein a distance between the second sensor and a first module and / or a second module of the mobile robot is less than a preset threshold, and the first module and the second module are configured to execute the target event; When the second sensor detects the target object, the mobile robot is controlled to rotate in the first direction.

6. The method according to claim 1, characterized in that Controlling the mobile robot to rotate in a first direction includes: determining a target distance between the first sensor and a boundary of the target object; If it is determined that the target distance is greater than or equal to the preset distance, determining whether a target module of the mobile robot is located within a target area, wherein the target module is used to execute the target event, and the target area is an area corresponding to the target object; When at least one target module of the mobile robot is not located in the target area, controlling the mobile robot to rotate in a first direction; When all target modules of the mobile robot are located in the target area, the mobile robot is controlled to move along a third path until at least one target module is no longer located in the target area, and the mobile robot is controlled to rotate in a first direction.

7. A control device for a mobile robot, characterized in that: include: a determination module, configured to determine whether a first sensor of the mobile robot detects a target object when the mobile robot executes a target event; a first control module, configured to control the mobile robot to rotate in a first direction when a first sensor of the mobile robot detects a target object, and determine whether the first sensor detects the target object during the process of the mobile robot rotating in the first direction; a second control module, configured to control the mobile robot to rotate in a second direction if the first sensor does not detect the target object, and determine whether the first sensor detects the target object during the process of the mobile robot rotating in the second direction, wherein the first direction and the second direction are opposite directions; The third control module is configured to control the mobile robot to execute the target event according to a first route when the first sensor detects the target object.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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