Mobile control method
By adjusting the orientation of the self-moving cleaning equipment to match the slope angle, and combining inertial measurement unit and posture sensor navigation, the problem of the self-moving cleaning equipment stopping on the slope was solved, and normal movement and cleaning on the slope were realized.
Patent Information
- Application Number
- CN202411905186.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2026-06-23
Smart Images
Figure CN122250856A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present invention relate to the field of robot control technology, and in particular to a motion control method. Background Technology
[0002] With the continuous development of electronic technology, various forms of smart homes have begun to appear in people's lives, providing convenience and improving the quality of life for users in many ways. For example, self-cleaning devices can free people up a significant portion of their time from housework, allowing them more time to experience other rich aspects of life.
[0003] The inventors studied the movement process of existing self-moving cleaning devices and found that the devices may stop moving on long slopes and issue an abnormal status warning, requiring user intervention to adjust the movement status. The self-moving cleaning devices have poor adaptability to autonomous movement under different ground conditions. Summary of the Invention
[0004] This invention provides a movement control method to solve the technical problem that self-moving cleaning devices may stop moving on long slopes and issue abnormal status alerts, requiring user intervention to adjust their movement status, and that self-moving cleaning devices have poor adaptability to autonomous movement under different ground conditions.
[0005] In a first aspect, embodiments of the present invention provide a motion control method for a self-moving cleaning device equipped with a ranging sensor. The motion control method includes:
[0006] Once it is determined that the self-moving cleaning device is on a ramp, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet the preset first angle condition.
[0007] Control the self-moving cleaning equipment to move according to orientation;
[0008] If an obstacle is detected during the movement of the self-moving cleaning device, the orientation of the self-moving cleaning device will be adjusted to the opposite side of the obstacle's location by a preset angle;
[0009] When the self-moving cleaning equipment leaves the ramp, it moves based on the positioning data detected by the ranging sensor.
[0010] Specifically, when it is determined that the self-propelled cleaning equipment is on a ramp, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-propelled cleaning equipment is adjusted, including:
[0011] If it is determined that the self-moving cleaning device is on a slope, pause the movement based on the positioning data detected by the ranging sensor, and adjust the orientation of the self-moving cleaning device by an adjustment angle of less than 180°. The adjustment angle is determined based on the tilt state of the self-moving cleaning device when it is determined to be on a slope.
[0012] The self-propelled cleaning device includes an inertial measurement unit;
[0013] If it is determined that the self-propelled cleaning equipment is on a ramp, pause movement based on positioning data detected by the ranging sensor and adjust the orientation of the self-propelled cleaning equipment, including:
[0014] If the self-moving cleaning device is determined to be on a slope based on the detection results of the inertial measurement unit, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted until the absolute value of the roll angle detected by the inertial measurement unit is less than the preset lower limit of the side tilt, and the absolute value of the pitch angle detected by the inertial measurement unit is not equal to 0°.
[0015] Among these, when the self-moving cleaning equipment leaves the ramp, it moves based on positioning data detected by a ranging sensor, including:
[0016] If, during the movement of the self-moving cleaning equipment, the absolute values of both the roll angle and the pitch angle are confirmed to be less than the corresponding reference values on flat ground, the equipment will move based on the positioning data detected by the ranging sensor.
[0017] The motion control method also includes:
[0018] If, during the movement of the self-moving cleaning equipment, the absolute value of the roll angle is confirmed to be greater than the corresponding flat ground reference value, the orientation of the self-moving cleaning equipment is adjusted until the absolute value of the roll angle detected by the inertial measurement unit is less than the preset lower limit of the roll angle, and the absolute value of the pitch angle detected by the inertial measurement unit is not equal to 0°.
[0019] Specifically, when it is determined that the self-moving cleaning device is on a ramp, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet a preset first angle condition, including:
[0020] Once it is determined that the self-moving cleaning device is on a ramp, the movement is paused based on the positioning data detected by the ranging sensor, and the orientation of the self-moving cleaning device is adjusted so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet the preset first angle condition, and the device points in the downhill direction of the ramp.
[0021] Specifically, when it is determined that the self-moving cleaning device is on a ramp, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet a preset first angle condition, including:
[0022] Once it is determined that the self-moving cleaning device is on a ramp, the movement is paused based on the positioning data detected by the ranging sensor, and the orientation of the self-moving cleaning device is adjusted so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet the preset first angle condition, and the device points in the uphill direction of the ramp.
[0023] Specifically, when it is determined that the self-propelled cleaning equipment is on a ramp, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-propelled cleaning equipment is adjusted, including:
[0024] When the self-moving cleaning device is activated or a base station return event is detected, and if the self-moving cleaning device is located on a slope, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted.
[0025] The self-moving cleaning device includes a cleaning component, and the movement control method further includes:
[0026] When the self-moving cleaning device receives a cleaning instruction and determines that it is on a ramp, it pauses its movement based on the positioning data detected by the ranging sensor and adjusts the orientation of the self-moving cleaning device so that the orientation of the self-moving cleaning device and the left and right directions of the ramp meet the preset second angle condition.
[0027] Control the self-moving cleaning equipment to move according to the orientation, and control the cleaning components to clean during the movement;
[0028] If an obstacle is encountered during movement, the direction is changed and the movement continues. The direction after the change is opposite to the direction before the change, and the distance between the direction after the change and the direction before the change is a preset distance.
[0029] When the self-moving cleaning equipment leaves the ramp, it moves based on the positioning data detected by the ranging sensor.
[0030] Among them, the ranging sensor is a point lidar, which is installed on the side of the self-moving cleaning device;
[0031] When the self-moving cleaning equipment leaves the ramp, it moves based on positioning data detected by the ranging sensor, including:
[0032] When the self-moving cleaning equipment leaves the ramp, control the self-moving cleaning equipment to rotate by a preset angle so that the point lidar can detect positioning data during the rotation.
[0033] The reset location of the self-propelled cleaning device in the pre-stored map is determined based on the positioning data;
[0034] Starting from the reset position, move based on the positioning data detected by the ranging sensor.
[0035] In the aforementioned movement control method, self-moving cleaning device, and storage medium, when it is determined that the self-moving cleaning device is on a ramp, movement based on positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet a preset first angle condition; the self-moving cleaning device is controlled to move according to the orientation; if an obstacle is detected during the movement of the self-moving cleaning device, the orientation of the self-moving cleaning device is adjusted to the opposite side of the obstacle's location by a preset angle; when the self-moving cleaning device leaves the ramp, it moves according to the positioning data detected by the ranging sensor. When it is detected that the self-moving cleaning device is on a ramp, the orientation of the self-moving cleaning device is adjusted so that the orientation and the vertical direction of the ramp meet the preset first angle condition. After adjusting the orientation, positioning is not required by the ranging sensor; the device moves by exploring forward until it leaves the ramp and returns to normal positioning. This avoids interference from erroneous signals detected by the ranging sensor when moving on a ramp, thus achieving normal movement on the ramp. Attached Figure Description
[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0037] Figure 1 This is a flowchart of a motion control method provided in an embodiment of this application.
[0038] Figure 2 This is a schematic diagram showing the state of a self-moving cleaning device randomly stopping on a ramp, as provided in an embodiment of this application.
[0039] Figure 3 This is a schematic diagram showing the state of a self-moving cleaning device after adjusting its orientation on a ramp, as provided in the embodiments of this application.
[0040] Figure 4This is a schematic diagram illustrating the state of an obstacle detected when a self-moving cleaning device is moving on a ramp, as provided in the embodiments of this application.
[0041] Figure 5 The movement control method provided in the embodiments of this application controls Figure 4 A schematic diagram showing the self-moving cleaning equipment adjusting its orientation.
[0042] Figure 6 The movement control method provided in the embodiments of this application controls Figure 5 A schematic diagram showing the self-moving cleaning equipment continuing to move.
[0043] Figure 7 The movement control method provided in the embodiments of this application controls Figure 6 A schematic diagram of a self-propelled mobile cleaning device moving to the top of a slope.
[0044] Figure 8 This is a schematic diagram illustrating how the mobile control method provided in this application controls a self-moving cleaning device to clean a ramp.
[0045] Figure 9 This is a schematic diagram of the hardware structure of the self-moving cleaning device provided in the embodiments of this application. Detailed Implementation
[0046] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are for illustrative purposes only and not for limiting the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the drawings, not all of the structures.
[0047] It should be noted that, due to space limitations, this application specification does not exhaustively list all possible implementation methods. Those skilled in the art should be able to conceive after reading this application specification that, as long as the technical features do not contradict each other, any combination of technical features can constitute an optional implementation method.
[0048] The embodiments are described in detail below.
[0049] Existing self-propelled cleaning equipment can move on its own and complete certain cleaning tasks, thereby freeing people from a large part of housework and allowing them more time to experience other rich aspects of life.
[0050] The inventors, through research on the movement process of existing self-propelled cleaning devices, discovered that these devices may stop moving on long slopes and issue an abnormal status alert, requiring user intervention to adjust their movement. Furthermore, the self-propelled cleaning devices exhibit poor adaptability to autonomous movement on different ground surfaces. In-depth analysis of the underlying causes of these problems revealed that the self-propelled cleaning devices achieve positioning during movement using a distance sensor. However, when the distance sensor rotates directly on a slope for distance detection, the emitted detection signals are angled. Therefore, some signals may hit the ground, and some may hit the ceiling, resulting in invalid data for positioning. Retaining this data could severely interfere with the self-propelled cleaning device's ability to continue cleaning after returning to level ground. Moreover, these detection results are not accurate positional data, causing the self-propelled cleaning device to malfunction on slopes. Existing technology typically considers a self-propelled cleaning device on a slope as an abnormal state, requiring user intervention to move it off the slope to restore normal operation.
[0051] To address the above technical problems, this application proposes a movement control method. When the self-moving cleaning device is detected to be on a ramp, the orientation of the self-moving cleaning device is adjusted so that the orientation and the vertical direction of the ramp meet a preset first angle condition. After adjusting the orientation, positioning is not required by a ranging sensor. The device moves by exploring forward until it leaves the ramp and returns to normal positioning. This avoids interference from erroneous signals detected by the ranging sensor when moving on the ramp, thus achieving normal movement on the ramp.
[0052] Please refer to Figure 1 This is a flowchart illustrating the motion control method provided in this application. The motion control method is implemented by a self-moving cleaning device, the specific product forms of which include, but are not limited to: sweeping robots, floor washing robots, sweeping and mopping robots, cleaning robots, lawnmowing robots, snow removal robots, etc. The self-moving cleaning device can clean using either a front-sweeping-then-mopping method or a separate sweeping and mopping method. The front-sweeping-then-mopping method allows sweeping and mopping to occur simultaneously, improving cleaning efficiency. The separate sweeping and mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.
[0053] Self-propelled cleaning devices may include a body, a processor, one or more cleaning components, one or more sensors, etc. The body can be circular, square, or other shapes. For example, the front part of the body can be circular, and the rear part can be square. The cleaning components can be circular, square, multi-branched, or other shapes (e.g., semi-circular, arc-shaped, triangular, etc.). A circular shape facilitates rotating cleaning, while other shapes facilitate cleaning corner areas. Cleaning components may include side brushes, roller brushes (also known as floor brushes), and mop trays (also known as mop pads). Side brushes gather debris, moving it towards the center of the bottom of the self-propelled cleaning device for collection. Roller brushes sweep debris from the bottom of the device, allowing it to enter the dust collection box through the suction port. The mop tray is used for wiping or mopping, and contains a mop. The self-propelled cleaning device has a water tank; water from the tank flows through holes to the mop, wetting it for mopping. Self-propelled cleaning devices can clean foreign objects including, but not limited to, dust, hair, and pet feces. Sensors can include lidar sensors (e.g., triangulation sensors, TOF sensors), infrared sensors, line laser sensors, edge sensors, vision sensors (e.g., cameras), and pose sensors. Sensors are used to detect various state information about the self-propelled cleaning device itself or its surroundings. For example, a line laser sensor can detect obstacle information indicating one or more obstacles. The processor can control the self-propelled cleaning device based on the state information detected by the sensors. Among the sensors, the sensor used to detect obstacle information is defined as a ranging sensor. Different types of ranging sensors can emit specific signals (e.g., laser signals, infrared signals) and receive reflected signals from obstacles. Then, based on the time difference between emission and reception and the direction of emission, the relative position of the obstacle and the device itself is determined to complete the ranging. The specific number and type of ranging sensors are not limited.
[0054] like Figure 1 As shown, the motion control method includes, but is not limited to, steps S110-S140:
[0055] Step S110: When it is determined that the self-moving cleaning device is on the ramp, pause the movement based on the positioning data detected by the ranging sensor, and adjust the orientation of the self-moving cleaning device so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet the preset first angle condition.
[0056] The ramps in this application embodiment can be ramps for entering and exiting base stations, or ramps formed by setting up barrier-free access for wheelchair users. In this application embodiment, considering that the ramps for entering and exiting base stations are relatively small, the self-propelled cleaning equipment can generally enter and exit the base station by adjusting its route according to a pre-built map. In this application embodiment, the illustrative example is based on larger ramps such as barrier-free access. It should be understood that the application embodiment described based on barrier-free access does not affect its ability to be implemented when moving on the ramps of the base station and to have the same technical effect.
[0057] Please refer to Figure 2 The self-propelled cleaning device 10 may cause the ranging sensor 11 to malfunction as it operates on a ramp, and the orientation of the self-propelled cleaning device 10 may also be affected. Figure 2 The middle arrow points to one side of the ramp. In Figure 2 In the state shown, the self-moving cleaning device 10 has lost its precise positioning, and it cannot get off the slope by groping forward in the current direction.
[0058] Whether the self-moving cleaning device 10 is on a slope can be confirmed at startup or when a base station return event is detected. That is, when the self-moving cleaning device starts up or when a base station return event occurs, it can be considered that the cleaning task does not need to be performed on the slope, and it only needs to move away from the slope. Therefore, when it is determined that the self-moving cleaning device is on a slope, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted. This ensures that if it is on a slope each time it starts up or when a base station return event occurs, at least based on the embodiments of this application, after quickly reaching flat ground without using the ranging sensor 11, operation control based on precise positioning can begin.
[0059] The base station return event specifically occurs when the self-moving cleaning device 10 is performing a cleaning task. According to the cleaning control logic, it needs to be charged, rewashed, refilled with water, and / or have its cleaning components replaced. The control objective at this time is to return directly to the base station. During the return process, only the self-moving cleaning device 10 needs to move, and the cleaning components need to be controlled to perform actions. Therefore, these events are defined as base station return events. Pausing movement based on the positioning data detected by the ranging sensor can be achieved by controlling the ranging sensor to pause distance detection, or by discarding the positioning data detected by the ranging sensor without processing. The ultimate goal is to ensure that the positioning data has no impact on the movement of the self-moving cleaning device 10 on the slope.
[0060] In this embodiment, when the self-propelled cleaning device 10 is on a ramp, its orientation is adjusted so that the orientation of the self-propelled cleaning device 10 and the vertical direction of the ramp meet a preset first angle condition. The state of the self-propelled cleaning device 10 on the ramp after the orientation adjustment is as follows: Figure 3As shown, since the moving direction of the self-moving cleaning device 10 is consistent with its orientation, the movement of the self-moving cleaning device 10 is actually along the ramp. Since both ends of the ramp are flat ground, the self-moving cleaning device 10 can smoothly enter the flat ground regardless of whether it moves upwards or downwards. It should be understood that the description of orientation adjustment in this embodiment is to ensure that the orientation of the self-moving cleaning device 10 and the vertical direction of the ramp meet a preset first angle condition. That is, it limits the trend of orientation adjustment. The actual adjustment aims for complete alignment. However, when the adjustment reaches a point where there is a certain angle between the two directions, but the angle is very small (i.e., meeting the preset first angle condition), and the two directions are relatively close, it can still be considered that the adjustment is complete. Whether the first angle condition is met is specifically determined by the roll angle and pitch angle, and the first angle condition is also constrained by the roll angle and pitch angle accordingly.
[0061] When the self-propelled cleaning device is determined to be on a slope, movement is paused based on the positioning data detected by the ranging sensor. The orientation of the self-propelled cleaning device is adjusted by an adjustment angle of less than 180°, which is determined based on the tilt state of the self-propelled cleaning device when it is determined to be on the slope. Because the self-propelled cleaning device can rotate in place without angle limitation, the orientation adjustment can theoretically achieve the desired orientation and up / down angle conditions in either direction. However, in this embodiment, the required rotation angle is determined based on the posture of the self-propelled cleaning device, i.e., the orientation is adjusted by an adjustment of less than 180° to improve adjustment efficiency. For example, the roll angle in the self-propelled cleaning device represents the angle of the left or right side tilt. This angle value will change, ranging from -180° to 180°. If it is necessary to go downhill, then when the roll angle is less than 0°, the self-propelled cleaning device can quickly adjust the orientation by rotating counterclockwise; when the roll angle is greater than 0°, the self-propelled cleaning device can quickly adjust the orientation by rotating clockwise.
[0062] In one optional implementation, the self-moving cleaning device includes an inertial measurement unit; when the detection results of the inertial measurement unit determine that the self-moving cleaning device is on a ramp, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted until the absolute value of the roll angle detected by the inertial measurement unit is less than a preset lower limit of the roll angle, and the absolute value of the pitch angle detected by the inertial measurement unit is not equal to 0°.
[0063] In self-propelled cleaning equipment, the inertial measurement unit can measure the roll angle (used to characterize the left and right tilt angle) and the pitch angle (used to characterize the forward and backward tilt angle). For self-propelled cleaning equipment, if the roll angle is detected to be less than the preset lower limit of lateral tilt during adjustment, it means that the left and right sides of the self-propelled cleaning equipment are basically at the same or similar horizontal level as the ramp. Correspondingly, the orientation of the self-propelled cleaning equipment is the same as or close to the vertical direction of the ramp. At this time, the self-propelled cleaning equipment moves according to the orientation, which is exactly uphill or downhill, and can smoothly enter flat ground.
[0064] In practical implementation, the self-propelled cleaning device may have multiple operating states and corresponding ramp access requirements. For example, leaving the base station requires going downhill, and the self-propelled cleaning device should be oriented towards the downhill direction of the ramp. Returning to the base station requires going uphill, and the self-propelled cleaning device should be oriented towards the uphill direction of the ramp. Similarly, in an accessible passageway, the cleaning target may be flat ground at the top or bottom, and the self-propelled cleaning device's orientation may be towards the uphill or downhill direction of the accessible passageway. That is, when it is determined that the self-propelled cleaning device is on a ramp, movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-propelled cleaning device is adjusted so that its orientation meets a preset first angle condition with the uphill and downhill directions of the ramp. This could mean pointing towards the downhill or uphill direction of the ramp. This allows for precise handling of various tasks, specifically determined by the self-propelled cleaning device's current movement target, such as returning to charging or cleaning different areas.
[0065] In this embodiment, because the self-moving cleaning device is tilted on the ramp, causing the ranging sensor to make a detection error, the self-moving cleaning device pauses on the ramp and moves according to the positioning data detected by the ranging sensor.
[0066] Step S120: Control the self-moving cleaning device to move in the direction it is facing.
[0067] like Figure 3 As shown, the orientation of the self-moving cleaning device 10 is the same as or close to the vertical direction of the ramp. The self-moving cleaning device 10 moves in this orientation, which is precisely uphill, allowing it to advance towards the flat ground at the top of the ramp. Therefore, at this time, only the movement of the self-moving cleaning device 10 needs to be controlled, thus stopping all other cleaning components.
[0068] Step S130: If an obstacle is detected during the movement of the self-moving cleaning device, adjust the orientation of the self-moving cleaning device to the other side of the obstacle's location by a preset angle.
[0069] In self-propelled cleaning devices, deviations may occur in detection and control details. That is, the self-propelled cleaning device may not move directly along the shortest path pointing to the top or bottom of the ramp when moving according to its orientation. Without a ranging sensor for positioning, the self-propelled cleaning device may veer off course and come into contact with obstacles. If the detection device on the right side of the self-propelled cleaning device's direction of movement detects an obstacle, it means the current direction of movement is veered to the right; adjusting the preset angle to the left will allow it to continue moving forward. Conversely, if the detection device on the left side detects an obstacle, adjusting the preset angle to the right will allow it to continue moving forward. By adjusting the orientation when an obstacle is detected during movement according to its orientation, the self-propelled cleaning device essentially maintains a generally consistent direction of movement on the ramp through trial and error, thus successfully reaching the flat ground at the top or bottom of the ramp.
[0070] For the specific movement process in step S130, please refer to... Figure 3 , Figure 4 , Figure 5 and Figure 6 ,exist Figure 3 After adjusting the orientation to be basically aligned with the vertical direction of the ramp (i.e., meeting the preset first angle condition), the self-moving cleaning device 10 can move towards the top of the ramp. If the adjusted orientation of the self-moving cleaning device 10 is not perfectly aligned with the vertical direction of the ramp (e.g., slightly to the right), the self-moving cleaning device 10 will... Figure 4 As shown, the self-propelled cleaning device 10 is in contact with one side (right side) of the ramp, indicating that the sensor has detected contact between the device and the obstacle. At this point, a preset angle can be adjusted to the other side (left side) where the obstacle is located (right side). The preset angle is small enough to prevent the self-propelled cleaning device 10 from having a tendency to come into contact with the obstacle's base; for example, it should no longer be as... Figure 4 Move to the right front. If an obstacle is still detected after one adjustment, proceed to step S130 and adjust again with a smaller angle. With a minimal number of adjustments, you can move directly forward or slightly to the left front. Figure 5 The image shows what is in Figure 4 Based on an exemplary adjustment effect, the self-moving cleaning device 10... Figure 5 The process of continuing to move on the basis is as follows: Figure 6 As shown. By constraining the general direction of movement and the orientation adjustment mechanism when in contact with the side of the ramp, the self-moving cleaning device 10 can be controlled to move along the ramp to the flat ground above the ramp without positioning data guidance, and its state when leaving the ramp is as shown. Figure 7 As shown. Of course, the control logic for moving downhill is the same, and will not be explained in detail here.
[0071] During actual movement, the self-moving cleaning equipment may not detect any obstacles, but its tilt indicates that its direction of movement has deviated significantly from the vertical direction of the ramp. This is reflected in the self-moving cleaning equipment itself, where the left and right sides are clearly at different horizontal heights on the ramp. Therefore, if the absolute value of the roll angle is confirmed to be greater than the corresponding reference value on flat ground during the movement of the self-moving cleaning equipment, the orientation of the self-moving cleaning equipment is adjusted until the absolute value of the roll angle detected by the inertial measurement unit is less than the preset lower limit of the side tilt, and the absolute value of the pitch angle detected by the inertial measurement unit is not equal to 0°. This further ensures that the orientation of the self-moving cleaning equipment is close to or even consistent with the vertical direction of the ramp.
[0072] Step S140: After the self-moving cleaning equipment leaves the ramp, it moves according to the positioning data detected by the ranging sensor.
[0073] As the self-propelled cleaning equipment moves up and down the ramp, it eventually reaches level ground. At this point, the distance sensor begins precise positioning, and the equipment moves accordingly based on the positioning data detected by the sensor. Since the roll and pitch angles of the self-propelled cleaning equipment are very small on level ground, it moves based on the positioning data detected by the distance sensor only if the absolute values of both the roll and pitch angles are simultaneously less than the corresponding reference values for level ground.
[0074] In its implementation, the self-moving cleaning device includes cleaning components. Users may also require the self-moving cleaning device to clean ramps. To achieve ramp cleaning, the movement control method also includes a ramp cleaning strategy. Specifically, when the self-moving cleaning device receives a cleaning command and determines it is on a ramp, it pauses movement based on positioning data detected by a ranging sensor and adjusts its orientation to ensure the orientation of the self-moving cleaning device satisfies a preset second angle condition relative to the left-right direction of the ramp. In other words, the self-moving cleaning device cleans the ramp in the lateral direction. The principle of setting the second angle condition is largely the same as that of the first angle condition, except that the first angle condition constrains the self-moving cleaning device to align as vertically as possible, ensuring it moves perpendicular to the boundary line between the ramp and the flat ground. The second angle condition constrains the self-moving cleaning device to align as horizontally as possible, ensuring it moves parallel to the boundary line between the ramp and the flat ground. After adjusting the orientation of the self-moving cleaning device, control it to move in that orientation, and control the cleaning components to clean during the movement. This means cleaning can be performed using the standard cleaning process (sweeping and mopping) while moving in that orientation. If it encounters an obstacle during movement, it switches orientation and continues moving. The new orientation is opposite to the previous one, and the new orientation is separated from the previous one by a preset distance. When it encounters an obstacle, it's equivalent to the self-moving cleaning device contacting the side of the ramp. At this point, the orientation can be changed using a pose sensor to clean the uncleaned areas. During the orientation change, a side brush can clean the bottom edge of the ramp side. When the self-moving cleaning device leaves the ramp, it moves according to the positioning data detected by the ranging sensor. Because ramps are typically long and narrow surfaces, in this embodiment, without using positioning data, the orientation of the self-moving cleaning device is adjusted within a small range using a pose sensor. Errors during orientation adjustment have minimal impact on the self-moving cleaning device's short-distance lateral movement along the ramp, ensuring smooth cleaning of the ramp.
[0075] The above cleaning process can be referenced. Figure 8 The self-propelled cleaning device 10 starts cleaning the slope from the top. Based on the pose parameters (roll angle and pitch angle) detected by the pose sensor, the self-propelled cleaning device 10 adjusts its orientation and controls its movement distance, ultimately enabling the self-propelled cleaning device 10 to clean along... Figure 8 The route indicated by the middle arrow completes the cleaning of the ramp until you reach the flat ground below the ramp.
[0076] Whether the movement is simply moving away from the ramp to flat ground or completing cleaning before moving to flat ground, the ranging sensor can be used normally; that is, the movement is based on the positioning data detected by the ranging sensor. The ranging sensor can be, for example, an LDS lidar or a point lidar, and the specific number is not limited. In this embodiment, to control the production cost and overall height of the self-moving cleaning device, making it more acceptable to more users and enabling it to clean in lower spaces, the ranging sensor can be configured as a point lidar, which is located on the side of the self-moving cleaning device. When the self-moving cleaning device leaves the ramp, movement is based on the positioning data detected by the ranging sensor, including: controlling the self-moving cleaning device to rotate by a preset angle so that the point lidar detects positioning data during rotation; determining the reset position of the self-moving cleaning device in a pre-stored map based on the positioning data; and moving from the reset position based on the positioning data detected by the ranging sensor. In other words, after the self-propelled cleaning equipment leaves the ramp and enters flat ground, the entire self-propelled cleaning equipment rotates, causing the point laser to rotate one full circle or a larger angle to detect environmental parameters, obtain information about surrounding obstacles (i.e., obstacle location data), and compare this obstacle information with obstacles in a pre-stored map to confirm its location and obtain a reset position. Subsequently, it can move from the reset position according to the positioning data detected by the ranging sensor based on the moving target. Through the above process of determining the reset position, the self-propelled cleaning equipment with a point laser radar on the side can also move normally after returning to flat ground after handling various needs on the ramp.
[0077] Overall, when the self-propelled cleaning device is determined to be on a ramp, movement based on positioning data detected by the ranging sensor is paused, and the orientation of the self-propelled cleaning device is adjusted so that its orientation and the vertical direction of the ramp meet a preset first angle condition. The self-propelled cleaning device is then controlled to move according to its orientation. If an obstacle is detected during the movement of the self-propelled cleaning device, its orientation is adjusted to the opposite side of the obstacle's location by a preset angle. When the self-propelled cleaning device leaves the ramp, it moves according to positioning data detected by the ranging sensor. When the self-propelled cleaning device is detected to be on a ramp, its orientation is adjusted so that its orientation and the vertical direction of the ramp meet the preset first angle condition. After the orientation is adjusted, positioning is not required from the ranging sensor; the device moves forward in an exploratory manner until it leaves the ramp and returns to normal positioning. This avoids interference from erroneous signals detected by the ranging sensor when moving on a ramp, thus achieving normal movement on the ramp.
[0078] Figure 9 This is a schematic diagram of the structure of a self-moving cleaning device provided in an embodiment of this application. Figure 9As shown, the self-propelled cleaning device includes a processor 310 and a memory 320. The self-propelled cleaning device may also include an input device 330, an output device 340, and a communication device 350. The number of processors 310 in the self-propelled cleaning device can be one or more. Figure 9 Taking a processor 310 as an example; the processor 310, memory 320, input device 330, output device 340, and communication device 350 in the self-propelled cleaning device can be connected via a bus or other means. Figure 9 Taking the example of a connection between China and Israel via a bus.
[0079] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the mobility control method in the embodiments of this application. The processor 310 executes various functional applications and data processing of the self-moving cleaning device by running the software programs, instructions, and modules stored in the memory 320, thereby realizing the aforementioned mobility control method.
[0080] The memory 320 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on the use of the self-propelled cleaning device. Furthermore, the memory 320 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include memory remotely located relative to the processor 310, which can be connected to the self-propelled cleaning device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
[0081] Input device 330 can be used to receive network configuration information. Output device 340 may include a display device such as a screen.
[0082] The aforementioned self-moving cleaning equipment can be used to execute any movement control method and has corresponding functions and beneficial effects.
[0083] This invention also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform relevant operations in the motion control method provided in any embodiment of this application, and have corresponding functions and beneficial effects.
[0084] Those skilled in the art will understand that embodiments of this application may be provided as methods, systems, or computer program products.
[0085] Therefore, this application may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, produce implementations of the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0086] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.
[0087] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.
[0088] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0089] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.
Claims
1. A motion control method, characterized in that, For a self-moving cleaning device, the self-moving cleaning device is equipped with a distance sensor, and the movement control method includes: When it is determined that the self-moving cleaning device is on a ramp, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet a preset first angle condition. Control the self-moving cleaning device to move in the stated orientation; If an obstacle is detected during the movement of the self-moving cleaning device, the orientation of the self-moving cleaning device will be adjusted to the opposite side of the location of the obstacle by a preset angle; When the self-moving cleaning device leaves the ramp, it moves according to the positioning data detected by the ranging sensor.
2. The motion control method according to claim 1, characterized in that, The step of pausing movement based on positioning data detected by the ranging sensor and adjusting the orientation of the self-moving cleaning device when it is determined that the self-moving cleaning device is on a ramp includes: If it is determined that the self-moving cleaning device is on a slope, the movement is paused based on the positioning data detected by the ranging sensor, and the orientation of the self-moving cleaning device is adjusted by an adjustment angle of less than 180°, the adjustment angle being determined based on the tilt state of the self-moving cleaning device when it is determined to be on a slope.
3. The motion control method according to claim 1 or 2, characterized in that, The self-moving cleaning device includes an inertial measurement unit; The step of pausing movement based on positioning data detected by the ranging sensor and adjusting the orientation of the self-moving cleaning device when it is determined that the self-moving cleaning device is on a ramp includes: If the self-moving cleaning device is determined to be on a ramp based on the detection results of the inertial measurement unit, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted until the absolute value of the roll angle detected by the inertial measurement unit is less than the preset lower limit of the roll angle, and the absolute value of the pitch angle detected by the inertial measurement unit is not equal to 0°.
4. The motion control method according to claim 3, characterized in that, The step of moving the self-moving cleaning device based on the positioning data detected by the ranging sensor when the device leaves the ramp includes: If, during the movement of the self-moving cleaning device, it is confirmed that the absolute values of the roll angle and the pitch angle are both less than the corresponding flat ground reference values, the device will move according to the positioning data detected by the ranging sensor.
5. The motion control method according to claim 3, characterized in that, The motion control method further includes: If, during the movement of the self-moving cleaning device, it is confirmed that the absolute value of the roll angle is greater than the corresponding flat ground reference value, the orientation of the self-moving cleaning device is adjusted until the absolute value of the roll angle detected by the inertial measurement unit is less than the preset lower limit of the roll angle, and the absolute value of the pitch angle detected by the inertial measurement unit is not equal to 0°.
6. The motion control method according to claim 1 or 2, characterized in that, The step of pausing movement based on positioning data detected by the ranging sensor and adjusting the orientation of the self-moving cleaning device when it is determined that the self-moving cleaning device is on a ramp, so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet a preset first angle condition, includes: When it is determined that the self-moving cleaning device is on a ramp, the ranging sensor is deactivated and the orientation of the self-moving cleaning device is adjusted so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet a preset first angle condition, and the device points in the downhill direction of the ramp.
7. The motion control method according to claim 1 or 2, characterized in that, The step of deactivating the ranging sensor and adjusting the orientation of the self-moving cleaning device when it is determined that the self-moving cleaning device is on a ramp, so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet a preset first angle condition, includes: When it is determined that the self-moving cleaning device is on a ramp, the ranging sensor is deactivated and the orientation of the self-moving cleaning device is adjusted so that the orientation of the self-moving cleaning device and the vertical direction of the ramp meet a preset first angle condition, and the device points in the uphill direction of the ramp.
8. The motion control method according to claim 1 or 2, characterized in that, The step of pausing movement based on positioning data detected by the ranging sensor and adjusting the orientation of the self-moving cleaning device when it is determined that the self-moving cleaning device is on a ramp includes: When the self-moving cleaning device is activated or a base station return event is detected, and if the self-moving cleaning device is located on a slope, the movement based on the positioning data detected by the ranging sensor is paused, and the orientation of the self-moving cleaning device is adjusted.
9. The motion control method according to claim 8, characterized in that, The self-moving cleaning device includes a cleaning component, and the movement control method further includes: When the self-moving cleaning device receives a cleaning instruction and determines that the self-moving cleaning device is on a ramp, it pauses its movement based on the positioning data detected by the ranging sensor and adjusts the orientation of the self-moving cleaning device so that the orientation of the self-moving cleaning device and the left and right directions of the ramp meet a preset second angle condition. Control the self-moving cleaning device to move in the stated orientation, and control the cleaning components to perform cleaning during the movement; If an obstacle is encountered during movement, the direction is changed and the movement continues. The direction after the change is opposite to the direction before the change, and the distance between the direction after the change and the direction before the change is a preset distance. When the self-moving cleaning device leaves the ramp, it moves according to the positioning data detected by the ranging sensor.
10. The motion control method according to claim 1 or 2, characterized in that, The ranging sensor is a point lidar, which is disposed on the side of the self-moving cleaning device. The step of moving the self-moving cleaning device based on the positioning data detected by the ranging sensor when the device leaves the ramp includes: When the self-moving cleaning device leaves the ramp, the self-moving cleaning device is controlled to rotate by a preset angle so that the point lidar can detect positioning data during the rotation. The reset position of the self-moving cleaning device in the pre-stored map is determined based on the positioning data; Starting from the reset position, move according to the positioning data detected by the ranging sensor.