Sweeper and motion control method and apparatus therefor, and storage medium

Abstract

Provided are a sweeper and a motion control method and apparatus therefor, and a storage medium. The method comprises: when a sweeper is located at a channel position, controlling a second wheel of the sweeper to rotate along a first wheel of the sweeper, such that the second wheel moves in the direction of passing through a channel (S201); when the distance between the sweeper and an obstacle is less than a preset first distance threshold value, controlling the sweeper to move backwards (S202); and when the distance between the sweeper and the obstacle is greater than or equal to the first distance threshold value, controlling the sweeper to rotate by a first preset angle around the center of the sweeper, such that the first wheel moves in the direction of passing through the channel, and repeating the execution of the second wheel rotating along the first wheel, moving backwards and rotating around the center until the sweeper leaves the channel (S203). By means of the motion control method for a sweeper, the sweeper can move forwards along an edge of a channel, such that the sweeper can effectively enter a relatively narrow channel to perform sweeping, thereby facilitating an increase in the sweeping coverage rate of the sweeper.

Description

Sweeping machine and motion control method, device and storage medium thereof

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 8, 2023, with application number 202310993393.X and invention name “Sweeping robot and its motion control method, device and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of sweeping robots, and in particular to a sweeping robot and a motion control method, device, and storage medium thereof. Background Art

[0003] The basic cleaning strategies for robot vacuums typically include zoning, edge cleaning, and blanket cleaning. Using zoning and edge cleaning, the area to be cleaned is enclosed on the map, and then blanket cleaning is performed on these enclosed areas. If a blanket cleaning encounters an obstacle, the robot vacuum will circle around it, enclosing it on the map.

[0004] Edge-following motion can effectively balance edge-following efficiency and the ability to stay close to most obstacles. However, home environments are often complex and diverse, and there are often narrow areas that need to be cleaned by the robot vacuum. For example, under a dining table with numerous chair legs, in a room with a half-closed door, and so on. In these narrow passages, it is sometimes difficult for a robot vacuum to enter using conventional edge-following motion, which may result in missed areas and hinder the robot vacuum's cleaning coverage. Technical issues

[0005] In view of this, the embodiments of the present application provide a sweeping robot and its motion control method, device and storage medium to solve the problem in the prior art that in a narrow channel scenario, the sweeping robot is not easy to enter in a conventional manner, which may cause missed sweeping and is not conducive to improving the cleaning coverage of the sweeping robot. Technical Solutions

[0006] A first aspect of an embodiment of the present application provides a motion control method for a sweeping robot, the method comprising:

[0007] When the sweeper is in the passage position, controlling the second wheel of the sweeper to rotate along the first wheel of the sweeper so that the second wheel moves in a direction of passing through the passage, wherein the distance between the first wheel and the obstacle is smaller than the distance between the second wheel and the obstacle;

[0008] When the distance between the sweeping machine and the obstacle is less than a predetermined first distance threshold, controlling the sweeping machine to move backward;

[0009] When the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, the sweeping machine is controlled to rotate along the center of the sweeping machine by a first predetermined angle, so that the first wheel moves in the direction of passing through the channel, and the above-mentioned second wheel rotates along the first wheel, moves backward and rotates along the center until the sweeping machine leaves the channel.

[0010] With reference to the first aspect, in a first possible implementation of the first aspect, repeatedly performing the second wheel rotating along the first wheel, moving backward, and rotating along the center includes:

[0011] If the second wheel collides with an obstacle in the channel when the second wheel rotates along the first wheel, the sweeper is controlled to exit the channel.

[0012] In combination with the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, controlling the sweeping robot to exit the passage includes:

[0013] Controlling the sweeping machine to move backward, and then rotating it in place by a second predetermined angle, so that the sweeping machine faces the direction of exiting the passage;

[0014] Controlling the second wheel of the sweeper to rotate along the first wheel so that the second wheel moves toward the exit channel;

[0015] When the distance between the sweeping machine and the obstacle is less than a predetermined first distance threshold, controlling the sweeping machine to move backward a second predetermined distance;

[0016] The sweeper is controlled to rotate along the center of the sweeper by a second predetermined angle, so that the first wheel moves in the direction of exiting the channel, and the second wheel rotates along the first wheel, moves backward and rotates along the center repeatedly until the sweeper exits the channel.

[0017] In combination with any one of the first aspect to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the first distance threshold is the distance at which the sweeping robot collides with the obstacle.

[0018] In combination with the first aspect, in a fourth possible implementation of the first aspect, when the sweeper is located on the left side of the channel, the first wheel is a left wheel, and the second wheel is a right wheel;

[0019] Controlling the second wheel of the sweeper to rotate along the first wheel of the sweeper so that the second wheel moves in a direction of passing through the channel includes:

[0020] Controlling the right wheel of the sweeper to rotate counterclockwise along the left wheel of the sweeper, so that the second wheel moves in a direction of passing through the channel;

[0021] When the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, controlling the sweeping machine to rotate along the center of the sweeping machine by a first predetermined angle so that the first wheel moves in a direction of passing through the channel, including:

[0022] The sweeper is controlled to rotate along the center of the sweeper in a clockwise direction by the first predetermined angle, so that the first wheel moves in a direction of passing through the channel.

[0023] In combination with the first aspect, in a fifth possible implementation of the first aspect, when the sweeper is located on the right side of the channel, the first wheel is a right wheel, and the second wheel is a left wheel;

[0024] Controlling the second wheel of the sweeper to rotate along the first wheel of the sweeper so that the second wheel moves in a direction of passing through the channel includes:

[0025] Control the left wheel of the sweeper to rotate clockwise along the right wheel of the sweeper, so that the second wheel moves in a direction passing through the channel;

[0026] When the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, controlling the sweeping machine to rotate along the center of the sweeping machine by a first predetermined angle so that the first wheel moves in a direction of passing through the channel, including:

[0027] The sweeper is controlled to rotate counterclockwise along the center of the sweeper by the first predetermined angle, so that the first wheel moves in a direction of passing through the channel.

[0028] In combination with the first aspect, the fourth possible implementation of the first aspect, or the fifth possible implementation of the first aspect, in a sixth possible implementation of the first aspect, the first predetermined angle is related to the width of the channel and the predetermined travel speed.

[0029] A second aspect of an embodiment of the present application provides a motion control device for a sweeping machine, the device comprising:

[0030] a first rotating unit, configured to control the second wheel of the sweeper to rotate along the first wheel of the sweeper when the sweeper is in the passage position, so that the second wheel moves in a direction of passing through the passage, wherein the distance between the first wheel and the obstacle is smaller than the distance between the second wheel and the obstacle;

[0031] a rearward movement unit, configured to control the sweeping machine to move rearward when the distance between the sweeping machine and an obstacle is less than a predetermined first distance threshold;

[0032] The second rotation unit is used to control the sweeper to rotate along the center of the sweeper by a first predetermined angle when the distance between the sweeper and the obstacle is greater than or equal to the first distance threshold, so that the first wheel moves in the direction of passing through the channel, and repeat the above-mentioned second wheel rotation along the first wheel, backward movement and rotation along the center until the sweeper leaves the channel.

[0033] A third aspect of an embodiment of the present application provides a sweeping robot, comprising a radar, a distance sensor, a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein the radar is used to detect scene map information, the distance sensor is used to detect the distance between the sweeping robot and an obstacle, and when the processor executes the computer program, the steps of the method described in any one of the first aspects are implemented according to the scene map information and the distance between the sweeping robot and the obstacle.

[0034] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspects are implemented. Beneficial effects

[0035] The beneficial effect of the embodiment of the present application compared with the prior art is: when the embodiment of the present application detects that the sweeping machine is in the channel position, the second wheel is first rotated along the first wheel by the second wheel to move the second wheel toward the channel. When the distance between the sweeping machine and the obstacle is less than the first distance threshold, the sweeping machine is controlled to move backward by a first predetermined distance to make the distance between the sweeping machine and the obstacle greater than the first predetermined distance. The sweeping machine is then controlled to rotate along the center to move the first wheel in the direction of passing through the channel. By repeatedly rotating along the first wheel, moving backward and rotating along the center, the sweeping machine can move forward along the edge of the channel, so that the sweeping machine can effectively enter a narrow channel for cleaning, which is beneficial to improving the cleaning coverage of the sweeping machine, thereby improving product competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] FIG1 is a schematic structural diagram of a sweeping machine provided in an embodiment of the present application;

[0038] FIG2 is a schematic diagram of an implementation flow of the method provided in an embodiment of the present application;

[0039] Figures 3 to 9 are schematic diagrams of a state of controlling a sweeping machine to pass through a channel provided by an embodiment of the present application;

[0040] FIG10 is a schematic diagram of an implementation flow of an exit channel of the method provided in an embodiment of the present application;

[0041] FIG11 is a schematic diagram of a state of a trigger exit channel provided in an embodiment of the present application;

[0042] FIG12 is a schematic diagram of an implementation flow of an exit channel provided in an embodiment of the present application;

[0043] Figures 13 to 21 are schematic diagrams of the exit channels provided in embodiments of the present application;

[0044] FIG22 is a schematic diagram of a motion control device for a sweeping machine provided in an embodiment of the present application;

[0045] Figure 23 is a schematic diagram of a sweeping machine provided in an embodiment of the present application. Modes for Carrying Out the Invention

[0046] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0047] In order to illustrate the technical solution described in this application, specific embodiments are provided below.

[0048] Figure 1 is a schematic structural diagram of a sweeper provided in an embodiment of the present application. As shown in Figure 1, the sweeper includes a radar, a sensor, a controller and a moving wheel, wherein the sensor may include a ranging sensor and a motion sensor, etc. The ranging sensor may include an infrared sensor and an anti-collision bar sensor. The anti-collision bar sensor may include a left anti-collision bar sensor and a right anti-collision bar sensor, which can be used to detect whether a collision occurs on the left, right or front of the sweeper. When a collision occurs on the left, the left anti-collision bar sensor is triggered, when a collision occurs on the right, the right anti-collision bar sensor is triggered, and when a collision occurs in the front, the left anti-collision bar sensor and the right anti-collision bar sensor may be triggered.

[0049] Infrared sensors can be used to detect the distance between the sweeper and the obstacle. More than two infrared sensors can be set to detect the distance between each side of the sweeper and the obstacle. The anti-collision bar sensor can also be used to detect the distance between the sweeper and the obstacle. For example, when the left anti-collision bar sensor is triggered, it can be detected that the distance between the sweeper and the left obstacle is less than a pre-set first distance threshold. The first distance threshold can be the distance between the sweeper and the obstacle when the sweeper collides with the obstacle, or it can be any value greater than the distance.

[0050] Motion sensors can include an IMU (Inertial Measurement Unit) and / or an odometer. These sensors can detect the robot's motion information, and the robot can update its scene map based on the detected motion information. Radar can be used to detect obstacles in the scene, and the robot generates a scene map based on the detected obstacle information, which can be used to determine the existing channels in the scene.

[0051] The movable wheels may include a left wheel and a right wheel. The controller may control the movement of the left and right wheels based on the detected channel. For example, the left wheel may move along the right wheel, or the movement of the left and right wheels may be controlled to cause the sweeper to move along its center. The controller may be used to control the sweeper to pass through narrow channels according to the motion control method provided in the embodiments of the present application, thereby improving the sweeping coverage of the sweeper.

[0052] FIG2 is a schematic diagram of a flow chart of a motion control method for a sweeping robot provided in an embodiment of the present application. As shown in FIG2 , the method includes:

[0053] In S201, when the sweeping machine is in the channel position, the second wheel of the sweeping machine is controlled to rotate along the first wheel of the sweeping machine, so that the second wheel moves in a direction of passing through the channel.

[0054] The distance between the first wheel and the obstacle is smaller than the distance between the second wheel and the obstacle.

[0055] Among them, the sweeper is in the channel position, which may include a position on the left side of the channel, or a position on the right side of the channel. For example, when the sweeper moves from the left, the sweeper can move to the position on the left side of the channel. When the sweeper moves from the right, the sweeper can move to the right side of the channel. For example, as shown in Figure 3, according to the pre-detected scene map, when the sweeper moves from the right to the channel position, the sweeper is in the right side of the channel entrance. It can be understood that it is not limited to moving from the right to the right side of the channel entrance, but can also include moving from other positions to the right side of the channel entrance. Similarly, the sweeper can also move from the left side or other positions to the left side of the channel entrance.

[0056] As shown in Figure 3, when the sweeper is positioned to the right of the passage entrance, the distance between the right wheel and the passage obstacle is smaller than the distance between the left wheel and the obstacle. Therefore, the right wheel is the first wheel (B) and the left wheel is the second wheel (A). When the right wheel rotates along with the left wheel, it can rotate clockwise, moving the sweeper's left wheel toward the passage or into the passage, and the sweeper moves toward the right side of the passage.

[0057] Correspondingly, when the sweeper is on the left side of the passage, the distance between the left wheel and the obstacle is smaller than the distance between the right wheel and the obstacle. In this case, the left wheel is the second wheel and the right wheel is the first wheel. The right wheel can be controlled to rotate counterclockwise to move the right wheel in the direction of entering the passage or passing through the passage.

[0058] As the second wheel rotates along the first wheel, the first wheel remains in position, and the second wheel gradually moves toward the entrance of the passage, with the first wheel as the center. During the rotation of the second wheel, the distance between the sweeper and the obstacle on the side where the first wheel is located will gradually decrease.

[0059] It is understandable that when the first distance threshold is greater than the collision distance, the distance between the sweeper and the obstacle can be detected by a distance sensor, including an infrared sensor.

[0060] In S202, when the distance between the sweeping machine and the obstacle is less than a predetermined first distance threshold, the sweeping machine is controlled to move backward.

[0061] In the process of controlling the second wheel to rotate along the first wheel in the direction of passing through the channel, as the rotation angle increases, the distance between the sweeper and the obstacle will gradually decrease. When the distance between the sweeper and the obstacle is less than the requirement of the first distance threshold, the distance between the sweeper and the obstacle is small, or the sweeper collides with the obstacle. At this time, in order to allow the sweeper to move further forward, the sweeper can be controlled to move backward a first predetermined distance so that the sweeper can continue to move in the direction of passing through the channel by rotating.

[0062] When the distance is less than a predetermined first distance threshold, the second wheel is stopped from being controlled to rotate along the first wheel.

[0063] For example, as shown in Figure 4, when the first distance threshold is the distance at which the sweeping machine collides with an obstacle (an obstacle on one side of the channel), the distance between the sweeping machine and the obstacle (hereinafter referred to as the collision distance) can be detected by the anti-collision bar sensor to determine whether it is necessary to stop the second wheel from rotating along the first wheel. When the anti-collision bar sensor detects that the sweeping machine collides with an obstacle, the sweeping machine is controlled to stop rotating along the first wheel from the second wheel. Since the sweeping machine collides with the obstacle on one side of the channel and cannot move in the direction of passing through the channel by further rotating along the first wheel, the control of the second wheel to rotate along the first wheel is stopped, and the sweeping machine is controlled to move backward to eliminate the collision between the sweeping machine and the obstacle.

[0064] When the first distance threshold is greater than the collision distance, the distance between the sweeper and the obstacle can be detected by the distance sensor. When it is detected that the distance between the sweeper and the obstacle is less than the first distance threshold, the second wheel can be stopped from rotating along the first wheel, and the sweeper can be controlled to move backward, gradually increasing the distance between the sweeper and the obstacle. As shown in Figure 5, after moving backward, the distance between the sweeper and the obstacle is greater than the collision distance, and the collision between the sweeper and the obstacle is eliminated.

[0065] In S203, when the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, the sweeping machine is controlled to rotate along the center of the sweeping machine by a first predetermined angle, so that the first wheel moves in the direction of passing through the channel, and the above-mentioned second wheel rotates along the first wheel, moves backward and rotates along the center until the sweeping machine leaves the channel.

[0066] When controlling the sweeper to move backward, the distance between the sweeper and the obstacle is detected in real time. When the distance between the sweeper and the obstacle is greater than or equal to a first distance threshold, the sweeper's direction can be adjusted so that the first wheel of the sweeper rotates toward the front of the passage, thereby facilitating the second wheel to rotate along the first wheel, further moving the sweeper in the direction of passing through the passage.

[0067] When the first distance threshold is the collision distance, the sweeper is controlled to move backward so that the distance between the sweeper and the obstacle is greater than the collision distance. The sweeper can be controlled to rotate along the center of the sweeper so that the first wheel of the sweeper moves in the direction of passing through the channel.

[0068] In order to effectively control the sweeping machine to pass through the channel, the distance the sweeping machine moves backward in the channel direction is less than the distance the sweeping machine moves in the channel direction when the second wheel rotates along the first wheel.

[0069] When controlling the sweeping machine to rotate along the center of the sweeping machine, since the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, the sweeping machine will not collide with the obstacle on one side of the channel, and the sweeping machine can effectively complete the rotation of the first predetermined angle along the center.

[0070] Since the sweeper will not collide with obstacles on one side of the passage when rotating along the center, the direction of the sweeper's rotation of the first predetermined angle along the center is not limited. To improve rotation efficiency, the direction of the first predetermined angle can be determined based on the position of the sweeper when entering the passage.

[0071] For example, when the sweeper enters the channel from the right side of the channel, the second wheel rotates clockwise along the first wheel. After the sweeper moves backward, as shown in Figure 6, the sweeper is controlled to rotate counterclockwise along the center by a first predetermined angle.

[0072] When the sweeper enters the channel from the left side of the channel, the second wheel rotates along the first wheel in a counterclockwise direction. After the sweeper moves backward, the sweeper is controlled to rotate along the center in a clockwise direction by a first predetermined angle.

[0073] After the second wheel rotates around the first wheel, the second wheel is located behind the first wheel (behind the direction of advance of the channel), and the first wheel can move toward the front of the channel by rotating around the center of the sweeper as the rotation axis.

[0074] As shown in Figure 6, as the sweeper rotates counterclockwise about its center point (o), the distance between the first wheel and the obstacle gradually decreases as the first wheel gradually moves forward. When the first wheel is located perpendicular to the obstacle and the sweeper's center point, the distance between the first wheel and the obstacle decreases to its minimum. As the sweeper continues to rotate about its center point, the distance between the first wheel and the obstacle gradually increases. As the distance between the first wheel and the obstacle increases, the passage space required when the second wheel rotates along the first wheel also increases, the distance covered in a single rotation (the second wheel rotating along the first wheel) also increases, and the sweeper's efficiency improves. Therefore, the magnitude of the first predetermined angle can be determined based on the width of the passage and the sweeper's travel speed. When the travel speed is constant, the greater the passage width, the greater the first predetermined angle, and the smaller the passage angle, the smaller the first predetermined angle. When the passage width is constant, the faster the passage speed, the greater the first predetermined angle, and the slower the passage speed, the smaller the first predetermined angle. The magnitude of the first predetermined angle can be determined based on the preset passage speed and the passage width.

[0075] After the sweeper rotates to the first predetermined angle, if the sweeper is still in the channel, the control flow of Figures 3 to 6 can be used again to control the second wheel of the sweeper to rotate along the first wheel, so that the sweeper moves forward. When the distance between the sweeper and the obstacle is less than the first distance threshold, or when the sweeper collides with the obstacle, the sweeper is controlled to move backward. When the distance between the sweeper and the obstacle is greater than or equal to the first distance threshold, for example, when the sweeper does not collide with the obstacle, the sweeper is rotated to the first predetermined angle. The steps of rotating the second wheel along the first wheel, moving backward, and rotating along the center are repeated until the sweeper moves out of the channel. The sweeper can then continue to be controlled to perform the predetermined task according to the control method outside the channel.

[0076] For example, as shown in Figure 7, the sweeper rotates along the center, and the first wheel is located at the right channel entrance of the channel. At this time, the second wheel of the sweeper is still in the channel. The first wheel of the sweeper can be controlled to rotate along the second wheel until the sweeper collides with the obstacle, as shown in Figure 8. In order to eliminate the collision, the sweeper can be controlled to move backward, as shown in Figure 9, so that the collision between the sweeper and the obstacle is eliminated. At this point, the sweeper is completely outside the channel and has successfully passed through the channel from area A to area B. The sweeper can be controlled to perform the predetermined task according to the predetermined non-channel scene movement control method.

[0077] In a possible implementation, the width of the channel may change. When the sweeper enters the channel, if the width of the channel becomes smaller, the sweeper may not be able to move forward. The sweeper needs to be controlled to exit the channel. The specific process can be shown in Figure 10, including:

[0078] In S1001, when the sweeping machine is in the channel position, the second wheel of the sweeping machine is controlled to rotate along the first wheel of the sweeping machine, so that the second wheel moves in a direction of passing through the channel.

[0079] In S1002, when the distance between the sweeping machine and the obstacle is less than a predetermined first distance threshold, the sweeping machine is controlled to move backward.

[0080] In S1003, when the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, the sweeping machine is controlled to rotate along the center of the sweeping machine by a first predetermined angle so that the first wheel moves in a direction of passing through the channel.

[0081] S1001 - S1003 are basically the same as S201 - S203 in FIG. 2 .

[0082] In S1004, the second wheel is repeatedly rotated along the first wheel, moved backward and rotated along the center. If the second wheel side collides with an obstacle in the channel when the second wheel rotates along the first wheel, the sweeper is controlled to exit the channel.

[0083] As shown in Figure 11, the shape of the channel is larger in the front and smaller in the back. At the front end of the channel, the sweeper can enter the channel according to the method shown in Figure 2. As the channel shrinks, when the sweeper performs the Nth (N is a natural number greater than or equal to 1) rotation of the second wheel along the first wheel, the second wheel side of the sweeper collides with the channel, indicating that the channel width is too small and the sweeper cannot pass through the channel. The sweeper can be controlled to exit the channel. Specifically, as shown in Figure 12, it includes:

[0084] In S1201, the sweeping machine is controlled to move backward, and then rotated in place by a second predetermined angle, so that the sweeping machine faces the direction of exiting the passage.

[0085] When the second wheel of the sweeper rotates along the first wheel and it is detected that the second wheel side collides with an obstacle, it means that the width of the channel is smaller than the width of the sweeper. When the sweeper cannot pass through the channel, you can first adjust the distance between the sweeper and the obstacle by moving backward, and then adjust the direction of the sweeper to move in the direction of exiting the channel.

[0086] During the process of the second wheel rotating along the first wheel, the distance between the second wheel side and the obstacle is less than the first distance threshold, including when the second wheel side collides with the obstacle (as shown in Figure 11), the second wheel is stopped from rotating along the first wheel, and the sweeper is controlled to move backward so that the collision between the second wheel side and the obstacle is eliminated (as shown in Figure 13), that is, the distance between the sweeper and the obstacle is greater than or equal to the first distance threshold, then the sweeper can be controlled to rotate in place (that is, rotate along the center) so that the sweeper is facing the direction of the exit channel. For example, the sweeper can be controlled to rotate 180 degrees in place to change the positions of the first and second wheels of the sweeper. As shown in Figure 11, before rotating 180 degrees, the first wheel is on the right and the second wheel is on the left. After rotating 180 degrees, as shown in Figure 14, the first wheel is on the left and the second wheel is on the right.

[0087] In S1202, the second wheel of the sweeping robot is controlled to rotate along the first wheel, so that the second wheel moves in a direction of exiting the channel.

[0088] After the direction of the sweeper is changed, as shown in FIG15 , the second wheel of the sweeper can be controlled to rotate along the first wheel, so that the sweeper moves toward the exit channel, and the sweeper is close to the obstacle on the left side of the channel.

[0089] In S1203, when the distance between the sweeping machine and the obstacle is less than a predetermined first distance threshold, the sweeping machine is controlled to move backward a second predetermined distance.

[0090] When the second wheel of the sweeper rotates along the first wheel until the distance between the sweeper and the obstacle is less than the first distance threshold, for example, when the sweeper collides with the obstacle on the left side of the obstacle channel (Figure 16), the sweeper can be controlled to move backward (in the direction of the perpendicular line connecting the first wheel and the second wheel and toward the direction of entering the channel) so that the distance between the sweeper and the obstacle is greater than or equal to the first distance threshold, as shown in Figure 17, so that the collision between the obstacle and the sweeper is eliminated.

[0091] In S1204, the sweeper is controlled to rotate along the center of the sweeper by a second predetermined angle, so that the first wheel moves in the direction of exiting the channel, and the above-mentioned second wheel rotates along the first wheel, moves backward and rotates along the center until the sweeper exits the channel.

[0092] When the distance between the sweeper and the obstacle is greater than the first distance threshold, for example, after the collision is eliminated, the sweeper can be controlled to rotate in place by a second predetermined angle, as shown in Figure 18, so that the first wheel of the sweeper moves toward the outside of the channel, so that when the second wheel rotates along the first wheel, the second wheel can further move toward the direction of exiting the channel. Repeatedly execute the second wheel to rotate along the first wheel, move backward, and rotate along the center until the sweeper exits the channel. For example, as shown in Figure 19, the first wheel is located on the left side of the channel entrance, and the second wheel is controlled to rotate along the first wheel to obtain the state shown in Figure 20, where the sweeper collides with the obstacle in area A. Control the sweeper to move backward to eliminate the collision, and obtain the state of the sweeper shown in Figure 21. At this point, the sweeper has completely exited the channel.

[0093] The selection of the second predetermined angle is similar to that of the first predetermined angle, and the size of the second predetermined angle can be determined according to the width of the channel and the moving speed requirement.

[0094] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0095] FIG22 is a schematic diagram of an operation control device of a sweeping machine provided in an embodiment of the present application. As shown in FIG20 , the device includes:

[0096] The first rotation unit 2201 is used to control the second wheel of the sweeper to rotate along the first wheel of the sweeper when the sweeper is in the channel position, so that the second wheel moves in the direction of passing through the channel, wherein the distance between the first wheel and the obstacle is smaller than the distance between the second wheel and the obstacle.

[0097] The rearward movement unit 2202 is configured to control the rearward movement of the sweeping machine when the distance between the sweeping machine and an obstacle is less than a predetermined first distance threshold.

[0098] The second rotation unit 2203 is used to control the sweeping machine to rotate along the center of the sweeping machine by a first predetermined angle when the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, so that the first wheel moves in the direction of passing through the channel, and repeat the above-mentioned second wheel rotation along the first wheel, backward movement and rotation along the center until the sweeping machine leaves the channel.

[0099] The motion control device of the sweeping machine shown in FIG22 corresponds to the motion control method of the sweeping machine shown in FIG2 .

[0100] Figure 23 is a schematic diagram of a sweeping machine provided by an embodiment of the present application. As shown in Figure 23, the sweeping machine 23 of this embodiment includes: a processor 230, a memory 231, and a computer program 232 stored in the memory 231 and executable on the processor 230, such as a motion control program for the sweeping machine. When the processor 230 executes the computer program 232, the steps in the above-mentioned embodiments of the motion control method for the sweeping machine are implemented. Alternatively, when the processor 230 executes the computer program 232, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0101] Exemplarily, the computer program 232 may be divided into one or more modules / units, which are stored in the memory 231 and executed by the processor 230 to implement the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 232 in the sweeping robot 23.

[0102] The sweeping machine may include, but is not limited to, a processor 230 and a memory 231. Those skilled in the art will appreciate that FIG23 is merely an example of a sweeping machine 23 and does not limit the sweeping machine 23. The sweeping machine 23 may include more or fewer components than shown in the figure, or may combine certain components or different components. For example, the sweeping machine may further include input and output devices, network access devices, buses, and the like.

[0103] The processor 230 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0104] The memory 231 can be an internal storage unit of the sweeping machine 23, such as a hard disk or memory of the sweeping machine 23. The memory 231 can also be an external storage device of the sweeping machine 23, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the sweeping machine 23. Furthermore, the memory 231 can also include both an internal storage unit of the sweeping machine 23 and an external storage device. The memory 231 is used to store the computer program and other programs and data required by the sweeping machine. The memory 231 can also be used to temporarily store data that has been output or is to be output.

[0105] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0106] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0107] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0108] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0109] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0110] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0111] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, which can also be completed by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0112] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A motion control method for a sweeping machine, characterized in that: The method comprises: When the sweeper is in the channel position, controlling the second wheel of the sweeper to rotate along the first wheel of the sweeper so that the second wheel moves in a direction of passing through the channel, wherein the distance between the first wheel and the obstacle is smaller than the distance between the second wheel and the obstacle; When the distance between the sweeping machine and the obstacle is less than a predetermined first distance threshold, controlling the sweeping machine to move backward; When the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, the sweeping machine is controlled to rotate along the center of the sweeping machine by a first predetermined angle, so that the first wheel moves in the direction of passing through the channel, and the above-mentioned second wheel rotates along the first wheel, moves backward and rotates along the center until the sweeping machine leaves the channel.

2. The method according to claim 1, characterized in that The step of repeatedly performing the second wheel rotating along the first wheel, moving backward and rotating along the center includes: If one side of the second wheel collides with an obstacle in the channel when the second wheel rotates along the first wheel, the sweeper is controlled to exit the channel.

3. The method according to claim 2, characterized in that Controlling the sweeping machine to exit the passage includes: Controlling the sweeping machine to move backward, and then rotating it in situ by a second predetermined angle, so that the sweeping machine faces the direction of exiting the passage; Controlling the second wheel of the sweeper to rotate along the first wheel so that the second wheel moves in the direction of exiting the passage; When the distance between the sweeping machine and the obstacle is less than a predetermined first distance threshold, controlling the sweeping machine to move backward a second predetermined distance; The sweeper is controlled to rotate along the center of the sweeper at a second predetermined angle, so that the first wheel moves in the direction of exiting the channel, and the second wheel rotates along the first wheel, moves backward and rotates along the center repeatedly until the sweeper exits the channel.

4. The method according to any one of claims 1 to 3, characterized in that: The first distance threshold is the distance at which the sweeping machine collides with the obstacle.

5. The method according to claim 1, characterized in that When the sweeper is located at the left side of the passage, the first wheel is the left wheel and the second wheel is the right wheel; Controlling the second wheel of the sweeper to rotate along the first wheel of the sweeper so that the second wheel moves in a direction passing through the channel comprises: Control the right wheel of the sweeper to rotate counterclockwise along the left wheel of the sweeper, so that the second wheel moves in a direction passing through the channel; When the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, controlling the sweeping machine to rotate along the center of the sweeping machine by a first predetermined angle so that the first wheel moves in a direction passing through the channel, including: The sweeping machine is controlled to rotate the first predetermined angle in a clockwise direction along the center of the sweeping machine, so that the first wheel moves in a direction passing through the channel.

6. The method according to claim 1, characterized in that When the sweeper is located at the right side of the passage, the first wheel is the right wheel and the second wheel is the left wheel; Controlling the second wheel of the sweeper to rotate along the first wheel of the sweeper so that the second wheel moves in a direction passing through the channel comprises: Control the left wheel of the sweeper to rotate along the right wheel of the sweeper in a clockwise direction, so that the second wheel moves in a direction passing through the channel; When the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, controlling the sweeping machine to rotate along the center of the sweeping machine by a first predetermined angle so that the first wheel moves in a direction passing through the channel, including: The sweeping machine is controlled to rotate counterclockwise along the center of the sweeping machine by the first predetermined angle, so that the first wheel moves in a direction passing through the channel.

7. The method according to claim 1, 5 or 6, characterized in that: The first predetermined angle is related to the width of the channel and a predetermined passing speed.

8. A motion control device for a sweeping machine, characterized in that: The device comprises: a first rotating unit, for controlling the second wheel of the sweeper to rotate along the first wheel of the sweeper when the sweeper is in the channel position, so that the second wheel moves in a direction of passing through the channel, wherein the distance between the first wheel and the obstacle is smaller than the distance between the second wheel and the obstacle; A backward movement unit, used to control the sweeping machine to move backward when the distance between the sweeping machine and the obstacle is less than a predetermined first distance threshold; The second rotation unit is used to control the sweeping machine to rotate along the center of the sweeping machine by a first predetermined angle when the distance between the sweeping machine and the obstacle is greater than or equal to the first distance threshold, so that the first wheel moves in the direction of passing through the channel, and repeatedly executes the above-mentioned second wheel rotation along the first wheel, backward movement and rotation along the center until the sweeping machine leaves the channel.

9. A sweeping machine, comprising a radar, a distance sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the radar is used to detect scene map information, the distance sensor is used to detect the distance between the sweeping machine and an obstacle, and wherein: When the processor executes the computer program, the steps of the method as claimed in any one of claims 1 to 7 are implemented according to the scene map information and the distance between the sweeping robot and the obstacle.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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