Cleaning control method and apparatus for robotic vacuum cleaner, and storage medium and intelligent robot

Abstract

The present application is applicable to the technical field of artificial intelligence. Provided are a cleaning control method and apparatus for a robotic vacuum cleaner, and a storage medium and an intelligent robot. The method comprises: when a robotic vacuum cleaner is controlled to execute edge cleaning, if a specified event is triggered, determining whether there is an unswept area between an event object in the specified event and a corresponding target environment boundary, wherein triggering the specified event comprises the robotic vacuum cleaner having a collision or the robotic vacuum cleaner detecting an obstacle, and the unswept area is an area where the robotic vacuum cleaner can pass through; and when it is determined that there is an unswept area, controlling the robotic vacuum cleaner to clean the unswept area. The present application can effectively improve the thoroughness and effectiveness of cleaning by a robotic vacuum cleaner, striving to avoid missing a spot or large areas being left unswept, thereby enhancing the user experience.

Description

Sweeping machine cleaning control method, device, storage medium and intelligent robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 28, 2023, with application number 202311853299.0 and invention name “Sweeping machine cleaning control method, device, storage medium and intelligent robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of artificial intelligence technology, and in particular to a sweeper cleaning control method, device, storage medium and intelligent robot. Background Art

[0003] With the development of science and technology and the economy, various types of smart devices have been widely used to provide convenience for people's lives. For example, more and more households use sweeping robots to clean their homes.

[0004] The cleaning process of a robot vacuum (also known as a sweeper) is generally divided into two categories: edge cleaning and full-coverage cleaning. Typically, a sweeper first cleans along the edges, creating a closed area, and then performs full-coverage cleaning within that closed area. However, when encountering an obstacle during the cleaning process, the sweeper will rotate a certain angle to bypass it and continue cleaning. This can easily lead to missed areas or even large areas being missed, resulting in poor cleaning effectiveness and a negative user experience. Technical issues

[0005] The embodiments of the present application provide a sweeping robot cleaning control method, device, storage medium and intelligent robot, which can effectively improve the comprehensiveness and effectiveness of the sweeping robot's cleaning, avoid missed cleaning and large-area missed cleaning as much as possible, and thus enhance the user experience. Technical Solutions

[0006] In a first aspect, an embodiment of the present application provides a sweeping machine cleaning control method, the method comprising:

[0007] When controlling the sweeper to perform edge cleaning, if a specified event is triggered, determining whether there is a missed-sweep area between the event object in the specified event and the corresponding target environment boundary. The triggering specified event includes a collision of the sweeper or the detection of an obstacle by the sweeper. The missed-sweep area is an area that the sweeper can pass through.

[0008] When it is determined that the missed sweeping area exists, the sweeping machine is controlled to sweep the missed sweeping area.

[0009] In a possible implementation of the first aspect, if a designated event is triggered, determining whether there is a missed scan area between an event object in the designated event and a corresponding target environment boundary includes:

[0010] Determining whether there is an uncleaned area between the event object and the environment boundary;

[0011] When it is determined that there is an uncleaned area, judging whether the sweeping machine can pass through the uncleaned area according to the current position of the sweeping machine, the position of the event object, and the position of the target environment boundary;

[0012] If it can pass, the uncleaned area is determined as a missed-sweep area;

[0013] If it is not possible to pass through, or there is no uncleaned area between the event object and the environment boundary, it is determined that there is no missed area.

[0014] In a possible implementation of the first aspect, determining whether the sweeping machine can pass through the uncleaned area according to the current position of the sweeping machine, the position of the event object, and the position of the target environment boundary includes:

[0015] Based on the current position of the sweeping robot, determining whether a target angle between a first position point and a second position point is greater than a preset angle threshold, wherein the first position point is the position point on the event object closest to the sweeping robot, and the second position point is the position point on the target environment boundary closest to the sweeping robot;

[0016] Determining whether a target distance between the first position point and the second position point is greater than a preset distance threshold;

[0017] If the target angle is greater than the preset angle threshold, and the target distance is greater than the preset distance threshold, it is determined that the sweeping robot can pass through the uncleaned area.

[0018] In a possible implementation of the first aspect, controlling the sweeping machine to clean the missed area includes:

[0019] Based on the current position of the sweeping robot, calculating a target angle between a first position point and a second position point, wherein the first position point is the position point on the event object closest to the sweeping robot, and the second position point is the position point on the target environment boundary closest to the sweeping robot;

[0020] Determining an angle to be rotated according to the target angle and the cleaning direction of the edge cleaning;

[0021] The sweeping machine is controlled to rotate based on the to-be-rotated angle to clean the missed-sweep area.

[0022] In a possible implementation of the first aspect, controlling the sweeping machine to perform edge cleaning includes:

[0023] Real-time acquisition of the edge distance between the sweeper and the environment boundary during edge cleaning;

[0024] Based on the edge distance, the sweeper is controlled to adjust the side wheel speed.

[0025] In a possible implementation of the first aspect, the sweeper includes a first side wheel and a second side wheel, and controlling the sweeper to adjust a speed of the side wheels based on the edge distance includes:

[0026] When the edge distance is less than a preset edge distance threshold, controlling the first side wheel of the sweeping machine to decelerate and the second side wheel of the sweeping machine to accelerate;

[0027] When the edge distance is greater than a preset edge distance threshold, controlling the first side wheel of the sweeping machine to accelerate and the second side wheel of the sweeping machine to decelerate;

[0028] The first side wheel is a side wheel close to the environmental boundary.

[0029] In a possible implementation of the first aspect, the method further includes:

[0030] When it is determined that there is no missed sweeping area, or after controlling the sweeping machine to clean the missed sweeping area, the sweeping machine is controlled to continue to perform edge cleaning according to the initial cleaning plan until the edge cleaning trajectory forms a closed trajectory.

[0031] In a second aspect, an embodiment of the present application provides a sweeping machine cleaning control device, the device comprising:

[0032] a missed sweep determination unit, configured to control the sweeper to perform edge sweeping and, if a specified event is triggered, determine whether there is a missed sweep area between the event object in the specified event and the corresponding target environment boundary, wherein the triggering of the specified event includes a collision of the sweeper or the detection of an obstacle by the sweeper, and the missed sweep area is an area that the sweeper can pass through;

[0033] The cleaning control unit is used to control the sweeper to clean the missed sweep area when it is determined that the missed sweep area exists.

[0034] In a third aspect, an embodiment of the present application provides an intelligent robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the sweeper cleaning control method as described in the first aspect above is implemented.

[0035] In a fourth aspect, 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 sweeper cleaning control method as described in the first aspect above is implemented.

[0036] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an intelligent robot, the intelligent robot executes the sweeping machine cleaning control method as described in the first aspect above. Beneficial effects

[0037] In an embodiment of the present application, when the sweeping robot is performing edge cleaning, if a specified event is triggered, that is, a collision occurs or an obstacle is detected, it is immediately determined whether there is a missed sweep area between the event object in the specified event and the corresponding target environment boundary. When it is determined that the missed sweep area exists, the sweeping robot is controlled to clean the missed sweep area to avoid missed sweeps due to obstacle avoidance and detours during edge cleaning. This can effectively improve the comprehensiveness and effectiveness of the sweeping robot's cleaning, thereby enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] FIG1 is a schematic diagram of a right edge cleaning scenario provided by an embodiment of the present application;

[0040] FIG2 is a schematic diagram of another scenario of right edge cleaning provided by an embodiment of the present application;

[0041] FIG3 is a flowchart of an implementation of a sweeping machine cleaning control method provided in an embodiment of the present application;

[0042] FIG4 is a flowchart showing a specific implementation of the sweeping machine cleaning control method for determining whether there is a missed sweeping area provided by an embodiment of the present application;

[0043] Figure 5.1 is a schematic diagram of a scenario of a sweeping robot cleaning control method provided by an embodiment of the present application;

[0044] Figure 5.2 is a schematic diagram of a scene after the sweeper rotates in the sweeper cleaning control method provided by an embodiment of the present application;

[0045] FIG6 is a schematic diagram of a scene of a sweeping machine and an environment boundary in a sweeping machine cleaning control method provided by an embodiment of the present application;

[0046] FIG7 is a structural block diagram of a sweeping machine cleaning control device provided in an embodiment of the present application;

[0047] FIG8 is a schematic diagram of an intelligent robot provided in an embodiment of the present application. Modes for Carrying Out the Invention

[0048] 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.

[0049] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0050] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0051] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0052] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0053] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0054] The cleaning process of a robot vacuum is generally divided into two categories: edge cleaning and full-coverage cleaning. Generally, edge cleaning begins, creating a closed area, and then full-coverage cleaning is performed within that closed area. Edge cleaning is generally divided into left edge cleaning and right edge cleaning. Left edge cleaning and right edge cleaning have different cleaning directions: the left edge cleaning direction is generally clockwise, while the right edge cleaning direction is generally counterclockwise.

[0055] Taking right edge cleaning as an example, the sweeper cleans along the right environmental boundary. During the edge cleaning process, when the sweeper encounters the environmental boundary or obstacle, it will rotate to the left a certain angle and then continue to clean along the right environmental boundary until the cleaning track forms a closed area. This time, the edge cleaning is completed.

[0056] As shown in Figure 1, the environmental area to be cleaned is a square area. The process of the sweeper performing edge cleaning is as follows: the sweeper starts from position ①, reaches positions ②, ③, ④ in sequence, and finally returns to position ①, forming a square closed area. The edge cleaning area is completed this time.

[0057] After a sweeper collides with an obstacle along the edge, it will rotate a certain angle to bypass the obstacle and continue cleaning along the edge. However, the applicant has discovered that this may result in missed areas. As shown in Figure 2, while performing edge cleaning, the sweeper collides with the left side of the sweeper at position ④. The sweeper rotates to the left a certain angle and moves to position ⑤. It then continues cleaning along the edge to position ⑥ and returns to position ①. However, there may be areas missed at position ④.

[0058] In view of this, the embodiments of the present application provide a sweeper cleaning control method, device, storage medium, and intelligent robot. When a collision occurs or an obstacle is detected during edge cleaning, the sweeper immediately determines whether there are any missed areas at the current location, thereby avoiding missed areas caused by obstacle avoidance during edge cleaning. This can effectively improve the comprehensiveness and effectiveness of the sweeper's cleaning, thereby enhancing the user experience. For more specific technical implementation details of the embodiments of the present application, please refer to the various embodiments described below.

[0059] It should be understood that the method of controlling the cleaning of a sweeper provided by each method embodiment of the present application is applicable to various types of intelligent robots that need to perform cleaning services or move along the edge, and the embodiments of the present application do not impose any restrictions on the specific type of the intelligent robot.

[0060] FIG1 shows the implementation process of the sweeping robot cleaning control method provided by the embodiment of the present application, which includes steps S301 to S302. The specific implementation principles of each step are as follows:

[0061] Step S301: When controlling the sweeping machine to perform edge cleaning, if a designated event is triggered, it is determined whether there is a missed sweep area between the event object in the designated event and the corresponding target environment boundary.

[0062] The triggering designated event includes a collision of the sweeping robot or an obstacle detected by the sweeping robot. In this embodiment, the missed sweeping area is an area that the sweeping robot can pass through.

[0063] The target environment boundary is the boundary within the environmental area that the sweeper is cleaning along the edge, specifically the boundary when the sweeper is performing edge cleaning when a specified event is triggered. In this embodiment, the target environment boundary corresponding to the event object in the environmental area that is being cleaned along the edge is determined based on the position of the event object and the current position of the sweeper. The event object and the target environment boundary are on both sides of the sweeper along the cleaning direction. As shown in Figure 2, the sweeper is located at position ④, with the collision object of the collision object on the left and the target environment boundary on the right.

[0064] When the sweeper performs edge cleaning, if a collision occurs, the event object is the collision object, and it is determined whether there is a missed sweep area between the collision object and the boundary of the target environment.

[0065] When the sweeper performs edge cleaning, if the sweeper detects an obstacle, the event object determines whether there is a missed sweep area between the obstacle and the boundary of the target environment.

[0066] In an embodiment of the present application, a sweeper is equipped with a laser radar and a collision sensor. The laser radar is used to detect obstacles around the sweeper, and the collision sensor is used to detect whether a collision has occurred. In some embodiments, the laser radar can rotate 360 ​​degrees and can record the rotation angle and measured distance during the rotation process. Specifically, the laser radar rotates at fixed angles and measures the distance at each fixed angle.

[0067] In this embodiment, when the sweeper performs edge cleaning, it detects obstacles in real time through the laser radar and detects whether a collision occurs in real time through the collision sensor. When an obstacle is detected or a collision occurs, it immediately determines whether there is a missed sweep area between the obstacle or collision object and the environment boundary.

[0068] As a possible implementation of the present application, FIG4 shows a specific implementation process of determining whether there is a missed sweeping area in the sweeping robot cleaning control method provided in an embodiment of the present application, which is detailed as follows:

[0069] A1: Determine whether there is an uncleaned area between the event object and the environment boundary. An uncleaned area is an area where no cleaning track exists. In this embodiment, the cleaning track of the edge cleaning process can be used to determine whether there is an uncleaned area between the collision object or obstacle and the environment boundary.

[0070] A2: When it is determined that there is an uncleaned area, whether the sweeping machine can pass through the uncleaned area is determined based on the current position of the sweeping machine, the position of the event object, and the position of the target environment boundary.

[0071] In a possible embodiment, based on the current position of the sweeping machine, the center point of the sweeping machine is determined, and the center point is used as the vertex to obtain the angle between the first position point and the second position point. The angle is the target angle, and the opening direction of the target angle is the same as the current direction of travel of the sweeping machine. It is determined whether the target angle between the first position point and the second position point is greater than a preset angle threshold, and the preset angle threshold can be 120°. The first position point is the position point on the event object closest to the sweeping machine, and the second position point is the position point on the target environment boundary closest to the sweeping machine; it is determined whether the target distance between the first position point and the second position point is greater than a preset distance threshold, and the preset distance threshold can be the diameter of the sweeping machine; if the target angle is greater than the preset angle threshold, and the target distance is greater than the preset distance threshold, it is determined that the sweeping machine can pass through the uncleaned area.

[0072] For example, as shown in Figure 5.1, the robot vacuum performs right-edge cleaning. Based on the robot vacuum's current position, the robot vacuum determines the closest point on the right and left sides. The closest point on the left is the point on the obstacle or collision object closest to the robot vacuum, and the closest point on the right is the point on the target environment boundary closest to the robot vacuum. Using the robot vacuum's center point as the vertex, the target angle theta between the closest points on the left and right is determined. The robot vacuum determines whether theta is greater than 120° and whether the target distance between the closest points on the left and right is greater than the robot vacuum's diameter. If theta is greater than 120° and the target distance is greater than the robot vacuum's diameter, the robot vacuum is determined to be able to pass through the uncleaned area.

[0073] A3: If it can pass, the uncleaned area is determined as a missed-scan area.

[0074] A4: If it is impossible to pass through, or there is no uncleaned area between the event object and the environment boundary, it is determined that there is no missed area.

[0075] In this embodiment, when an uncleaned area is detected, the above-mentioned operation is used to evaluate whether the robot can pass through the uncleaned area. The narrow uncleaned area that the robot can pass through is determined as a missed area. The robot can then be controlled to attempt to enter the missed area to clean it, thereby avoiding missed areas. For uncleaned areas that the robot cannot enter, it is assumed that the area has not been missed.

[0076] In some implementations, uncleaned areas that the sweeper cannot pass through are marked on the grid map to prompt the user that the sweeper cannot pass through the uncleaned areas for cleaning.

[0077] Step S302: When it is determined that the missed sweeping area exists, the sweeping machine is controlled to clean the missed sweeping area.

[0078] In some embodiments, when it is determined that there is a missed sweeping area, the sweeping machine is controlled to first adjust its direction by rotating a certain angle, and then move to sweep the missed sweeping area based on the adjusted direction.

[0079] As a possible implementation of the present application, based on the current position of the sweeping machine, the target angle between the first position point and the second position point is calculated, wherein the first position point is the position point on the event object closest to the sweeping machine, and the second position point is the position point on the target environment boundary closest to the sweeping machine. According to the target angle and the cleaning direction of the edge cleaning, the angle to be rotated is determined, and the angle to be rotated includes a rotation angle and a rotation direction. After the sweeping machine is controlled to rotate based on the angle to be rotated, the missed area is cleaned.

[0080] In this embodiment, the rotation angle is the difference between 180° and the target angle, and the rotation direction is opposite to the cleaning direction of the sweeper for this edge cleaning.

[0081] When the cleaning direction is counterclockwise, the sweeper is controlled to rotate clockwise based on the rotation angle and then continue to clean the missed area. When the cleaning direction is clockwise, the sweeper is controlled to rotate counterclockwise based on the rotation angle and then continue to clean the missed area. That is, before cleaning the missed area, for right edge cleaning, the sweeper rotates to the right, and for left edge cleaning, the sweeper rotates to the left.

[0082] For example, as shown in Figure 5.1, after determining the target angle as theta, the rotation angle gama is determined to be 180-theta. After the sweeper is controlled to rotate right by the angle gama, the cleaning process is resumed. The rotated sweeper is shown in Figure 5.2.

[0083] In this embodiment, the sweeping machine is controlled to rotate based on the to-be-rotated angle and then clean the missed area, in order to avoid obstacles and prevent the collision objects or obstacles in the above-mentioned specified events from blocking the cleaning of the missed area.

[0084] As a possible implementation of the present application, when it is determined that the missed sweeping area does not exist, or after controlling the sweeping machine to clean the missed sweeping area, the sweeping machine is controlled to continue to perform edge cleaning according to the initial cleaning plan until the edge cleaning trajectory forms a closed trajectory.

[0085] When it is determined that there is no missed sweeping area, the sweeper is first controlled to rotate and adjust the direction, and then continue to perform edge cleaning according to the initial plan. Specifically, the sweeper rotates to a target angle, and the rotation direction is the same as the sweeping direction of the sweeper for this edge cleaning.

[0086] When the cleaning direction is counterclockwise, the sweeper is controlled to rotate counterclockwise based on the target angle and then continue to clean along the edge. When the cleaning direction is clockwise, the sweeper is controlled to rotate clockwise based on the target angle and then continue to clean along the edge. That is, after determining that there are no missed areas, before continuing to clean along the edge, for cleaning the right edge, the sweeper rotates to the left, and for cleaning the left edge, the sweeper rotates to the right.

[0087] Controlling the sweeper to perform edge cleaning specifically includes: obtaining the edge distance between the sweeper and the environment boundary in real time during the edge cleaning process; and controlling the sweeper to adjust the side wheel speed based on the edge distance.

[0088] In a possible implementation, the sweeper includes a first side wheel and a second side wheel, and controlling the sweeper to adjust the side wheel speed based on the edge distance includes:

[0089] (1) When the edge distance is less than a preset edge distance threshold, the first side wheel of the sweeping machine is controlled to decelerate and the second side wheel of the sweeping machine is accelerated;

[0090] (2) When the edge distance is greater than a preset edge distance threshold, the first side wheel of the sweeping machine is controlled to accelerate and the second side wheel of the sweeping machine is controlled to decelerate.

[0091] The first side wheel is a side wheel close to the environmental boundary.

[0092] Exemplarily, the sweeper includes a first side wheel and a second side wheel, as shown in Figure 6. A coordinate system is established with the center point of the sweeper as the origin. A distance h from a fixed angle to the environmental boundary is measured using distance sensors such as a laser radar. In order for the sweeper to maintain a set distance s while sweeping along the edge, the speed of the two sweeper wheels needs to be effectively controlled through a control algorithm, generally using a PID algorithm. Simply put, when h is less than s, the sweeper is too close to the environmental boundary, and the right wheel needs to be controlled to slow down and the left wheel to accelerate. Conversely, when h is greater than s, the sweeper is too far from the environmental boundary, which may lead to incomplete cleaning, and the right wheel needs to be controlled to accelerate and the left wheel to slow down.

[0093] In one possible embodiment, when the robot vacuum cleaner is cleaning the missed area, if the area of ​​the missed area is large enough, that is, the area of ​​the missed area reaches a preset area threshold, the robot vacuum cleaner will also operate in the missed area by first cleaning along the edge and then cleaning the entire area. The control method for cleaning along the edge is the same as described above and will not be repeated here.

[0094] In an embodiment of the present application, when the sweeping robot is performing edge cleaning, if a specified event is triggered, that is, a collision occurs or an obstacle is detected, it is immediately determined whether there is a missed sweep area between the event object in the specified event and the corresponding target environment boundary. When it is determined that the missed sweep area exists, the sweeping robot is controlled to clean the missed sweep area to avoid missed sweeps due to obstacle avoidance and detour during edge cleaning. This can effectively improve the comprehensiveness and effectiveness of the sweeping robot's cleaning, thereby enhancing the user experience.

[0095] 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.

[0096] Corresponding to the sweeping machine cleaning control method described in the above embodiment, Figure 7 shows a structural block diagram of the sweeping machine cleaning control device provided by the embodiment of the present application. For the sake of convenience, only the parts related to the embodiment of the present application are shown.

[0097] 7 , the sweeping machine cleaning control device is applied to a robot. The sweeping machine cleaning control device includes: a missed sweep judgment unit 71 and a cleaning control unit 72, wherein:

[0098] A missed sweep determination unit 71 is configured to control the sweeper to perform edge sweeping and, if a specified event is triggered, determine whether there is a missed sweep area between the event object in the specified event and the corresponding target environment boundary. The specified triggering event includes a collision of the sweeper or an obstacle detected by the sweeper. The missed sweep area is an area that the sweeper can pass through.

[0099] The cleaning control unit 72 is used to control the sweeper to clean the missed area when it is determined that the missed area exists.

[0100] As a possible implementation of the present application, the scan missed determination unit 71 includes:

[0101] An uncleaned area determination module, configured to determine whether there is an uncleaned area between the event object and the environment boundary;

[0102] The missed-sweep area determination module is used to determine whether the sweeping machine can pass through the uncleaned area based on the current position of the sweeping machine, the position of the event object and the position of the target environment boundary when it is determined that there is an uncleaned area; if it can pass, the uncleaned area is determined as a missed-sweep area; if it cannot pass, or there is no uncleaned area between the event object and the environment boundary, it is determined that there is no missed-sweep area.

[0103] As a possible implementation of the present application, the missed scan area determination module is specifically configured to:

[0104] Based on the current position of the sweeping robot, determining whether a target angle between a first position point and a second position point is greater than a preset angle threshold, wherein the first position point is the position point on the event object closest to the sweeping robot, and the second position point is the position point on the target environment boundary closest to the sweeping robot;

[0105] Determining whether a target distance between the first position point and the second position point is greater than a preset distance threshold;

[0106] If the target angle is greater than the preset angle threshold, and the target distance is greater than the preset distance threshold, it is determined that the sweeping robot can pass through the uncleaned area.

[0107] As a possible implementation of the present application, the cleaning control unit 72 includes a missed-sweep control module for:

[0108] Based on the current position of the sweeping robot, calculating a target angle between a first position point and a second position point, wherein the first position point is the position point on the event object closest to the sweeping robot, and the second position point is the position point on the target environment boundary closest to the sweeping robot;

[0109] Determining an angle to be rotated according to the target angle and the cleaning direction of the edge cleaning;

[0110] The sweeping machine is controlled to rotate based on the to-be-rotated angle to clean the missed-sweep area.

[0111] As a possible implementation of the present application, the cleaning control unit 72 includes:

[0112] A distance acquisition module is used to obtain the edge distance between the sweeper and the environment boundary in real time during the edge cleaning process;

[0113] The speed control module is used to control the sweeper to adjust the side wheel speed based on the edge distance.

[0114] As a possible implementation manner of the present application, the sweeper includes a first side wheel and a second side wheel, and the speed control module is specifically used to:

[0115] When the edge distance is less than a preset edge distance threshold, controlling the first side wheel of the sweeping machine to decelerate and the second side wheel of the sweeping machine to accelerate;

[0116] When the edge distance is greater than a preset edge distance threshold, controlling the first side wheel of the sweeping machine to accelerate and the second side wheel of the sweeping machine to decelerate;

[0117] The first side wheel is a side wheel close to the environmental boundary.

[0118] As a possible implementation of the present application, the cleaning control unit 72 is further configured to:

[0119] When it is determined that there is no missed sweeping area, or after controlling the sweeping machine to clean the missed sweeping area, the sweeping machine is controlled to continue to perform edge cleaning according to the initial cleaning plan until the edge cleaning trajectory forms a closed trajectory.

[0120] In an embodiment of the present application, when the sweeping robot is performing edge cleaning, if a specified event is triggered, that is, a collision occurs or an obstacle is detected, it is immediately determined whether there is a missed sweep area between the event object in the specified event and the corresponding target environment boundary. When it is determined that the missed sweep area exists, the sweeping robot is controlled to clean the missed sweep area to avoid missed sweeps due to obstacle avoidance and detour during edge cleaning. This can effectively improve the comprehensiveness and effectiveness of the sweeping robot's cleaning, thereby enhancing the user experience.

[0121] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0122] An embodiment of the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any one of the sweeping machine cleaning control methods shown in FIG. 3 to FIG. 6 .

[0123] An embodiment of the present application also provides an intelligent robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of any one of the sweeping machine cleaning control methods shown in Figures 3 to 6 are implemented.

[0124] An embodiment of the present application also provides a computer program product. When the computer program product is run on a server, the server executes the steps of any one of the sweeping machine cleaning control methods shown in Figures 3 to 6.

[0125] FIG8 is a schematic diagram of an intelligent robot provided in an embodiment of the present application. As shown in FIG8 , the intelligent robot 8 of this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned embodiments of the sweeping machine cleaning control method are implemented, such as steps S301 to S302 shown in FIG1 . Alternatively, when the processor 80 executes the computer program 82, the functions of the modules / units in the above-mentioned device embodiments are implemented, such as the functions of units 71 to 72 shown in FIG7 .

[0126] For example, the computer program 82 may be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to implement the present application. The one or more modules / units may be a series of computer-readable instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the intelligent robot 8.

[0127] The intelligent robot 8 may be a sweeping robot. The intelligent robot 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that FIG8 is merely an example of the intelligent robot 8 and does not limit the intelligent robot 8. The intelligent robot 8 may include more or fewer components than shown, or a combination of certain components, or different components. For example, the intelligent robot 8 may also include input and output devices, network access devices, buses, and the like.

[0128] The processor 80 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. The general-purpose processor may be a microprocessor or any conventional processor.

[0129] The memory 81 may be an internal storage unit of the intelligent robot 8, such as a hard disk or memory of the intelligent robot 8. The memory 81 may also be an external storage device of the intelligent robot 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the intelligent robot 8. Furthermore, the memory 81 may include both an internal storage unit of the intelligent robot 8 and an external storage device. The memory 81 is used to store the computer program and other programs and data required by the intelligent robot. The memory 81 may also be used to temporarily store data that has been output or is about to be output.

[0130] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0131] 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.

[0132] If the integrated 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 processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. 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 at least include: any entity or device that can carry the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0133] 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.

[0134] 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 cleaning control method for a floor sweeper, characterized in that, The method includes: When controlling the sweeping robot to perform edge cleaning, if a specified event is triggered, determine whether there is a missed cleaning area between the event object in the specified event and the corresponding target environment boundary. The triggering of the specified event includes the sweeping robot colliding or the sweeping robot detecting an obstacle. The missed cleaning area is an area through which the sweeping robot can pass; When it is determined that there is a missed cleaning area, control the sweeping robot to clean the missed cleaning area.

2. The sweeping machine cleaning control method according to claim 1, characterized in that, The step of, if a specified event is triggered, determining whether there is a missed cleaning area between the event object in the specified event and the corresponding target environment boundary includes: Judge whether there is an uncleaned area between the event object and the environment boundary; When it is determined that there is an uncleaned area, judge whether the sweeping robot can pass through the uncleaned area according to the current position of the sweeping robot, the position of the event object, and the position of the target environment boundary; If it can pass through, determine the uncleaned area as the missed cleaning area; If it cannot pass through, or there is no uncleaned area between the event object and the environment boundary, determine that there is no missed cleaning area.

3. The sweeping machine cleaning control method according to claim 2, wherein, The step of judging whether the sweeping robot can pass through the uncleaned area according to the current position of the sweeping robot, the position of the event object, and the position of the target environment boundary includes: Based on the current position of the sweeping robot, judge whether the target angle between the first position point and the second position point is greater than a preset angle threshold. The first position point is the position point on the event object that is closest to the sweeping robot, and the second position point is the position point on the target environment boundary that is closest to the sweeping robot; Judge whether the target distance between the first position point and the second position point is greater than a preset distance threshold; If the target angle is greater than the preset angle threshold and the target distance is greater than the preset distance threshold, determine that the sweeping robot can pass through the uncleaned area.

4. The sweeping machine cleaning control method according to claim 1, wherein, The step of controlling the sweeping robot to clean the missed cleaning area includes: Based on the current position of the sweeping robot, calculate the target angle between the first position point and the second position point. The first position point is the position point on the event object that is closest to the sweeping robot, and the second position point is the position point on the target environment boundary that is closest to the sweeping robot; Determine the angle to be rotated according to the target angle and the cleaning direction of the edge cleaning; After controlling the sweeping robot to rotate based on the angle to be rotated, clean the missed cleaning area.

5. The floor sweeping control method of the floor sweeper according to claim 1, wherein The step of controlling the sweeping robot to perform edge cleaning includes: Real-time obtain the edge distance between the sweeping robot and the environment boundary during the edge cleaning process; Based on the edge distance, control the sweeping robot to adjust the side wheel speed.

6. The floor sweeping control method of the floor sweeper according to claim 5, wherein, The sweeping robot includes a first side wheel and a second side wheel. The step of, based on the edge distance, controlling the sweeping robot to adjust the side wheel speed includes: When the edge distance is less than a preset edge distance threshold, control the first side wheel of the sweeping robot to decelerate and the second side wheel of the sweeping robot to accelerate; When the edge distance is greater than a preset edge distance threshold, control the first side wheel of the sweeping robot to accelerate and the second side wheel of the sweeping robot to decelerate; Wherein, the first side wheel is the side wheel close to the environmental boundary side.

7. The sweeping control method of the sweeper according to any one of claims 1 to 6, characterized in that The method further includes: When it is determined that there is no missed cleaning area, or after controlling the sweeper to clean the missed cleaning area, controlling the sweeper to continue performing edge cleaning according to the initial cleaning plan until a closed trajectory is formed for the edge cleaning.

8. A cleaning control device for a floor sweeper, characterized in that, The device includes: A missed cleaning judgment unit, configured to determine whether there is a missed cleaning area between the event object in the specified event and the corresponding target environmental boundary when triggering a specified event during controlling the sweeper to perform edge cleaning, where the triggering of the specified event includes the sweeper colliding or the sweeper detecting an obstacle, and the missed cleaning area is an area where the sweeper can pass through; A cleaning control unit, configured to control the sweeper to clean the missed cleaning area when it is determined that there is the missed cleaning area.

9. An intelligent robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the sweeper cleaning control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the sweeper cleaning control method according to any one of claims 1 to 7.

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