WO2016110097A1 - 机器人的行走控制方法和机器人 - Google Patents

机器人的行走控制方法和机器人 Download PDF

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Publication number
WO2016110097A1
WO2016110097A1 PCT/CN2015/086791 CN2015086791W WO2016110097A1 WO 2016110097 A1 WO2016110097 A1 WO 2016110097A1 CN 2015086791 W CN2015086791 W CN 2015086791W WO 2016110097 A1 WO2016110097 A1 WO 2016110097A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
area
robot
walking
normal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/086791
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English (en)
French (fr)
Inventor
余庆镐
朴永哲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Midea Group Co Ltd
Jiangsu Midea Cleaning Appliances Co Ltd
Original Assignee
Midea Group Co Ltd
Jiangsu Midea Cleaning Appliances Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Midea Group Co Ltd, Jiangsu Midea Cleaning Appliances Co Ltd filed Critical Midea Group Co Ltd
Priority to EP15876601.4A priority Critical patent/EP3243419B1/en
Priority to US15/120,437 priority patent/US10466708B2/en
Priority to CA2971227A priority patent/CA2971227A1/en
Priority to ES15876601T priority patent/ES2778302T3/es
Publication of WO2016110097A1 publication Critical patent/WO2016110097A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to the field of robot technology, and in particular, to a robot control method and a robot.
  • the walking method of the intelligent vacuum cleaner is a clean system and an intelligent core technology.
  • the methods for walking smart vacuum cleaners on the market include random walking, bow-shaped walking, spiral walking, and cleaning of designated areas.
  • the coverage of the walking mode of the smart vacuum cleaner is not high, resulting in incomplete cleaning and a general user experience.
  • the present invention aims to solve at least one of the technical problems in the related art to some extent.
  • an object of the present invention is to provide a walking control method for a robot, which distinguishes between a normal cleaning area and an abnormal cleaning area, greatly improves the cleaning coverage rate, and effectively improves the cleaning performance, thereby greatly improving the user.
  • a walking control method for a robot which distinguishes between a normal cleaning area and an abnormal cleaning area, greatly improves the cleaning coverage rate, and effectively improves the cleaning performance, thereby greatly improving the user.
  • Another object of the invention is to propose a robot.
  • an embodiment of the present invention provides a walking control method for a robot, comprising the steps of: controlling a robot to walk around a wall of a room to obtain a structure and an area of the room; Structure and area zoning the room to generate a plurality of normal cleaning areas and a plurality of abnormal cleaning areas; cleaning the plurality of normal cleaning areas in a shape-sweeping walking mode; and in normalizing the plurality of After the cleaning of the cleaning area is completed, the plurality of abnormal cleaning areas are cleaned according to the area of each of the abnormal cleaning areas.
  • the robot is first controlled to circle along the room to obtain the structure and area of the room, and the room is divided into a normal cleaning area and an abnormal cleaning area, and then the walking mode is swept in a shape of a shape. All normal cleaning areas are cleaned, and then each abnormal cleaning area is cleaned according to the area of each abnormal cleaning area.
  • This method distinguishes between the normal cleaning area and the abnormal cleaning area, which greatly improves the cleaning coverage and effectively improves the cleaning. Performance, which greatly enhances the user experience.
  • the paper-shaped cleaning walking mode includes cleaning the normal cleaning area in a spiral walking manner and walking between different normal cleaning areas in a bow-shaped walking manner.
  • the areas of the plurality of normal cleaning regions are all equal.
  • the method further includes: determining whether the next cleaning area along the current traveling direction of the robot is a normal cleaning area after performing cleaning on the current normal cleaning area; if it is determined to be the normal cleaning area, Then, the robot is controlled to move to the next cleaning area according to the current traveling direction; if it is determined that the normal cleaning area is not, the robot is controlled to turn.
  • another embodiment of the present invention provides a robot comprising: an acquisition module for controlling a robot to walk around a wall of a room to obtain a structure and an area of the room; and a dividing module for Dividing the room into regions according to a structure and an area of the room to generate a plurality of normal cleaning areas and a plurality of abnormal cleaning areas; and a control module, configured to perform the plurality of normal cleaning areas in a shape-sweeping walking mode Sweeping, and after cleaning the plurality of normal cleaning areas, cleaning the plurality of abnormal cleaning areas according to an area of each of the abnormal cleaning areas.
  • the robot is first controlled by the acquisition module to circle the room to obtain the structure and area of the room, and the division module divides the room into a normal cleaning area and an abnormal cleaning area, and the control module sweeps the character in a shape-cutting manner.
  • the mode cleans all normal cleaning areas, and then cleans each abnormal cleaning area according to the area of each abnormal cleaning area.
  • the robot clears the normal cleaning area and the abnormal cleaning area, which greatly improves the cleaning coverage and effectively improves. The cleaning performance greatly enhances the user experience.
  • the paper-shaped cleaning walking mode includes cleaning the normal cleaning area in a spiral walking manner and walking between different normal cleaning areas in a bow-shaped walking manner.
  • the areas of the plurality of normal cleaning regions are all equal.
  • control module is further configured to: after completing the cleaning of the current normal cleaning area, determine whether the next cleaning area along the current traveling direction of the robot is a normal cleaning area, if it is determined to be The normal cleaning area controls the robot to move to the next cleaning area according to the current traveling direction, and if it is determined that the normal cleaning area is not, the robot is controlled to turn.
  • the parameters of the clip-sweep walking mode are determined by the brush sweep length of the robot.
  • FIG. 1 is a flow chart of a walking control method of a robot according to an embodiment of the present invention
  • Figure 2 is a schematic illustration of a room in accordance with one embodiment of the present invention.
  • FIG. 3 is a schematic illustration of a plurality of normal cleaning zones in accordance with one embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a walking route when cleaning an abnormal cleaning area according to an embodiment of the present invention.
  • FIG. 5 is a schematic illustration of a walking route when another abnormal cleaning area is cleaned according to an embodiment of the present invention.
  • Fig. 6 is a schematic structural view of a robot according to an embodiment of the present invention.
  • the module 100, the partitioning module 200, and the control module 300 are obtained.
  • the present invention proposes a walking control method and a robot for a robot.
  • a walking control method and a robot of a robot according to an embodiment of the present invention will be described below with reference to the drawings.
  • a walking control method for a robot according to an embodiment of the present invention includes the following steps:
  • S101 Control the robot to walk around the wall of the room to obtain the structure and area of the room.
  • FIG. 2 a schematic diagram of a room
  • the control robot walks around the wall of the room to obtain the structure and area of the room, and the robot stores the map of the room in the memory while walking around the circle.
  • the robot since the robot mainly walks in a chevron shape during cleaning, the calculation of the structure and the area of the room obtained during the walking of the robot along the wall of the room can be divided into several back-shaped lattices (ie, normal).
  • the cleaning area as shown in FIG. 3, for example, the number of turns of the robot in the circle is 1 to 3 circles. If the number of back-shaped lattices is calculated within the third circle, the robot does not continue to circle.
  • the area of a normal cleaning area is n*m
  • the area remaining in the room with less than n*m is divided into abnormal cleaning areas, for example, when the area of one area is 2/3*n*m or When 1/3*n*m is used, it is an abnormal cleaning area. Subsequent cleaning methods for the normal cleaning area and the abnormal cleaning area need to be treated differently.
  • the areas of the plurality of normal cleaning zones are all equal. That is, the area of the back-shaped cleaning area is equal, both of which are n*m.
  • the robot starts cleaning with information previously learned around the circle, that is, the control robot sweeps from the starting point around the area of the surrounding n*m area in a shape-sweeping walking mode.
  • the chevron cleaning sweep mode includes sweeping the normal sweeping area in a spiral walking manner and walking between different normal sweeping areas in a bow-line walking manner.
  • the chevron cleaning walking mode includes cleaning the normal cleaning area in a spiral walking manner, wherein the spiral walking mode can be in the diffusion cleaning walking mode (eg, 1 msc area and 3 msc area) and contraction.
  • Switch between cleaning walk mode (such as 2msc area and 4msc area).
  • the value of a is recorded, and then the 2msc area is cleaned to the side area, and the value of 2*a is recorded from the center of the 2msc area (where 2*a is from the center of 2msc to The distance of 3msc center, so it needs to calculate its value at 2msc).
  • the robot cleans the 2msc area in the shrink-sweep walking mode, move to the next cleaning area in the 180° direction, 3msc area, and use the diffusion cleaning walking mode.
  • the 3msc area is cleaned, and then the 4msc area and the 5msc area are sequentially cleaned, wherein the 3msc area moves to the 180° direction and enters the 4msc area, and the 4msc area moves to the 90° direction to enter the 5msc area, wherein the 180° direction refers to In Figure 3, the coordinate direction where x is located, and the 90° direction refers to the coordinate direction where y is located.
  • the robot walks between different normal cleaning areas in a bow-line walking manner.
  • the parameters of the chevron cleaning walk mode are determined by the robot's brush sweep length.
  • b is a parameter for cleaning the walking mode, that is, a cleaning pitch. If the brush cleaning length of the robot is L, b can be set to 90%*L, then When cleaning, there is an overlap in the cleaning area, which improves the cleaning performance.
  • the information of the first learning and the map drawn during the cleaning are moved to the uncleaned area, that is, the abnormal cleaning area, and the abnormal cleaning is performed according to the area of each abnormal cleaning area.
  • the area is cleaned.
  • the area of the abnormal cleaning area is 2/3*n*m, and the abnormal cleaning area can be cleaned according to the cleaning walking mode shown in FIG. 4;
  • the area of the abnormal cleaning area is 1/3*n*m, and the abnormal cleaning area can be cleaned according to the cleaning walking mode shown in FIG.
  • the walking control method of the robot in the embodiment of the present invention first controls the robot to circle along the room to obtain the structure and area of the room, and divides the room into a normal cleaning area and an abnormal cleaning area, and then sweeps the walking mode to all in a shape-removing manner.
  • the normal cleaning area is cleaned, and then each abnormal cleaning area is cleaned according to the area of each abnormal cleaning area.
  • This method distinguishes between the normal cleaning area and the abnormal cleaning area, which greatly improves the cleaning coverage and effectively improves the cleaning performance. , which greatly enhances the user experience.
  • the method for controlling the movement of the robot further includes: determining whether the next cleaning area along the current traveling direction of the robot is a normal cleaning area after cleaning the current normal cleaning area; if it is determined that the cleaning is normal In the area, the control robot moves to the next cleaning area according to the current traveling direction; if it is determined that it is not the normal cleaning area, the robot is controlled to turn.
  • the control robot follows the current walking.
  • the direction moves to the next cleaning area, that is, moves to the 3msc area; for example, if the current normal cleaning area is the 4msc area, after the 4msc area is cleaned, it is determined whether the next cleaning area along the current walking direction of the robot is the normal cleaning area.
  • the robot is controlled to turn, for example, to the 90° direction. And enter the 5msc area.
  • the next cleaning area is still not the normal cleaning area after steering, continue to control the robot steering until it enters the normal cleaning area.
  • the present invention also proposes a robot.
  • Fig. 6 is a schematic structural view of a robot according to an embodiment of the present invention.
  • the robot of the embodiment of the present invention includes: an acquisition module 100, a division module 200, and a control module 300.
  • the acquisition module 100 is configured to control the robot to walk around the wall of the room to obtain the structure and area of the room.
  • the acquisition module 100 is configured to control the robot to walk along the wall of the room to obtain the structure and area of the room.
  • the acquisition module 100 controls the robot to walk around the circle.
  • the map of the room is stored in the memory of the robot.
  • the dividing module 200 is configured to divide a room according to a structure and an area of the room to generate a plurality of normal cleaning areas and a plurality of abnormal cleaning areas.
  • the division module 200 calculates that the room can be divided into several back-shaped lattices according to the structure and area of the room obtained during the walking of the robot along the wall of the room. (ie, the normal cleaning area), as shown in FIG. 3, for example, the number of turns of the robot in the circle is 1 to 3 circles, and if the number of the back-shaped lattices is calculated within the third circle, the acquisition module 100 controls The robot no longer continues to circle.
  • the area remaining in the room with less than n*m is divided into abnormal cleaning areas, for example, when the area of one area is 2/3*n*m or When 1/3*n*m is used, it is an abnormal cleaning area.
  • the follow-up robot treats the cleaning method of the normal cleaning area and the abnormal cleaning area separately.
  • the areas of the plurality of normal cleaning zones are all equal. That is, the area of the back-shaped cleaning area is equal, both of which are n*m.
  • the control module 300 is configured to clean a plurality of normal cleaning areas in a shape-sweeping walking mode, and after cleaning the plurality of normal cleaning areas, clean the plurality of abnormal cleaning areas according to the area of each abnormal cleaning area.
  • control module 300 controls the robot to perform cleaning in a shape-sweeping walking mode around the area of the surrounding n*m area from the starting point.
  • the chevron cleaning walking mode comprises a normal cleaning zone in a spiral walking manner.
  • the fields are cleaned and walked between different normal cleaning areas in a bow-line walk.
  • the control module 300 controls the robot to clean the normal cleaning area in a spiral walking manner, wherein the spiral walking mode can be in the diffusion cleaning walking mode (eg, 1 msc area and 3 msc area) and shrink cleaning walking. Switch between modes (such as 2msc area and 4msc area). For example, as shown in FIG. 3, after the 1msc area is cleaned, the value of a is recorded, and then the 2msc area is cleaned to the side area, and the value of 2*a is recorded from the center of the 2msc area (where 2*a is from the center of 2msc to The distance of 3msc center, so it needs to calculate its value at 2msc).
  • the spiral walking mode can be in the diffusion cleaning walking mode (eg, 1 msc area and 3 msc area) and shrink cleaning walking. Switch between modes (such as 2msc area and 4msc area).
  • the spiral walking mode can be in the diffusion cleaning walking mode (eg, 1 msc area and 3
  • the robot cleans the 2msc area in the shrink-sweep walking mode, move to the next cleaning area in the 180° direction, 3msc area, and use the diffusion cleaning walking mode.
  • the 3msc area is cleaned, and then the 4msc area and the 5msc area are sequentially cleaned, wherein the 3msc area moves to the 180° direction and enters the 4msc area, and the 4msc area moves to the 90° direction to enter the 5msc area, wherein the 180° direction refers to In Figure 3, the coordinate direction where x is located, and the 90° direction refers to the coordinate direction where y is located.
  • control module 300 controls the robot to walk between different normal cleaning areas in a bow-line walking manner.
  • the parameters of the chevron cleaning walk mode are determined by the robot's brush sweep length.
  • b is a parameter for cleaning the walking mode, that is, a cleaning pitch. If the brush cleaning length of the robot is L, b can be set to 90%*L, then When cleaning, there is an overlap in the cleaning area, which improves the cleaning performance.
  • the control module 300 controls the robot to complete the cleaning of the plurality of normal cleaning regions
  • the plurality of abnormal cleaning regions are cleaned according to the area of each abnormal cleaning region.
  • the area of the abnormal cleaning area is 2/3*n*m
  • the control module 300 can clean the abnormal cleaning area according to the cleaning walking mode shown in FIG. 4;
  • the area of the abnormal cleaning area is 1/3*n*m, and the control module 300 can clean the abnormal cleaning area according to the cleaning walking mode shown in FIG. 5.
  • the robot of the embodiment of the present invention firstly controls the robot to circle the room to obtain the structure and area of the room through the acquisition module, and the division module divides the room into a normal cleaning area and an abnormal cleaning area, and the control module sweeps the walking mode with a shape-changing word. All normal cleaning areas are cleaned, and then each abnormal cleaning area is cleaned according to the area of each abnormal cleaning area.
  • the robot cleans the normal cleaning area and the abnormal cleaning area, which greatly improves the cleaning coverage and effectively improves the cleaning area. Sweep performance, which greatly enhances the user experience.
  • control module 300 is further configured to: after completing the cleaning of the current normal cleaning area, determine whether the next cleaning area along the current walking direction of the robot is a normal cleaning area, and if it is determined to be a normal cleaning area, Then, the control robot moves to the next cleaning area according to the current traveling direction, and if it is determined that it is not the normal cleaning area, the robot is controlled to turn. .
  • the control module 300 determines Whether the next cleaning area along the current walking direction of the robot is a normal cleaning area, and if it is determined to be a normal cleaning area, the control robot moves to the next cleaning area according to the current traveling direction, that is, moves to the 3msc area; for example, if the current cleaning is normal The area is a 4msc area, then after the 4msc area is cleaned, the control module 300 determines whether the next cleaning area along the current walking direction of the robot is a normal cleaning area, if the right side of the 4msc area is an obstacle or a wall surface, or the right side distance The area of the wall is less than n*m, that is, the next cleaning area is not the normal cleaning area, then the robot is controlled to turn, for example, to the 90° direction and enter the 5msc area. In addition, if the next cleaning area is still not the normal cleaning area after the steering, the
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements, unless otherwise specified Limited.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

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Abstract

一种机器人的行走控制方法和机器人，其中所述方法包括以下步骤：控制机器人沿着房间的墙壁绕圈行走以获取房间的结构和面积(S101)；根据房间的结构和面积对房间进行区域划分以生成多个正常清扫区域和多个异常清扫区域(S102)；以回形字清扫行走模式对多个正常清扫区域进行清扫(S103)；以及在对多个正常清扫区域清扫完成之后，根据每个异常清扫区域的面积对多个异常清扫区域进行清扫(S104)。对正常清扫区域和异常清扫区域进行区分清扫，提高了清扫覆盖率，有效提升了清扫性能，从而提升了用户体验。

Description

机器人的行走控制方法和机器人 技术领域
本发明涉及机器人技术领域，特别涉及一种机器人的行走控制方法和机器人。
背景技术
随着智能机器人科技的高速发展，越来越多的智能吸尘器进入用户家庭，大大提高了人们生活的舒适度和便利性。用户在选择和购买智能吸尘器时，注重产品的智能化以及清洁效率。其中，智能吸尘器的行走方法是清洁系统以及智能化的核心技术。
目前市面上智能吸尘器行走的方法有随机行走,弓字形行走,螺旋行走,指定区域清扫等。但是，目前智能吸尘器行走的行走方式覆盖率不高，从而导致清扫不彻底，用户体验一般。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本发明的一个目的在于提出一种机器人的行走控制方法，该方法对正常清扫区域和异常清扫区域进行区分清扫，大大提高了清扫覆盖率，有效提升了清扫性能，从而大大提升了用户体验。
本发明的另一个目的在于提出一种机器人。
为达到上述目的，本发明一方面实施例提出了一种机器人的行走控制方法，包括以下步骤：控制机器人沿着房间的墙壁绕圈行走以获取所述房间的结构和面积；根据所述房间的结构和面积对所述房间进行区域划分以生成多个正常清扫区域和多个异常清扫区域；以回形字清扫行走模式对所述多个正常清扫区域进行清扫；以及在对所述多个正常清扫区域清扫完成之后，根据所述每个异常清扫区域的面积对所述多个异常清扫区域进行清扫。
根据本发明实施例的机器人的行走控制方法，首先控制机器人沿着房间绕圈以获取房间的结构和面积，并将房间划分为正常清扫区域和异常清扫区域，然后以回形字清扫行走模式对所有正常清扫区域进行清扫，之后根据每个异常清扫区域的面积对每个异常清扫区域进行清扫，该方法对正常清扫区域和异常清扫区域进行区分清扫，大大提高了清扫覆盖率，有效提升了清扫性能，从而大大提升了用户体验。
在本发明的一个实施例中，所述回形字清扫行走模式包括以螺旋形行走方式对正常清扫区域进行清扫，并以弓字形行走方式在不同的正常清扫区域之间行走。
在本发明的一个实施例中，所述多个正常清扫区域的面积均相等。
在本发明的一个实施例中，还包括：在对当前正常清扫区域完成清扫之后，判断沿所述机器人当前行走方向的下一个清扫区域是否为正常清扫区域；如果判断为所述正常清扫区域，则控制所述机器人按照所述当前行走方向移动至下一个清扫区域；如果判断不为所述正常清扫区域，则控制所述机器人转向。
为达到上述目的，本发明另一方面实施例提出了一种机器人，包括：获取模块，用于控制机器人沿着房间的墙壁绕圈行走以获取所述房间的结构和面积；划分模块，用于根据所述房间的结构和面积对所述房间进行区域划分以生成多个正常清扫区域和多个异常清扫区域；控制模块，用于以回形字清扫行走模式对所述多个正常清扫区域进行清扫，并在对所述多个正常清扫区域清扫完成之后，根据所述每个异常清扫区域的面积对所述多个异常清扫区域进行清扫。
根据本发明实施例的机器人，首先通过获取模块控制机器人沿着房间绕圈以获取房间的结构和面积，划分模块则将房间划分为正常清扫区域和异常清扫区域，控制模块以回形字清扫行走模式对所有正常清扫区域进行清扫，之后根据每个异常清扫区域的面积对每个异常清扫区域进行清扫，该机器人对正常清扫区域和异常清扫区域进行区分清扫，大大提高了清扫覆盖率，有效提升了清扫性能，从而大大提升了用户体验。
在本发明的一个实施例中，所述回形字清扫行走模式包括以螺旋形行走方式对正常清扫区域进行清扫，并以弓字形行走方式在不同的正常清扫区域之间行走。
在本发明的一个实施例中，所述多个正常清扫区域的面积均相等。
在本发明的一个实施例中，所述控制模块，还用于：在对当前正常清扫区域完成清扫之后，判断沿所述机器人当前行走方向的下一个清扫区域是否为正常清扫区域，如果判断为所述正常清扫区域，则控制所述机器人按照所述当前行走方向移动至下一个清扫区域，如果判断不为所述正常清扫区域，则控制所述机器人转向。
在本发明的一个实施例中，所述回形字清扫行走模式的参数由所述机器人的滚刷清扫长度确定。
附图说明
图1是根据本发明一个实施例的机器人的行走控制方法的流程图；
图2是根据本发明一个实施例的房间的示意图；
图3是根据本发明一个实施例的多个正常清扫区域的示意图；
图4是根据本发明一个实施例的对一个异常清扫区域进行清扫时的行走路线的示意图；
图5是根据本发明一个实施例的对另一个异常清扫区域进行清扫时的行走路线的示意 图；
图6是根据本发明一个实施例的机器人的结构示意图。
附图标记：
获取模块100、划分模块200和控制模块300。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
为了提高智能吸尘器的清扫覆盖率，本发明提出了一种机器人的行走控制方法和机器人。下面参考附图描述本发明实施例的机器人的行走控制方法和机器人。
图1是根据本发明一个实施例的机器人的行走控制方法的流程图。如图1所示，本发明实施例的机器人的行走控制方法，包括以下步骤：
S101，控制机器人沿着房间的墙壁绕圈行走以获取房间的结构和面积。
具体地，如图2所示为房间的示意图，控制机器人沿着房间的墙壁绕圈行走以获取房间的结构和面积，机器人在绕圈行走的过程中，将房间的地图存储在内存中。
S102，根据房间的结构和面积对房间进行区域划分以生成多个正常清扫区域和多个异常清扫区域。
具体地，由于机器人在清扫时主要以回字形进行行走，所以根据机器人沿着房间的墙壁绕圈行走过程中获得的房间的结构和面积来计算房间总共可以划分为几个回字形格子(即正常清扫区域)，如图3所示，例如，机器人在绕圈行走的圈数为1～3圈，如果在第3圈之内计算出回字形格子的个数，则机器人不再继续绕圈。假设一个正常清扫区域的面积为n*m，那么，将房间中剩余的面积不足n*m的多个区域划分为异常清扫区域，例如，当一个区域的面积为2/3*n*m或1/3*n*m时，均为异常清扫区域。后续对于正常清扫区域和异常清扫区域的清扫方式是需要区分对待的。
在本发明的一个实施例中，多个正常清扫区域的面积均相等。即回字形清扫区域的面积是相等的，均为n*m。
S103，以回形字清扫行走模式对多个正常清扫区域进行清扫。
具体地，机器人开始以之前绕圈学习的信息进行清扫，也就是控制机器人从起点开始围绕周边n*m面积的区域以回形字清扫行走模式进行清扫。
在本发明的一个实施例中，回形字清扫行走模式包括以螺旋形行走方式对正常清扫区域进行清扫，并以弓字形行走方式在不同的正常清扫区域之间行走。
具体地，如图3所示，回形字清扫行走模式包括以螺旋形行走方式对正常清扫区域进行清扫，其中，螺旋形行走方式可以在扩散清扫行走模式(如1msc区域和3msc区域)和收缩清扫行走模式(如2msc区域和4msc区域)之间进行切换。例如，如图3所示，当1msc区域清扫后结束后，记录a的值，然后到旁边区域清扫2msc区域，从2msc区域中心记录2*a的值(其中，2*a是从2msc中心到3msc中心的距离，所以需要在2msc的时候计算其值)，当机器人以收缩清扫行走模式清扫完2msc区域之后，往180°方向移动进入下一个清扫区域，3msc区域，并以扩散清扫行走模式对3msc区域进行清扫，后续依次对4msc区域、5msc区域等进行清扫，其中，从3msc区域往180°方向移动进入4msc区域，从4msc区域往90°方向移动进入5msc区域，其中，180°方向是指图3中x所在的坐标方向，90°方向是指y所在的坐标方向。
更具体地，如图3所示，对于不同的正常清扫区域，机器人以弓字形行走方式在不同的正常清扫区域之间行走。
在本发明的一个实施例中，回形字清扫行走模式的参数由机器人的滚刷清扫长度确定。
具体地，如图3所示，b为所示回形字清扫行走模式的参数，即清扫间距，如果机器人的滚刷清扫长度为L，那么可以将b设定为90％*L，那么在清扫时清扫区域就有重叠的部分，从而提升了清扫性能。
S104，在对多个正常清扫区域清扫完成之后，根据每个异常清扫区域的面积对多个异常清扫区域进行清扫。
具体地，对多个正常清扫区域清扫完成之后，对照最开始学习的信息和清扫时绘制的地图，往未清扫区域移动，即异常清扫区域，根据每个异常清扫区域的面积对多个异常清扫区域进行清扫。例如，如图4所示，该异常清扫区域的面积为2/3*n*m，那么可按照图4中所示的清扫行走模式对该异常清扫区域进行清扫；又如图5所示，该异常清扫区域的面积为1/3*n*m，那么可按照图5中所示的清扫行走模式对该异常清扫区域进行清扫。
本发明实施例的机器人的行走控制方法，首先控制机器人沿着房间绕圈以获取房间的结构和面积，并将房间划分为正常清扫区域和异常清扫区域，然后以回形字清扫行走模式对所有正常清扫区域进行清扫，之后根据每个异常清扫区域的面积对每个异常清扫区域进行清扫，该方法对正常清扫区域和异常清扫区域进行区分清扫，大大提高了清扫覆盖率，有效提升了清扫性能，从而大大提升了用户体验。
在本发明的一个实施例中，机器人的行走控制方法，还包括：在对当前正常清扫区域完成清扫之后，判断沿机器人当前行走方向的下一个清扫区域是否为正常清扫区域；如果判断为正常清扫区域，则控制机器人按照当前行走方向移动至下一个清扫区域；如果判断不为正常清扫区域，则控制机器人转向。
具体地，如图3所示，例如，如果当前正常清扫区域为2msc区域，判断沿机器人当前行走方向的下一个清扫区域是否为正常清扫区域，如果判断为正常清扫区域，则控制机器人按照当前行走方向移动至下一个清扫区域，即移动至3msc区域；又例如，如果当前正常清扫区域为4msc区域，那么对4msc区域完成清扫之后，判断沿机器人当前行走方向的下一个清扫区域是否为正常清扫区域，如果4msc区域的右侧是障碍物或墙面，或者右侧距离墙面的面积不足n*m，即下一个清扫区域不为正常清扫区域，则控制机器人转向，例如，向90°方向转向并进入5msc区域。另外，如果转向后，下一个清扫区域仍然不为正常清扫区域，则继续控制机器人转向，直至进入正常清扫区域。
为了实现上述实施例，本发明还提出了一种机器人。
图6是根据本发明一个实施例的机器人的结构示意图。如图6所示，本发明实施例的机器人，包括：获取模块100、划分模块200和控制模块300。
其中，获取模块100用于控制机器人沿着房间的墙壁绕圈行走以获取房间的结构和面积。
具体地，如图2所示为房间的示意图，获取模块100用于控制机器人沿着房间的墙壁绕圈行走以获取房间的结构和面积，获取模块100在控制机器人绕圈行走的过程中，将房间的地图存储在机器人的内存中。
划分模块200用于根据房间的结构和面积对房间进行区域划分以生成多个正常清扫区域和多个异常清扫区域。
具体地，由于机器人在清扫时主要以回字形进行行走，所以划分模块200根据机器人沿着房间的墙壁绕圈行走过程中获得的房间的结构和面积来计算房间总共可以划分为几个回字形格子(即正常清扫区域)，如图3所示，例如，机器人在绕圈行走的圈数为1～3圈，如果在第3圈之内计算出回字形格子的个数，则获取模块100控制机器人不再继续绕圈。假设一个正常清扫区域的面积为n*m，那么，将房间中剩余的面积不足n*m的多个区域划分为异常清扫区域，例如，当一个区域的面积为2/3*n*m或1/3*n*m时，均为异常清扫区域。后续机器人对于正常清扫区域和异常清扫区域的清扫方式是区分对待的。
在本发明的一个实施例中，多个正常清扫区域的面积均相等。即回字形清扫区域的面积是相等的，均为n*m。
控制模块300用于以回形字清扫行走模式对多个正常清扫区域进行清扫，并在对多个正常清扫区域清扫完成之后，根据每个异常清扫区域的面积对多个异常清扫区域进行清扫。
具体地，正常清扫区域和多个异常清扫区域划分完成后，控制模块300控制机器人从起点开始围绕周边n*m面积的区域以回形字清扫行走模式进行清扫。
在本发明的一个实施例中，回形字清扫行走模式包括以螺旋形行走方式对正常清扫区 域进行清扫，并以弓字形行走方式在不同的正常清扫区域之间行走。
具体地，如图3所示，控制模块300控制机器人以螺旋形行走方式对正常清扫区域进行清扫，其中，螺旋形行走方式可以在扩散清扫行走模式(如1msc区域和3msc区域)和收缩清扫行走模式(如2msc区域和4msc区域)之间进行切换。例如，如图3所示，当1msc区域清扫后结束后，记录a的值，然后到旁边区域清扫2msc区域，从2msc区域中心记录2*a的值(其中，2*a是从2msc中心到3msc中心的距离，所以需要在2msc的时候计算其值)，当机器人以收缩清扫行走模式清扫完2msc区域之后，往180°方向移动进入下一个清扫区域，3msc区域，并以扩散清扫行走模式对3msc区域进行清扫，后续依次对4msc区域、5msc区域等进行清扫，其中，从3msc区域往180°方向移动进入4msc区域，从4msc区域往90°方向移动进入5msc区域，其中，180°方向是指图3中x所在的坐标方向，90°方向是指y所在的坐标方向。
更具体地，如图3所示，对于不同的正常清扫区域，控制模块300控制机器人以弓字形行走方式在不同的正常清扫区域之间行走。
在本发明的一个实施例中，回形字清扫行走模式的参数由机器人的滚刷清扫长度确定。
具体地，如图3所示，b为所示回形字清扫行走模式的参数，即清扫间距，如果机器人的滚刷清扫长度为L，那么可以将b设定为90％*L，那么在清扫时清扫区域就有重叠的部分，从而提升了清扫性能。
进一步地，当控制模块300控制机器人对多个正常清扫区域清扫完成之后，根据每个异常清扫区域的面积对多个异常清扫区域进行清扫。例如，如图4所示，该异常清扫区域的面积为2/3*n*m，那么控制模块300可按照图4中所示的清扫行走模式对该异常清扫区域进行清扫；又如图5所示，该异常清扫区域的面积为1/3*n*m，那么控制模块300可按照图5中所示的清扫行走模式对该异常清扫区域进行清扫。
本发明实施例的机器人，首先通过获取模块控制机器人沿着房间绕圈以获取房间的结构和面积，划分模块则将房间划分为正常清扫区域和异常清扫区域，控制模块以回形字清扫行走模式对所有正常清扫区域进行清扫，之后根据每个异常清扫区域的面积对每个异常清扫区域进行清扫，该机器人对正常清扫区域和异常清扫区域进行区分清扫，大大提高了清扫覆盖率，有效提升了清扫性能，从而大大提升了用户体验。
在本发明的一个实施例中，控制模块300还用于：在对当前正常清扫区域完成清扫之后，判断沿机器人当前行走方向的下一个清扫区域是否为正常清扫区域，如果判断为正常清扫区域，则控制机器人按照当前行走方向移动至下一个清扫区域，如果判断不为正常清扫区域，则控制机器人转向。。
具体地，如图3所示，例如，如果当前正常清扫区域为2msc区域，控制模块300判断 沿机器人当前行走方向的下一个清扫区域是否为正常清扫区域，如果判断为正常清扫区域，则控制机器人按照当前行走方向移动至下一个清扫区域，即移动至3msc区域；又例如，如果当前正常清扫区域为4msc区域，那么对4msc区域完成清扫之后，控制模块300判断沿机器人当前行走方向的下一个清扫区域是否为正常清扫区域，如果4msc区域的右侧是障碍物或墙面，或者右侧距离墙面的面积不足n*m，即下一个清扫区域不为正常清扫区域，则控制机器人转向，例如，向90°方向转向并进入5msc区域。另外，如果转向后，下一个清扫区域仍然不为正常清扫区域，控制模块300则继续控制机器人转向，直至进入正常清扫区域。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述 不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种机器人的行走控制方法，其特征在于，包括以下步骤：
    控制机器人沿着房间的墙壁绕圈行走以获取所述房间的结构和面积；
    根据所述房间的结构和面积对所述房间进行区域划分以生成多个正常清扫区域和多个异常清扫区域；
    以回形字清扫行走模式对所述多个正常清扫区域进行清扫；以及
    在对所述多个正常清扫区域清扫完成之后，根据所述每个异常清扫区域的面积对所述多个异常清扫区域进行清扫。
  2. 如权利要求1所述的机器人的行走控制方法，其特征在于，所述回形字清扫行走模式包括以螺旋形行走方式对正常清扫区域进行清扫，并以弓字形行走方式在不同的正常清扫区域之间行走。
  3. 如权利要求1所述的机器人的行走控制方法，其特征在于，所述多个正常清扫区域的面积均相等。
  4. 如权利要求1所述的机器人的行走控制方法，其特征在于，还包括：
    在对当前正常清扫区域完成清扫之后，判断沿所述机器人当前行走方向的下一个清扫区域是否为正常清扫区域；
    如果判断为所述正常清扫区域，则控制所述机器人按照所述当前行走方向移动至下一个清扫区域；
    如果判断不为所述正常清扫区域，则控制所述机器人转向。
  5. 如权利要求1所述的机器人的行走控制方法，其特征在于，所述回形字清扫行走模式的参数由所述机器人的滚刷清扫长度确定。
  6. 一种机器人，其特征在于，包括：
    获取模块，用于控制机器人沿着房间的墙壁绕圈行走以获取所述房间的结构和面积；
    划分模块，用于根据所述房间的结构和面积对所述房间进行区域划分以生成多个正常清扫区域和多个异常清扫区域；
    控制模块，用于控制所述机器人以回形字清扫行走模式对所述多个正常清扫区域进行清扫，并在对所述多个正常清扫区域清扫完成之后，根据所述每个异常清扫区域的面积对所述多个异常清扫区域进行清扫。
  7. 如权利要求6所述的机器人，其特征在于，所述回形字清扫行走模式包括以螺旋形行走方式对正常清扫区域进行清扫，并以弓字形行走方式在不同的正常清扫区域之间行走。
  8. 如权利要求6所述的机器人，其特征在于，所述多个正常清扫区域的面积均相等。
  9. 如权利要求6所述的机器人，其特征在于，所述控制模块，还用于：在对当前正常清扫区域完成清扫之后，判断沿所述机器人当前行走方向的下一个清扫区域是否为正常清扫区域，如果判断为所述正常清扫区域，则控制所述机器人按照所述当前行走方向移动至下一个清扫区域，如果判断不为所述正常清扫区域，则控制所述机器人转向。
  10. 如权利要求6所述的机器人，其特征在于，所述回形字清扫行走模式的参数由所述机器人的滚刷清扫长度确定。
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