Travel control method for robot cleaner and robot cleaner

Abstract

This application relates to a travel control method for a robot cleaner and a robot cleaner. The method comprises: obtaining sensing information of a ground region where a floor covering is located; determining contour position information of an edge of the floor covering based on the sensing information; generating a navigation map for the robot cleaner based on the contour position information; and controlling the robot cleaner to travel along the edge of the floor covering on a floor based on the navigation map.

What is claimed is: 
     
         1 . A method comprising:
 obtaining, by a robot cleaner, sensing information of a ground region associated with a floor covering, wherein the floor covering is on a floor;   determining contour position information of an edge of the floor covering based on the sensing information;   generating a navigation map for the robot cleaner based on the contour position information; and   controlling the robot cleaner to travel along the edge of the floor covering on the floor based on the navigation map.   
     
     
         2 . The method according to  claim 1 , wherein the controlling comprises:
 controlling the robot cleaner to travel along the edge of the floor covering in a travel direction parallel to the edge or parallel to a tangent of the edge.   
     
     
         3 . The method according to  claim 1 , wherein the controlling comprises:
 controlling the robot cleaner to travel along the edge of the floor covering based on a distance between the edge in the navigation map and the robot cleaner.   
     
     
         4 . The method according to  claim 1 , wherein the controlling comprises:
 controlling the robot cleaner to travel along the edge of the floor covering based on a distance between an occupied region of the floor covering in the navigation map and the robot cleaner.   
     
     
         5 . The method according to  claim 4 , wherein the controlling the robot cleaner to travel along the edge of the floor covering based on the distance between the occupied region of the floor covering in the navigation map and the robot cleaner comprises:
 determining a spacing distance between the robot cleaner and a target occupied region of the floor covering in the navigation map; and   controlling the robot cleaner to travel along the edge of the floor covering using a difference between the spacing distance and a preset target distance as a control parameter.   
     
     
         6 . The method according to  claim 5 , wherein the controlling the robot cleaner to travel along the edge of the floor covering using the difference between the spacing distance and the preset target distance as the control parameter comprises:
 determining an angular velocity of the robot cleaner based on the difference between the spacing distance and the preset target distance;   calculating left and right wheel velocities of the robot cleaner based on the angular velocity and a linear velocity corresponding to the angular velocity; and   controlling the robot cleaner to travel along the edge of the floor covering based on the left and right wheel velocities.   
     
     
         7 . The method according to  claim 2 , further comprising:
 determining the travel direction based on a region occupied by the floor covering in the navigation map.   
     
     
         8 . The method according to  claim 1 , wherein the sensing information comprises at least one of a region image, an infrared image, and laser feedback information of the ground region. 
     
     
         9 . The method according to  claim 1 , further comprising:
 determining second contour position information of a second edge of the floor covering in response to the robot cleaner traveling to a boundary where the edge meets the second edge;   updating the navigation map based on the second contour position information; and   controlling the robot cleaner to travel along the second edge of the floor covering based on the updated navigation map.   
     
     
         10 . The method according to  claim 9 , further comprising:
 determining that the robot cleaner has traveled to the boundary in a travel direction of the robot cleaner along the edge when an area of an occupied region of the floor covering in a target map region of the navigation map is less than a threshold.   
     
     
         11 . The method according to  claim 9 , further comprising:
 determining that the robot cleaner has traveled to the boundary based on at least one of the following:   a travel distance of the robot cleaner along the edge reaching a preset travel distance;   the robot cleaner traveling to a preset target position; and   a pose change of the robot cleaner matches a preset pose change.   
     
     
         12 . The method according to  claim 9 , wherein the determining the second contour position information comprises:
 controlling the robot cleaner to obtain second sensing information of the ground region; and   detecting the second contour position information of the second edge based on the second sensing information.   
     
     
         13 . The method according to  claim 12 , wherein the second sensing information comprises a second region image, and wherein the controlling the robot cleaner to obtain the second sensing information comprises:
 controlling the robot cleaner to perform a turning motion, wherein the turning motion comprises at least one of the following:
 the robot cleaner rotates and reverses at the same time, and 
 the robot cleaner first rotates in place and then reverses; and 
   controlling the robot cleaner to capture the second region image after the robot cleaner completes the turning motion.   
     
     
         14 . The method according to  claim 12 , wherein the floor covering comprises at least one of a carpet or a floor mat. 
     
     
         15 . The method according to  claim 1 , wherein the generating the navigation map comprises:
 determining body position information of the robot cleaner; and   generating the navigation map with the robot cleaner as a center in the navigation map based on the contour position information and the body position information.   
     
     
         16 . The method according to  claim 15 , wherein:
 the contour position information comprises first contour position coordinates,   the body position information comprises body position coordinates, and   the generating the navigation map with the robot cleaner in the center of the navigation map comprises:   determining a current spacing distance between the robot cleaner and the edge of the floor covering based on the first contour position coordinates and the body position coordinates;   converting the first contour position coordinates into target contour position coordinates in a map coordinate system based on the current spacing distance; and   generating the navigation map for the robot cleaner with an origin of the map coordinate system as the center of the map based on the target contour position coordinates.   
     
     
         17 . The method according to  claim 1 , further comprising:
 controlling the robot cleaner to reverse a preset target distance based on determining that the robot cleaner has traveled to the ground region.   
     
     
         18 . The method according to  claim 1 , further comprising:
 repeat the generating the navigation map based on detecting the floor covering when the robot cleaner travels along the floor covering.   
     
     
         19 . A robot cleaner comprising:
 one or more processors; and   memory storing instructions, when executed by the one or more processors, cause the robot cleaner to:
 obtain sensing information of associated with a floor covering on a floor; 
 determine contour position information of an edge of the floor covering based on the sensing information; 
 general a navigation map for the robot cleaner based on the contour position information; and 
 travel along the edge of the floor covering on the floor based on the navigation map. 
   
     
     
         20 . One or more non-transitory computer-readable media, when executed, cause:
 obtaining sensing information of a ground region associated with a floor covering;   determining contour position information of an edge of the floor covering based on the sensing information;   generating a navigation map for a robot cleaner based on the contour position information; and   controlling the robot cleaner to travel along the edge of the floor covering based on the navigation map.