Movement control method of cleaning robot and cleaning robot

Abstract

The present specification provides a method for controlling the movement of a cleaning robot and a cleaning robot. Based on the method, during the driving process of the cleaning robot, three-dimensional information about an obstacle can be acquired by a sensor system; and when the obstacle moves within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, the robot automatically performs a movement away from the obstacle. This enables the sensor system of the cleaning robot to effectively acquire three-dimensional information about the obstacle and to implement accurate identification of the obstacle.

Description

Technology Field

[0001] This specification belongs to the field of smart home technology and, in particular, relates to a method for controlling the movement of a cleaning robot and a cleaning robot. Background Technology

[0002] With the advancement and popularization of technology, an increasing number of users are becoming accustomed to using cleaning robots for indoor or outdoor cleaning tasks.

[0003] In conventional movement control methods for cleaning robots, obstacle information must be collected and processed in real time while the robot is moving. However, for various reasons, there are cases where the cleaning robot fails to effectively acquire obstacle information, which further affects the robot's movement and operations.

[0004] The present specification provides a cleaning robot movement control method and a cleaning robot in which the sensor system of the cleaning robot can effectively acquire three-dimensional information about obstacles and implement accurate identification of obstacles.

[0005] The present specification provides a movement control method for a cleaning robot applicable to a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and the method comprises:

[0006] In the course of driving a cleaning robot, if an obstacle moves within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than a third preset detection threshold, the method comprises the step of performing a movement away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle - wherein the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; the first reference point is a point close to the obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and the second reference point is an intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, and the reference line is perpendicular to the central axis.

[0007] In one embodiment, the method is,

[0008] If the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than or equal to a third preset detection threshold, the step of continuing to drive along the current driving path without performing a movement away from the obstacle is further included.

[0009] In one embodiment, the sensor system includes one or more sensors selected from a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor;

[0010] The first preset detection threshold value is the minimum value of the effective detection distance of the sensor in the sensor system.

[0011] In one embodiment, the cleaning robot performs a movement away from an obstacle until it moves to a first position; the distance between the first position and the obstacle is smaller than the maximum effective detection distance of the sensor in the sensor system.

[0012] In one embodiment, after performing the action of moving away from an obstacle, the method,

[0013] It further includes the step of performing a steering operation to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information about the obstacle.

[0014] In one embodiment, after performing the action of moving away from an obstacle, the method,

[0015] Step to perform a waiting operation;

[0016] A step of re-detecting the obstacle area by the sensor system during the waiting period;

[0017] If the obstacle does not exist in the obstacle area, it further includes a step of returning and performing a cleaning action.

[0018] In one embodiment, after the obstacle area is detected again by the sensor system, the method,

[0019] If the obstacle is present in the obstacle area, it includes an additional step of replanning the cleaning path and performing a detour.

[0020] In one embodiment, after the obstacle area is detected again by the sensor system, the method,

[0021] It further includes a step of broadcasting relevant notification information via voice if the obstacle is present in the obstacle area and the obstacle is a person.

[0022] The present specification further provides a movement control method for a cleaning robot applicable to a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and the method comprises:

[0023] During the driving process of the cleaning robot, if an obstacle moves within the detection range of the sensor system and the observation angle of the cleaning robot with respect to the obstacle is greater than a fourth preset detection threshold, the step of moving away from the obstacle is included so that the sensor system can acquire three-dimensional information about the obstacle.

[0024] In one embodiment, the observation angle of the cleaning robot with respect to the obstacle is a narrow angle formed by the tangent from the first reference point of the cleaning robot to the peripheral boundary of the obstacle.

[0025] In one embodiment, when the observation angle includes a horizontal observation angle, the fourth preset detection threshold includes a horizontal field of view threshold of the sensor system.

[0026] In one embodiment, when the observation angle includes a vertical observation angle, the fourth preset detection threshold includes a vertical field of view threshold of the sensor system.

[0027] In one embodiment, when the observation angle includes a horizontal observation angle and a vertical observation angle, the fourth preset detection threshold includes a horizontal field of view threshold and a vertical field of view threshold of the sensor system.

[0028] In one embodiment, after performing the action of moving away from an obstacle, the method,

[0029] If the observation angle of the cleaning robot with respect to the obstacle is smaller than a preset threshold, it further includes a step of performing a waiting action.

[0030] In one embodiment, the sensor system includes one or more sensors selected from a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

[0031] In one embodiment, the cleaning robot performs a movement away from an obstacle until it moves to a first position; the distance between the first position and the obstacle is smaller than the maximum effective detection distance of the sensor in the sensor system.

[0032] In one embodiment, after performing the action of moving away from an obstacle, the method,

[0033] It further includes the step of performing a steering operation to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information about the obstacle.

[0034] In one embodiment, after performing the action of moving away from an obstacle, the method,

[0035] Step to perform a waiting operation;

[0036] A step of re-detecting the obstacle area by the sensor system during the waiting period;

[0037] If the obstacle does not exist in the obstacle area, it further includes a step of returning and performing a cleaning action.

[0038] In one embodiment, after the obstacle area is detected again by the sensor system, the method,

[0039] If the obstacle is present in the obstacle area, it includes an additional step of replanning the cleaning path and performing a detour.

[0040] In one embodiment, after the obstacle area is detected again by the sensor system, the method,

[0041] It further includes a step of broadcasting relevant notification information via voice if the obstacle is present in the obstacle area and the obstacle is a person.

[0042] The present specification further provides a movement control method for a cleaning robot applicable to a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and the method comprises:

[0043] In the course of driving a cleaning robot, if an obstacle moves within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than a second preset detection threshold, the method includes the step of performing a movement away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle - the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot.

[0044] In one embodiment, the method is,

[0045] If the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than or equal to a second preset detection threshold, the step of continuing to drive along the current driving path without performing a movement away from the obstacle is further included.

[0046] In one embodiment, the second preset detection threshold is 0.45 times or more of the maximum length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot, and 0.55 times or less of the maximum length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot.

[0047] In one embodiment, the sensor system includes a binocular vision sensor.

[0048] In one embodiment, the sensor system includes one or more sensors selected from a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor;

[0049] The first preset detection threshold value is the minimum value of the effective detection distance of the sensor in the sensor system.

[0050] In one embodiment, the cleaning robot performs a movement away from an obstacle until it moves to a first position; the distance between the first position and the obstacle is smaller than the maximum effective detection distance of the sensor in the sensor system.

[0051] In one embodiment, after performing the action of moving away from an obstacle, the method,

[0052] It further includes the step of performing a steering operation to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information about the obstacle.

[0053] In one embodiment, after performing the action of moving away from an obstacle, the method,

[0054] Step to perform a waiting operation;

[0055] A step of re-detecting the obstacle area by the sensor system during the waiting period;

[0056] If the obstacle does not exist in the obstacle area, it further includes a step of returning and performing a cleaning action.

[0057] In one embodiment, after the obstacle area is detected again by the sensor system, the method,

[0058] If the obstacle is present in the obstacle area, it includes an additional step of replanning the cleaning path and performing a detour.

[0059] In one embodiment, after the obstacle area is detected again by the sensor system, the method,

[0060] It further includes a step of broadcasting relevant notification information via voice if the obstacle is present in the obstacle area and the obstacle is a person.

[0061] The present specification further provides a movement control method for a cleaning robot applicable to a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and the method comprises:

[0062] In the course of driving a cleaning robot, if an obstacle moves within the detection range of the sensor system, the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is less than a second preset detection threshold, the step of performing a steering operation is included - the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot.

[0063] In one embodiment, the second preset detection threshold is 0.45 times or more of the maximum length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot, and 0.55 times or less of the maximum length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot.

[0064] The present specification further provides a movement control method for a cleaning robot applicable to a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and the method comprises:

[0065] In the course of driving a cleaning robot, when an obstacle moves within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, and the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold, the method comprises the step of performing a steering operation - wherein the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; the first reference point is a point close to the obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and the second reference point is an intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, and the reference line is perpendicular to the central axis.

[0066] The present specification further provides a cleaning robot comprising: a main body; a sensor system equipped on the main body and capable of acquiring three-dimensional information about obstacles; a processor; and a memory for storing instructions executable by the processor;

[0067] During the driving process of the cleaning robot, when the processor executes the command, the relevant steps of the movement control method of the cleaning robot are implemented so that the sensor system obtains three-dimensional information about the obstacle.

[0068] The present specification further provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program and performs a relevant step of a method for controlling the movement of the cleaning robot when the program is executed.

[0069] Based on the movement control method and cleaning robot provided in the specification, during the driving process of the cleaning robot, three-dimensional information about an obstacle can be acquired by a sensor system; when it is detected that the obstacle has moved within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, it is automatically determined that the current sensor system cannot effectively acquire three-dimensional information about the obstacle that meets the requirements, and furthermore, an action to move away from the obstacle is performed intelligently. This enables the sensor system of the cleaning robot to effectively acquire three-dimensional information about the obstacle that meets the requirements and to implement accurate identification of the obstacle. Furthermore, based on the three-dimensional information of the obstacle, features such as the type, shape, and size of the obstacle can be accurately identified, and more precise and effective obstacle identification results can be obtained; and based on the obstacle identification results, the cleaning robot can adopt the most suitable obstacle avoidance or cleaning strategy. Brief explanation of the drawing

[0070] To more clearly explain the embodiments of this specification, the accompanying drawings to be used in the embodiments will be briefly described below. The drawings attached to the following description are merely some of the embodiments described in this specification, and a person skilled in the art can obtain other drawings based on these drawings without creative effort. FIG. 1 is a drawing of an example of a structural configuration of a cleaning robot to which a movement control method of a cleaning robot provided in an embodiment of the present specification is applied. FIG. 2 is a flowchart of a movement control method for a cleaning robot provided in one embodiment of the present specification. FIG. 3 is a drawing of an embodiment in which the movement control method of a cleaning robot provided in the embodiment of the present specification is applied in an example scenario. FIG. 4 is a drawing of an embodiment in which the movement control method of a cleaning robot provided in the embodiment of the present specification is applied in another example of a work scenario. FIG. 5 is a drawing of an embodiment in which the movement control method of a cleaning robot provided in the embodiment of the present specification is applied in another example of a work scenario. FIG. 6 is a drawing of an embodiment in which the movement control method of a cleaning robot provided in the embodiment of the present specification is applied in another example of a work scenario. FIG. 7 is a diagram of the structural configuration of a cleaning robot provided in one embodiment of the present specification. Specific details for implementing the invention

[0071] In order to enable those skilled in the art to better understand the technical solutions of this specification, the technical solutions of the embodiments of this specification will be described clearly and completely below, together with the drawings attached to the embodiments of this specification; it is evident that the described embodiments are only a part of the embodiments of this specification and not all of them. All other embodiments that can be obtained by those skilled in the art without creative effort based on the embodiments of this specification fall within the scope of protection of this specification.

[0072] The embodiments of this specification provide a cleaning robot. Reference may be made to the illustration in FIG. 1.

[0073] The above cleaning robot may be an autonomous robot capable of autonomously moving within a work area and completing cleaning tasks autonomously without external artificial information input or control. The work area may include indoor and outdoor areas. The indoor area may include rooms in a house, offices, shopping malls, factory workshops, etc. The outdoor area may include lawns, gardens, roads, etc. Cleaning tasks may include cleaning (e.g., washing the ground, mopping, sweeping, etc.), lawn mowing, snow removal, etc.

[0074] The above cleaning robot includes, but is not limited to, cleaning robots, floor washing robots, cleaning and mopping robots, lawn mowing robots, snow removal robots, etc. The cleaning robot may perform cleaning using a forward cleaning and rear mopping method or a cleaning and mopping separation method. Here, the forward cleaning and rear mopping method allows cleaning and mopping to be performed simultaneously, thereby increasing cleaning efficiency. The cleaning and mopping separation method allows cleaning the floor first and then mopping the floor again, thereby increasing the cleaning effect.

[0075] Specifically, referring to FIG. 1, the cleaning robot includes at least a main body, a controller, one or more cleaning parts, and a sensor system capable of acquiring three-dimensional information about obstacles.

[0076] Here, the cleaning parts may specifically include one or more of a side brush, a main brush (or roller brush), a mop tray (or mop tray), etc.

[0077] Specifically, the shape of the main body may be circular, square, or other shapes. For example, part of the main body may be circular and other parts may be square.

[0078] The above controller may include a microcontroller unit (MCU). It goes without saying that the controller may include other devices capable of having control functions.

[0079] The shape of the cleaning part may be circular, square, or other shapes (e.g., special shapes such as semicircles, arcs, triangles, etc.). The circular shape facilitates the cleaning part to perform rotational cleaning. The special shape facilitates the cleaning part to perform cleaning of corner areas.

[0080] The side brushes mentioned above collect debris and direct it toward the center of the bottom of the cleaning robot. The roller brush sweeps up debris from the bottom of the cleaning robot, allowing it to enter the dust collection chamber through the suction port. The mop tray is used for wiping or mopping the floor.

[0081] Specifically, the mop tray is equipped with a mop. The cleaning robot is equipped with a water tank. Water from the water tank flows through a hole to the mop, wetting it. The wet mop is used for mopping.

[0082] The main brush is provided in a main brush cavity at the bottom of the main body of the cleaning robot. The main brush cavity is connected to the suction channel of the cleaning robot. Small debris, such as dust and hair, swept by the main brush and / or side brushes is sucked in by the cleaning robot through the main brush cavity.

[0083] The sensor system can acquire at least three-dimensional information about obstacles, and the cleaning robot can detect and identify obstacles based on the three-dimensional information about obstacles acquired by the sensor system. Furthermore, the controller can control the cleaning robot accordingly according to the detected and identified obstacles.

[0084] Here, the sensor system may specifically include one or more of a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

[0085] Specifically, the monocular vision sensor can acquire a projected image of an object in a two-dimensional plane through a single camera, and the image may include information such as the shape, size, color, and pattern of the object. The binocular vision sensor simulates the vision of the human eye and can acquire three-dimensional information of the object through two cameras.

[0086] The above-mentioned line laser sensor may be a sensor that performs measurements using a line laser. The above-mentioned planar laser sensor may be a sensor that performs measurements using a planar laser.

[0087] The above-mentioned LDS (Laser Direct Structuring) sensor may be an optical sensor that uses triangulation laser distance measurement. The above-mentioned Dtof (Direct Time of Flight) sensor is also referred to as a depth time-of-flight sensor. Based on the above-mentioned Dtof sensor, depth detection can be performed by emitting an infrared laser pulse through a Dtof camera and measuring the time it takes for the pulse to travel from the camera to the target and return. The above-mentioned Itof (Indirect Time-of-Flight) sensor may specifically refer to a long-range interference-resistant Itof depth image sensor. Based on the above-mentioned Itof sensor, an infrared signal modulated into the field is emitted, the sensor receives a light signal reflected from the target to be measured in the field, and depth information of the target can be obtained by calculating the phase difference between the emitted signal and the received signal according to the charge accumulated during the exposure (integration) time.

[0088] Of course, it should be noted that the sensors listed above are merely examples. When specifically implemented, the sensor system may also include other types of sensors, such as infrared sensors, depending on the specific situation and processing requirements.

[0089] Specifically, based on the sensor system, 2D information (e.g., planar image, etc.) and depth information of an obstacle within a certain range can be collected; subsequently, 3D information of the corresponding obstacle is obtained by fusing the 2D information and depth information of the obstacle; furthermore, more accurate detection and identification of the obstacle can be achieved based on the 3D information of the obstacle, and richer feature information such as the shape, size, and pattern of the obstacle can be obtained.

[0090] Specifically, for example, by using a pre-trained obstacle detection model based on an artificial intelligence algorithm to process the 3D information of obstacles acquired by the sensor system, it is possible to intelligently detect and identify obstacles, determine specific types of obstacles, and obtain feature information such as the shape, size, and pattern of obstacles.

[0091] Referring to FIG. 2, an embodiment of the present specification provides a method for controlling the movement of a cleaning robot. Herein, the method is applied to a cleaning robot, and the cleaning robot is equipped with a sensor system capable of acquiring at least three-dimensional information about an obstacle. When specifically implementing the method,

[0092] S201: During the driving process of a cleaning robot, if an obstacle moves within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold, then performing a movement to move away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle - the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; The above-mentioned first reference point is a point close to an obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and the above-mentioned second reference point is the intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, and the reference line is perpendicular to the central axis - may be included.

[0093] Specifically, the driving process of the cleaning robot may be a process in which the cleaning robot moves and cleans at the same time, or it may be a process in which the cleaning robot only moves and does not clean.

[0094] Furthermore, the above driving process may specifically be a process of driving along a straight path, a process of driving along an arc path, or a process of driving along an irregular path.

[0095] Generally, cleaning robots detect the presence of obstacles ahead in real-time or periodically through a sensor system during the driving process.

[0096] When the presence of an obstacle is detected, the cleaning robot collects three-dimensional information about the obstacle through a sensor system; then, based on the three-dimensional information about the obstacle, it further detects and identifies the obstacle.

[0097] However, the above sensor system has an effective detection range when in use. When the location of an obstacle to the cleaning robot is not within the effective detection range of the sensor system, the sensor system often fails to effectively collect 3D information about the obstacle that meets the requirements, for example, it fails to directly acquire 3D information about the obstacle, or the quality of the acquired 3D information about the obstacle is low and contains a lot of noise, which affects subsequent obstacle detection and identification.

[0098] Specifically, for example, when a cleaning robot is too close to the location of an obstacle, the location of the obstacle relative to the cleaning robot is already outside the effective detection range of the sensor system. At this time, some or all of the sensors of the sensor system fail to effectively collect signal data that meets the requirements (for example, the distance to the obstacle is too close so that the binocular vision sensor cannot focus properly and cannot acquire high-quality, clear image data containing depth information), and the sensor system is unable to effectively acquire three-dimensional information about the obstacle.

[0099] Also, for example, if the size of the obstacle itself is too large (for example, if the width of the obstacle is much larger than that of a normal object), the cleaning robot cannot obtain 3D information including the entire obstacle based on its current position. In this case, the position of the obstacle relative to the cleaning robot is already outside the effective detection range of the sensor system, so it can be understood that the sensor system cannot effectively obtain 3D information about the obstacle.

[0100] The present specification recognizes the above problem and, by associating it with the specific cause causing the problem, introduces a decision mechanism that can automatically determine and detect a situation in which the current sensor system fails to effectively acquire three-dimensional information about obstacles that meet the requirements during the process of the cleaning robot driving; and also considers controlling the cleaning robot to intelligently perform a matching action in a timely manner in such a situation so that the sensor system can effectively acquire three-dimensional information about obstacles that meet the requirements.

[0101] In one embodiment, during the driving process, the cleaning robot can detect the presence of an obstacle through a sensor system. Specifically, the cleaning robot can detect the presence of an obstacle through a distance-measuring sensor among the sensor systems.

[0102] For example, a cleaning robot can emit a line laser signal forward through a line laser sensor in the sensor system, collect the returned line laser signal, and detect the presence of an obstacle based on it.

[0103] Here, the obstacle specifically includes obstacles that appear suddenly, such as people, pets, rolling balls, toy cars, etc., that suddenly appear in a workspace like a living room and block the driving path of the cleaning robot.

[0104] The detection range of the above sensor system can be specifically understood as an upper limit range in which the sensor system can detect the presence of an obstacle. Specifically, when the location of an obstacle relative to the cleaning robot is within the detection range of the sensor system, the cleaning robot can detect the presence of the obstacle by the sensor system, but it may not be able to effectively collect three-dimensional information about the obstacle that is of high quality and has relatively little error to meet the requirements.

[0105] Specifically, when implemented, the cleaning robot detects whether an obstacle exists within the forward detection range through a sensor system on a regular or real-time basis, and by comparing the detection result at the current time point with the detection result at an adjacent previous time point, it can determine whether the current obstacle has moved within the detection range of the sensor system.

[0106] Specifically, for example, if it is determined that an obstacle exists within the detection range of the current sensor system based on the detection result at the current time point, the detection result of an adjacent previous time point is retrieved and obtained; based on the detection result of the previous time point, it is determined whether the obstacle exists in the same or similar location area as the previous time point; and if it is determined that the obstacle does not exist in the same or similar location area as the previous time point based on the detection result of the previous time point, it can be determined that the current obstacle has moved within the detection range of the sensor.

[0107] If it is detected that an obstacle has moved within the detection range of the sensor system, it can be further determined whether the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system.

[0108] In one embodiment, with reference to FIG. 3, the central axis of the cleaning robot can be understood as the central axis in the driving plane according to the current driving direction of the cleaning robot. Here, specifically, the central axis may be parallel to the current driving direction of the cleaning robot.

[0109] Specifically, referring to FIG. 3, the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot can be understood specifically as the projected length on the central axis of the distance between the obstacle and the cleaning robot, can be indicated as a first distance, and can be indicated using D.

[0110] Specifically, the first reference point above may be a point close to an obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and may be indicated as M.

[0111] The second reference point mentioned above may specifically be the intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, for example, a point p close to the central axis, a point q far from the central axis, etc. Here, the reference line can specifically be understood as a line perpendicular to the central axis and currently separated from the cleaning robot by a first distance.

[0112] Correspondingly, with reference to FIG. 3, the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle can be specifically represented as connecting line Mp and connecting line Mq. The maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is represented as the first angle and can be represented using α1, that is, the angle between connecting line Mq and the current driving direction. The minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is represented as the second angle and can be represented using α2, that is, the angle between connecting line Mp and the current driving direction.

[0113] When specifically implemented, the cleaning robot can first measure and determine the first distance, the second angle, and the second angle through a sensor system.

[0114] Next, the cleaning robot can obtain a corresponding first comparison result by comparing the detected first distance with a first preset detection threshold; additionally, it can obtain a corresponding third comparison result by comparing the detected first narrow angle and the second narrow angle with a third preset detection threshold, respectively.

[0115] Here, the third preset detection threshold can be understood specifically as a narrow angle threshold to prevent collision between the cleaning robot and an obstacle. The third preset detection threshold can be calculated specifically based on the main body size parameter of the cleaning robot and the current distance along the central axis of the cleaning robot between the obstacle and the cleaning robot.

[0116] Then, the cleaning robot can determine whether the current location of the obstacle to the cleaning robot is outside the effective detection range of the sensor system based on the first comparison result and the third comparison result.

[0117] Specifically, when implementing, if it is determined that, based on the first comparison result and the third comparison result, the first distance is smaller than the first preset detection threshold, the first narrow angle is larger than the third preset detection threshold, and the second narrow angle is smaller than the third preset detection threshold, it can be determined that the current cleaning robot is too close to the obstacle and the current position of the obstacle relative to the cleaning robot exceeds the effective detection range of the sensor system; if the cleaning robot continues to drive in the current driving direction, it may collide with the obstacle again. At this time, the cleaning robot must pay attention to the obstacle. Accordingly, the cleaning robot can be automatically controlled to perform an action of moving the cleaning robot away from the obstacle so that the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system.

[0118] Accordingly, the cleaning robot is automatically controlled to perform a movement that moves the cleaning robot away from the obstacle, so that the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system, thereby allowing the sensor system to effectively acquire three-dimensional information of the obstacle.

[0119] Here, the movement of moving away from the obstacle may specifically include a movement of moving backward along a straight line, a movement of moving backward along a diagonal line, or a movement of moving backward along an arc.

[0120] Specifically, for example, by controlling the cleaning robot to perform a corresponding backward movement to move away from the obstacle, the distance between the cleaning robot and the obstacle can be increased.

[0121] During the process of performing a backward movement, the cleaning robot may detect a first distance between the cleaning robot and an obstacle in real time or periodically by a sensor system. If it is detected that the first distance is greater than or equal to a first preset detection threshold, it can be determined that the position of the obstacle relative to the cleaning robot is already within the effective detection range of the sensor system. At this time, the cleaning robot may be controlled to stop the backward movement and temporarily remain at its current position. Furthermore, by detecting the location area where the obstacle was previously detected to exist (which may be indicated as an obstacle area) again by the sensor system and obtaining 3D information regarding the related obstacle again, the obstacle can be specifically detected and identified according to the 3D information of the obstacle obtained again.

[0122] Also, for example, the cleaning robot is controlled to first perform a steering motion to make the direction of the sensor system as similar as possible to or consistent with the direction in which the obstacle is located, and / or to find a reverse path that is not blocked by other obstacles as much as possible; then, a corresponding reverse motion is performed to move away from the obstacle, and if the first distance between the cleaning robot and the obstacle is greater than or equal to a first preset detection threshold, the reverse motion is stopped.

[0123] Therefore, three-dimensional information about obstacles can be effectively acquired by the sensor system, and features such as the type and shape of the obstacles can be accurately identified based on the three-dimensional information about the obstacles; subsequently, the cleaning robot can adopt the most suitable obstacle avoidance or cleaning strategy based on the features.

[0124] In a specific scenario example, referring to FIG. 3, the diameter of the main body of the cleaning robot is 40 cm, the first preset detection threshold is 10 cm, and the third preset detection threshold is 65 degrees.

[0125] Specifically, during the driving process of the cleaning robot, if an obstacle suddenly moves within the detection range of the sensor system, the cleaning robot detects through the sensor system that the distance D along the central axis between the obstacle and the cleaning robot is 8 cm; additionally, the cleaning robot can also detect through the sensor system that the maximum value α1 of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is 71 degrees, and the minimum value α2 of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is 45 degrees. Next, by performing a numerical comparison with a first preset detection threshold and a third preset detection threshold, it is determined that the distance D is smaller than the first preset detection threshold, α1 is larger than the third preset detection threshold, and α2 is smaller than the third preset detection threshold, thereby determining that the current position of the obstacle to the cleaning robot exceeds the effective detection range of the sensor system, and furthermore, the cleaning robot can be triggered to automatically move away from the obstacle.

[0126] Specifically, when implementing, if it is determined that the first distance is smaller than the first preset detection threshold and the first narrow angle is smaller than the third preset detection threshold based on the first comparison result and the third comparison result, it can be determined that the current cleaning robot is too close to the obstacle and the current position of the obstacle relative to the cleaning robot has already exceeded the effective detection range of the sensor system; if the cleaning robot continues to drive in the current driving direction, it may collide with the obstacle again. At this time, the cleaning robot must pay attention to the obstacle. Accordingly, the cleaning robot can be controlled to perform a movement away from the obstacle. Thus, three-dimensional information about the obstacle can be effectively acquired by the sensor system, and features such as the type and shape of the obstacle can be accurately identified based on the three-dimensional information about the obstacle; subsequently, the cleaning robot can be enabled to adopt the most suitable obstacle avoidance or cleaning strategy based on the said features.

[0127] Specifically, when implemented, if it is determined that, based on the first comparison result and the third comparison result, the first distance is smaller than the first preset detection threshold and the second angle is larger than the third preset detection threshold, even though it may be determined that the current cleaning robot is too close to the obstacle and the current position of the obstacle relative to the cleaning robot has already exceeded the effective detection range of the sensor system, the obstacle is relatively far from the center axis of the cleaning robot, so the cleaning robot does not collide with the obstacle even if it continues to drive in the current driving direction. In this case, the cleaning robot does not need to pay attention to the obstacle, and the cleaning robot may not need to perform a movement to move away from the obstacle. Specifically, for example, the cleaning robot can be controlled to continue driving and working, while simultaneously continuously collecting 3D information about the obstacle ahead through the sensor system. Therefore, there is no need to waste resources by performing a movement to move away from the obstacle, thereby avoiding impact on the cleaning robot's normal movement, cleaning, and other tasks, and also reducing the burden of data processing during the operation of the cleaning robot.

[0128] Specifically, when implemented, if it is determined that the first distance is greater than or equal to the first preset detection threshold based on the first comparison result and the third comparison result, it can be determined that the current location of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system; or, it can be determined that the obstacle is too far away from the cleaning robot to affect its driving or operation, and therefore there is no need to pay attention to the obstacle for a while. In this case, the cleaning robot may not need to perform the action of moving away from the obstacle. Therefore, there is no need to waste resources by performing the action of moving away from the obstacle, thereby avoiding the impact on the cleaning robot's normal movement, cleaning, and other operations, and furthermore, the burden of data processing during the operation of the cleaning robot can be reduced.

[0129] In one embodiment, the sensor system may specifically include one or more sensors among a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor; and the first preset detection threshold is the minimum value of the effective detection distance of the sensor among the sensor systems.

[0130] Specifically, when implementing, the minimum value of the effective detection distance of each sensor in the sensor system can be determined; and then, from the minimum values ​​of multiple effective detection distances, the smallest value can be determined and set as the first preset detection threshold.

[0131] Based on the above embodiment, by determining and using the first preset detection threshold as a relevant threshold for detection determination, it is possible to more accurately determine whether the current location of an obstacle to the cleaning robot is outside the effective detection range of the sensor system.

[0132] In one embodiment, when specifically implementing the above method,

[0133] If the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than or equal to a third preset detection threshold, the step of continuing to drive along the current driving path without performing a movement away from the obstacle may be further included.

[0134] Therefore, there is no need to perform actions to move away from obstacles, which wastes processing resources and processing time, thereby avoiding impacts on normal movement and cleaning operations of the cleaning robot, saving movement time and improving cleaning efficiency; furthermore, the burden of data processing during the operation of the cleaning robot can be reduced.

[0135] In one embodiment, the cleaning robot performs a movement away from an obstacle until it moves to a first position; the distance between the first position and the obstacle is smaller than the maximum effective detection distance of the sensor in the sensor system.

[0136] Based on the above embodiment, it is possible to avoid the cleaning robot moving too far back and thus failing to accurately acquire three-dimensional information about the obstacle; additionally, to effectively reduce energy waste caused by the cleaning robot moving too far back.

[0137] In one embodiment, after performing a movement away from an obstacle, when specifically implementing the method, a steering movement may be performed to adjust the detection direction of the sensor system so that the sensor system obtains three-dimensional information about the obstacle.

[0138] Specifically, when implementing this, the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot can be determined first; then, the directional deviation angle between the sensor system and the obstacle can be determined based on the current detection direction of the sensor system and the current direction in which the obstacle is located relative to the cleaning robot; then, the cleaning robot is controlled according to the directional deviation angle to perform steering movements so that the sensor system can face the obstacle. This enables the sensor system to acquire 3D information about the obstacle that meets the requirements more effectively and accurately.

[0139] Specifically, when implemented, the cleaning robot can also acquire 3D information about obstacles behind it; then, based on the 3D information about obstacles behind it, it plans and determines a reverse path free of obstacles; then, it performs a corresponding steering action so that the position and attitude of the cleaning robot match the corresponding reverse path; and then, it controls the cleaning robot to perform a reverse action along the corresponding reverse path. This effectively prevents the cleaning robot from colliding with obstacles behind it during the reverse process.

[0140] In one embodiment, after performing the action of moving away from an obstacle, referring to FIG. 4, when specifically implementing the method,

[0141] S1: Step to perform a waiting operation;

[0142] S2: A step of re-detecting the obstacle area by the sensor system during the waiting period;

[0143] S3: If the obstacle does not exist in the obstacle area, the step of returning and performing a cleaning action may be further included.

[0144] After re-detecting the obstacle area by the sensor system, when specifically implementing the above method, if the obstacle is present in the obstacle area, the step of replanning the cleaning path and performing a detour operation may be further included.

[0145] Specifically, when the cleaning robot performs a movement away from an obstacle, if the distance between the cleaning robot and the obstacle is greater than or equal to a first preset detection threshold, the cleaning robot may stop the movement away from the obstacle, pause at the current position, and perform a standby operation. During the standby period, the cleaning robot may detect the obstacle area where the presence of an obstacle was previously detected through the sensor system again to determine whether the obstacle still exists in that obstacle area.

[0146] Here, the obstacle area can be understood specifically as a location area where the presence of an obstacle is detected before performing a movement away from the obstacle.

[0147] Specifically, for example, the obstacle area can be detected again through a distance-measuring sensor in the sensor system to determine whether the obstacle still exists in the obstacle area.

[0148] When it is determined that the obstacle no longer exists in the obstacle area, the cleaning robot replans the cleaning path; subsequently, it can perform a return cleaning action according to the cleaning path to return to the obstacle area and perform remedial cleaning.

[0149] If it is determined that an obstacle still exists in the obstacle area, the cleaning robot can re-acquire 3D information about the obstacle through a sensor system, detect and identify the obstacle based on this 3D information, and determine the specific type of the obstacle. Furthermore, depending on the specific type of the obstacle, it can re-plan a cleaning path that matches the obstacle and then perform a detour operation along that cleaning path. This allows the cleaning robot to clean as much of the area as possible while bypassing the obstacle, thereby achieving a better cleaning effect.

[0150] In one embodiment, after the obstacle area is detected again by the sensor system, when specifically implementing the method, if the obstacle is present in the obstacle area and the obstacle is a person, the method may further include the step of broadcasting relevant notification information by voice.

[0151] Specifically, if it is determined that an obstacle still exists in the obstacle area by detecting it again through the sensor system, the 3D information of the obstacle can be effectively acquired through the sensor system, thereby acquiring high-quality and low-error 3D information of the obstacle to meet the requirements.

[0152] Next, the obstacle 3D information can be processed using a pre-trained obstacle detection model to obtain the corresponding obstacle detection result. Here, the obstacle detection model can be understood as a neural network model capable of automatically identifying and determining obstacle types by pre-training using a large amount of sample obstacle 3D information.

[0153] Based on the obstacle detection result above, if the obstacle is determined to be a person, relevant notification information can be broadcast to the person. For example, a voice notification can be given asking the person to move aside for cleaning.

[0154] After broadcasting voice-related notification information, and after a preset period has elapsed (e.g., 1 minute), the sensor system detects the obstacle area again, and if there is no obstacle in the obstacle area, it returns and performs a cleaning operation.

[0155] As can be seen from this, the movement control method of a cleaning robot provided in the embodiment of the specification can acquire three-dimensional information about an obstacle by a sensor system during the driving process of the cleaning robot; when the obstacle moves within the detection range of the sensor system and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold, the sensor system automatically determines that it cannot effectively acquire high-quality, requirement-compliant three-dimensional information about the obstacle, and further performs an action of moving away from the obstacle intelligently. This enables the sensor system of the cleaning robot to effectively acquire requirement-compliant three-dimensional information about the obstacle and implement accurate identification of the obstacle; Furthermore, based on the above obstacle identification results, the cleaning robot can be enabled to adopt the most suitable obstacle avoidance or cleaning strategy.

[0156] Referring to FIG. 5, the present specification further provides a movement control method for a cleaning robot applied to a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and when specifically implementing the method,

[0157] During the driving process of the cleaning robot, if an obstacle moves within the detection range of the sensor system and the observation angle of the cleaning robot with respect to the obstacle is greater than a fourth preset detection threshold, the method may include a step of moving away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle.

[0158] Furthermore, based on the three-dimensional information of the obstacle, features such as the type, shape, and size of the obstacle can be accurately identified, and more precise and effective obstacle identification results can be obtained; and based on the obstacle identification results, the cleaning robot can adopt the most suitable obstacle avoidance or cleaning strategy.

[0159] In one embodiment, referring to FIG. 5, the observation angle can be understood specifically as the observation angle of the cleaning robot with respect to an obstacle, which is formed by a tangent from a first reference point of the cleaning robot to the surrounding boundary of the obstacle, and can be indicated using β.

[0160] The above-mentioned fourth preset detection threshold can be specifically understood as the maximum value of the field of view of the sensor system. Here, the field of view may specifically be a narrow angle formed by the two edges of the maximum range through which an image of a test target object can pass through the lens, with the lens in the sensor system as the vertex. The field of view of the sensor system is determined according to this angle. Generally, the larger the field of view, the wider the field of view.

[0161] Specifically, the above-mentioned fourth preset detection threshold can be obtained by determining, specifically, based on performance parameters such as the field of view of the sensor in the sensor system.

[0162] When implementing this specifically, first, the cleaning robot can measure and determine its observation angle toward obstacles through a sensor system.

[0163] Next, the cleaning robot can compare the detected observation angle with a fourth preset detection threshold to obtain a corresponding fourth comparison result.

[0164] Then, based on the result of the fourth comparison, if it is determined that the observation angle of the cleaning robot regarding the obstacle is greater than the fourth preset detection threshold, it can be determined that the current cleaning robot is too close to the obstacle or / or the size of the obstacle itself is too large, so that the sensor system cannot obtain complete three-dimensional information about the obstacle; that is, it can be determined that the current position of the obstacle relative to the cleaning robot has already moved out of the effective detection range of the sensor system. At this time, the cleaning robot performs a movement away from the obstacle so that the sensor system can effectively obtain three-dimensional information about the obstacle that meets the requirements. Furthermore, based on the three-dimensional information of the obstacle, features such as the type, shape, and size of the obstacle can be accurately identified, and more precise and effective obstacle identification results can be obtained; and based on the obstacle identification results, the cleaning robot can adopt the most suitable obstacle avoidance or cleaning strategy.

[0165] Specifically, when implementing this, if it is determined that the observation angle of the cleaning robot regarding the obstacle is smaller than the fourth preset detection threshold according to the fourth comparison result, it can be determined that the sensor system can obtain complete three-dimensional information about the obstacle, that is, it can be determined that the current position of the obstacle relative to the cleaning robot is already within the effective detection range of the sensor system. At this time, since the cleaning robot may not perform a movement away from the obstacle, the cleaning robot can avoid performing meaningless movements away from the obstacle, thereby saving the movement time of the cleaning robot and improving the cleaning efficiency of the cleaning robot.

[0166] In one embodiment, when the observation angle includes a vertical observation angle, the fourth preset detection threshold includes a vertical field of view threshold of the sensor system.

[0167] Here, the vertical observation angle can be understood specifically as an observation angle along the vertical direction, and the vertical field of view threshold can be understood specifically as a field of view threshold along the vertical direction.

[0168] Accordingly, when specifically implemented, if the vertical observation angle of the cleaning robot toward an obstacle is greater than the corresponding vertical field of view threshold, the cleaning robot can perform a movement away from the obstacle so that the sensor system can effectively acquire three-dimensional information about the obstacle that meets the requirements.

[0169] Conversely, if the vertical observation angle of the cleaning robot toward an obstacle is smaller than the corresponding vertical field of view threshold, the cleaning robot may not perform the action of moving away from the obstacle, thereby saving the cleaning robot's travel time and improving the cleaning efficiency of the cleaning robot.

[0170] In one embodiment, when the observation angle includes a horizontal observation angle, the fourth preset detection threshold includes a horizontal field of view threshold of the sensor system.

[0171] Here, the above horizontal observation angle can be understood specifically as an observation angle along the horizontal direction, and the above horizontal field of view threshold can be understood specifically as a field of view threshold along the horizontal direction.

[0172] Accordingly, when specifically implemented, if the horizontal observation angle of the cleaning robot toward an obstacle is greater than the corresponding horizontal field of view threshold, the cleaning robot can perform a movement away from the obstacle to enable the sensor system to effectively acquire three-dimensional information about the obstacle that meets the requirements. Furthermore, based on the three-dimensional information of the obstacle, features such as the type, shape, and size of the obstacle can be accurately identified, and more precise and effective obstacle identification results can be obtained; and based on the obstacle identification results, the cleaning robot can adopt the most suitable obstacle avoidance or cleaning strategy.

[0173] Conversely, if the horizontal observation angle of the cleaning robot toward an obstacle is smaller than the corresponding horizontal field of view threshold, the cleaning robot may not perform the action of moving away from the obstacle, thereby saving the cleaning robot's travel time and improving the cleaning efficiency of the cleaning robot.

[0174] In one embodiment, when the observation angle includes a horizontal observation angle and a vertical observation angle, the fourth preset detection threshold includes a horizontal field of view threshold and a vertical field of view threshold of the sensor system.

[0175] Accordingly, when specifically implemented, if the vertical observation angle of the cleaning robot toward an obstacle is greater than the corresponding vertical field of view threshold and the horizontal observation angle is greater than the corresponding horizontal field of view threshold, the cleaning robot can perform a movement away from the obstacle to enable the sensor system to effectively acquire 3D information about the obstacle that meets the requirements. Furthermore, based on the 3D information of the obstacle, features such as the type, shape, and size of the obstacle can be accurately identified, and more precise and effective obstacle identification results can be obtained; and based on the obstacle identification results, the cleaning robot can adopt the most suitable obstacle avoidance or cleaning strategy.

[0176] Conversely, if the vertical viewing angle of the cleaning robot toward an obstacle is smaller than the corresponding vertical viewing angle threshold and / or the horizontal viewing angle is smaller than the corresponding horizontal viewing angle threshold, the cleaning robot may not perform the action of moving away from the obstacle, thereby saving the cleaning robot's travel time and improving the cleaning efficiency of the cleaning robot.

[0177] In one embodiment, the sensor system includes one or more sensors selected from a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

[0178] In one embodiment, the cleaning robot performs a movement away from an obstacle until it moves to a first position; the distance between the first position and the obstacle is smaller than the maximum effective detection distance of the sensor in the sensor system.

[0179] In one embodiment, after performing a movement away from an obstacle, the method further includes the step of performing a steering movement to adjust the detection direction of the sensor system so that the sensor system obtains three-dimensional information about the obstacle.

[0180] In one embodiment, after performing a movement away from an obstacle, the method further comprises: a step of performing a waiting operation; a step of detecting the obstacle area again by a sensor system during the waiting period; and a step of returning and performing a cleaning operation if the obstacle does not exist in the obstacle area.

[0181] In one embodiment, after detection by a sensor system, the method further includes the step of replanning the cleaning path and performing a detour operation if the obstacle is present in the obstacle area.

[0182] In one embodiment, after detecting an obstacle area again by a sensor system, the method further includes the step of broadcasting relevant notification information by voice if the obstacle is present in the obstacle area and the obstacle is a person.

[0183] As can be seen from this, the movement control method of a cleaning robot provided in the embodiment of the specification can acquire three-dimensional information about an obstacle by a sensor system during the driving process of the cleaning robot; detecting that the obstacle has moved within the detection range of the sensor system and determining that the observation angle of the cleaning robot regarding the obstacle is greater than a fourth preset detection threshold, automatically determines that the current sensor system cannot effectively acquire three-dimensional information about the obstacle that meets the requirements with high quality, and further performs an action to move away from the obstacle intelligently. This enables the sensor system of the cleaning robot to effectively acquire three-dimensional information about the obstacle that meets the requirements and to implement accurate identification of the obstacle. Specifically, based on the three-dimensional information of the obstacle, features such as the type, shape, and size of the obstacle can be accurately identified, and more precise and effective obstacle identification results can be obtained; and based on the obstacle identification results, the cleaning robot can adopt the most suitable obstacle avoidance or cleaning strategy.

[0184] Referring to FIG. 6, the present specification further provides a movement control method for a cleaning robot applied to a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and when specifically implementing the method,

[0185] In the course of driving a cleaning robot, if an obstacle moves within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than a second preset detection threshold, the method includes the step of performing a movement away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle - the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot.

[0186] In one embodiment, with reference to FIG. 6, the central axis of the cleaning robot can be understood as the central axis in the driving plane according to the current driving direction of the cleaning robot. Here, specifically, the central axis may be parallel to the current driving direction of the cleaning robot.

[0187] Specifically, referring to FIG. 6, the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot can be understood specifically as the projected length on the central axis of the distance between the obstacle and the cleaning robot, can be indicated as a first distance, and can be indicated using D.

[0188] The vertical distance between the obstacle and the central axis of the cleaning robot can be specifically understood as the vertical line length of points on the surrounding boundary of the obstacle relative to the central axis, indicated as a second distance, and can be indicated using d.

[0189] As to be explained, the second distance determined based on different points on the boundary around the obstacle may have different values. Here, the maximum value of the second distance, that is, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot, can be indicated using d1. The minimum value of the second distance, that is, the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot, can be indicated using d2.

[0190] In one embodiment, referring to FIG. 6, when an obstacle moves within the detection range of the sensor system, the cleaning robot can measure and determine the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot (simply denoted as a first distance, D), the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot (simply denoted as a second distance, d1), and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot (simply denoted as a second distance, d2) by the sensor system (e.g., a distance measuring type sensor among the sensor systems).

[0191] When specifically implemented, for example, first, the cleaning robot can obtain the corresponding first distance, the maximum value of the second distance, and the minimum value of the second distance by using line laser measurement through the line laser sensor in the sensor system alone.

[0192] Next, the cleaning robot can obtain a corresponding first comparison result by comparing the detected first distance with a first preset detection threshold; additionally, it can obtain a corresponding second comparison result by comparing the maximum value of the detected second distance and the minimum value of the second distance with a second preset detection threshold, respectively.

[0193] Here, the first preset detection threshold can be specifically understood as the minimum value of the effective detection distance of the sensor system. Generally, if the first distance between the cleaning robot and the obstacle is smaller than the first preset detection threshold, the entire sensor system cannot effectively acquire three-dimensional information of the object due to causes such as, for example, inability to focus.

[0194] The second preset detection threshold can be understood specifically as a threshold distance for avoiding a collision between the cleaning robot and an obstacle along a threshold distance perpendicular to the central axis. Here, the second preset detection threshold can specifically be determined according to the dimensional parameters of the cleaning robot body.

[0195] Then, the cleaning robot can determine whether the current location of the obstacle to the cleaning robot is outside the effective detection range of the sensor system based on the first comparison result and the second comparison result.

[0196] Specifically, when implemented, if it is determined based on the first comparison result and the second comparison result that the first distance is smaller than the first preset detection threshold, the maximum value of the second distance is greater than the second preset detection threshold, and the minimum value of the second distance is smaller than the second preset detection threshold, it can be determined that the current cleaning robot is too close to an obstacle and that the current position of the obstacle relative to the cleaning robot exceeds the effective detection range of the sensor system; if the cleaning robot continues to drive in the current direction, it may collide with the obstacle again. In this case, the cleaning robot must pay attention to the obstacle.

[0197] Accordingly, the cleaning robot is automatically controlled to perform a movement that moves the cleaning robot away from the obstacle, so that the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system, thereby allowing the sensor system to effectively acquire three-dimensional information of the obstacle.

[0198] Here, the movement of moving away from the obstacle may specifically include a movement of moving backward along a straight line, a movement of moving backward along a diagonal line, or a movement of moving backward along an arc.

[0199] Specifically, for example, by controlling the cleaning robot to perform a corresponding backward movement to move away from the obstacle, the distance between the cleaning robot and the obstacle can be increased.

[0200] During the process of performing a backward movement, the cleaning robot may detect a first distance between the cleaning robot and an obstacle in real time or periodically by a sensor system. If it is detected that the first distance is greater than or equal to a first preset detection threshold, it can be determined that the position of the obstacle relative to the cleaning robot is already within the effective detection range of the sensor system. At this time, the cleaning robot may be controlled to stop the backward movement and temporarily remain at its current position. Furthermore, by detecting the location area where the obstacle was previously detected to exist (which may be indicated as an obstacle area) again by the sensor system and obtaining 3D information regarding the related obstacle again, the obstacle can be specifically detected and identified according to the 3D information of the obstacle obtained again.

[0201] Also, for example, the cleaning robot is controlled to first perform a steering motion to make the direction of the sensor system as similar as possible to or consistent with the direction in which the obstacle is located, and / or to find a reverse path that is not blocked by other obstacles as much as possible; then, a corresponding reverse motion is performed to move away from the obstacle, and if the distance between the cleaning robot and the obstacle is greater than or equal to a first preset detection threshold, the reverse motion is stopped.

[0202] Specifically, when implementing, if it is determined that the first distance is smaller than the first preset detection threshold and the maximum value of the second distance is smaller than the second preset detection threshold based on the first comparison result and the second comparison result, it can be determined that the current cleaning robot is too close to an obstacle and the current position of the obstacle relative to the cleaning robot has already exceeded the effective detection range of the sensor system; if the cleaning robot continues to drive in the current driving direction, it may collide with the obstacle again. In this case, the cleaning robot must pay attention to the obstacle. Correspondingly, the cleaning robot can be controlled to perform an action of moving away from the obstacle.

[0203] When specifically implemented, if, based on the first comparison result and the second comparison result, it is determined that the first distance is smaller than the first preset detection threshold and the minimum value of the second distance is larger than the second preset detection threshold, it can be determined that the current cleaning robot is too close to the obstacle and the current position of the obstacle relative to the cleaning robot has already exceeded the effective detection range of the sensor system; and the cleaning robot may not collide with the obstacle again even if it continues to drive in the current driving direction. At this time, the cleaning robot does not need to pay attention to the obstacle, and the cleaning robot may not need to perform the action of moving away from the obstacle. Specifically, for example, the cleaning robot can be controlled to continue driving and performing a task (e.g., cleaning), and at the same time, three-dimensional information about the obstacle ahead can be continuously collected through the sensor system.

[0204] Specifically, when implementing, if it is determined that the first distance is greater than or equal to the first preset detection threshold based on the first comparison result and the second comparison result, it can be determined that the current location of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system; or, it can be determined that there is no need to pay attention to the obstacle for a while because the obstacle is too far away from the cleaning robot to affect the robot's driving or operation. In this case, the cleaning robot may not need to perform the action of moving away from the obstacle.

[0205] In one embodiment, the specific value of the second preset detection threshold may be at least 0.45 times the maximum value of the length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot, and at least 0.55 times the maximum value of the length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot.

[0206] Specifically, for example, the specific value of the second preset detection threshold may be 0.51 times or 0.53 times the maximum value of the length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot. Also, for example, the second preset detection threshold may specifically be 180 mm or 200 mm.

[0207] Based on the above embodiment, by determining and using the second preset detection threshold as a relevant threshold for detection judgment, it is possible to more accurately determine whether the cleaning robot will collide with an obstacle during the driving process.

[0208] In one embodiment, the sensor system may specifically include one or more sensors among a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor; and the first preset detection threshold is the minimum value of the effective detection distance of the sensor.

[0209] Specifically, when implementing, the minimum value of the effective detection distance of each sensor in the sensor system can be determined; and then, from the minimum values ​​of multiple effective detection distances, the smallest value can be determined and set as the first preset detection threshold.

[0210] Based on the above embodiment, by determining and using the first preset detection threshold as a relevant threshold for detection determination, it is possible to more accurately determine whether the current location of an obstacle to the cleaning robot is outside the effective detection range of the sensor system.

[0211] In one embodiment, the cleaning robot performs a movement away from an obstacle until it moves to a first position; the distance between the first position and the obstacle is smaller than the maximum effective detection distance of the sensor in the sensor system.

[0212] In one embodiment, after performing a movement away from an obstacle, when specifically implementing the method, a steering movement may be performed to adjust the detection direction of the sensor system so that the sensor system obtains three-dimensional information about the obstacle.

[0213] Specifically, when implementing this, the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot can be determined first; then, the directional deviation angle between the sensor system and the obstacle can be determined based on the current detection direction of the sensor system and the current direction in which the obstacle is located relative to the cleaning robot; then, the cleaning robot is controlled according to the directional deviation angle to perform steering movements so that the sensor system can face the obstacle. This allows the sensor system to more effectively acquire 3D information about the obstacle that meets the requirements.

[0214] Specifically, when implemented, 3D information regarding rear obstacles can also be obtained; then, a reverse path free of obstacles is replanned and determined based on the 3D information regarding rear obstacles; then, a steering action is performed to match the corresponding reverse path, and then a reverse action can be performed along the corresponding reverse path. This effectively prevents the cleaning robot from colliding with rear obstacles during the reverse process.

[0215] In one embodiment, after performing a movement away from an obstacle, when specifically implementing the method, the method may further include: a step of performing a waiting operation; a step of detecting the obstacle area again by a sensor system during the waiting period; and a step of returning and performing a cleaning operation if the obstacle does not exist in the obstacle area.

[0216] After detection by the sensor system, when specifically implementing the above method, if the obstacle is present in the obstacle area, the step of replanning the cleaning path and performing a detour operation may be further included.

[0217] Specifically, for example, the obstacle area can be detected again through a distance-measuring sensor in the sensor system to determine whether the obstacle still exists in the obstacle area.

[0218] When it is determined that the obstacle no longer exists in the obstacle area, the cleaning robot replans the cleaning path; subsequently, it can perform a return cleaning action according to the cleaning path to return to the obstacle area and perform remedial cleaning.

[0219] If it is determined that an obstacle still exists in the obstacle area, the cleaning robot can re-acquire 3D information about the obstacle through a sensor system, detect and identify the obstacle based on this 3D information, and determine the specific type of the obstacle. Furthermore, depending on the specific type of the obstacle, it can re-plan a cleaning path that matches the obstacle and then perform a detour operation along that cleaning path. This allows the cleaning robot to clean as much of the area as possible while bypassing the obstacle, thereby achieving a better cleaning effect.

[0220] In one embodiment, after the obstacle area is detected again by the sensor system, when specifically implementing the method, if the obstacle is present in the obstacle area and the obstacle is a person, the method may further include the step of broadcasting relevant notification information by voice.

[0221] Specifically, if it is determined that an obstacle still exists in the obstacle area by detecting it again through the sensor system, high-quality and required 3D obstacle information can be effectively obtained through the sensor system.

[0222] Next, the obstacle 3D information can be processed using a pre-trained obstacle detection model to obtain the corresponding obstacle detection result. Here, the obstacle detection model can be understood as a neural network model capable of automatically identifying and determining obstacle types by pre-training using a large amount of sample obstacle 3D information.

[0223] Based on the obstacle detection result above, if the obstacle is determined to be a person, relevant notification information can be broadcast to the person. For example, a voice notification can be given asking the person to move aside for cleaning.

[0224] After broadcasting voice-related notification information, and after a preset period has elapsed (e.g., 1 minute), the sensor system detects the obstacle area again, and if there is no obstacle in the obstacle area, it returns and performs a cleaning operation.

[0225] As can be seen from this, the movement control method for a cleaning robot provided in the embodiment of the specification can acquire three-dimensional information about an obstacle by a sensor system during the driving process of the cleaning robot; detects that the obstacle has moved within the detection range of the sensor system, and if the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than the second preset detection threshold, it automatically determines that the current sensor system cannot effectively acquire high-quality, requirement-compliant three-dimensional information about the obstacle, and further performs an action to move away from the obstacle. This enables the sensor system of the cleaning robot to effectively acquire requirement-compliant three-dimensional information about the obstacle and implement accurate identification of the obstacle. Specifically, based on the three-dimensional information of the obstacle, features such as the type, shape, and size of the obstacle can be accurately identified, and more precise and effective obstacle identification results can be obtained; Based on the results of the obstacle identification, the cleaning robot can be made to adopt the most suitable obstacle avoidance or cleaning strategy.

[0226] The present specification further provides a method for controlling the movement of a cleaning robot applicable to a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about obstacles, and when specifically implementing the method,

[0227] In the course of driving a cleaning robot, when an obstacle moves within the detection range of a sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, and the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is less than a second preset detection threshold, the step of performing a steering operation may be included - wherein the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot.

[0228] Specifically, when implemented, if the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than a second preset detection threshold, it is determined that the current detection direction of the sensor system does not coincide with the current direction of the obstacle relative to the direction where the cleaning robot is located, and a certain deviation angle exists, and if the cleaning robot continues to drive along the current driving path, there is a relatively high probability of colliding with the obstacle.

[0229] In the above situation, by performing a steering motion, the deviation angle of the obstacle with respect to the detection direction of the sensor system and the position direction of the cleaning robot is effectively reduced so that the sensor system can face the obstacle as much as possible to better collect three-dimensional information of the obstacle; or by performing a steering motion, the cleaning robot can avoid the obstacle in front so that a collision between the cleaning robot and the obstacle can be avoided.

[0230] Specifically, for example, first, the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot can be determined; then, the directional deviation angle between the sensor system and the obstacle can be determined based on the current detection direction of the sensor system and the current direction in which the obstacle is located relative to the cleaning robot; then, the cleaning robot is controlled according to the directional deviation angle to perform steering actions to adjust the detection direction of the sensor system so that the sensor system can encounter the obstacle. This enables the sensor system to more effectively acquire three-dimensional information about the obstacle that meets the requirements. Furthermore, based on the three-dimensional information of the obstacle, features such as the type, shape, and size of the obstacle can be accurately identified, and more precise and effective obstacle identification results can be obtained; and based on the obstacle identification results, the cleaning robot can adopt the most suitable obstacle avoidance or cleaning strategy.

[0231] In one embodiment, the second preset detection threshold is 0.45 times or more of the maximum length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot, and 0.55 times or less of the maximum length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot.

[0232] The present specification further provides a method for controlling the movement of a cleaning robot applicable to a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about obstacles, and when specifically implementing the method,

[0233] In the course of driving a cleaning robot, if an obstacle exists and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold, the method may include the step of performing a steering operation - wherein the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; the first reference point is a point close to the obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and the second reference point is an intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, and the reference line is perpendicular to the central axis.

[0234] When specifically implemented, if the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, and the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold, then the current detection direction of the sensor system does not coincide with the current direction of the obstacle relative to the direction in which the cleaning robot is located, and a certain deviation angle exists, and if the cleaning robot continues to drive along the current driving path, it is determined that there is a relatively high probability of colliding with the obstacle.

[0235] In the above situation, by performing a steering motion, the deviation angle of the obstacle with respect to the detection direction of the sensor system and the position direction of the cleaning robot is effectively reduced so that the sensor system can face the obstacle as much as possible to better collect three-dimensional information of the obstacle; or by performing a steering motion, the cleaning robot can avoid the obstacle in front so that a collision between the cleaning robot and the obstacle can be avoided.

[0236] Referring to FIG. 7, an embodiment of the present specification further provides a cleaning robot, wherein the cleaning robot comprises a main body (701), a sensor system (702) equipped on the main body and capable of acquiring three-dimensional information about an obstacle, a processor (703) (or controller), and a memory (704) for storing instructions executable by the processor;

[0237] During the driving process of the cleaning robot, when the processor (703) executes a relevant instruction in memory (704), a relevant step of the movement control method of the cleaning robot is implemented so that the sensor system (702) effectively obtains three-dimensional information about obstacles that meet the requirements.

[0238] When specifically implemented, the processor (703) detects through the sensor system (702) that an obstacle has moved within the detection range of the sensor system, and if the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than a second preset detection threshold, the cleaning robot is controlled to move away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle; and the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot.

[0239] Specifically, when implemented, the processor (703) detects through the sensor system (702) that an obstacle has moved within the detection range of the sensor system, and if the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold, the cleaning robot is controlled to perform an action of moving away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle; and the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; The first reference point is a point close to an obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and the second reference point is the intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, and the reference line is perpendicular to the central axis.

[0240] Specifically, when implementing, the processor (703) detects through the sensor system (702) that an obstacle has moved into the detection range of the sensor system, and when the observation angle of the cleaning robot with respect to the obstacle is greater than a fourth preset detection threshold, the sensor system performs an action of moving away from the obstacle so that it can obtain three-dimensional information about the obstacle.

[0241] When specifically implemented, the processor (703) detects through the sensor system (702) that an obstacle has moved within the detection range of the sensor system, and if the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is less than a second preset detection threshold, the cleaning robot is controlled to perform a steering operation; and the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot.

[0242] When specifically implemented, the processor (703) detects through the sensor system (702) that an obstacle has moved within the detection range of the sensor system, and if the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, and the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold, the cleaning robot is controlled to perform a steering operation; the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; the first reference point is a point close to the obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and the second reference point is an intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, and the reference line is perpendicular to the central axis.

[0243] In the present embodiment, the processor (703) may be implemented in any suitable manner. For example, the processor may take the form of, for example, a microprocessor or a computer-readable medium storing computer-readable program code (e.g., software or firmware) that can be executed by said (micro)processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and a microcontroller. The present specification is not limited thereto.

[0244] In this embodiment, the memory (704) may include a plurality of levels, and any device capable of storing binary data in a digital system can be a memory; a circuit having a storage function without a physical form in an integrated circuit can also be a memory, such as RAM, FIFO, etc.; and a storage device having a physical form in a system can also be a memory, such as a memory stick, TF card, etc.

[0245] The embodiments of the present specification provide a computer-readable storage medium based on a method for controlling the movement of the cleaning robot, wherein a computer program instruction is stored in the computer-readable storage medium, and when the computer program instruction is executed, during the driving process of the cleaning robot, an obstacle moves within the detection range of the sensor system, and when the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than a second preset detection threshold, the step of performing a movement away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle—the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot—is performed.

[0246] Embodiments of the present specification provide another computer-readable storage medium based on a method for controlling the movement of the cleaning robot, wherein computer program instructions are stored in the computer-readable storage medium, and when the computer program instructions are executed, during the driving process of the cleaning robot, an obstacle exists, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold, the method of performing a movement away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle; wherein the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; The above first reference point is a point close to an obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and the above second reference point is the intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, and the above reference line is perpendicular to the above central axis - is performed.

[0247] The embodiments of the present specification provide a computer-readable storage medium based on a method for controlling movement of the cleaning robot, wherein a computer program instruction is stored in the computer-readable storage medium, and when the computer program instruction is executed, during the driving process of the cleaning robot, if an obstacle exists and the observation angle of the cleaning robot with respect to the obstacle is greater than a fourth preset detection threshold, the step of performing a movement away from the obstacle is performed so that the sensor system can acquire three-dimensional information about the obstacle.

[0248] The embodiments of the present specification provide a computer-readable storage medium based on a method for controlling movement of the cleaning robot, wherein a computer program instruction is stored in the computer-readable storage medium, and when the computer program instruction is executed, during the driving process of the cleaning robot, an obstacle moves within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is less than a second preset detection threshold, the step of performing a steering operation is performed - the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot.

[0249] Embodiments of the present specification provide another computer-readable storage medium based on a method for controlling the movement of the cleaning robot, wherein computer program instructions are stored in the computer-readable storage medium, and when the computer program instructions are executed, during the driving process of the cleaning robot, an obstacle moves within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, and the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is less than the third preset detection threshold, a step of performing a steering operation - wherein the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; The above first reference point is a point close to an obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and the above second reference point is the intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, and the above reference line is perpendicular to the above central axis - is performed.

[0250] In the present embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), Cache, Hard Disk Drive (HDD), or Memory Card. The memory may be used to store computer program instructions. The network communication unit may be an interface for network connection communication configured according to standards specified in the communication protocol.

[0251] In this embodiment, the functions and effects specifically implemented by the program instructions stored on the computer-readable storage medium may be explained in comparison with other embodiments, and a detailed description is omitted here.

[0252] The embodiments of the present specification also provide a computer program product comprising at least a computer program, wherein the relevant steps of a method for controlling the movement of the cleaning robot are implemented when the computer program is executed by a processor.

[0253] In terms of software, embodiments of the present specification also provide a movement control device for a cleaning robot, wherein the device may specifically include a control module.

[0254] Here, specifically, during the driving process of the cleaning robot, when an obstacle moves within the detection range of the sensor system, and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than a second preset detection threshold, the control module controls the cleaning robot to move away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle; and the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot.

[0255] As should be explained, the units, devices, or modules described in the above embodiments may be specifically implemented by computer chips or entities, or by products having specific functions. For convenience of explanation, when describing the above devices, they are classified into various modules according to their functions and described separately. Of course, when implementing this specification, it is also possible to implement the functions of each module using one or more software and / or hardware, or to implement modules that implement the same function by combining them into multiple sub-modules or sub-units. The embodiments of the devices described above are merely exemplary; for instance, the classification of the units is merely a logical functional classification, and different classification methods may be used in actual implementation. For instance, multiple units or components may be combined or integrated into different systems, or some features may be ignored or not implemented. Furthermore, the mutual coupling, direct coupling, or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device, or unit, which may be electrical, mechanical, or otherwise.

[0256] As can be seen from this, the movement control device of a cleaning robot provided by the embodiments of the present specification enables the sensor system of the cleaning robot to effectively acquire three-dimensional information about obstacles and to implement accurate identification of obstacles. Furthermore, based on the three-dimensional information of the obstacles, features such as the type, shape, and size of the obstacles can be accurately identified, and more precise and effective obstacle identification results can be obtained; and based on the obstacle identification results, the cleaning robot can adopt the most suitable obstacle avoidance or cleaning strategy.

[0257] Although this specification provides method operation steps as described in the embodiments or flowcharts, more or fewer steps may be included according to ordinary or non-creative means. The order of steps listed in the embodiments is only one of several orderings of step execution and does not represent the only order of execution. When a device or client product is actually executed, it may be performed according to the method sequence shown in the embodiments or drawings or in parallel (e.g., in a parallel processor or multithreaded processing environment or a distributed data processing environment). The term “comprising” or any other variation thereof means non-exclusive inclusion, so that a process, method, product, or device comprising a series of elements is intended to include a non-exclusive inclusion that includes not only such elements but also other elements not explicitly listed or other elements not explicitly listed for the purpose of such process, method, article, or device. Unless further limitations are given, it does not exclude that the process, method, product, or device comprising said elements also include other identical or equivalent elements. Words such as first, second, etc. are used to denote names and do not indicate any specific order.

[0258] Those skilled in the art will understand that, in addition to implementing the controller using purely computer-readable program code, it is entirely possible to logically program the method steps so that the controller can perform the same function in forms such as embedding logic gates, switches, application-specific integrated circuits, programmable logic controllers, and microcontrollers. Therefore, such a controller can be viewed as a hardware component, and the device included therein to implement various functions can also be viewed as a structure within the hardware component. Alternatively, the device for implementing various functions may be considered as a software module for implementing the method and as a structure within the hardware component.

[0259] This specification may be described in the general context of computer execution instructions executed by a computer, such as program modules. Generally, a program module includes routines, programs, objects, components, data structures, classes, etc., that perform specific tasks or implement specific abstract data types. This specification may also be executed in a distributed computing environment where tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules may be located on local and remote computer-readable storage media that include storage devices.

[0260] As can be seen from the description of the embodiments above, it is obvious to those skilled in the art that the present specification may be implemented using software and a necessary general-purpose hardware platform. Based on this understanding, the technical solution of the present specification may essentially be implemented in the form of a software product, said computer software product may be stored on a storage medium such as ROM / RAM, magnetic disk, CD-ROM, etc., and may be composed of a number of instructions to enable a computer device (such as a personal computer, mobile terminal, server, or network device) to perform the method described in various embodiments or specific parts of the embodiments of the present specification.

[0261] Various embodiments of this specification are described in an incremental manner, and identical or similar parts of each embodiment are to be referenced only to one another, and each embodiment is described with an emphasis on the differences from other embodiments. This specification may be used in numerous general-purpose or dedicated computer system environments or configurations. Examples may include personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices.

[0262] Although this specification has been described through embodiments, those skilled in the art will understand that many variations and modifications exist without departing from the spirit of this specification, and it is hoped that the appended claims will include such variations and modifications without departing from the spirit of this specification.

Claims

Claim 1 A method for controlling the movement of a cleaning robot, wherein the cleaning robot is applied to the cleaning robot and the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and the method comprises the step of, during the driving process of the cleaning robot, when an obstacle moves within the detection range of the sensor system and the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold, performing a movement to move away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle - wherein the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; A method for controlling the movement of a cleaning robot, characterized by including: the first reference point is a point close to an obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis line of the cleaning robot, and the second reference point is an intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, wherein the reference line is perpendicular to the central axis line. Claim 2 A method for controlling the movement of a cleaning robot according to claim 1, wherein the method further comprises the step of continuing to drive along the current driving path without performing a movement away from the obstacle when the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than or equal to a third preset detection threshold. Claim 3 A method for controlling the movement of a cleaning robot according to claim 1, wherein the sensor system comprises one or more sensors selected from a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor; and wherein the first preset detection threshold is the minimum value of the effective detection distance of the sensor among the sensor systems. Claim 4 A method for controlling the movement of a cleaning robot according to claim 3, wherein the cleaning robot performs a movement away from an obstacle until it moves to a first position; and the distance between the first position and the obstacle is smaller than the maximum effective detection distance of the sensor among the sensor systems. Claim 5 A method for controlling the movement of a cleaning robot according to claim 1, wherein, after performing a movement away from an obstacle, the method further comprises the step of performing a steering movement to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information about the obstacle. Claim 6 A method for controlling the movement of a cleaning robot according to claim 1, wherein, after performing a movement away from an obstacle, the method further comprises: a step of performing a waiting operation; a step of detecting the obstacle area again by a sensor system during the waiting period; and a step of returning and performing a cleaning operation when the obstacle does not exist in the obstacle area. Claim 7 A method for controlling the movement of a cleaning robot according to claim 6, wherein, after detecting an obstacle area again by a sensor system, the method further comprises the step of replanning the cleaning path and performing a detour operation if the obstacle exists in the obstacle area. Claim 8 A method for controlling the movement of a cleaning robot according to claim 6, wherein, after detecting an obstacle area again by a sensor system, the method further includes the step of broadcasting relevant notification information in voice if the obstacle exists in the obstacle area and the obstacle is a person. Claim 9 delete Claim 10 delete Claim 11 delete Claim 12 delete Claim 13 delete Claim 14 delete Claim 15 delete Claim 16 delete Claim 17 delete Claim 18 delete Claim 19 delete Claim 20 delete Claim 21 A method for controlling the movement of a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and the method comprises, in the course of driving the cleaning robot, a step of moving away from the obstacle so that the sensor system can acquire three-dimensional information about the obstacle when the obstacle moves within the detection range of the sensor system, the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than a second preset detection threshold. Claim 22 A method for controlling the movement of a cleaning robot according to claim 21, wherein the method further comprises the step of continuing to drive along the current driving path without performing a movement away from the obstacle when the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than or equal to a second preset detection threshold. Claim 23 A method for controlling the movement of a cleaning robot according to claim 21, wherein the second preset detection threshold is at least 0.45 times the maximum value of the length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot, and at least 0.55 times the maximum value of the length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot. Claim 24 A method for controlling the movement of a cleaning robot according to claim 21, wherein the sensor system comprises a binocular vision sensor. Claim 25 A method for controlling the movement of a cleaning robot according to claim 21, wherein the sensor system comprises one or more sensors selected from a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor; and wherein the first preset detection threshold is the minimum value of the effective detection distance of the sensor among the sensor systems. Claim 26 A method for controlling the movement of a cleaning robot according to claim 21, wherein the cleaning robot performs a movement away from an obstacle until it moves to a first position; and the distance between the first position and the obstacle is smaller than the maximum effective detection distance of the sensor among the sensor systems. Claim 27 A method for controlling the movement of a cleaning robot according to claim 21, wherein, after performing a movement away from an obstacle, the method further comprises the step of performing a steering movement to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information about the obstacle. Claim 28 A method for controlling the movement of a cleaning robot according to claim 21, wherein, after performing a movement away from an obstacle, the method further comprises: a step of performing a waiting operation; a step of detecting the obstacle area again by a sensor system during the waiting period; and a step of returning and performing a cleaning operation when the obstacle does not exist in the obstacle area. Claim 29 A method for controlling the movement of a cleaning robot according to claim 28, wherein, after detecting an obstacle area again by a sensor system, the method further comprises the step of replanning the cleaning path and performing a detour operation if the obstacle exists in the obstacle area. Claim 30 A method for controlling the movement of a cleaning robot according to claim 28, wherein, after detecting an obstacle area again by a sensor system, the method further comprises the step of broadcasting relevant notification information in voice if an obstacle exists in the obstacle area and the obstacle is a person. Claim 31 A method for controlling the movement of a cleaning robot, wherein the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information about an obstacle, and the method comprises the step of performing a steering operation when, during the driving process of the cleaning robot, the obstacle moves within the detection range of the sensor system, the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is less than a second preset detection threshold— wherein the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot. Claim 32 A method for controlling the movement of a cleaning robot according to claim 31, wherein the second preset detection threshold is at least 0.45 times the maximum value of the length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot, and at least 0.55 times the maximum value of the length of the main body of the cleaning robot along the direction perpendicular to the central axis of the cleaning robot. Claim 33 A method for controlling the movement of a cleaning robot, wherein the cleaning robot is applied to the cleaning robot and the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information regarding an obstacle, and the method comprises the step of performing a steering operation when, during the driving process of the cleaning robot, an obstacle moves within the detection range of the sensor system, the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is greater than or equal to a first preset detection threshold, the maximum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the angle between the connecting line between the first reference point of the cleaning robot and the second reference point of the obstacle and the current driving direction of the cleaning robot is smaller than the third preset detection threshold; wherein the central axis of the cleaning robot is parallel to the current driving direction of the cleaning robot; A method for controlling the movement of a cleaning robot, characterized by including: the first reference point is a point close to an obstacle along the current driving direction among the intersection points of the main body boundary of the cleaning robot and the central axis line of the cleaning robot, and the second reference point is an intersection point of the surrounding boundary of the obstacle and the reference line of the obstacle, wherein the reference line is perpendicular to the central axis line. Claim 34 A cleaning robot comprising a main body, a sensor system provided on the main body and capable of acquiring three-dimensional information about an obstacle, a processor, and a memory for storing instructions executable by the processor; wherein, during the driving process of the cleaning robot, when the processor executes the instructions, any one of the steps of a movement control method of the cleaning robot according to claims 1 to 8 and 21 to 33 is implemented to enable the sensor system to acquire three-dimensional information about the obstacle. Claim 35 A computer-readable storage medium, wherein the computer-readable storage medium comprises a stored program and, when the program is executed, performs any one of claims 1 to 8 and claims 21 to 33 a movement control method of the cleaning robot.

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