Cleaning robot

Abstract

The present disclosure provides a cleaning robot, including an obstacle sensing unit for sensing obstacles, a driving unit for driving the cleaning robot to travel on a surface, and a control unit. The control unit includes a zigzag program module, an obstacle avoidance program module, a continuous cleaning program module, and a supplementary cleaning program module. The cleaning robot having the above structure and / or program modules not only reduces the path of repeated walking during the cleaning process, but also enables the cleaning robot to be exactly located at the boundary of the target area when just traversing the entire target area, facilitating the cleaning robot to enter the next area and then clean the next area.

Description

Technical Field

[0001] The present disclosure belongs to the technical field of cleaning equipment, and specifically provides a cleaning robot. Background Art

[0002] With the improvement of living standards, intelligent cleaning robots are entering more and more families.

[0003] Existing cleaning robots include floor-sweeping robots, floor-mopping robots, sweeping and mopping integrated robots, etc. When cleaning the floor in a room, the cleaning robot usually travels along trajectories such as "zigzag", "bow-shaped", "Y-shaped", etc., so as to be able to traverse all the floors in the room and clean all the floors in the room.

[0004] When encountering an obstacle, the cleaning robot usually travels around the obstacle and cleans it in a circle, and then returns to the original planned travel path such as "zigzag", "bow-shaped", "Y-shaped", etc., and continues to clean the room.

[0005] Figures 1.1 to 1.5 Shown is the situation when the cleaning robot 1 encounters an obstacle 2 in the room.

[0006] As Figures 1.1 to 1.3 shown, after the cleaning robot 1 encounters the obstacle 2, it travels around the contour of the obstacle 2 for one week starting from the encounter position between the cleaning robot 1 and the obstacle 2 ( Figure 1.1 the position where the cleaning robot 1 is located in the figure). As Figure 1.2 shown, when the cleaning robot 1 travels around the contour of the obstacle 2 for one week and then returns to the encounter position again, it then starts a zigzag traversal of the area to the left of the obstacle 2 starting from the encounter position until the cleaning robot 1 walks to Figure 1.3 the position shown in the figure. So far, the cleaning robot 1 has completed the first cleaning of the target area (the area enclosed by the wall 3 in the figure). However, as can be seen from Figure 1.3 the figure, there are still areas that have been missed during cleaning (the areas to be cleaned that are not covered by the zigzag trajectory during the first cleaning process) in the target area, and these missed areas exist on the right side, upper side, and upper left side of the obstacle 2. In order to achieve a complete cleaning of the target area by the cleaning robot 1, it is necessary for the cleaning robot 1 to perform a supplementary cleaning of the missed areas.

[0007] As Figure 1.4 shown, the cleaning robot 1 first advances to the lower right of the missed area on the right side of the obstacle 2, and then starts to perform a supplementary cleaning of the missed area there. After finishing cleaning this area, it continues to clean the missed area on the top of the obstacle 2 until the cleaning robot 1 walks to Figure 1.4 the upper left corner shown in the figure.

[0008] FromFigure 1.4 It is not difficult to see that there is still an area in the upper left of the obstacle 2 that has not been cleaned. To clean this area, the cleaning robot 1 needs to move from Figure 1.4 the upper left corner in Figure 1.5 to the position shown in

[0009] When it is necessary to clean the next area, the cleaning robot 1 needs to move from Figure 1.5 the position shown in Figure 1.3 to the lower right corner of the target area shown in Figure 1.4 or the upper left corner of the target area shown in Figures 1.1 to 1.5 or move to other edges shown in

[0010] It can be seen that when the existing cleaning robot 1 travels along a zigzag trajectory, when encountering an obstacle and after traversing all areas, the end point may not be on the boundary of the target area, resulting in the cleaning robot 1 walking to the boundary of the target area first, and further resulting in a situation where the cleaning robot 1 has a relatively large number of repeated walking routes.

[0011] Figures 2.1 to 2.6 What is shown is the situation when the cleaning robot 1 cleans a room without obstacles.

[0012] As Figures 2.1 to 2.3 shown, before cleaning the entire room, the cleaning robot 1 will first perform an edge operation on the wall 3 of the room, that is, travel around the inner contour of the wall 3 for one week. Specifically as follows:

[0013] The cleaning robot 1 first moves from Figure 2.1 the position shown in Figure 2.2 towards the nearest wall (as shown in Figure 2.3 ) and moves to the encounter position where the cleaning robot 1 is located in Figure 2.4 . Then it travels around the inner contour of the wall 3 for one week and reaches this encounter position again. Then, starting from this encounter position, the cleaning robot 1 traverses the lower part of the target area along a zigzag trajectory as shown in Figure 2.4 until it reaches the lower right corner shown in Figure 2.4 . Then, the cleaning robot 1 moves from Figure 2.4 the position shown in Figure 2.5 to the position shown in Figure 2.6 and traverses the upper part of the target area along a zigzag trajectory as shown in Figure 2.6 . Summary of the Invention

[0014] The present disclosure aims to provide a robot that can perform a cleaning operation along a "zigzag" trajectory, while enabling the robot to have fewer repeated routes during the process of cleaning the target area.

[0015] To this end, the present disclosure provides a cleaning robot, including an obstacle sensing unit for sensing obstacles, a driving unit for driving the cleaning robot to travel on a surface, and a control unit. The control unit at least includes the following program modules:

[0016] A zigzag program module configured to be able to control the cleaning robot to travel along a zigzag trajectory in a target area. The zigzag trajectory includes a trajectory in a first traveling direction, a trajectory in a second traveling direction, and a trajectory in a third traveling direction. The first traveling direction is parallel to and opposite to the second traveling direction, and the third traveling direction is used to enable the cleaning robot to transition from one of the first traveling direction and the second traveling direction to the other;

[0017] An obstacle avoidance program module configured to be able to control the cleaning robot to travel around the contour of the obstacle at least once starting from the encounter position between the cleaning robot and the obstacle after encountering the obstacle;

[0018] A continuous cleaning program module configured to be able to control the cleaning robot to continue traveling around the contour of the obstacle to a connection point after traveling around the contour of the obstacle for at least one week, and then re - call the zigzag program module to enable the cleaning robot to continue traveling along the zigzag trajectory towards the area to be cleaned in the target area; wherein,

[0019] The connection point is the tangent point of the straight line parallel to the first traveling direction and the contour, and the connection point is located on the side of the contour close to the encounter position.

[0020] Optionally, there are multiple such tangent points on the contour, and the connection point is the tangent point with the shortest distance between the multiple tangent points and the encounter position.

[0021] Optionally, there are multiple such tangent points on the contour, and in the traveling direction opposite to the third traveling direction, the tangent point with the farthest distance from the encounter position among the multiple tangent points is used as the connection point.

[0022] Optionally, the control unit further includes a supplementary cleaning program module configured to be able to control the cleaning robot to perform supplementary cleaning on the area to be cleaned in the target area that is not covered by the zigzag trajectory.

[0023] Optionally, the supplementary cleaning program module is further configured to:

[0024] Determine a supplementary cleaning starting point based on the contour of the obstacle;

[0025] Cause the cleaning robot to travel to the supplementary cleaning starting point, and re - call the zig - zag program module to cause the cleaning robot to perform supplementary cleaning on the area to be cleaned that is not covered by the zig - zag trajectory.

[0026] Optionally, there are multiple such obstacles in the target area; the supplementary cleaning program module is further configured to:

[0027] Determine a supplementary cleaning starting point respectively based on the contour of each obstacle;

[0028] In the order from near to far, cause the cleaning robot to travel to each supplementary cleaning starting point in turn, and re - call the zig - zag program module in turn to cause the cleaning robot to perform supplementary cleaning on each area to be cleaned that is not covered by the zig - zag trajectory.

[0029] Optionally, there are multiple such tangent points on the contour, the supplementary cleaning starting point is the tangent point of the straight line parallel to the first traveling direction and the contour, and the supplementary cleaning starting point is located on the side of the contour far from the encounter position.

[0030] Optionally, the supplementary cleaning starting point is the one with the farthest distance between the tangent points and the encounter position.

[0031] Optionally, in the traveling direction opposite to the third traveling direction, use the tangent point with the farthest distance from the encounter position among the multiple tangent points as the supplementary cleaning starting point.

[0032] Optionally, the obstacle sensing unit includes at least one of a lidar, an image acquisition unit, a collision sensor, and a border sensor.

[0033] Based on the foregoing description, those skilled in the art can understand that in the foregoing technical solutions of the present disclosure, by enabling the cleaning robot to travel along a zigzag trajectory, the cleaning robot can travel along the first traveling direction, the second traveling direction, and the third traveling direction of the zigzag. By enabling the cleaning robot to travel around the contour of the obstacle at least once starting from the encounter position between the cleaning robot and the obstacle after encountering the obstacle, the cleaning robot can clean the ground at the contour of the obstacle, avoiding the situation of missed cleaning at the concave or corner of the obstacle when the cleaning robot travels along the zigzag trajectory. By enabling the cleaning robot to walk to the connection point (the tangent point of the straight line parallel to the first traveling direction and the contour) of the contour of the obstacle after traveling around the obstacle at least once, and then continue to travel along the zigzag trajectory, the cleaning robot can always use an end point (the aforementioned connection point) of the obstacle as the starting point to continue traveling along the zigzag trajectory after traveling around the obstacle at least once, thereby enabling the cleaning robot to traverse all areas on one side (one of the opposite two sides) of the obstacle after traveling around the obstacle at least once. And the contour line of this side of the obstacle constitutes part of the contour line of this side area, making the area based on the contour line of this side of the obstacle more regular, and the regular area is more conducive to the cleaning robot to perform cleaning. Therefore, the cleaning robot of the present disclosure avoids the existence of a missed cleaning area (the area to be cleaned not covered by the zigzag trajectory during the first cleaning process) when this side area is not completely traversed, resulting in the cleaning robot needing to perform supplementary cleaning on this area, thereby reducing the repeated routes traveled by the cleaning robot during supplementary cleaning.

[0034] Those skilled in the art can understand that regardless of the number of obstacles in the target area, the cleaning robot of the present disclosure can use the foregoing technical means to clean the area on one side of each obstacle respectively. Therefore, whether there is one obstacle or multiple obstacles in the target area, the cleaning robot of the present disclosure can use the same set of logic and / or program to clean the target area, avoiding setting multiple programs for the cleaning robot to cope with different numbers of obstacles.

[0035] Those skilled in the art can also understand that since the connection point is the tangent point of the straight line parallel to the first traveling direction and the contour of the obstacle, and the cleaning robot can accurately and precisely obtain / identify this tangent point on the contour of the obstacle, the cleaning robot can accurately obtain this connection point by obtaining this tangent point, so that the cleaning robot can accurately move from any position in the target area to this connection point.

[0036] Further, when there are multiple tangent points on the contour, by using the tangent point with the shortest distance between the multiple tangent points and the encounter position as the connection point, the cleaning robot can first traverse the area on the side of the obstacle close to the encounter position.

[0037] Further, when there are multiple tangent points on the contour, by taking, in the traveling direction opposite to the third traveling direction, the tangent point that is the farthest from the encounter position among the multiple tangent points as the connection point, it is ensured that the cleaning robot will necessarily traverse the area on one side of the obstacle close to the encounter position after traveling around the obstacle. By taking, in the traveling direction opposite to the third traveling direction, the tangent point that is the farthest from the encounter position among the multiple tangent points on the side of the obstacle contour away from the encounter position as the starting point for supplementary cleaning, it is ensured that the cleaning robot can start from this starting point for supplementary cleaning and traverse all areas on the side of the obstacle away from the encounter position. And the contour line on this side of the obstacle constitutes part of the contour line of the area on this side, making the area based on the contour line on this side of the obstacle more regular, and a more regular area is more conducive to the cleaning robot to perform cleaning. Therefore, the cleaning robot of the present disclosure can clean the area on one side of the obstacle during the first cleaning of the ground and clean the area on the other side of the obstacle during supplementary cleaning, thus achieving the purpose of completely traversing the areas on both sides of the obstacle.

[0038] Those skilled in the art can understand that after the cleaning robot performs edge operation on the target area and starts cleaning operation from a certain corner of the target area (such as the upper left corner), no matter how many obstacles there are in the target area, the cleaning robot only needs to perform supplementary cleaning once to complete the cleaning of the target area. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The preferred embodiments of the present disclosure will be described below with reference to the accompanying drawings, in which:

[0040] Figures 1.1 to 1.5 is a schematic diagram of an existing cleaning robot encountering an obstacle during the process of traveling along a zigzag trajectory;

[0041] Figures 2.1 to 2.6 is a schematic diagram of an existing cleaning robot not encountering an obstacle during the process of traveling along a zigzag trajectory;

[0042] Figure 3 is a schematic diagram of the structure of the cleaning robot of the present disclosure;

[0043] Figures 4.1 to 4.7 is a schematic diagram of the cleaning robot of the present disclosure encountering a single obstacle during the process of traveling along a zigzag trajectory;

[0044] Figures 5.1 to 5.8 is a schematic diagram of the cleaning robot of the present disclosure encountering multiple obstacles during the process of traveling along a zigzag trajectory;

[0045] Figures 6.1 to 6.5 is a schematic diagram of an existing cleaning robot not encountering an obstacle during the process of traveling along a zigzag trajectory.

[0046] List of reference numerals:

[0047] 1. Cleaning robot; 11. Control unit; 111. Zigzag program module; 112. Obstacle avoidance program module; 113. Continuous cleaning program module; 114. Supplementary cleaning program module; 12. Obstacle sensing unit; 13. Driving unit;

[0048] 2. Obstacle; 21. Connection point;

[0049] 3. Wall. Detailed implementation manners

[0050] Those skilled in the art should understand that the embodiments described below are only the preferred embodiments of the present disclosure, and do not mean that the present disclosure can only be implemented through these preferred embodiments. These preferred embodiments are only used to explain the technical principles of the present disclosure, rather than to limit the protection scope of the present disclosure. Based on the preferred embodiments provided by the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts should still fall within the protection scope of the present disclosure.

[0051] It should be noted that in the description of the present disclosure, each functional module can be either a physical module composed of multiple structures, components or electronic components, or a virtual module composed of multiple programs; each functional module can exist independently of each other, or can be a module divided from an overall module according to functions. Those skilled in the art should understand that on the premise of being able to implement the technical solutions described in the present disclosure, no matter how the composition manner, implementation manner, and positional relationship of each functional module change, they will not deviate from the technical principles of the present disclosure, and therefore should all fall within the protection scope of the present disclosure.

[0052] In addition, it should also be noted that in the description of the present disclosure, unless otherwise clearly specified and limited, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a wired connection, a wireless connection, or a communication connection (including wired connection and wireless connection). For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

[0053] As Figure 3 shown, in the preferred embodiment of the present disclosure, the cleaning robot 1 includes a control unit 11, an obstacle sensing unit 12, and a driving unit 13. Among them, the control unit 11 is respectively communicatively connected to the obstacle sensing unit 12 and the driving unit 13, so as to be able to receive signals from the obstacle sensing unit 12 and be able to send control signals to the obstacle sensing unit 12; and be able to receive signals from the driving unit 13 and be able to send control signals to the driving unit 13.

[0054] Although not shown in the figure, the obstacle sensing unit 12 includes at least one of a lidar, an image acquisition unit, a collision sensor, and an edge sensor. Specifically, those skilled in the art can refer to the existing cleaning robot 1 to set the lidar, the image acquisition unit, the collision sensor, and / or the edge sensor on the cleaning robot 1.

[0055] Furthermore, although not shown in the figure, the driving unit 13 includes a motor and a driving wheel driven by the motor. The control unit 11 controls the rotation of the driving wheel by controlling the rotation direction and speed of the motor, thereby controlling the traveling attitude of the cleaning robot 1.

[0056] Continue to refer to Figure 3 , the control unit 11 includes a zigzag program module 111, an obstacle avoidance program module 112, a continuous sweeping program module 113, and a supplementary sweeping program module 114. Among them, the zigzag program module 111 is used to control the cleaning robot 1 to travel along a zigzag trajectory. The obstacle avoidance program module 112 is used to control the cleaning robot 1 to travel around the contour of an obstacle. The continuous sweeping program module 113 is used to make the cleaning robot 1 re - call the zigzag program module 111 after traveling around the obstacle, and then make the cleaning robot 1 continue to travel along the zigzag trajectory. The supplementary sweeping program module 114 is used to control the cleaning robot 1 to clean the areas missed during the first cleaning of the target area.

[0057] Specifically, the zigzag program module 111 is configured to be able to control the cleaning robot 1 to travel along a zigzag trajectory in the target area. The zigzag trajectory includes a trajectory in a first traveling direction, a trajectory in a second traveling direction, and a trajectory in a third traveling direction. The first traveling direction is parallel and opposite to the second traveling direction, and the third traveling direction is used to make the cleaning robot 1 transition from one of the first traveling direction and the second traveling direction to the other.

[0058] Refer to Figure 1.5 to explain the zigzag trajectory: Figure 1.5 The arrow pointing to the left in Figure 1.5 represents the first traveling direction; Figure 1.5 The arrow pointing to the right in Figure 1.5 represents the second traveling direction; Figure 1.5 The vertical line segment in Figure 1.5 represents the third traveling direction, and the third traveling direction is from top to bottom in Figure 1.5 Of course, those skilled in the art can also, according to needs, use Figure 1.5 The arrow pointing to the left in

[0059] Those skilled in the art can understand that since the trajectory in the third traveling direction is only to move the cleaning robot 1 from the trajectory in the first traveling direction to the trajectory in the second traveling direction, or to move the cleaning robot 1 from the trajectory in the second traveling direction to the trajectory in the first traveling direction, the trajectory in the third traveling direction can be perpendicular to the first traveling direction or not perpendicular to the first traveling direction; and the trajectory in the third traveling direction can be a straight line segment, an arc segment, or other curved line segments. Therefore, the third traveling direction in the present disclosure refers to the extended direction of the ray from one end point to another end point on the straight line segment, arc segment, or line segment.

[0060] Further specifically, the obstacle avoidance program module 112 is configured to be able to control the cleaning robot 1 to travel at least one week around the contour of the obstacle with the encounter position between the cleaning robot 1 and the obstacle as the starting point after encountering the obstacle. It should be noted that the obstacle can be the obstacle 2 within the target area shown in the figure, or the wall at the edge of the target area (such as Figures 5.1 to 5.8 shown).

[0061] Further specifically, the continuous cleaning program module 113 is configured to be able to control the cleaning robot 1 to continue to travel around the contour of the obstacle to the connection point after traveling at least one week around the contour of the obstacle, and then re - call the zig - zag program module 111, so that the cleaning robot 1 continues to travel along the zig - zag trajectory towards the area to be cleaned in the target area.

[0062] Wherein, the connection point is the tangent point of the straight line parallel to the first traveling direction and the contour, and the connection point is located on the side of the contour close to the encounter position. The connection point and the tangent point will be described in detail below in combination with specific working scenarios.

[0063] Further specifically, the supplementary cleaning program module 114 is configured to be able to control the cleaning robot 1 to perform supplementary cleaning on the area to be cleaned in the target area that is not covered by the zig - zag trajectory.

[0064] In order to enable those skilled in the art to more clearly understand the technical solution of the present disclosure, the working principle of the cleaning robot 1 will be described in detail below in combination with Figures 4.1 to 4.7 and Figures 5.1 to 5.8 .

[0065] Among them, Figures 4.1 to 4.7 shows the movement trajectory of the cleaning robot 1 when there is only one obstacle 2 in the room; Figures 5.1 to 5.8 shows the movement trajectory of the cleaning robot 1 when there are multiple (specifically two) obstacles 2 in the room.

[0066] It should be noted that in Figures 4.1 to 4.7 and Figures 5.1 to 5.8In the process of the cleaning robot 1 cleaning the target area for the first time, the third traveling direction is the direction from top to bottom in the corresponding figure; in the process of the cleaning robot 1 supplementing and cleaning the missed area (the area to be cleaned that is not covered by the zigzag trajectory during the first cleaning process), the third traveling direction is the direction from bottom to top in the corresponding figure. For example, Figure 4.6 the direction from top to bottom in the figure represents the third traveling direction, Figure 4.7 and the direction from bottom to top in the supplemented cleaning area (the trajectory added relative to Figure 6) represents the third traveling direction.

[0067] For example, Figures 4.1 to 4.3 as shown, when the cleaning robot 1 detects the obstacle 2 through the obstacle sensing unit 12, the cleaning robot 1 moves from the Figure 4.1 position shown to the Figure 4.2 position shown. Figure 4.2 The position where the cleaning robot 1 is located in the figure is the encounter position between the cleaning robot 1 and the obstacle 2. Then, the obstacle avoidance program module 112 controls the cleaning robot 1 to circle around the obstacle 2 once in the clockwise direction starting from the encounter position in the Figure 4.2 figure, and returns to the encounter position again (as shown in Figure 4.3 the figure).

[0068] For example, Figure 4.4 as shown, the cleaning robot 1 obtains the successive point 21 on the contour of the obstacle 2. Exemplarily, during the process of the cleaning robot 1 traveling around the obstacle 2 for one week, the cleaning robot 1 obtains the contour of the obstacle 2 through the obstacle sensing unit 12, and then finds the tangent point of the straight line parallel to the first traveling direction ( Figure 4.4 the direction indicated by the arrow at the cleaning robot 1 in the figure) and the contour, so as to obtain the successive point 21.

[0069] It can be seen from Figure 4.4 the figure that the tangent points satisfying the above conditions include two parts. One part is the end point located at the top of the obstacle 2, and the other part is the side line located at the bottom of the obstacle 2, and there are multiple tangent points on this side line. Select the tangent point that satisfies the following conditions as the successive point 21 from all the tangent points satisfying the above conditions. The condition is: in the traveling direction opposite to the third traveling direction ( Figure 4.6 the direction from top to bottom), the tangent point that is the farthest from the encounter position among the multiple tangent points is used as the successive point (such as the position where the cleaning robot 1 is located in Figure 4.5 the figure).

[0070] It should be noted that in the present disclosure, the tangent line of a straight line segment is the straight line that coincides with the straight line segment; the tangent points of a straight line segment are all the points that make up the straight line segment. In other words, every point on the straight line segment is its tangent point.

[0071] For example, Figure 4.5 and Figure 4.6As shown, the continuous cleaning program module 113 controls the cleaning robot 1 to walk from the encounter position (such as the position where the cleaning robot 1 is located in Figure 4.3 ) to the connection point 21 (such as the position where the cleaning robot 1 is located in Figure 4.5 ), and then calls the zigzag program module 111 to make the zigzag program module 111 control the cleaning robot 1 to traverse the area on the left and below the obstacle 2 along the zigzag trajectory until the cleaning robot 1 moves to the bottom right corner of Figure 4.6 .

[0072] Such as Figure 4.6 and Figure 4.7 shown, the supplementary cleaning program module 114 makes the cleaning robot 1 move to the missed cleaning area (the area to be cleaned that is not covered by the zigzag trajectory during the first cleaning process) and calls the zigzag program module 111 to make the zigzag program module 111 control the cleaning robot 1 to clean the missed cleaning area along the zigzag trajectory. Specifically, the supplementary cleaning program module 114 makes the cleaning robot 1 move to the lower right of the missed cleaning area on the right side of the obstacle 2 in Figure 4.6 , and then calls the zigzag program module 111 to make the zigzag program module 111 control the cleaning robot 1 to clean all the missed cleaning areas along the zigzag trajectory until the cleaning robot 1 moves to the position shown in Figure 4.7 .

[0073] Next, in combination with Figures 5.1 to 5.8 , the working principle of the cleaning robot 1 of the present disclosure will be further described.

[0074] Such as Figures 5.1 to 5.3 shown, when the cleaning robot 1 detects the first obstacle 2 through the obstacle sensing unit 12, the cleaning robot 1 moves from the position shown in Figure 5.1 to the position shown in Figure 5.2 . Figure 5.2 The position where the cleaning robot 1 is located in Figure 5.2 is the encounter position between the cleaning robot 1 and the first obstacle 2. Then, the obstacle avoidance program module 112 controls the cleaning robot 1 to circle around the first obstacle 2 in the clockwise direction starting from the encounter position in Figure 5.3 shown) and return to the encounter position again.

[0075] Such as Figure 5.4 shown, the cleaning robot 1 obtains the connection point A on the contour of the first obstacle 2. Exemplarily, during the process of the cleaning robot 1 circling around the first obstacle 2 for one week, the cleaning robot 1 obtains the contour of the first obstacle 2 through the obstacle sensing unit 12, and then finds the tangent point of the straight line parallel to the first traveling direction (the direction indicated by the arrow at the cleaning robot 1 in Figure 5.4 ) and the contour, so as to obtain the connection point A.

[0076] From Figure 5.4 it is not difficult to see that the tangent points satisfying the above conditions include two parts. One part is the side line at the top end of the first obstacle 2, and the other part is the side line at the bottom end of the first obstacle 2. There are multiple tangent points on each side line. Select the tangent points that satisfy the following two conditions from all the tangent points that satisfy the above conditions as the connection point 21. The first condition is that the tangent point is located on the side of the contour of the first obstacle 2 close to the encounter position, that is, the left ends of the upper and lower two side lines of the first obstacle 2. It can be seen that there are two tangent points that satisfy the first condition. The second condition is that in the main traveling direction of the cleaning robot 1, the tangent point that is the most upstream in the main traveling direction among the multiple tangent points is used as the connection point. At this time, it can be determined that there is only 1 tangent point that satisfies the above two conditions, that is Figure 5.4 point A shown in

[0077] It should be noted that the "main traveling direction" refers to the direction in which the cleaning robot 1 moves forward and is perpendicular to the first traveling direction and the second traveling direction during the process of cleaning the target area. Exemplarily Figure 1.3 the direction from top to bottom in the first cleaning trajectory shown in Figure 2.4 the direction from top to bottom in the first cleaning trajectory shown in Figure 4.6 the direction from top to bottom in the first cleaning trajectory shown in Figure 5.5 the direction from top to bottom in the first cleaning trajectory shown in Figure 1.4 the direction from bottom to top in the supplementary cleaning trajectory shown in the upper right corner Figure 2.6 the direction from bottom to top in the supplementary cleaning trajectory shown in the upper part Figure 4.7 the direction from bottom to top in the supplementary cleaning trajectory shown in the upper right corner

[0078] As Figure 5.5 shown, the continuous cleaning program module 113 controls the cleaning robot 1 to walk from the encounter position (such as Figure 5.3 the position where the cleaning robot 1 is located in Figure 5.5 shown) to the connection point A, and then calls the zigzag program module 111, so that the zigzag program module 111 controls the cleaning robot 1 to traverse the area on the left and below the first obstacle 2 along the zigzag trajectory until the cleaning robot 1 travels to

[0079] As Figure 5.6 shown, the obstacle avoidance program module 112 controls the cleaning robot 1 to start from the encounter position B in Figure 5.5 and go around the second obstacle 2 in a clockwise direction for one circle and return to the encounter position B again. And again through the above-mentioned first condition and second condition, it is determined that the connection point of the second obstacle 2 is B. From Figure 5.6As can be seen, during this process, the third traveling direction is Figure 5.6 from top to bottom in

[0080] Continuing to refer to Figure 5.6 , the continuous sweeping program module 113 controls the cleaning robot 1 to walk from the encounter position B to the connection point B, and then calls the zigzag program module 111, so that the zigzag program module 111 controls the cleaning robot 1 to traverse the area on the right and below the second obstacle 2 along a zigzag trajectory until the cleaning robot 1 travels to Figure 5.6 the C point shown in

[0081] As Figure 5.7 shown, the supplementary sweeping program module 114 moves the cleaning robot 1 to the missed sweeping area on the left side of the second obstacle 2 (the area to be cleaned that was not covered by the zigzag trajectory during the first cleaning process), and determines the supplementary sweeping starting point as D through the aforementioned first condition and second condition. Then it calls the zigzag program module 111, so that the zigzag program module 111 controls the cleaning robot 1 to traverse the area on the left side of the second obstacle 2 along a zigzag trajectory until the area is completely traversed. From Figure 5.7 it can be seen that during this process, the third traveling direction is Figure 5.7 from bottom to top in

[0082] As Figure 5.7 and Figure 5.8 shown, after traversing the area on the left side of the second obstacle 2, the supplementary sweeping program module 114 moves the cleaning robot 1 to the missed sweeping area on the right side of the first obstacle 2 (the area to be cleaned that was not covered by the zigzag trajectory during the first cleaning process), and determines the supplementary sweeping starting point as the lower right corner E point of the first obstacle 2 through the aforementioned first condition and second condition. Then it calls the zigzag program module 111, so that the zigzag program module 111 controls the cleaning robot 1 to continue traveling along a zigzag trajectory until it travels to Figure 5.8 the F point shown in

[0083] From Figures 5.1 to 5.8 it is not difficult to see that after the first cleaning of the target area, the supplementary sweeping program module 114 is based on the current position of the cleaning robot 1, and then in the order from near to far, determines a supplementary sweeping starting point (D and E) for each obstacle 2 respectively, and then calls the zigzag program module 111 in turn, so that the cleaning robot 1 performs supplementary cleaning on each area to be cleaned that was not covered by the zigzag trajectory.

[0084] Based on the foregoing description, those skilled in the art can understand that the cleaning robot 1 of the present disclosure Figures 4.1 to 4.7 and Figures 5.1 to 5.8In the environment shown, the entire area can be cleaned with only one supplementary sweep. Compared with Figures 1.1 to 1.5 the path shown in Figure 4.6 , there is no repeated walking route, and the end point of the cleaning robot 1 when traversing the entire area is located at the corner of the area, enabling the cleaning robot 1 to quickly enter the next area to be cleaned. Further, it can be seen from

[0085] that when the cleaning robot 1 of the present disclosure cleans the area with obstacles, part of the edge of the missed area after the first cleaning is the contour of the obstacle 2. In other words, the cleaning robot 1 of the present disclosure only requires the first cleaning and one supplementary sweep, and these two cleanings can cover the entire area around the obstacle 2. Figure 5.6 It can be seen from Figure 5.5 that the missed area on the left side of the second obstacle 2 is relatively regular. Therefore, those skilled in the art can also, according to needs, after the cleaning robot 1 goes around the obstacle 2 at least one circle, in the third traveling direction, use the tangent point that is the farthest from the encounter position among multiple tangent points as the continuation point. For example, after the cleaning robot 1 goes around

[0086] Figures 6.1 to 6.5 the first obstacle 2 on the left side in

[0087] at least one circle, use the tangent point at the lower left corner of the obstacle 2 (below point A) as the starting point and start traveling along a zigzag trajectory. Figures 6.1 to 6.4 As shown in

[0088] , before cleaning the entire room, the cleaning robot 1 will first perform an edge operation on the wall 3 of the room, that is, travel around the inner contour of the wall 3 for one week. Specifically as follows: Figure 6.1 The cleaning robot 1 first moves from the position shown in Figure 6.2 towards the nearest wall 3 (as shown in Figure 6.3 ) and moves to the encounter position where the cleaning robot 1 is located in

[0089] Those skilled in the art can understand that although the cleaning robot 1 does not travel along a zigzag path during the movement along the wall 3, the cleaning robot 1 travels along a zigzag trajectory when traversing the target area inside the wall 3. Therefore, based on the zigzag trajectory that the cleaning robot 1 will walk in the target area, find a continuation point that satisfies the aforementioned first condition and second condition, and make the cleaning robot 1 move to this continuation point (as shown in Figure 6.4 ), and then make the cleaning robot 1 travel along the zigzag trajectory from the position shown in Figure 6.4 toFigure 6.5 at the position shown, and thus traverse the target area completely.

[0090] Therefore, the cleaning robot 1 of the present disclosure only needs to perform one cleaning to completely traverse the target area without obstacles, without the need for additional cleaning.

[0091] In summary, the cleaning robot 1 of the present disclosure can start cleaning the room from any position on the boundary of the target area (such as the wall 3), and regardless of the number of obstacles in the room, it can complete the complete traversal of the entire target area only through the first cleaning and one additional cleaning. Compared with the prior art, not only the repeated walking route of the cleaning robot 1 is reduced, but also the cleaning robot 1 can be located on the boundary of the target area when it just finishes traversing the entire target area, which is convenient for the cleaning robot 1 to enter the next area and then clean the next area.

[0092] So far, the technical solutions of the present disclosure have been described in combination with multiple embodiments above. However, it is easy for those skilled in the art to understand that the protection scope of the present disclosure is not limited to these specific embodiments. Without departing from the technical principle of the present disclosure, those skilled in the art can split and combine the technical solutions in the above embodiments, and can also make equivalent changes or substitutions to the relevant technical features. Any changes, equivalent substitutions, improvements, etc. made within the technical concept and / or technical principle of the present disclosure will fall within the protection scope of the present disclosure.

Claims

1. A cleaning robot, characterized in that, Comprising an obstacle sensing unit for sensing obstacles, a driving unit for driving the cleaning robot to travel on a surface, and a control unit, the control unit at least including the following program modules: A zigzag program module configured to be able to control the cleaning robot to travel along a zigzag trajectory in a target area, the zigzag trajectory including a trajectory in a first traveling direction, a trajectory in a second traveling direction, and a trajectory in a third traveling direction, the first traveling direction being parallel and opposite to the second traveling direction, and the third traveling direction being used for the cleaning robot to transition from one of the first traveling direction and the second traveling direction to the other; An obstacle avoidance program module configured to be able to control the cleaning robot to travel around the contour of the obstacle at least once starting from the encounter position between the cleaning robot and the obstacle after encountering the obstacle; A continuous sweeping program module configured to be able to control the cleaning robot to continue to travel around the contour of the obstacle to a connection point after traveling around the contour of the obstacle for at least once, and then re - call the zigzag program module to enable the cleaning robot to continue to travel along the zigzag trajectory towards the area to be cleaned in the target area; wherein, The connection point is the tangent point of the straight line parallel to the first traveling direction and the contour, and is located on the side of the contour close to the encounter position, and in the traveling direction opposite to the third traveling direction, it is the tangent point among multiple tangent points that is the farthest from the encounter position.

2. The cleaning robot according to claim 1, wherein The control unit further includes a supplementary sweeping program module, The supplementary sweeping program module is configured to be able to control the cleaning robot to perform supplementary cleaning on the area to be cleaned in the target area that is not covered by the zigzag trajectory.

3. The cleaning robot according to claim 2, wherein, The supplementary sweeping program module is further configured to: Determine a supplementary sweeping starting point based on the contour of the obstacle; Make the cleaning robot travel to the supplementary sweeping starting point and re - call the zigzag program module to enable the cleaning robot to perform supplementary cleaning on the area to be cleaned that is not covered by the zigzag trajectory.

4. The cleaning robot according to claim 3, characterized in that, There are multiple obstacles in the target area; the supplementary sweeping program module is further configured to: Respectively determine a supplementary sweeping starting point based on the contour of each obstacle; In the order from near to far, make the cleaning robot travel to each supplementary sweeping starting point in turn and re - call the zigzag program module in turn to enable the cleaning robot to perform supplementary cleaning on each area to be cleaned that is not covered by the zigzag trajectory.

5. The cleaning robot according to claim 3 or 4, characterized in that There are multiple tangent points on the contour, the supplementary sweeping starting point is the tangent point of the straight line parallel to the first traveling direction and the contour, and the supplementary sweeping starting point is located on the side of the contour far from the encounter position.

6. The cleaning robot according to claim 5, characterized in that, The supplementary sweeping starting point is the one with the farthest distance from the encounter position among the tangent points.

7. The cleaning robot according to claim 5, characterized in that In the traveling direction opposite to the third traveling direction, use the tangent point among multiple tangent points that is the farthest from the encounter position as the supplementary sweeping starting point.

8. The cleaning robot according to any one of claims 1 to 4, characterized in that, The obstacle sensing unit includes at least one of a lidar, an image acquisition unit, a collision sensor, and a side sensor.

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