Cleaning control methods, systems, and cleaning robots

Abstract

This invention discloses a cleaning control method, system, and cleaning robot for a cleaning robot. The method includes: acquiring environmental information in the cleaning direction of the cleaning robot while it is cleaning an area according to a preset cleaning path; controlling the cleaning robot to clean around the obstacle when the environmental information indicates that an obstacle exists in the cleaning direction; and controlling the cleaning robot to clean the area according to the preset cleaning path when the obstacle is detected to have disappeared during its movement around the obstacle. The cleaning control method provided by this invention can solve the problem of the cleaning robot spinning idly after the obstacle suddenly disappears during the cleaning process around the obstacle, thereby improving the working efficiency and intelligence of the cleaning robot.

Description

Technical Field

[0001] This invention belongs to the field of cleaning equipment technology, specifically relating to a cleaning control method, system, and cleaning robot for a cleaning robot. Background Technology

[0002] Existing cleaning robots have mapping capabilities, enabling them to automatically create a map of the cleaning area and determine their position relative to the area for planned cleaning. However, in real-world cleaning scenarios, the cleaning area contains various types of obstacles. When encountering an obstacle, existing cleaning robots perform cleaning actions around it. However, when the obstacle is movable, such as a person's foot, it disappears after the person leaves, causing the cleaning robot to idle, reducing cleaning efficiency and providing a poor user experience.

[0003] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. Summary of the Invention

[0004] Therefore, the present invention aims to solve the technical problem in the prior art where cleaning robots suddenly spin around obstacles during the cleaning process.

[0005] To solve the above-mentioned technical problems, the present invention provides a cleaning control method for a cleaning robot, comprising:

[0006] During the cleaning process of the cleaning robot cleaning the area according to the preset cleaning path, environmental information in the cleaning direction of the cleaning robot is acquired;

[0007] When the environmental information indicates that there is an obstacle in the cleaning direction of the cleaning robot, the cleaning robot is controlled to clean around the obstacle;

[0008] As the cleaning robot moves around the obstacle, when the obstacle is detected to have disappeared, the cleaning robot is controlled to clean the cleaning area according to the preset cleaning path.

[0009] In one embodiment, controlling the cleaning robot to clean the cleaning area according to the preset cleaning path when the obstacle is detected to have disappeared includes:

[0010] When the obstacle is detected to have disappeared, the preset cleaning path before the cleaning robot moves around the obstacle and cleans is obtained;

[0011] Based on the obtained preset cleaning path, the cleaning robot is controlled to clean the cleaning area according to the preset cleaning path.

[0012] In one embodiment, controlling the cleaning robot to clean the cleaning area according to the preset cleaning path includes:

[0013] Based on the obtained preset cleaning path, obtain the target coordinate point in the preset cleaning path that is closest to the current position coordinate point of the cleaning robot;

[0014] The cleaning robot is controlled to move from the current coordinate point to the target coordinate point, and the cleaning robot continues to clean the cleaning area according to the preset cleaning path.

[0015] In one embodiment, controlling the cleaning robot to move from the current position coordinate point to the target coordinate point includes:

[0016] A navigation algorithm is used to plan a navigation path from the current location coordinates to the target coordinates, and the sampling points of the navigation path are smoothed to obtain a smooth navigation trajectory.

[0017] Based on the obtained smooth navigation trajectory, the cleaning robot is controlled to move from the current position coordinate point to the target coordinate point.

[0018] In one embodiment, controlling the cleaning robot to clean around the obstacle when an obstacle is detected in the cleaning direction of the cleaning robot specifically includes:

[0019] When an obstacle is detected in the cleaning direction of the cleaning robot, the obstacle recognition sensor is controlled to scan the obstacle and obtain the outline size of the obstacle;

[0020] When the size of the obstacle's outline is detected to be within a preset threshold range, the cleaning robot is controlled to clean around the obstacle.

[0021] When the size of the obstacle exceeds the preset threshold range, the cleaning robot is controlled to turn around the obstacle and continue cleaning the cleaning area.

[0022] In one embodiment, controlling the cleaning robot to clean around the obstacle when the obstacle's outline size is detected to be within a preset threshold range includes:

[0023] Control the cleaning robot to move and clean around the obstacle in a circular motion.

[0024] Control the cleaning robot to bypass the obstacle, and continue to control the cleaning robot to clean the cleaning area according to the preset cleaning path.

[0025] In one embodiment, controlling the cleaning robot to bypass the obstacle includes:

[0026] After controlling the cleaning robot to clean around the obstacle for at least one week, control the cleaning robot to bypass the obstacle.

[0027] In one embodiment, obtaining environmental information in the cleaning direction of the cleaning robot includes:

[0028] The collision detection signal from the collision sensor of the cleaning robot is acquired to identify obstacle information in the cleaning direction of the cleaning robot; and,

[0029] Obstacle information in the cleaning robot's cleaning direction is identified by acquiring the sensing signals from the distance sensor of the cleaning robot.

[0030] In addition, the present invention also provides a cleaning control system for a cleaning robot, comprising:

[0031] The obstacle detection module is used to acquire environmental information in the cleaning direction of the cleaning robot during the cleaning process of the cleaning robot cleaning the cleaning area according to the preset cleaning path;

[0032] The obstacle avoidance cleaning control module is communicatively connected to the obstacle detection module and is used to control the cleaning robot to clean around the obstacle when the environmental information indicates that there is an obstacle in the cleaning direction of the cleaning robot;

[0033] The reset cleaning control module is communicatively connected to the obstacle avoidance cleaning control module. It is used to control the cleaning robot to clean the cleaning area according to the preset cleaning path when the obstacle is detected to have disappeared during the process of the cleaning robot moving around the obstacle.

[0034] In addition, the present invention also provides a cleaning robot, comprising:

[0035] Robot body;

[0036] The controller is located on the main body of the robot;

[0037] The controller is used for:

[0038] During the cleaning process of the cleaning robot cleaning the area according to the preset cleaning path, environmental information in the cleaning direction of the cleaning robot is acquired;

[0039] When the environmental information indicates that there is an obstacle in the cleaning direction of the cleaning robot, the cleaning robot is controlled to clean around the obstacle;

[0040] As the cleaning robot moves around the obstacle, when the obstacle is detected to have disappeared, the robot is controlled to clean the area according to the preset cleaning path.

[0041] The technical solution provided by this invention has the following advantages:

[0042] The cleaning robot control method, system, and cleaning robot provided by this invention, during the process of the cleaning robot moving around the obstacle, detects whether the obstacle continues to exist. When the obstacle is detected to have disappeared, the cleaning robot is controlled to clean the cleaning area according to the original preset cleaning path, avoiding the cleaning robot from running idle, ensuring the coverage efficiency of the cleaning robot, and improving its intelligence. Attached Figure Description

[0043] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 A flowchart illustrating the cleaning control method for a cleaning robot provided in an embodiment of the present invention;

[0045] Figure 2 A simplified module diagram of the cleaning control system of the cleaning robot provided in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of the present invention.

[0047] Explanation of reference numerals in the attached figures:

[0048] 10-Cleaning robot; 100-Cleaning control system; 102-Obstacle detection module; 104-Obstacle avoidance cleaning control module; 106-Reset cleaning control module. Detailed Implementation

[0049] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0050] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0051] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0052] Example 1

[0053] This embodiment provides a cleaning control method for a cleaning robot. In specific implementations, this method is applied to cleaning robots that autonomously perform cleaning tasks, specifically sweeping robots, mopping robots, or combined sweeping and mopping robots. In a specific implementation scenario, the cleaning robot performs cleaning work covering the designated cleaning area. When encountering obstacles, it performs a cleaning action around the obstacle to ensure the ground around the obstacle is cleaned. However, some obstacles are movable. If the obstacle suddenly disappears during the cleaning process around it, the existing cleaning robot cannot promptly stop its walking action around the obstacle, resulting in idle spinning, which is unintelligent and reduces cleaning coverage efficiency.

[0054] To address the aforementioned problems, this invention provides a cleaning control method for a cleaning robot.

[0055] Please see Figure 1 The method, in its specific implementation, includes the following steps:

[0056] S10. During the cleaning process of the cleaning robot cleaning the cleaning area according to the preset cleaning path, environmental information in the cleaning direction of the cleaning robot is obtained.

[0057] The cleaning area can be a room specified by the user, and the cleaning robot's cleaning process is an automatic cleaning process covering that room. To improve the coverage efficiency of the cleaning area, the cleaning robot typically follows a preset cleaning path. This preset cleaning path is pre-set; in specific implementation scenarios, it is usually a "bow"-shaped path, meaning the cleaning robot covers the cleaning area by cleaning in a straight, reciprocating motion. This cleaning area can also be referred to as the cleaning robot's working area.

[0058] The environmental information along the cleaning direction includes at least obstacle information. During the cleaning process, the cleaning robot acquires environmental information along its cleaning direction to identify any obstacles preventing it from continuing along the preset cleaning path, and then adjusts its path accordingly. Therefore, the presence of obstacles affects the cleaning robot's cleaning planning and reduces its coverage efficiency in the cleaning area.

[0059] Specifically, "acquiring environmental information in the cleaning direction of the cleaning robot" is achieved through real-time sampling to ensure timely obstacle identification. This real-time sampling does not mean absolutely continuous sampling, but rather that the sampling intervals are small, and the obtained data is sufficient to reflect the obstacle situation promptly.

[0060] S20. When the environmental information indicates that there is an obstacle in the cleaning direction of the cleaning robot, control the cleaning robot to clean around the obstacle.

[0061] When environmental information indicates the presence of an obstacle in the cleaning direction, in order to ensure the cleaning of the ground around the obstacle, the method in this embodiment controls the cleaning robot to clean around the obstacle. Here, cleaning around the obstacle is understood as the cleaning robot cleaning around the outer edge of the obstacle.

[0062] S30. During the process of the cleaning robot moving around the obstacle, when the obstacle is detected to have disappeared, the cleaning robot is controlled to clean the cleaning area according to the preset cleaning path.

[0063] That is, when the obstacle that the cleaning robot is cleaning around disappears, it should stop walking around the obstacle in time, resume the original preset cleaning path, and control the cleaning robot to continue cleaning the area according to the original preset cleaning path.

[0064] The cleaning robot control method provided in this embodiment involves acquiring environmental information along the cleaning direction of the robot while it is cleaning the area according to a preset cleaning path. By identifying this environmental information, the system determines whether obstacles exist along the cleaning direction. When the environmental information indicates the presence of an obstacle, the system controls the robot to clean around it. During the robot's movement around the obstacle, the system continuously monitors whether the obstacle remains. When the obstacle is detected to have disappeared, the system controls the robot to clean the area along the original preset cleaning path. This prevents the robot from idling, promptly restores the original cleaning path, and continues to cover the cleaning area, ensuring efficient coverage and improving the robot's intelligence.

[0065] In one specific embodiment, step S30, namely the step of "controlling the cleaning robot to clean the cleaning area according to the preset cleaning path when the obstacle is detected to have disappeared," specifically includes the following steps:

[0066] S32. When the obstacle is detected to have disappeared, obtain the preset cleaning path of the cleaning robot before it moves around the obstacle and cleans it;

[0067] S34. Based on the obtained preset cleaning path, control the cleaning robot to clean the cleaning area according to the preset cleaning path.

[0068] Specifically, the cleaning robot records a preset cleaning path before it begins moving and cleaning around the obstacle. When the obstacle is detected to have disappeared, the robot retrieves this preset cleaning path and controls it to clean the area accordingly. The original preset cleaning path is then promptly restored to continue the original coverage plan. This original preset cleaning path includes at least the robot's position and direction of travel before it began moving and cleaning around the obstacle.

[0069] However, in actual implementation scenarios, when the cleaning robot detects that an obstacle has disappeared, it may have already moved around the obstacle and cleaned a certain path, and this path is usually a curved line that deviates from the original preset cleaning path.

[0070] To ensure the cleaning robot quickly resumes its original preset cleaning path and guarantees efficient cleaning coverage, step S34, "controlling the cleaning robot to clean the area according to the preset cleaning path," specifically includes the following steps:

[0071] S342. Based on the obtained preset cleaning path, obtain the target coordinate point in the preset cleaning path that is closest to the current position coordinate point of the cleaning robot;

[0072] S344. Control the cleaning robot to move from the current position coordinate point to the target coordinate point, and continue to control the cleaning robot to clean the cleaning area according to the preset cleaning path.

[0073] In other words, the cleaning robot selects a target coordinate point that is closest to its current position coordinate point from the preset cleaning path, and then obtains the navigation path from the current position coordinate point to the target coordinate point according to the point-to-point path navigation algorithm. The robot is then controlled to move to the target coordinate point according to the navigation path and continue to cover the cleaning area.

[0074] In one scenario, the cleaning robot may have just begun moving and cleaning around an obstacle, very close to the original pre-set cleaning path. In this case, the navigation path obtained by the cleaning robot according to the point-to-point path navigation algorithm does not match the current movement direction and body posture of the cleaning robot. The cleaning robot needs to make significant adjustments to its posture and direction, resulting in an unusual walking path.

[0075] To address the aforementioned issues, in one embodiment, the step S342, "controlling the cleaning robot to move from the current position coordinate point to the target coordinate point," specifically includes the following steps:

[0076] S3422. A navigation algorithm is used to plan a navigation path from the current position coordinates to the target coordinates, and the sampling points of the navigation path are smoothed to obtain a smooth navigation trajectory.

[0077] S3424. Based on the obtained smooth navigation trajectory, control the cleaning robot to move from the current position coordinate point to the target coordinate point.

[0078] The smooth navigation trajectory described above is calculated based on the planned navigation path. To make the cleaning robot's walking path smoother, it is necessary to refer to the robot's position and posture information at the current coordinates, as well as the position and cleaning direction of the target coordinates, in order to plan a smooth navigation trajectory that connects the two points, reducing the probability of the cleaning robot's walking posture being zigzag and strange.

[0079] In specific implementation scenarios, some obstacles are quite large. If the robot plans its movement around these obstacles, it will deviate too far from the original preset cleaning path, making it difficult to re-establish the original cleaning path. Furthermore, due to positioning errors, the robot may actually return to a position deviating from the original preset cleaning path, resulting in missed areas.

[0080] To address the aforementioned issues, in one embodiment, step S20, namely, "when an obstacle is detected in the cleaning direction of the cleaning robot, control the cleaning robot to clean around the obstacle," specifically includes the following steps:

[0081] S22. When an obstacle is detected in the cleaning direction of the cleaning robot, the obstacle recognition sensor is controlled to scan the obstacle and obtain the outline size of the obstacle.

[0082] S24. When the size of the obstacle outline is detected to be within a preset threshold range, control the cleaning robot to clean around the obstacle;

[0083] S26. When the size of the obstacle's outline is detected to exceed the preset threshold range, the cleaning robot is controlled to turn around the obstacle and continue cleaning the cleaning area.

[0084] In other words, the cleaning robot determines whether to perform the action of moving around and cleaning the obstacle based on the size of the obstacle's outline. By setting a preset threshold range for the size of the obstacle to be cleaned, the cleaning robot is only controlled to clean around the obstacle when the detected obstacle's outline size is within the preset threshold range; otherwise, the cleaning robot is controlled to turn around the obstacle and continue cleaning the area.

[0085] The preset threshold range can be a preset threshold. Specifically, when the obstacle's outline size is greater than or equal to the preset threshold, that is, when it is determined that it exceeds the preset threshold range, the cleaning robot is controlled to turn around the obstacle and continue cleaning the area; when the obstacle's outline size is less than the preset threshold, that is, when it is determined that the size is within the preset threshold range, the cleaning robot is controlled to clean around the obstacle.

[0086] The phrase "turning around the obstacle" is understood to mean that the cleaning robot avoids the obstacle and then continues cleaning the area along the original preset cleaning path. In one embodiment, the cleaning robot is controlled to randomly turn and then continue cleaning. This allows the cleaning robot to directly avoid obstacles larger than a preset threshold, turning randomly at a certain angle before continuing to clean, thus avoiding blindly cleaning around large obstacles and improving cleaning efficiency. In another embodiment, the cleaning robot is controlled to turn around and then continue cleaning.

[0087] Furthermore, step S24, namely "when the size of the obstacle outline is detected to be within a preset threshold range, control the cleaning robot to clean around the obstacle," specifically includes:

[0088] S242. Control the cleaning robot to move and clean around the obstacle;

[0089] S244. Control the cleaning robot to bypass the obstacle, and continue to control the cleaning robot to clean the cleaning area according to the preset cleaning path.

[0090] When the cleaning robot detects that the obstacle's outline size is within a preset threshold range, it controls the robot to move and clean around the obstacle, then bypasses it and continues cleaning along the original preset cleaning path. Therefore, for obstacles within the preset threshold range, the cleaning robot can clean around the obstacle, bypass it, and then continue cleaning along the original preset cleaning path. This allows the cleaning robot to clean around obstacles without changing its original cleaning direction, improving cleaning coverage, cleaning efficiency, and cleaning ability around obstacles.

[0091] In one specific embodiment, step S244, namely the step of "controlling the cleaning robot to bypass the obstacle," specifically includes:

[0092] After controlling the cleaning robot to clean around the obstacle for at least one week, control the cleaning robot to bypass the obstacle.

[0093] In this embodiment, in response to the size of the obstacle being within a preset threshold range, the cleaning robot can thoroughly clean the area around the obstacle by cleaning around it for at least one round, thereby improving the cleaning ability around the obstacle. Then, it bypasses the obstacle and continues to clean along the original cleaning direction, thereby improving the cleaning coverage and cleaning efficiency.

[0094] The aforementioned cleaning robot is equipped with at least an environmental information acquisition unit for acquiring environmental information. In some embodiments, the environmental information acquisition unit may include an image acquisition component, or it may be a collision sensor or a distance sensor.

[0095] Specifically, step S10, namely "obtaining environmental information in the cleaning direction of the cleaning robot", includes the following steps:

[0096] S12. Obtain the collision detection signal from the collision sensor of the cleaning robot to identify obstacle information in the cleaning direction of the cleaning robot; and,

[0097] S14. Obtain the sensing signal from the distance sensor of the cleaning robot to identify obstacle information in the cleaning direction of the cleaning robot.

[0098] The aforementioned cleaning robot includes a robot body and a collision plate mounted on the robot body. The collision plate is movable relative to the robot body. When the collision plate collides with an obstacle, a collision sensor emits a collision detection signal. By acquiring the collision detection signal from the cleaning robot's collision sensor, the presence of an obstacle in the cleaning robot's cleaning direction can be identified. It is evident that the collision sensor identifies obstacles only after a collision occurs; therefore, the collision sensor cannot immediately detect the disappearance of an obstacle. Furthermore, to ensure timely obstacle detection, the cleaning robot is also equipped with at least a non-contact distance sensor. This distance sensor can identify obstacle information in the cleaning robot's cleaning direction without contact. When the distance sensor detects the obstacle has disappeared, or the distance to the obstacle exceeds a preset threshold, it controls the cleaning robot to stop its cleaning action around the obstacle. Specific examples of distance sensors include lidar sensors and ultrasonic sensors.

[0099] Example 2

[0100] The present invention also provides a cleaning control system 100 for a cleaning robot, please refer to [link / reference]. Figure 2 The cleaning control system of the cleaning robot includes an obstacle detection module 102, an obstacle avoidance cleaning control module 104, and a reset cleaning control module 106.

[0101] The obstacle detection module 102 is used to acquire environmental information in the cleaning direction of the cleaning robot during the cleaning process of the cleaning robot cleaning the cleaning area according to the preset cleaning path.

[0102] The obstacle avoidance cleaning control module 104 is connected in communication with the obstacle detection module and is used to control the cleaning robot to clean around the obstacle when the environmental information indicates that there is an obstacle in the cleaning direction of the cleaning robot.

[0103] The reset cleaning control module 106 is communicatively connected to the obstacle avoidance cleaning control module. It is used to control the cleaning robot to clean the cleaning area according to the preset cleaning path when the obstacle is detected to have disappeared during the process of the cleaning robot moving around the obstacle.

[0104] The cleaning control system 100 of the cleaning robot described in this embodiment corresponds to the cleaning control method of the cleaning robot described above. The functions of each module in the cleaning control system 100 in this embodiment are described in detail in the corresponding method embodiments, and will not be repeated here.

[0105] Example 3

[0106] The present invention also provides a cleaning robot 10, see below. Figure 3 The cleaning robot includes a robot body and a controller mounted on the robot body.

[0107] The controller is used to perform the following functions:

[0108] During the cleaning process of the cleaning robot cleaning the area according to the preset cleaning path, environmental information in the cleaning direction of the cleaning robot 10 is acquired;

[0109] When environmental information indicates that there is an obstacle in the cleaning direction of the cleaning robot 10, the cleaning robot 10 is controlled to clean around the obstacle;

[0110] As the cleaning robot 10 moves around the obstacle, when the obstacle is detected to have disappeared, the cleaning robot 10 is controlled to clean the cleaning area according to the preset cleaning path.

[0111] Similarly, the controller is used to implement the cleaning control method of the cleaning robot described above. For details, please refer to the description of the cleaning control method described above, which will not be repeated here.

[0112] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0113] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0114] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A cleaning control method for a cleaning robot, characterized in that, The method includes: During the cleaning process of the cleaning robot cleaning the area according to the preset cleaning path, environmental information in the cleaning direction of the cleaning robot is acquired; When the environmental information indicates that there is an obstacle in the cleaning direction of the cleaning robot, the cleaning robot is controlled to clean around the obstacle; During the movement of the cleaning robot around the obstacle, when the obstacle is detected to have disappeared, the robot promptly stops its movement around the obstacle and controls itself to clean the area according to the preset cleaning path, including: When the obstacle is detected to have disappeared, the preset cleaning path before the cleaning robot moves around the obstacle and cleans is obtained; Based on the obtained preset cleaning path, obtain the target coordinate point in the preset cleaning path that is closest to the current position coordinate point of the cleaning robot; A navigation algorithm is used to plan a navigation path from the current location coordinates to the target coordinates, and the sampling points of the navigation path are smoothed to obtain a smooth navigation trajectory. Based on the obtained smooth navigation trajectory, the cleaning robot is controlled to move from the current position coordinate point to the target coordinate point.

2. The cleaning control method for the cleaning robot according to claim 1, characterized in that, The step of obtaining environmental information in the cleaning direction of the cleaning robot includes: The collision detection signal from the collision sensor of the cleaning robot is acquired to identify obstacle information in the cleaning direction of the cleaning robot; and, Obstacle information in the cleaning robot's cleaning direction is identified by acquiring the sensing signals from the distance sensor of the cleaning robot.

3. A cleaning control system for a cleaning robot, characterized in that, include: The obstacle detection module is used to acquire environmental information in the cleaning direction of the cleaning robot during the cleaning process of the cleaning robot cleaning the cleaning area according to the preset cleaning path; The obstacle avoidance cleaning control module is communicatively connected to the obstacle detection module and is used to control the cleaning robot to clean around the obstacle when the environmental information indicates that there is an obstacle in the cleaning direction of the cleaning robot; A reset cleaning control module, communicatively connected to the obstacle avoidance cleaning control module, is used to promptly stop the robot's movement around the obstacle when the obstacle is detected to have disappeared during the robot's movement around the obstacle, and to control the robot to clean the area according to the preset cleaning path, including: When the obstacle is detected to have disappeared, the preset cleaning path before the cleaning robot moves around the obstacle and cleans is obtained; Based on the obtained preset cleaning path, obtain the target coordinate point in the preset cleaning path that is closest to the current position coordinate point of the cleaning robot; A navigation algorithm is used to plan a navigation path from the current location coordinates to the target coordinates, and the sampling points of the navigation path are smoothed to obtain a smooth navigation trajectory. Based on the obtained smooth navigation trajectory, the cleaning robot is controlled to move from the current position coordinate point to the target coordinate point.

4. A cleaning robot, characterized in that, include: Robot body; The controller is located on the main body of the robot; The controller is used for: During the cleaning process of the cleaning robot cleaning the area according to the preset cleaning path, environmental information in the cleaning direction of the cleaning robot is acquired; When the environmental information indicates that there is an obstacle in the cleaning direction of the cleaning robot, the cleaning robot is controlled to clean around the obstacle; During the movement of the cleaning robot around the obstacle, when the obstacle is detected to have disappeared, the robot promptly stops its movement around the obstacle and controls itself to clean the area according to the preset cleaning path, including: When the obstacle is detected to have disappeared, the preset cleaning path before the cleaning robot moves around the obstacle and cleans is obtained; Based on the obtained preset cleaning path, obtain the target coordinate point in the preset cleaning path that is closest to the current position coordinate point of the cleaning robot; A navigation algorithm is used to plan a navigation path from the current location coordinates to the target coordinates, and the sampling points of the navigation path are smoothed to obtain a smooth navigation trajectory. Based on the obtained smooth navigation trajectory, the cleaning robot is controlled to move from the current position coordinate point to the target coordinate point.

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