Edge-following method for a cleaning robot

Abstract

This disclosure relates to a method for edge-moving a cleaning robot. During the movement of the cleaning robot along a target edge in a preset edge-moving pattern along a target direction, in response to detecting that the cleaning robot has closed a loop in the opposite direction of the target direction, generating a first closed trajectory, it is determined that the cleaning robot has erroneously navigated around a stake. The edge-moving pattern is defined as the distance between the target side of the cleaning robot and the edge being less than or equal to a first preset distance. The historical trajectory of the cleaning robot before the starting point of the first closed trajectory is extracted, and the robot moves backward along the historical trajectory starting from the starting point. In response to a collision occurring in the direction of backward movement along the historical trajectory, the robot moves along the target direction in the edge-moving pattern. This reduces the time spent by the cleaning robot returning to the target edge, improving the efficiency and accuracy of the robot's return to the target edge.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent control technology, and in particular to a method for the edge movement of a cleaning robot. Background Technology

[0002] Cleaning robots, also known as sweeping robots, are robots that integrate sweeping and mopping functions. They can automatically clean the floor and greatly help people reduce their cleaning workload.

[0003] When cleaning a single room, a robot typically uses laser scanning to obtain the room's outline. However, some transparent or low obstacles cannot be scanned by the laser, causing a discrepancy between the scanned outline and the actual room's outline. In such cases, the robot usually needs to first move along the wall to determine the actual cleanable area before proceeding with a zigzag cleaning motion. Taking the right wall as an example, the normal wall-following trajectory should be a counter-clockwise closed loop. If the robot is temporarily blocked by some dynamic obstacle, it may partially close the loop clockwise, meaning it circles around an isolated obstacle near the wall, resulting in incorrect obstacle navigation or even prolonged circling of the obstacle. In this situation, the robot needs to quickly return to the wall to resume wall-following movement. However, in related technologies, the time spent returning to the wall to resume wall-following movement is relatively long, and the accuracy is low. When facing complex clusters of tables and chairs, it may be difficult to return to the wall smoothly for an extended period. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a method for the edge-moving of a cleaning robot.

[0005] The first aspect of this disclosure provides a method for edge-moving a cleaning robot, comprising:

[0006] During the process of the cleaning robot moving along the target side in the target direction according to the preset edge-following mode, in response to the detection that the cleaning robot closes a circle in the opposite direction of the target direction to generate the first closed trajectory, it is determined that the cleaning robot has made an incorrect detour around the stake. The edge-following mode is that the distance between the target side of the cleaning robot and the edge is less than or equal to the first preset distance.

[0007] Extract the historical trajectory of the cleaning robot before the starting point of the first closed trajectory, and move back along the historical trajectory starting from the starting point;

[0008] In response to a collision that occurs in the direction in which the cleaning robot is moving back along its historical trajectory, it moves along the target direction in an edge-following mode.

[0009] Optionally, in response to a collision occurring in the backtracking direction, after moving along the target direction in an edge-following mode, the method further includes:

[0010] After moving the first distance, it is detected whether the cleaning robot is within the first preset range of the historical trajectory and whether the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is less than the preset angle threshold.

[0011] If so, exit the edge mode and move back along the remaining trajectory of the historical trajectory;

[0012] In response to a collision occurring in the direction the cleaning robot is moving back along the remaining trajectory, it moves along the target direction in an edge-following mode.

[0013] Optionally, after detecting whether the cleaning robot is within a first preset range of the historical trajectory and that the angle difference between the cleaning robot's orientation and the direction of the historical trajectory is less than a preset angle threshold, the method further includes:

[0014] If the cleaning robot is outside the first preset range of the historical trajectory or the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is greater than or equal to a preset angle threshold, the cleaning robot generates a second closed trajectory by closing one circle in the opposite direction of the target direction, and it is determined that the cleaning robot has made an erroneous detour.

[0015] Determine whether the second closed trajectory is within a second preset range of the first closed trajectory;

[0016] If so, extract the initial contour of the target edge;

[0017] Determine the first contour point in the initial contour that is closest to the second closed trajectory, and the second contour point that moves the first contour point a second distance along the target direction;

[0018] The second closed trajectory is identified as an obstacle, and the path from the current position of the cleaning robot to the second contour point is planned to obtain the target path;

[0019] Move from the current position to the second contour point along the target path;

[0020] In response to a collision occurring in the direction of movement of the cleaning robot from its current position to the second contour point, it moves along the target direction in an edge-following mode.

[0021] Otherwise, return to the steps following the detection that the cleaning robot has closed a circle in the opposite direction to the target direction to generate a first closed trajectory and the steps following the generation of the first closed trajectory.

[0022] Optionally, in response to a collision occurring in the direction of movement of the cleaning robot from its current position to the second contour point, after moving along the target direction in an edge-following mode, the method further includes:

[0023] In response to the detection that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a third closed trajectory, it is determined that the cleaning robot has made an incorrect obstacle avoidance.

[0024] Determine whether the third closed trajectory is within the second preset range of the first closed trajectory;

[0025] If so, determine the closest point of the third closed trajectory to the initial contour of the target edge, set a virtual wall between the closest point and the initial contour, and move along the edge.

[0026] When the cleaning robot is within the range of the first side of the virtual wall, in response to colliding with the virtual wall and the distance between the target side of the cleaning robot and the virtual wall being less than or equal to the first preset distance, it moves along the first side in the edge-following mode. The direction from the first connection point between the first side and the third closed trajectory to the second connection point between the first side and the initial contour is the target direction.

[0027] In response to a collision occurring in the direction of movement along the first side of the cleaning robot, the robot moves along the target direction in an edge-following mode.

[0028] Otherwise, return to the steps following the detection that the cleaning robot has closed a circle in the opposite direction to the target direction to generate a first closed trajectory and the steps following the generation of the first closed trajectory.

[0029] Optionally, after setting a virtual wall between the nearest point and the initial contour and moving according to the edge-following mode, the method further includes:

[0030] When the cleaning robot is within the range of the second side of the virtual wall, in response to colliding with the virtual wall and the distance between the target side of the cleaning robot and the virtual wall being greater than the first preset distance, it is determined that the virtual wall does not exist, and moves along the target direction in the edge-following mode. The direction from the first connection point of the second side and the third closed trajectory to the second connection point of the second side and the initial contour is the opposite direction of the target direction.

[0031] Optionally, in response to a collision occurring in the direction of movement of the cleaning robot along the virtual wall, after moving along the target direction in an edge-following mode, the method further includes:

[0032] Obtain the distance between the cleaning robot and the virtual wall;

[0033] The virtual wall is deleted when the distance between the cleaning robot and the virtual wall is greater than the second preset distance.

[0034] Optionally, in response to a collision occurring in the direction of movement of the cleaning robot along the virtual wall, after moving along the target direction in an edge-following mode, the method further includes:

[0035] In response to the detection that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a fourth closed trajectory, it is determined that the cleaning robot has made an incorrect obstacle avoidance.

[0036] Determine whether the fourth closed trajectory is within the second preset range of the first closed trajectory;

[0037] If so, extract the edge trajectory along the target edge that the cleaning robot has moved along before the current moment, and the remaining contour outside the edge trajectory in the initial contour of the target edge;

[0038] Merge the edge trajectory with the remaining contour to obtain the target contour of the target edge;

[0039] Clean the target area defined by the target outline;

[0040] Otherwise, return to the steps following the detection that the cleaning robot has closed a circle in the opposite direction to the target direction to generate a first closed trajectory and the steps following the generation of the first closed trajectory.

[0041] Optionally, after determining whether the fourth closed trajectory is within the preset range of the first closed trajectory, the method further includes:

[0042] When the fourth closed trajectory is within the second preset range of the first closed trajectory, the robot stops moving and sends a distress message. The distress message includes that the cleaning robot has failed to move along the target edge and requests the user to remove the obstacle corresponding to the fourth closed trajectory.

[0043] In response to receiving a confirmation instruction to remove the obstacle corresponding to the fourth closed trajectory, move along the target direction in the edge-following mode.

[0044] Optionally, before the cleaning robot completes one full circle in the opposite direction to the target direction, the method further includes:

[0045] Obtain the diameter of the first closed trajectory;

[0046] When the diameter is greater than the preset value, in response to the cleaning robot being located on or inside the first closed trajectory, it is determined that the cleaning robot will close one circle in the opposite direction to the target direction.

[0047] Optionally, the initial contour of the target edge is obtained by laser scanning of the target edge.

[0048] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0049] This disclosure improves the efficiency and accuracy of a cleaning robot returning to the target edge by detecting a first closed trajectory generated by the cleaning robot in the opposite direction of the target direction during the movement of a cleaning robot along the target edge in a preset edge-following pattern. It determines that the cleaning robot has erroneously navigated around a stake. The edge-following pattern is defined as the distance between the target side and the edge being less than or equal to a first preset distance. The historical trajectory of the cleaning robot before the starting point of the first closed trajectory is extracted, and the robot moves back along the historical trajectory from the starting point. In response to a collision in the direction of the backtracking movement along the historical trajectory, the robot moves along the target direction in the edge-following pattern. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0051] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a flowchart of a method for moving a cleaning robot along an edge, provided in an embodiment of this disclosure;

[0053] Figure 2 This is a schematic diagram illustrating the movement of a cleaning robot according to an embodiment of this disclosure;

[0054] Figure 3 This is a flowchart of another method for edge movement of a cleaning robot provided in this disclosure embodiment;

[0055] Figure 4 This is a schematic diagram illustrating the movement of another cleaning robot provided in an embodiment of this disclosure;

[0056] Figure 5 This is a flowchart of another edge-moving method for a cleaning robot provided in this disclosure embodiment;

[0057] Figure 6 This is a schematic diagram illustrating the movement of another cleaning robot provided in an embodiment of this disclosure;

[0058] Figure 7 This is a flowchart of another method for edge movement of a cleaning robot provided in this disclosure embodiment;

[0059] Figure 8This is a schematic diagram illustrating the movement of another cleaning robot provided in an embodiment of this disclosure;

[0060] Figure 9 This is a schematic diagram of the edge-moving device of a cleaning robot provided in an embodiment of this disclosure. Detailed Implementation

[0061] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0062] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0063] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0064] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0065] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0066] Cleaning robots, also known as sweeping robots, are robots that integrate sweeping and mopping functions. They can automatically clean the floor and greatly help people reduce their cleaning workload.

[0067] When cleaning a single room, a robot typically uses laser scanning to obtain the room's outline. However, some transparent or low obstacles cannot be scanned by the laser, causing a discrepancy between the scanned outline and the actual room's outline. In such cases, the robot usually needs to first move along the wall to determine the actual cleanable area before proceeding with a zigzag cleaning motion. Taking the right wall as an example, the normal wall-following trajectory should be a counter-clockwise closed loop. If the robot is temporarily blocked by some dynamic obstacle, it may partially close the loop clockwise, meaning it circles around an isolated obstacle near the wall, resulting in incorrect obstacle navigation or even prolonged circling of the obstacle. In this situation, the robot needs to quickly return to the wall to resume wall-following movement. However, in related technologies, the time spent returning to the wall to resume wall-following movement is relatively long, and the accuracy is low. When facing complex clusters of tables and chairs, it may be difficult to return to the wall smoothly for an extended period.

[0068] To address the shortcomings of related technologies in edge-movement, this disclosure provides a method for edge-movement of a cleaning robot, which can reduce the time spent by the cleaning robot returning to the target edge and improve the efficiency and accuracy of the cleaning robot returning to the target edge.

[0069] The edge-moving method of the cleaning robot provided in this disclosure can be executed by a cleaning robot, also known as a sweeping robot, which is a robot that integrates sweeping and mopping. It can automatically clean the ground and greatly help people reduce the workload of cleaning.

[0070] To better understand the inventive concept of the embodiments of this disclosure, the technical solutions of the embodiments of this disclosure will be described below in conjunction with exemplary embodiments.

[0071] Figure 1 This is a flowchart of a method for edge movement of a cleaning robot provided in an embodiment of this disclosure, as shown below. Figure 1 As shown, the edge-moving method of the cleaning robot provided in this embodiment includes the following steps:

[0072] Step 110: During the process of the cleaning robot moving along the target side in the target direction according to the preset edge-following mode, in response to the detection that the cleaning robot closes a circle in the opposite direction of the target direction to generate the first closed trajectory, it is determined that the cleaning robot has made an erroneous detour around the stake. The edge-following mode is that the distance between the target side of the cleaning robot and the edge is less than or equal to the first preset distance.

[0073] In this embodiment of the disclosure, the target edge can be understood as the target edge along which the cleaning robot moves, such as the wall of a room.

[0074] The edge-following mode can be understood as the distance between the target side of the cleaning robot and the edge being less than or equal to a first preset distance. The target side can be understood as any side of the cleaning robot, such as the left or right side. The first preset distance can be set as needed and is not limited here. When the first preset distance is 0, the target side of the cleaning robot is in contact with the edge.

[0075] In this embodiment of the present disclosure, during the process of the cleaning robot moving along the target edge in a preset edge-following pattern along the target direction, in response to the detection that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a first closed trajectory, it is determined that the cleaning robot has made an erroneous detour around the obstacle, that is, the cleaning robot has circled the first obstacle along the edge.

[0076] Step 120: Extract the historical trajectory of the cleaning robot before the starting point of the first closed trajectory, and move back along the historical trajectory starting from the starting point.

[0077] In this embodiment of the disclosure, after determining that the cleaning robot has made an erroneous detour around the stake, the cleaning robot can extract the historical trajectory that the cleaning robot has moved before the starting point of the first closed trajectory, and then move back along the historical trajectory from the starting point, that is, move back along the historical trajectory.

[0078] Step 130: In response to the collision of the cleaning robot in the direction of its backward movement along the historical trajectory, move along the target direction in the edge-following mode.

[0079] In this embodiment of the disclosure, if the cleaning robot collides in the direction of retrograde movement along the historical trajectory, the cleaning robot can respond to the collision in the direction of retrograde movement by recognizing that it has collided with the target edge and can move along the target direction in the edge-following mode.

[0080] For example, Figure 2 A schematic diagram of a cleaning robot's movement is provided, such as... Figure 2 As shown, 200 is the target edge, 210 is the first closed trajectory, point A is the starting point or closing point of the first closed trajectory, and 220 is the historical trajectory that the cleaning robot has moved before the starting point of the first closed trajectory. The cleaning robot starts from the starting point A and moves back along the historical trajectory 220 in the direction 1. In response to the cleaning robot colliding in the direction of backtracking along the historical trajectory, i.e. colliding with point B, it moves along the target direction 2 according to the edge mode.

[0081] This reduces the time it takes for the cleaning robot to return to the target side, improving the efficiency and accuracy of the cleaning robot's return to the target side.

[0082] In some embodiments of this disclosure, after the cleaning robot moves along the target direction in an edge-following mode in response to a collision in the backtracking direction, the cleaning robot may also perform... Figure 3 A flowchart of a method for edge movement of a cleaning robot is provided, such as... Figure 3 As shown, the edge-moving method of the cleaning robot provided in this embodiment includes the following steps:

[0083] Step 301: After moving the first distance, check whether the cleaning robot is within the first preset range of the historical trajectory and whether the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is less than the preset angle threshold. If yes, proceed to steps 302-303; otherwise, proceed to steps 304-311.

[0084] In this embodiment of the present disclosure, after the cleaning robot moves a first distance along the target direction in the edge-following mode, it can detect whether the cleaning robot is within a first preset range of the historical trajectory and whether the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is less than a preset angle threshold.

[0085] The first distance can be set as needed, for example, 0.2 meters, which is not limited here. The first preset range can be set as needed, for example, 0.15 meters, which is not limited here. The preset angle threshold can be set as needed, for example, 60 degrees, which is not limited here.

[0086] Step 302: If the cleaning robot is within the first preset range of the historical trajectory and the angle difference between the cleaning robot's orientation and the direction of the historical trajectory is less than the preset angle threshold, then exit the edge mode and move back along the remaining trajectory of the historical trajectory.

[0087] In this embodiment of the disclosure, when the cleaning robot is within a first preset range of the historical trajectory and the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is less than a preset angle threshold, it can be determined that the cleaning robot is currently on the historical trajectory. Then the cleaning robot can exit the edge-following mode and move back along the remaining trajectory of the historical trajectory.

[0088] Step 303: In response to the collision of the cleaning robot in the direction of backtracking along the remaining trajectory, move along the target direction in the edge-following mode.

[0089] In this embodiment of the disclosure, in response to a collision occurring in the direction of the cleaning robot's backtracking movement along the remaining trajectory, it is considered that the cleaning robot has collided with the target edge, and the cleaning robot moves along the target direction in an edge-following mode.

[0090] Step 304: If the cleaning robot is outside the first preset range of the historical trajectory or the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is greater than or equal to the preset angle threshold, the cleaning robot closes a circle in the opposite direction of the target direction to generate a second closed trajectory, and it is determined that the cleaning robot has made an erroneous detour.

[0091] In this embodiment of the disclosure, when the cleaning robot is outside the first preset range of the historical trajectory or the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is greater than or equal to a preset angle threshold, it indicates that the cleaning robot is not on the historical trajectory. In this case, the cleaning robot can respond by closing a circle in the opposite direction of the target direction to generate a second closed trajectory, thus determining that the cleaning robot has made an incorrect detour.

[0092] Step 305: Determine whether the second closed trajectory is within the second preset range of the first closed trajectory. If yes, proceed to steps 306-310; otherwise, proceed to step 311.

[0093] In this embodiment of the present disclosure, after generating the second closed trajectory, the cleaning robot can determine whether the second closed trajectory is within a second preset range of the first closed trajectory. The second preset range can be set as needed and is not limited here. When the second preset range is 0, it means that the second closed trajectory coincides with the first closed trajectory.

[0094] Step 306: If the second closed trajectory is within the second preset range of the first closed trajectory, then extract the initial contour of the target edge.

[0095] In this embodiment, if the second closed trajectory is within a second preset range of the first closed trajectory, it indicates that the cleaning robot has returned to the position of the first obstacle corresponding to the first closed trajectory and has circled around the first obstacle. In this case, the cleaning robot can extract the initial contour of the target edge. The initial contour of the target edge is obtained by the cleaning robot through a laser scan.

[0096] Step 307: Determine the first contour point in the initial contour that is closest to the second closed trajectory, and the second contour point that moves the first contour point a second distance along the target direction.

[0097] In this embodiment of the present disclosure, the cleaning robot can determine the first contour point in the initial contour that is closest to the second closed trajectory, and the second contour point that moves the first contour point a second distance along the target direction.

[0098] Step 308: Determine the second closed trajectory as an obstacle, plan the path from the current position of the cleaning robot to the second contour point, and obtain the target path.

[0099] In this embodiment of the present disclosure, the cleaning robot can identify the second closed trajectory as an obstacle, plan the path from the current position of the cleaning robot to the second contour point, and obtain the target path.

[0100] Step 309: Move from the current position to the second contour point along the target path.

[0101] In this embodiment of the disclosure, after obtaining the target path, the cleaning robot can move from its current position to the second contour point along the target path.

[0102] Step 310: In response to the collision that occurs in the direction of movement of the cleaning robot from the current position to the second contour point, move along the target direction in the edge-following mode.

[0103] In this embodiment of the disclosure, in response to a collision occurring in the direction of movement of the cleaning robot from its current position to the second contour point, it is considered that the cleaning robot has collided with the target edge, and the cleaning robot can move along the target direction in an edge-following mode.

[0104] For example, Figure 4 A schematic diagram of a cleaning robot's movement is provided, such as... Figure 4 As shown, 410 is the second closed trajectory, which coincides with the first closed trajectory 210. 420 is a certain initial contour of the target edge. Point C is the first contour point in the initial contour that is closest to the second closed trajectory. Point D is the second contour point that the first contour point moves a second distance along the target direction. Point E is the current position of the cleaning robot. 430 is the target path from the current position E of the cleaning robot to the second contour point D. The cleaning robot can move from the current position E to the second contour point D along the target path 430.

[0105] Step 311: If the second closed trajectory is outside the second preset range of the first closed trajectory, return to the steps following the detection that the cleaning robot has closed a circle in the opposite direction of the target direction to generate the first closed trajectory and the steps following the generation of the first closed trajectory.

[0106] In this embodiment of the disclosure, if the second closed trajectory is outside the second preset range of the first closed trajectory, it means that the cleaning robot has circled around other obstacles besides the first obstacle. The cleaning robot can return to execute the steps in response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction to generate the first closed trajectory and the steps after generating the first closed trajectory.

[0107] This can further reduce the time it takes for the cleaning robot to return to the target side, and improve the efficiency and accuracy of the cleaning robot's return to the target side.

[0108] In other embodiments of this disclosure, in Figure 3 In response to a collision occurring in the direction the cleaning robot is moving from its current position to the second contour point, after moving along the target direction in an edge-following mode, the cleaning robot can still perform... Figure 5 A flowchart of a method for edge movement of a cleaning robot is provided, such as... Figure 5 As shown, the edge-moving method of the cleaning robot provided in this embodiment includes the following steps:

[0109] Step 510: In response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a third closed trajectory, it is determined that the cleaning robot has made an erroneous detour.

[0110] In this embodiment of the present disclosure, in response to a collision occurring in the direction of movement of the cleaning robot from its current position to the second contour point, after moving along the target direction in the edge-following mode, the cleaning robot can determine that it has erroneously circled the target direction by generating a third closed trajectory in response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction.

[0111] Step 520: Determine whether the third closed trajectory is within the second preset range of the first closed trajectory. If yes, proceed to steps 530-550; otherwise, proceed to step 560.

[0112] In this embodiment of the present disclosure, the cleaning robot can determine whether the third closed trajectory is within the second preset range of the first closed trajectory.

[0113] Step 530: If the third closed trajectory is within the second preset range of the first closed trajectory, determine the closest point of the third closed trajectory to the initial contour of the target edge, set a virtual wall between the closest point and the initial contour, and move along the edge.

[0114] In this embodiment of the present disclosure, if the third closed trajectory is within the second preset range of the first closed trajectory, it means that the cleaning robot has returned to the position of the first closed trajectory and walked around the first obstacle corresponding to the first closed trajectory. Then the cleaning robot can determine the closest point of the third closed trajectory to the initial contour of the target edge, set a virtual wall between the closest point and the initial contour, and move in the edge-following mode.

[0115] A virtual wall can be understood as a virtual wall that does not actually exist.

[0116] Step 540: When the cleaning robot is within the range of the first side of the virtual wall, in response to colliding with the virtual wall and the distance between the target side of the cleaning robot and the virtual wall being less than or equal to the first preset distance, the robot moves along the virtual wall in the edge-following mode. The direction from the first connection point of the first side and the third closed trajectory to the second connection point of the first side and the initial contour is the target direction.

[0117] In this embodiment of the disclosure, the virtual wall includes two sides: a first side and a second side. The direction from the first connection point of the first side and the third closed trajectory to the second connection point of the first side and the initial contour is the target direction. The direction from the third connection point of the second side and the third closed trajectory to the fourth connection point of the second side and the initial contour is the opposite direction of the target direction.

[0118] After setting a virtual wall between the nearest point and the initial outline, when the cleaning robot is within the range of the second side of the virtual wall, during the process of the cleaning robot moving in the edge-following mode, in response to colliding with the virtual wall and the distance between the target side of the cleaning robot and the virtual wall being less than or equal to a first preset distance, the cleaning robot moves along the virtual wall in the edge-following mode.

[0119] Step 550: In response to the cleaning robot colliding in the direction of movement along the virtual wall, move along the target direction in the edge-to-edge mode.

[0120] In this embodiment of the disclosure, in response to a collision occurring in the direction of movement of the cleaning robot along the virtual wall, it is considered that the cleaning robot has collided with the target edge, and the cleaning robot can move along the target direction in the edge-following mode.

[0121] For example, Figure 6 A schematic diagram of a cleaning robot's movement is provided, such as... Figure 6 As shown, 610 is the third closed trajectory, which coincides with the first closed trajectory 210. 620 is a segment of the initial contour of the target edge. Point F is the closest point of the third closed trajectory to the initial contour 620. The area 630 formed by the two dashed lines is a virtual wall set between the closest point F and the initial contour 620. 631 is the first side of the virtual wall, 632 is the second side of the virtual wall, 6311 is the first connection point between the first side and the third closed trajectory, 6312 is the second connection point between the first side and the third closed trajectory, 6321 is the first connection point between the second side and the third closed trajectory, 6312 is the second connection point between the second side and the third closed trajectory, and 640 is the target direction. The direction from the first connection point between the first side and the third closed trajectory to the second connection point between the first side and the initial contour is the target direction, and the direction from the first connection point between the second side and the third closed trajectory to the second connection point between the second side and the initial contour is the opposite direction of the target direction. In response to the cleaning robot colliding with the virtual wall and the distance between the target side of the cleaning robot and the virtual wall being less than or equal to a first preset distance, the robot moves along the first side in an edge-following mode.

[0122] Step 560: If the third closed trajectory is outside the second preset range of the first closed trajectory, return to the steps following the detection that the cleaning robot has closed a circle in the opposite direction of the target direction to generate the first closed trajectory and the steps after generating the first closed trajectory.

[0123] In this embodiment of the disclosure, if the third closed trajectory is outside the second preset range of the first closed trajectory, it means that the cleaning robot has circled around other obstacles besides the first obstacle. In this case, the cleaning robot can return to execute the steps of generating the first closed trajectory in response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction and the steps after generating the first closed trajectory.

[0124] This can further reduce the time it takes for the cleaning robot to return to the target side, and improve the efficiency and accuracy of the cleaning robot's return to the target side.

[0125] In some embodiments of this disclosure, in the above Figure 5 A virtual wall is set between the nearest point and the initial contour. After moving in edge-following mode, when the cleaning robot is within the range of the second side of the virtual wall, it can determine that the virtual wall does not exist in response to colliding with it and the distance between the robot's target side and the virtual wall being greater than a first preset distance. It then moves along the target direction in edge-following mode. This further reduces the time it takes for the cleaning robot to return to the target edge, improving the efficiency and accuracy of its return.

[0126] In other embodiments of this disclosure, in the above Figure 5 In response to a collision occurring in the direction the cleaning robot is moving along the virtual wall, after moving along the target direction in edge mode, the cleaning robot can obtain the distance between the cleaning robot and the virtual wall. When the distance between the cleaning robot and the virtual wall is greater than a second preset distance, it means that the cleaning robot has moved away from the virtual wall and can delete the virtual wall.

[0127] In other embodiments of this disclosure, in the above Figure 5 In response to a collision occurring in the direction the cleaning robot is moving along the virtual wall, after moving along the target direction in edge-following mode, the cleaning robot can still perform... Figure 7 A flowchart of a method for edge movement of a cleaning robot is provided, such as... Figure 7 As shown, the edge-moving method of the cleaning robot provided in this embodiment includes the following steps:

[0128] Step 710: In response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a fourth closed trajectory, it is determined that the cleaning robot has made an erroneous detour.

[0129] In this embodiment of the disclosure, in response to a collision occurring in the direction of movement of the cleaning robot along the virtual wall, after moving along the target direction in the edge-following mode, in response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a fourth closed trajectory, it is determined that the cleaning robot has made an incorrect obstacle avoidance.

[0130] Step 720: Determine whether the fourth closed trajectory is within the second preset range of the first closed trajectory. If yes, proceed to steps 730-750; otherwise, proceed to step 760.

[0131] In this embodiment of the present disclosure, the cleaning robot can determine whether the fourth closed trajectory is within the second preset range of the first closed trajectory.

[0132] Step 730: If the fourth closed trajectory is within the second preset range of the first closed trajectory, extract the edge trajectory along the target edge that the cleaning robot has moved along before the current moment, and the remaining contour outside the edge trajectory in the initial contour of the target edge.

[0133] In this embodiment of the present disclosure, if the fourth closed trajectory is within the second preset range of the first closed trajectory, it means that the cleaning robot has returned to the position of the first closed trajectory and walked around the first obstacle corresponding to the first closed trajectory. Then the cleaning robot can extract the edge trajectory that the cleaning robot has moved along the target edge before the current moment, as well as the remaining contour outside the edge trajectory in the initial contour of the target edge.

[0134] Step 740: Merge the edge trajectory with the remaining contour to obtain the target contour of the target edge.

[0135] In this embodiment of the disclosure, after obtaining the edge trajectory that the cleaning robot has moved along the target edge before the current moment and the remaining contour outside the edge trajectory in the initial contour of the target edge, the cleaning robot can merge the edge trajectory and the remaining contour to obtain the target contour of the target edge.

[0136] For example, Figure 8 A schematic diagram of a cleaning robot's movement is provided, such as... Figure 8 As shown, 810 is the fourth closed trajectory, which coincides with the first closed trajectory 210. Curve 820 is the edge trajectory that the cleaning robot has moved along the target edge before the current moment. Straight line 830 is the remaining contour outside the edge trajectory in the initial contour of the target edge. By merging the edge trajectory 820 and the remaining contour 830, the target contour of the target edge can be obtained.

[0137] Step 750: Clean the target area whose outline has been defined.

[0138] In this embodiment of the present disclosure, the cleaning robot can clean the target area with a defined target outline.

[0139] Step 760: If the fourth closed trajectory is outside the second preset range of the first closed trajectory, return to the steps following the detection that the cleaning robot has closed a circle in the opposite direction of the target direction to generate the first closed trajectory and the steps after generating the first closed trajectory.

[0140] In this embodiment of the disclosure, if the fourth closed trajectory is outside the second preset range of the first closed trajectory, it means that the cleaning robot has circled around other obstacles besides the first obstacle. In this case, the cleaning robot can return to execute the steps of generating the first closed trajectory in response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction and the steps after generating the first closed trajectory.

[0141] This can further reduce the time it takes for the cleaning robot to return to the target side, and improve the efficiency and accuracy of the cleaning robot's return to the target side.

[0142] In other embodiments of this disclosure, in the above Figure 7 In this scenario, when the fourth closed trajectory is within the second preset range of the first closed trajectory, i.e., the cleaning robot returns to the position of the first closed trajectory and completes a circle around the first obstacle corresponding to the first closed trajectory, the cleaning robot can stop moving and issue a distress signal. The distress signal may include the cleaning robot's failure to move along the target edge and a request for the user to remove the obstacle corresponding to the fourth closed trajectory. After receiving the distress signal, the user can remove the obstacle corresponding to the fourth closed trajectory and then issue a confirmation removal command to the cleaning robot. The cleaning robot can respond to receiving the confirmation removal command and move along the target direction in an edge-following mode. This further reduces the time spent by the cleaning robot returning to the target edge, improving the efficiency and accuracy of the cleaning robot's return to the target edge.

[0143] In other embodiments of this disclosure, before generating a second, third, or fourth closed trajectory in response to the cleaning robot completing a full circle in the opposite direction to the target direction, the cleaning robot can obtain the diameter of the first closed trajectory. When the diameter of the first closed trajectory is greater than a preset value, it can be determined that the cleaning robot has completed a full circle in the opposite direction to the target direction, in response to the cleaning robot's position being on or inside the first closed trajectory. Therefore, when the first closed trajectory is large, i.e., the first obstacle is large, when the cleaning robot detects returning to the position of the first closed trajectory, it can immediately determine that the cleaning robot has completed a full circle in the opposite direction to the target direction, without waiting for the full circle to complete before determining this. This avoids significant repeated movement for large first obstacles.

[0144] Figure 9This is a schematic diagram of the edge-moving device of a cleaning robot provided in an embodiment of this disclosure. This device can be understood as the aforementioned cleaning robot or a functional module thereof. Figure 9 As shown, the edge-moving device 900 of the cleaning robot includes:

[0145] The first determining module 910 is used to determine that the cleaning robot has made an erroneous detour when the cleaning robot moves along the target side in the target direction according to the preset edge-following mode, in response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a first closed trajectory, and the edge-following mode is that the distance between the target side and the edge of the cleaning robot is less than or equal to the first preset distance.

[0146] The first moving module 920 is used to extract the historical trajectory that the cleaning robot has moved before the starting point of the first closed trajectory, and move back along the historical trajectory starting from the starting point.

[0147] The second movement module 930 is used to move along the target direction in an edge-following mode in response to a collision occurring in the direction in which the cleaning robot moves back along the historical trajectory.

[0148] Optionally, the edge-moving device 900 of the above-mentioned cleaning robot includes:

[0149] The detection module is used to detect whether the cleaning robot is within the first preset range of the historical trajectory and whether the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is less than a preset angle threshold after moving a first distance.

[0150] The exit module is used to exit the edge mode if the condition is met, and then backtrack along the remaining trajectory of the historical trajectory.

[0151] The third movement module is used to respond to a collision occurring in the direction in which the cleaning robot moves back along the remaining trajectory, and to move along the target direction in an edge-to-edge mode.

[0152] Optionally, the edge-moving device 900 of the above-mentioned cleaning robot includes:

[0153] The second determining module is used to determine that the cleaning robot has made an erroneous detour when the cleaning robot is outside the first preset range of the historical trajectory or the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is greater than or equal to a preset angle threshold, in response to the cleaning robot closing a circle in the opposite direction of the target direction to generate a second closed trajectory.

[0154] The first judgment module is used to determine whether the second closed trajectory is within the second preset range of the first closed trajectory;

[0155] The first extraction module is used to extract the initial contour of the target edge if the condition is met.

[0156] The third determining module is used to determine the first contour point in the initial contour that is closest to the second closed trajectory, and the second contour point that moves the first contour point a second distance along the target direction;

[0157] The planning module is used to identify the second closed trajectory as an obstacle, plan the path from the current position of the cleaning robot to the second contour point, and obtain the target path.

[0158] The fourth moving module is used to move from the current position to the second contour point along the target path;

[0159] The fifth movement module is used to respond to a collision occurring in the direction of movement of the cleaning robot from its current position to the second contour point, and to move along the target direction in an edge-following mode.

[0160] The first execution module is configured to otherwise return to the execution response to detecting that the cleaning robot has closed a circle in the opposite direction to the target direction to generate a first closed trajectory and the steps following the generation of the first closed trajectory.

[0161] Optionally, the edge-moving device 900 of the above-mentioned cleaning robot includes:

[0162] The fourth determination module is used to determine that the cleaning robot has made an incorrect detour in response to the detection that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a third closed trajectory.

[0163] The second judgment module is used to determine whether the third closed trajectory is within the second preset range of the first closed trajectory;

[0164] The sixth movement module is used to determine the closest point of the third closed trajectory to the initial contour of the target edge if the condition is met, set a virtual wall between the closest point and the initial contour, and move along the edge.

[0165] The seventh moving module is used to move along the first side in an edge-following mode when the cleaning robot is within the range of the first side of the virtual wall, in response to colliding with the virtual wall and the distance between the target side of the cleaning robot and the virtual wall being less than or equal to a first preset distance. The direction from the first connection point between the first side and the third closed trajectory to the second connection point between the first side and the initial contour is the target direction.

[0166] The eighth movement module is used to move along the target direction in an edge-following mode in response to a collision of the cleaning robot in the movement direction along the first side.

[0167] The second execution module is used to otherwise return to the execution response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a first closed trajectory and the steps after generating the first closed trajectory.

[0168] Optionally, the edge-moving device 900 of the above-mentioned cleaning robot includes:

[0169] The ninth movement module is used to determine that the virtual wall does not exist when the cleaning robot is within the range of the second side of the virtual wall and the distance between the target side of the cleaning robot and the virtual wall is greater than a first preset distance. It then moves along the target direction in the edge-following mode, and the direction from the first connection point of the second side and the third closed trajectory to the second connection point of the second side and the initial contour is the opposite direction of the target direction.

[0170] Optionally, the edge-moving device 900 of the above-mentioned cleaning robot includes:

[0171] The first acquisition module is used to acquire the distance between the cleaning robot and the virtual wall;

[0172] The deletion module is used to delete the virtual wall when the distance between the cleaning robot and the virtual wall is greater than a second preset distance.

[0173] Optionally, the edge-moving device 900 of the above-mentioned cleaning robot includes:

[0174] The fifth determination module is used to determine that the cleaning robot has made an incorrect detour in response to the detection that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a fourth closed trajectory;

[0175] The third judgment module is used to determine whether the fourth closed trajectory is within the second preset range of the first closed trajectory;

[0176] The second extraction module is used to extract, if yes, the edge trajectory along which the cleaning robot moved along the target edge before the current moment, and the remaining contour outside the edge trajectory in the initial contour of the target edge.

[0177] The merging module is used to merge the edge trajectory with the remaining contour to obtain the target contour of the target edge;

[0178] The cleaning module is used to clean the target area defined by the target outline;

[0179] The third execution module is used otherwise to return to the execution response to detecting that the cleaning robot has closed a circle in the opposite direction of the target direction to generate a first closed trajectory and the steps after generating the first closed trajectory.

[0180] Optionally, the edge-moving device 900 of the above-mentioned cleaning robot includes:

[0181] The help module is used to stop moving and send a help message when the fourth closed trajectory is within the second preset range of the first closed trajectory. The help message includes the cleaning robot failing to move along the target edge and requesting the user to remove the obstacle corresponding to the fourth closed trajectory.

[0182] The tenth movement module is used to move along the target direction in the edge-following mode in response to receiving a determination to remove the obstacle corresponding to the fourth closed trajectory.

[0183] Optionally, the edge-moving device 900 of the above-mentioned cleaning robot includes:

[0184] The second acquisition module is used to acquire the diameter of the first closed trajectory;

[0185] The sixth determining module is used to determine that when the diameter is greater than a preset value, in response to the cleaning robot being located on or inside the first closed trajectory, the cleaning robot closes one circle in the opposite direction to the target direction.

[0186] Optionally, the initial contour of the target edge is obtained by laser scanning of the target edge.

[0187] The edge-moving device of the cleaning robot provided in this embodiment can implement the method of any of the above embodiments, and its execution mode and beneficial effects are similar, so they will not be described again here.

[0188] This disclosure also provides a cleaning robot, which includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, it can implement the methods of any of the above embodiments. The execution method and beneficial effects are similar and will not be described again here.

[0189] This disclosure provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the methods of any of the above embodiments. The execution method and beneficial effects are similar, and will not be described again here.

[0190] The aforementioned computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0191] The computer program described above can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this disclosure. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer device, partially on the user's device, as a standalone software package, partially on the user's computer device and partially on a remote computer device, or entirely on a remote computer device or server.

[0192] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0193] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0194] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of edge following for a cleaning robot, characterized in that, include: During the process of the cleaning robot moving along the target side in the target direction according to the preset edge-following mode, in response to the detection that the cleaning robot closes a circle in the opposite direction of the target direction to generate a first closed trajectory, it is determined that the cleaning robot has made an erroneous detour around the stake. The edge-following mode is that the distance between the target side of the cleaning robot and the edge is less than or equal to a first preset distance. Extract the historical trajectory of the cleaning robot before the starting point of the first closed trajectory, and move backward along the historical trajectory starting from the starting point; In response to a collision occurring in the direction of the cleaning robot's backward movement along the historical trajectory, the robot moves along the target direction according to the edge-following pattern. Wherein, in response to a collision occurring in the backtracking direction, after moving along the target direction according to the edge-following mode, the method further includes: After moving a first distance, it is detected whether the cleaning robot is within a first preset range of the historical trajectory and whether the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is less than a preset angle threshold. If so, exit the edge-following mode and backtrack along the remaining trajectory of the historical trajectory; In response to a collision occurring in the direction of the cleaning robot's backtracking movement along the remaining trajectory, the robot moves along the target direction in the edge-following mode.

2. The method according to claim 1, characterized in that, After detecting whether the cleaning robot is within a first preset range of the historical trajectory and the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is less than a preset angle threshold, the method further includes: If the cleaning robot is outside the first preset range of the historical trajectory or the angle difference between the orientation of the cleaning robot and the direction of the historical trajectory is greater than or equal to a preset angle threshold, the cleaning robot generates a second closed trajectory by closing one circle in the opposite direction of the target direction, and it is determined that the cleaning robot has made an erroneous detour. Determine whether the second closed trajectory is within a second preset range of the first closed trajectory; If so, then extract the initial contour of the target edge; Determine the first contour point in the initial contour that is closest to the second closed trajectory, and the second contour point that moves the first contour point a second distance along the target direction; The second closed trajectory is identified as an obstacle, and the path from the current position of the cleaning robot to the second contour point is planned to obtain the target path; Move from the current position to the second contour point along the target path; In response to a collision occurring in the direction of movement of the cleaning robot from the current position to the second contour point, the robot moves along the target direction according to the edge-following mode. Otherwise, return to the steps following the detection that the cleaning robot has closed a circle in the opposite direction to the target direction to generate a first closed trajectory and the steps following the generation of the first closed trajectory.

3. The method according to claim 2, characterized in that, In response to a collision occurring in the direction of movement of the cleaning robot from the current position to the second contour point, after moving along the target direction according to the edge-following mode, the method further includes: In response to detecting that the cleaning robot has closed a circle in the opposite direction to the target direction to generate a third closed trajectory, it is determined that the cleaning robot has made an incorrect detour around the stake; Determine whether the third closed trajectory is within a second preset range of the first closed trajectory; If so, determine the closest point of the third closed trajectory to the initial contour of the target edge, set a virtual wall between the closest point and the initial contour, and move according to the edge-following mode; When the cleaning robot is within the range of the first side of the virtual wall, in response to colliding with the virtual wall and the distance between the target side of the cleaning robot and the virtual wall being less than or equal to a first preset distance, it moves along the first side in the edge-following mode, and the direction from the first connection point of the first side and the third closed trajectory to the second connection point of the first side and the initial contour is the target direction; In response to a collision occurring in the direction of movement along the first side of the cleaning robot, the robot moves along the target direction according to the edge-moving mode. Otherwise, return to the steps following the detection that the cleaning robot has closed a circle in the opposite direction to the target direction to generate a first closed trajectory and the steps following the generation of the first closed trajectory.

4. The method according to claim 3, characterized in that, After setting a virtual wall between the nearest point and the initial contour, and moving according to the edge-following pattern, the method further includes: When the cleaning robot is within the range of the second side of the virtual wall, in response to colliding with the virtual wall and the distance between the target side of the cleaning robot and the virtual wall being greater than a first preset distance, it is determined that the virtual wall does not exist, and the robot moves along the target direction according to the edge-following mode. The direction from the first connection point of the second side and the third closed trajectory to the second connection point of the second side and the initial contour is the opposite direction of the target direction.

5. The method according to claim 3, characterized in that, In response to a collision occurring in the direction of movement of the cleaning robot along the virtual wall, after moving along the target direction in the edge-following mode, the method further includes: Obtain the distance between the cleaning robot and the virtual wall; When the distance between the cleaning robot and the virtual wall is greater than a second preset distance, the virtual wall is deleted.

6. The method according to claim 3, characterized in that, In response to a collision occurring in the direction of movement of the cleaning robot along the virtual wall, after moving along the target direction in the edge-following mode, the method further includes: In response to detecting that the cleaning robot has closed a circle in the opposite direction to the target direction to generate a fourth closed trajectory, it is determined that the cleaning robot has made an incorrect detour around the stake; Determine whether the fourth closed trajectory is within the second preset range of the first closed trajectory; If so, extract the edge trajectory along the target edge that the cleaning robot has moved along before the current moment, and the remaining contour outside the edge trajectory in the initial contour of the target edge; The edge trajectory is merged with the remaining contour to obtain the target contour of the target edge; Clean the target area defined by the target contour; Otherwise, return to the steps following the detection that the cleaning robot has closed a circle in the opposite direction to the target direction to generate a first closed trajectory and the steps following the generation of the first closed trajectory.

7. The method according to claim 6, characterized in that, After determining whether the fourth closed trajectory is within a preset range of the first closed trajectory, the method further includes: When the fourth closed trajectory is within a second preset range of the first closed trajectory, the robot stops moving and sends a distress message. The distress message includes the cleaning robot failing to move along the target edge and requesting the user to remove the obstacle corresponding to the fourth closed trajectory. In response to receiving a determination to remove an obstacle corresponding to the fourth closed trajectory, the device moves along the target direction according to the edge-following mode.

8. The method according to any one of claims 2-7, characterized in that, Before the cleaning robot completes one full circle in the opposite direction to the target direction, the method further includes: Obtain the diameter of the first closed trajectory; When the diameter is greater than a preset value, in response to the cleaning robot being located on or inside the first closed trajectory, it is determined that the cleaning robot closes one circle in the opposite direction to the target direction.

9. The method according to claim 2, characterized in that, The initial contour of the target edge is obtained based on laser scanning of the target edge.

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