Robot control method, system, cleaning robot and storage medium

Abstract

This invention relates to a robot control method, system, cleaning robot, and storage medium. The method is applied to a cleaning robot, the top surface of which is equipped with a detection sensor with lifting capabilities. The method includes: acquiring the space type of the current cleaning space in the robot's forward direction; when the current cleaning space is detected to be a low-ceilinged space, controlling the detection sensor to lower its height and enter the low-ceilinged space; controlling the cleaning robot to clean the low-ceilinged space; and then controlling the cleaning robot to move out of the low-ceilinged space and restore the height of the detection sensor. This invention solves the problem in conventional cleaning robots with protruding detection sensors at the top, where the protruding sensor collides with the suspended object when entering a low-ceilinged space below a suspended object, preventing the robot from entering and cleaning the space below the suspended object.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a robot control method, system, cleaning robot, and storage medium. Background Technology

[0002] With the continuous development of automation and artificial intelligence technologies, the application of various cleaning robots, such as floor scrubbers and sweepers, is becoming increasingly widespread. In traditional technology, some sweepers have protruding LiDAR or other detection sensors on their tops for scanning, mapping, and navigation of the area to be cleaned. However, when these cleaning robots with protruding detection sensors enter low spaces under suspended objects (such as coffee tables), the protruding sensors collide with the suspended objects, preventing the robot from entering and cleaning the space beneath them. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is that in the conventional technology, when a cleaning robot with a protruding detection sensor at the top enters a low space under a suspended object, the protruding detection sensor will collide with the suspended object, causing the machine to be unable to enter the space under the suspended object for cleaning.

[0004] To solve the above-mentioned technical problems, the present invention provides a robot control method applied to a cleaning robot, wherein the top surface of the cleaning robot is provided with a detection sensor with lifting function;

[0005] The method includes:

[0006] Obtain the current cleaning space type in the direction the cleaning robot is moving;

[0007] When the current cleaning space is detected to be a low-ceilinged space, the detection sensor is controlled to lower its height and enter the low-ceilinged space;

[0008] The cleaning robot is controlled to clean the low-ceilinged space, and then the cleaning robot is controlled to move out of the low-ceilinged space and restore the height of the detection sensor.

[0009] Optionally, obtaining the spatial type of the current cleaning space in the forward direction of the cleaning robot includes:

[0010] Obtain the current height value of the cleaning space in the direction the cleaning robot is moving forward;

[0011] When the height value of the current cleaning space is detected to be greater than the first height value of the cleaning robot's body and less than the second height value of the detection sensor on the top surface of the cleaning robot, the current cleaning space is determined to be a low space.

[0012] Optionally, obtaining the current spatial height value of the cleaning space in the forward direction of the cleaning robot includes:

[0013] Obtain obstacle detection information in the forward direction of the cleaning robot;

[0014] Based on the detection information of the obstacle, the type of the obstacle is determined;

[0015] When the obstacle is a spatial obstacle, the spatial characteristics of the spatial obstacle are determined; the spatial characteristics include at least a spatial bottom surface and a spatial top surface;

[0016] Based on the spatial characteristics, determine the spatial height value of the spatial obstacle.

[0017] Optionally, controlling the detection sensor to lower its height and enter the low-ceilinged space includes:

[0018] The descent height value of the detection sensor is determined based on the spatial height value of the low-ceiling space and the second height value of the detection sensor;

[0019] Based on the descent height value, the detection sensor is controlled to descend according to preset rules, and the cleaning robot is controlled to smoothly enter the low-ceilinged space.

[0020] Optionally, controlling the descent of the detection sensor according to the descent height value and a preset rule includes:

[0021] Based on the stated descent height value, control the detection sensor to reduce its height value at a preset fixed lifting speed; or...

[0022] Based on the descent height value, the current distance between the cleaning robot and the low-ceilinged space, and the current moving speed of the cleaning robot, the temporary lifting speed of the detection sensor is obtained, and the detection sensor is controlled to reduce its height value at the temporary lifting speed.

[0023] Optionally, before controlling the detection sensor to descend according to a preset rule, the method further includes:

[0024] Control the cleaning robot to slow down or stop moving.

[0025] Optionally, controlling the cleaning robot to clean the low-ceilinged space includes:

[0026] After the cleaning robot enters the low-ceilinged space, the angle of the detection sensor is adjusted to detect the low-ceilinged space;

[0027] Control the cleaning robot to clean the low-ceilinged space.

[0028] Optionally, adjusting the angle of the detection sensor to detect the low-ceiling space includes:

[0029] Adjust the angle of the detection sensor so that the detection direction of the detection sensor is vertically upward;

[0030] The detection sensor is controlled to detect the area above the low-ceilinged space to obtain internal space information of the low-ceilinged space.

[0031] Optionally, controlling the cleaning robot to move out of the low-ceilinged space and restore the height of the detection sensor includes:

[0032] Control the cleaning robot to move from the interior of the low-ceilinged space to its exterior;

[0033] During the movement of the cleaning robot, the real-time distance between the detection sensor and the inner top surface of the low-ceiling space is obtained.

[0034] When multiple real-time distance values ​​obtained within a preset time period are all greater than a preset distance value, the detection sensor is controlled to rise to a specified height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot.

[0035] In addition, the present invention also proposes a robot control system for use in a cleaning robot, wherein the top surface of the cleaning robot is provided with a detection sensor with lifting function;

[0036] The system includes:

[0037] The space detection module is used to obtain the space type of the current cleaning space in the forward direction of the cleaning robot;

[0038] The sensor descent control module is communicatively connected to the space detection module and is used to control the detection sensor to lower its height and enter the low space when the current cleaning space is detected to be a low space.

[0039] The sensor rise control module is communicatively connected to the sensor descent control module. It controls the cleaning robot to clean the low space, and then controls the cleaning robot to move out of the low space and restore the height of the detection sensor.

[0040] Furthermore, the present invention also proposes a cleaning robot, comprising:

[0041] The robot itself;

[0042] A detection sensor is located on the top surface of the robot body;

[0043] A lifting mechanism is mounted on the robot body and connected to the detection sensor; and...

[0044] The controller is located on the robot body and is connected to both the detection sensor and the lifting mechanism.

[0045] The controller is used for:

[0046] Obtain the current cleaning space type in the direction the cleaning robot is moving;

[0047] When the current cleaning space is detected to be a low-ceilinged space, the detection sensor is controlled to lower its height and enter the low-ceilinged space;

[0048] The cleaning robot is controlled to clean the low-ceilinged space, and then the cleaning robot is controlled to move out of the low-ceilinged space and restore the height of the detection sensor.

[0049] Furthermore, the present invention also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement all or part of the method steps of the robot control method described above.

[0050] The technical solution provided by this invention has the following advantages:

[0051] The robot control method provided by this invention is applied to a cleaning robot with a retractable detection sensor on its top surface. When cleaning an area, the robot can detect and analyze the spatial type of the current cleaning space in its forward direction to determine if a low-lying space exists. If a low-lying space exists, the detection sensor on the top surface of the robot is lowered, allowing the robot to enter and clean the area. After cleaning, the robot exits the low-lying space, and the detection sensor on its top surface is raised to its original position. This allows the cleaning robot with the protruding detection sensor on its top to enter and clean even low-lying spaces under suspended objects (obstacles) during cleaning, preventing collisions and damage, and ensuring effective cleaning of the spaces. This guarantees equipment safety and improves cleaning efficiency. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a simplified flowchart illustrating the steps of the robot control method described in an embodiment of the present invention;

[0054] Figure 2 This is a simplified block diagram illustrating the structure of the robot control system described in an embodiment of the present invention.

[0055] Figure 3 This is a simplified structural diagram of the cleaning robot described in an embodiment of the present invention;

[0056] Figure 4 This is a simplified three-dimensional structural diagram of the cleaning robot described in an embodiment of the present invention. Detailed Implementation

[0057] 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.

[0058] 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.

[0059] 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.

[0060] In traditional technologies, cleaning robots with protruding detection sensors at their top often encounter problems when entering low-lying spaces under suspended objects (such as coffee tables). The protruding sensors collide with these objects, preventing the robot from cleaning the space beneath them. To address this issue, this invention proposes a robot control method, system, and cleaning robot.

[0061] Example 1

[0062] This embodiment provides a robot control method applied to a cleaning robot, wherein the top surface of the cleaning robot is equipped with a detection sensor with lifting function. For example... Figure 1 As shown, the robot control method may include the following steps:

[0063] S100: Obtain the space type of the current cleaning space in the forward direction of the cleaning robot;

[0064] S200: When the current cleaning space is detected to be a low space, the detection sensor is controlled to lower its height and enter the low space;

[0065] S300 controls the cleaning robot to clean the low-ceilinged space, then controls the cleaning robot to move out of the low-ceilinged space and restore the height of the detection sensor.

[0066] The robot control method provided in this embodiment is applied to a cleaning robot with a liftable detection sensor on its top surface. When cleaning an area, the robot can detect and analyze the spatial type of the current cleaning space in its forward direction to determine if a low-lying space exists. If a low-lying space exists, the detection sensor on the top surface of the robot is lowered, allowing the robot to enter and clean the area. After cleaning, the robot exits the low-lying space, and the detection sensor on its top surface rises back to its original position. This allows the cleaning robot with the protruding detection sensor on its top to enter and clean even low-lying spaces under suspended objects (obstacles) during cleaning, preventing collisions and damage, and ensuring effective cleaning of the spaces. This guarantees equipment safety and improves cleaning efficiency.

[0067] Further, in step S100, the space type of the current cleaning space in the forward direction of the cleaning robot is obtained, which may specifically include the following steps:

[0068] S110. Obtain the current spatial height value of the cleaning space in the forward direction of the cleaning robot.

[0069] By detecting the height of the current cleaning space in the direction the cleaning robot is moving, it can be determined whether the current cleaning space is a low space. This allows it to decide whether the detection sensors on the top of the cleaning robot need to be raised or lowered so that the cleaning robot can enter the current cleaning space normally.

[0070] S120. When the height of the current cleaning space is detected to be greater than the first height of the cleaning robot's body and less than the second height of the detection sensor on the top surface of the cleaning robot, the current cleaning space is determined to be a low-ceiling space. The second height of the detection sensor is the height of the top of the sensor when it is normally protruding from the top surface of the cleaning robot (i.e., the distance between the top of the sensor and the ground); the first height of the cleaning robot's body is the height of the top surface of the body (i.e., the distance between the top surface of the body and the ground).

[0071] If the current cleaning space is large enough to accommodate the body of the cleaning robot but not enough to accommodate the normally extended detection sensor, it is determined that the cleaning robot cannot enter the current cleaning space under normal circumstances. However, if the cleaning robot can successfully enter the current cleaning space by lowering the height of the detection sensor, then the current cleaning space can be judged as a low space.

[0072] S130. When the height value of the current cleaning space is detected to be greater than the second height value of the detection sensor on the top surface of the cleaning robot, the current cleaning space is determined to be a regular cleaning space.

[0073] If it is detected that the current cleaning space can accommodate not only the body of the cleaning robot but also the normally extended detection sensors, and it is determined that the cleaning robot can smoothly enter the current cleaning space under normal circumstances without needing to lower the detection sensors protruding from the top surface of the cleaning robot, then the current cleaning space can be judged as a regular cleaning space.

[0074] S140. When the height value of the current cleaning space is detected to be less than or equal to the first height value of the cleaning robot's body, the current cleaning space is determined to be an unconventional space.

[0075] If the current cleaning space is found to be too small to accommodate the cleaning robot, it means that the cleaning robot cannot enter the current cleaning space under normal circumstances, and it cannot enter the current cleaning space even by lowering the height of the detection sensor. Therefore, the current cleaning space can be determined to be an unconventional space that cannot be cleaned by the cleaning robot.

[0076] Generally, low-ceilinged spaces are formed by the space beneath various obstacles, such as low tables, stools, coffee tables, sofas, and other low, suspended objects (obstacles). Therefore, to obtain the current height value of the cleaning space in the direction the cleaning robot is moving, it is first necessary to obtain obstacle information in the direction the cleaning robot is moving, so as to determine whether an obstacle is an obstacle that forms a low-ceilinged space. In this embodiment, such obstacles that form low-ceilinged spaces can be referred to as spatial obstacles. Therefore, obtaining the current height value of the cleaning space in the direction the cleaning robot is moving in step S110 may specifically include the following steps:

[0077] S112. Obtain obstacle detection information in the forward direction of the cleaning robot.

[0078] Obstacles in the direction of the cleaning robot's movement can be detected by detection sensors installed on the top surface of the cleaning robot, or / and detection sensors installed on the sides of the cleaning robot, in order to obtain image information or laser point cloud information of the obstacles.

[0079] S114. Determine the type of obstacle based on the obstacle detection information.

[0080] Based on the image information or laser point cloud information of the obstacle, the type of obstacle is determined by machine learning (e.g., using neural network systems for intelligent learning) and / or manual annotation: whether it is a regular solid obstacle or a spatial obstacle with space below it.

[0081] S116. When the obstacle is a spatial obstacle, determine the spatial characteristics of the spatial obstacle; the spatial characteristics include at least the bottom surface and the top surface of the space.

[0082] When an obstacle in the direction of the cleaning robot's movement is detected as a spatial obstacle with a space below it, it is necessary to further determine information such as the bottom and top surfaces of the space below the obstacle. Additionally, the two sides of the space below the obstacle can also be determined.

[0083] S118. Determine the spatial height value of spatial obstacles based on spatial characteristics.

[0084] By determining the distance between the bottom and top surfaces of the space beneath the obstacle, the height of the obstacle can be obtained. Furthermore, the width of the obstacle can be determined by examining the two side surfaces of the space beneath it.

[0085] Furthermore, in step S200, controlling the detection sensor to lower its height and enter a low-ceilinged space may specifically include the following steps:

[0086] S210. Determine the descent height value of the detection sensor based on the spatial height value of the low-ceiling space and the second height value of the detection sensor.

[0087] To facilitate the smooth entry of the cleaning robot into low-ceilinged spaces, the descent height value of the detection sensor protruding from the top surface of the robot can be determined first. Furthermore, the descent height value of the detection sensor can be the first difference between the second height value of the sensor and the height of the low-ceilinged space. In this case, the cleaning robot can descend to the height of the low-ceilinged space, facilitating rapid descent and entry, thus reducing power consumption. Alternatively, the descent height value can be the second difference between the second height value of the sensor and the first height value of the robot body. In this case, the cleaning robot can descend to the first height value of the robot body, allowing for safer entry and movement within the low-ceilinged space. Finally, the descent height value can also be any value between the first and second differences, combining the advantages of both scenarios.

[0088] S220: Based on the descent height value, control the detection sensor to descend according to preset rules, and control the cleaning robot to smoothly enter the low-ceilinged space.

[0089] Once the descent height of the detection sensor is determined, the sensor can be controlled to descend according to that height, allowing the cleaning robot to smoothly enter the interior of the low-ceilinged space.

[0090] Further, in step S220, the descent of the detection sensor is controlled according to a preset rule based on the descent height value, which may specifically include the following steps:

[0091] S222. Based on the descent height value, control the detection sensor to reduce its height value at a preset fixed lifting speed. That is, when controlling the detection sensor to descend, a preset fixed lifting speed can be used to ensure that the height value of the cleaning robot before entering the low space is lower than the height value of the space.

[0092] Alternatively, S224, based on the descent height value, the current distance between the cleaning robot and the low-ceilinged space, and the current moving speed of the cleaning robot, the temporary lifting speed of the detection sensor is obtained, and the detection sensor is controlled to reduce its height value at the temporary lifting speed.

[0093] At this point, the cleaning robot can move while simultaneously lowering the height of the detection sensor, ensuring that the robot's height before entering the low-ceilinged space is lower than the space's height. Furthermore, the descent speed of the detection sensor can be determined based on the descent height and the temporary descent time, where the temporary descent time is the real-time movement time taken for the cleaning robot to move from its current position to the edge of the low-ceilinged space. The real-time movement time of the cleaning robot is the time it takes to move the current distance at its current speed, where the current distance is the distance between the cleaning robot's current position and the edge of the low-ceilinged space.

[0094] Furthermore, in step S220, before controlling the detection sensor to descend according to preset rules, the following steps may also be included:

[0095] Control the cleaning robot to slow down or stop moving. That is, before controlling the detection sensor to descend, make the cleaning robot stop or slow down first, so that the detection sensor has enough time to reduce the descent height value, avoiding the situation where the detection sensor height value is still greater than the space height value when the cleaning robot moves to the edge of the low space, and the detection sensor collides with the spatial obstacles in the low space.

[0096] In addition, in step S300, controlling the cleaning robot to clean the low-ceilinged space may include the following steps:

[0097] S310. After the cleaning robot enters a low-ceilinged space, adjust the angle of the detection sensor to detect the low-ceilinged space.

[0098] After the cleaning robot enters a low-ceilinged space, it is necessary to detect in real time whether the cleaning robot has left the low-ceilinged space. At this time, it is necessary to adjust the detection angle of the detection sensor to facilitate the detection of the internal top surface of the low-ceilinged space, so as to confirm whether the cleaning robot is inside the low-ceilinged space.

[0099] S320: Control the cleaning robot to clean low-ceilinged spaces. Furthermore, while inspecting the interior of the low-ceilinged space, it also cleans the area containing the low-ceilinged space. This step can be performed simultaneously with step S310.

[0100] Further, in step S310, adjusting the angle of the detection sensor to detect the low-ceiling space may include the following steps:

[0101] S312. Adjust the angle of the detection sensor so that its detection direction is vertically upward. Since it is necessary to detect the inner ceiling surface of a low-ceilinged space, the detection direction of the sensor needs to be adjusted from the moving direction of the cleaning robot (generally horizontal) to a vertically upward direction to detect the distance between the top of the cleaning robot and the inner ceiling surface of the low-ceilinged space. Alternatively, the detection direction of the sensor can be adjusted to an upward tilt.

[0102] S314. Control the detection sensor to detect the area above the low-ceilinged space and obtain the internal space information of the low-ceilinged space. After adjusting the detection direction of the detection sensor, the internal space information of the low-ceilinged space can be detected to obtain the distance between the top of the cleaning robot and the inner top surface of the low-ceilinged space.

[0103] Furthermore, in step S300, controlling the cleaning robot to move out of the low-ceilinged space and restore the height of the detection sensor may include the following steps:

[0104] S330: Control the cleaning robot to move from the inside of the low-ceilinged space to the outside. This means controlling the cleaning robot to clean the area of ​​the low-ceilinged space while moving outwards.

[0105] S340. During the movement of the cleaning robot, the real-time distance value between the detection sensor and the inner top surface of the low space is obtained.

[0106] S350: When multiple real-time distance values ​​obtained within a preset time period are all greater than the preset distance value, the detection sensor is controlled to rise to a specified height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot.

[0107] If, within a certain time period, multiple real-time distance values ​​between the detection sensor and the inner top surface of the low-ceilinged space (due to potential gaps in the top surface of the low-ceilinged space, a single detection result may be inaccurate, thus requiring multiple measurements), are all greater than a preset distance value (such as the descent height of the detection sensor, or the first difference between the second height value of the detection sensor and the spatial height value of the low-ceilinged space), then it proves that the cleaning robot has moved out of the low-ceilinged space. At this point, the height of the detection sensor on the top surface of the cleaning robot can be restored to its original height (i.e., the first height value); in addition, the detection direction of the detection sensor can be adjusted back to its original direction (i.e., the direction consistent with the movement direction of the cleaning robot).

[0108] Furthermore, it should be noted that in this embodiment, the executing entity of the robot control method is the cleaning robot, and more specifically, the control unit (such as a controller) of the cleaning robot.

[0109] Moreover, in this embodiment, the minimum width of the low space is assumed to be greater than the maximum width of the cleaning robot, so only the height of the low space needs to be considered.

[0110] Example 2

[0111] This embodiment provides a robot control system 100 applied to a cleaning robot. The top surface of the cleaning robot is equipped with a detection sensor with lifting function. Furthermore, as... Figure 2 As shown, the robot control system 100 may include:

[0112] The space detection module 102 is used to obtain the space type of the current cleaning space in the forward direction of the cleaning robot;

[0113] The sensor descent control module 104 is communicatively connected to the space detection module 102 and is used to control the detection sensor to lower its height and enter the low space when the current cleaning space is detected to be a low space.

[0114] The sensor rise control module 106 is communicatively connected to the sensor fall control module 104. It controls the cleaning robot to clean the low space, and then controls the cleaning robot to move out of the low space and restore the height of the detection sensor.

[0115] Furthermore, when the space detection module 102 is configured to acquire the space type of the current cleaning space in the forward direction of the cleaning robot, it can specifically be used for:

[0116] Obtain the current height value of the cleaning space in the direction the cleaning robot is moving forward;

[0117] When the height of the current cleaning space is detected to be greater than the first height of the cleaning robot's body and less than the second height of the detection sensor on the top surface of the cleaning robot, the current cleaning space is determined to be a low space.

[0118] When the height value of the current cleaning space is detected to be greater than the second height value of the detection sensor on the top surface of the cleaning robot, the current cleaning space is determined to be a regular cleaning space.

[0119] When the height of the current cleaning space is less than or equal to the first height of the cleaning robot's body, the current cleaning space is determined to be an unconventional space.

[0120] Furthermore, when the space detection module 102 is configured to acquire the current height value of the cleaning space in the forward direction of the cleaning robot, it can specifically be used for:

[0121] Obtain obstacle detection information in the direction the cleaning robot is moving;

[0122] Determine the type of obstacle based on the obstacle detection information;

[0123] When the obstacle is a spatial obstacle, determine the spatial characteristics of the spatial obstacle; the spatial characteristics include at least the bottom surface and the top surface of the space;

[0124] Determine the spatial height value of spatial obstacles based on spatial characteristics.

[0125] Furthermore, the sensor descent control module 104 is configured to control the detection sensor as it lowers its height and enters a low-ceilinged space, specifically for the following purposes:

[0126] The descent height of the detection sensor is determined based on the spatial height value of the low-ceiling space and the second height value of the detection sensor.

[0127] Based on the descent height, the detection sensor is controlled to descend according to preset rules, and the cleaning robot is controlled to smoothly enter the low-ceilinged space.

[0128] Furthermore, the sensor descent control module 104 is configured to control the descent of the detection sensor according to a preset rule based on the descent height value, specifically for:

[0129] Based on the descent height value, control the detection sensor to reduce its height value at a preset fixed lifting and lowering speed;

[0130] Alternatively, based on the descent height value, the current distance between the cleaning robot and the low-ceilinged space, and the current moving speed of the cleaning robot, the temporary lifting speed of the detection sensor can be obtained, and the detection sensor can be controlled to reduce its height value at the temporary lifting speed.

[0131] Furthermore, before the sensor descent control module 104 is configured to control the descent of the detection sensor according to preset rules, it can also be used for:

[0132] Control the cleaning robot to slow down or stop moving.

[0133] In addition, the sensor rise control module 106 is configured to control the cleaning robot when cleaning low-ceiling spaces, and can be used for:

[0134] After the cleaning robot enters a low-ceilinged space, the angle of the detection sensor is adjusted to detect the low-ceilinged space;

[0135] Control the cleaning robot to clean low-ceilinged spaces.

[0136] Furthermore, the sensor rise control module 106 is configured to adjust the angle of the detection sensor for detection in low-ceilinged spaces, and can be used for:

[0137] Adjust the angle of the detection sensor so that the detection direction of the detection sensor is vertically upward;

[0138] The control and detection sensors detect the space above the low-ceilinged area to obtain information about the interior space of the low-ceilinged area.

[0139] Furthermore, when the sensor lifting control module 106 is configured to control the cleaning robot to move out of a low-ceilinged space and restore the height of the detection sensor, it can be used for:

[0140] Control the cleaning robot to move from the inside to the outside of a low-ceilinged space;

[0141] During the movement of the cleaning robot, the real-time distance between the detection sensor and the inner ceiling of the low-ceilinged space is obtained.

[0142] When multiple real-time distance values ​​obtained within a preset time period are all greater than the preset distance value, the detection sensor is controlled to rise to a specified height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot.

[0143] The robot control system 100 described in this embodiment corresponds to the robot control method described above. The functions of each module in the robot control system 100 in this embodiment are described in detail in the corresponding method embodiments, and will not be repeated here.

[0144] Example 3

[0145] This embodiment provides a cleaning robot 10, such as Figure 3 As shown, the robot includes a robot body 12, a detection sensor 16 located on the top surface of the robot body 12, a lifting mechanism 18 located on the robot body 12 and connected to the detection sensor 16, and a controller 14 located on the robot body 12 and connected to both the detection sensor 16 and the lifting mechanism 18.

[0146] The controller 14 can control the robot body 12 of the cleaning robot 10 to clean the area to be cleaned. During the cleaning process, it can also control the detection sensor 16 to detect obstacle information in the area to be cleaned, and determine the type of obstacle in the area to be cleaned to determine whether there is a suspended obstacle with a low space (i.e., a spatial obstacle). When there is a spatial obstacle in the area to be cleaned, it can be further determined whether the cleaning robot can normally enter and exit the low space of the spatial obstacle. If it is necessary to lower the height of the detection sensor 16 to smoothly enter the low space, the controller 14 can control the lifting mechanism 18 to lower the detection sensor to reduce its height. After cleaning the low space below the spatial obstacle is completed, the controller 14 can control the cleaning robot 10 to move out of the low space, and the controller 14 can control the lifting mechanism 18 to raise the detection sensor to reset its height. Moreover, in this embodiment, the detection sensor can be set as a lidar.

[0147] Specifically, controller 16 can be used for:

[0148] Obtain the current cleaning space type in the direction the cleaning robot is moving;

[0149] When the current cleaning space is detected to be a low-ceilinged space, the control sensor lowers its height and enters the low-ceilinged space;

[0150] Control the cleaning robot to clean the low-ceilinged space, then control the cleaning robot to move out of the low-ceilinged space and restore the height of the detection sensor.

[0151] Furthermore, when the controller 14 is configured to acquire the space type of the current cleaning space in the forward direction of the cleaning robot, it can specifically be used for:

[0152] Obtain the current height value of the cleaning space in the direction the cleaning robot is moving forward;

[0153] When the height of the current cleaning space is detected to be greater than the first height of the cleaning robot's body and less than the second height of the detection sensor on the top surface of the cleaning robot, the current cleaning space is determined to be a low space.

[0154] When the height value of the current cleaning space is detected to be greater than the second height value of the detection sensor on the top surface of the cleaning robot, the current cleaning space is determined to be a regular cleaning space.

[0155] When the height of the current cleaning space is less than or equal to the first height of the cleaning robot's body, the current cleaning space is determined to be an unconventional space.

[0156] Furthermore, when the controller 14 is configured to acquire the current spatial height value of the cleaning space in the forward direction of the cleaning robot, it can specifically be used for:

[0157] Obtain obstacle detection information in the direction the cleaning robot is moving;

[0158] Determine the type of obstacle based on the obstacle detection information;

[0159] When the obstacle is a spatial obstacle, determine the spatial characteristics of the spatial obstacle; the spatial characteristics include at least the bottom surface and the top surface of the space;

[0160] Determine the spatial height value of spatial obstacles based on spatial characteristics.

[0161] Furthermore, the controller 14 is configured to control the detection sensor to lower its height and enter a low-ceilinged space, specifically for the following purposes:

[0162] The descent height of the detection sensor is determined based on the spatial height value of the low-ceiling space and the second height value of the detection sensor.

[0163] Based on the descent height, the detection sensor is controlled to descend according to preset rules, and the cleaning robot is controlled to smoothly enter the low-ceilinged space.

[0164] Furthermore, the controller 14 is configured to control the descent of the detection sensor according to a preset rule based on the descent height value, specifically for:

[0165] Based on the descent height value, control the detection sensor to reduce its height value at a preset fixed lifting and lowering speed;

[0166] Alternatively, based on the descent height value, the current distance between the cleaning robot and the low-ceilinged space, and the current moving speed of the cleaning robot, the temporary lifting speed of the detection sensor can be obtained, and the detection sensor can be controlled to reduce its height value at the temporary lifting speed.

[0167] Furthermore, before the controller 14 is configured to control the descent of the detection sensor according to preset rules, it can also be used for:

[0168] Control the cleaning robot to slow down or stop moving.

[0169] In addition, the controller 14 is configured to control the cleaning robot when cleaning low-ceilinged spaces, and can be used for:

[0170] After the cleaning robot enters a low-ceilinged space, the angle of the detection sensor is adjusted to detect the low-ceilinged space;

[0171] Control the cleaning robot to clean low-ceilinged spaces.

[0172] Furthermore, when the controller 14 is configured to adjust the angle of the detection sensor for detection in low-ceilinged spaces, it can be used for:

[0173] Adjust the angle of the detection sensor so that the detection direction of the detection sensor is vertically upward;

[0174] The control and detection sensors detect the space above the low-ceilinged area to obtain information about the interior space of the low-ceilinged area.

[0175] Furthermore, when the controller 14 is configured to control the cleaning robot to move out of low-ceilinged spaces and restore the height of the detection sensors, it can be used for:

[0176] Control the cleaning robot to move from the inside to the outside of a low-ceilinged space;

[0177] During the movement of the cleaning robot, the real-time distance between the detection sensor and the inner ceiling of the low-ceilinged space is obtained.

[0178] When multiple real-time distance values ​​obtained within a preset time period are all greater than the preset distance value, the detection sensor is controlled to rise to a specified height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot.

[0179] Similarly, in this embodiment, the controller 14 can be used to implement each step of the robot control method described above for the cleaning robot. The specific implementation method can be referred to the specific content of the robot control method described above, and will not be repeated here.

[0180] Furthermore, in this embodiment, the cleaning robot can be a sweeping robot with a protruding detection sensor on its top surface. Alternatively, the cleaning robot can be a mopping robot, floor scrubber, or other cleaning equipment with a protruding detection sensor on its top surface.

[0181] Furthermore, the present invention also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement all or part of the method steps of the robot control method described above.

[0182] 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.

[0183] Based on the same inventive concept, embodiments of this application also provide an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, it implements all or part of the method steps described above.

[0184] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0185] Memory can be used to store computer programs and / or models. The processor performs various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0186] 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.

[0187] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0188] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0189] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0190] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A robot control method applied to a cleaning robot, wherein the top surface of the cleaning robot is provided with a detection sensor having a lifting function; Its features are, The method includes: Obtain the current cleaning space type in the direction the cleaning robot is moving; When the current cleaning space is detected to be a low-ceilinged space, the detection sensor is controlled to lower its height and enter the low-ceilinged space; The cleaning robot is controlled to clean the low-ceilinged space, and then the cleaning robot is controlled to move out of the low-ceilinged space and restore the height of the detection sensor; The control of the detection sensor to lower its height and enter the low-ceilinged space includes: The descent height value of the detection sensor is determined based on the spatial height value of the low-ceiling space and the second height value of the detection sensor; Based on the descent height value, the current distance between the cleaning robot and the low-ceilinged space, and the current moving speed of the cleaning robot, the temporary lifting speed of the detection sensor is obtained, and the detection sensor is controlled to reduce its height value at the temporary lifting speed.

2. The robot control method according to claim 1, characterized in that, The spatial type of the current cleaning space in the forward direction of the cleaning robot includes: Obtain the current height value of the cleaning space in the direction the cleaning robot is moving forward; When the height value of the current cleaning space is detected to be greater than the first height value of the cleaning robot's body and less than the second height value of the detection sensor on the top surface of the cleaning robot, the current cleaning space is determined to be a low space.

3. The robot control method according to claim 2, characterized in that, The process of obtaining the current height value of the cleaning space in the forward direction of the cleaning robot includes: Obtain obstacle detection information in the forward direction of the cleaning robot; Based on the detection information of the obstacle, the type of the obstacle is determined; When the obstacle is a spatial obstacle, the spatial characteristics of the spatial obstacle are determined; the spatial characteristics include at least a spatial bottom surface and a spatial top surface; Based on the spatial characteristics, determine the spatial height value of the spatial obstacle.

4. The robot control method according to claim 1, characterized in that, Before controlling the descent of the detection sensor, the method further includes: Control the cleaning robot to slow down or stop moving.

5. The robot control method according to any one of claims 1-4, characterized in that, The control of the cleaning robot to clean the low-ceilinged space includes: After the cleaning robot enters the low-ceilinged space, the angle of the detection sensor is adjusted to detect the low-ceilinged space; Control the cleaning robot to clean the low-ceilinged space.

6. The robot control method according to claim 5, characterized in that, Adjusting the angle of the detection sensor to detect the low-ceiling space includes: Adjust the angle of the detection sensor so that the detection direction of the detection sensor is vertically upward; The detection sensor is controlled to detect the area above the low-ceilinged space to obtain internal space information of the low-ceilinged space.

7. The robot control method according to any one of claims 1-4, characterized in that, The control of the cleaning robot to move out of the low-ceilinged space and restore the height of the detection sensor includes: Control the cleaning robot to move from the interior of the low-ceilinged space to its exterior; During the movement of the cleaning robot, the real-time distance between the detection sensor and the inner top surface of the low-ceiling space is obtained. When multiple real-time distance values ​​obtained within a preset time period are all greater than a preset distance value, the detection sensor is controlled to rise to a specified height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot.

8. A robot control system applied to a cleaning robot, wherein the top surface of the cleaning robot is provided with a detection sensor having a lifting function; Its features are, The system includes: The space detection module is used to obtain the space type of the current cleaning space in the forward direction of the cleaning robot; The sensor descent control module is communicatively connected to the space detection module and is used to control the detection sensor to lower its height and enter the low space when the current cleaning space is detected to be a low space. The sensor rise control module is communicatively connected to the sensor descent control module to control the cleaning robot to clean the low space, and then control the cleaning robot to move out of the low space and restore the height of the detection sensor. The control of the detection sensor to lower its height and enter the low-ceilinged space includes: The descent height value of the detection sensor is determined based on the spatial height value of the low-ceiling space and the second height value of the detection sensor; Based on the descent height value, the current distance between the cleaning robot and the low-ceilinged space, and the current moving speed of the cleaning robot, the temporary lifting speed of the detection sensor is obtained, and the detection sensor is controlled to reduce its height value at the temporary lifting speed.

9. A cleaning robot, characterized in that, include: The robot itself; A detection sensor is located on the top surface of the robot body; A lifting mechanism is mounted on the robot body and connected to the detection sensor; as well as, The controller is located on the robot body and is connected to both the detection sensor and the lifting mechanism. The controller is used for: Obtain the current cleaning space type in the direction the cleaning robot is moving; When the current cleaning space is detected to be a low-ceilinged space, the detection sensor is controlled to lower its height and enter the low-ceilinged space; The cleaning robot is controlled to clean the low-ceilinged space, and then the cleaning robot is controlled to move out of the low-ceilinged space and restore the height of the detection sensor; The control of the detection sensor to lower its height and enter the low-ceilinged space includes: The descent height value of the detection sensor is determined based on the spatial height value of the low-ceiling space and the second height value of the detection sensor; Based on the descent height value, the current distance between the cleaning robot and the low-ceilinged space, and the current moving speed of the cleaning robot, the temporary lifting speed of the detection sensor is obtained, and the detection sensor is controlled to reduce its height value at the temporary lifting speed.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the robot control method as described in any one of claims 1-7.

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