Control methods for cleaning robots and cleaning robots

Abstract

This specification provides a control method for a cleaning robot and a cleaning robot. Based on this method, during the movement of the cleaning robot, when the distance between the cleaning robot and an obstacle is greater than a first detection threshold and less than a second detection threshold, the first sensor system is used to obtain the three-dimensional information of the first obstacle; when the three-dimensional information of the first obstacle indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, the robotic arm is started; and the second sensor system is used to obtain the three-dimensional information of the second obstacle and the environmental information of the area behind the obstacle; when it is determined that the area behind the obstacle is the area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform the cleaning action.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and more particularly to a control method of a cleaning robot and a cleaning robot. Background Art

[0002] With the development and popularization of technology, more and more users are becoming accustomed to using cleaning robots to perform indoor or outdoor cleaning tasks.

[0003] Based on the existing control method of the cleaning robot, when encountering a relatively high obstacle, the cleaning robot is often unable to effectively collect relevant obstacle information due to the interference of the obstacle, which in turn affects the cleaning effect. Summary of the invention

[0004] This specification provides a control method for a cleaning robot and a cleaning robot. By combining the use of a robotic arm and a sensor system, the cleaning robot can accurately obtain relatively complete and detailed data information related to threshold-type obstacles; and based on the above data information, the cleaning robot can be accurately and safely controlled to cross the obstacle and enter the area behind the obstacle to perform cleaning actions, thereby obtaining a better cleaning effect.

[0005] The present specification provides a control method for a cleaning robot, which is applied to the cleaning robot. The cleaning robot is provided with a mechanical arm and a first sensor system capable of acquiring three-dimensional information of an obstacle. The mechanical arm is provided with a second sensor system capable of acquiring three-dimensional information of an obstacle. The method comprises:

[0006] When the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold, the first sensor system is used to obtain three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; and the obstacle is a threshold obstacle;

[0007] When the first obstacle three-dimensional information indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system arranged on the robotic arm and the ground is greater than the height of the obstacle; and the second obstacle three-dimensional information and environmental information of the area behind the obstacle are obtained by using the second sensor system; the second obstacle three-dimensional information includes at least the height information of the obstacle and the depth information of the area above the obstacle;

[0008] When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is the area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform the cleaning action.

[0009] In one embodiment, the depth information of the area above the obstacle meets a preset depth condition, including: the depth information of the area above the obstacle is greater than a preset depth threshold.

[0010] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the method further includes:

[0011] When the angle between the surface of the area above the obstacle and the ground is less than a preset angle threshold, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform a cleaning action.

[0012] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the method further includes:

[0013] When the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, the robotic arm is controlled to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0014] In one embodiment, controlling a mechanical arm to assist a cleaning robot to cross an obstacle includes:

[0015] Control the robotic arm to hook the edge or top of the obstacle and lift the moving part of the cleaning robot to the edge of the obstacle;

[0016] The moving part is driven and the mechanical arm is retracted so that the cleaning robot can cross obstacles.

[0017] In one embodiment, after lifting the moving part of the cleaning robot to the edge of the obstacle, the method further includes:

[0018] Driving the moving part and retracting the robotic arm so that the cleaning robot reaches the area above the obstacle;

[0019] The robot arm is controlled to cooperate with the moving part to move the cleaning robot to the rear area of ​​the obstacle.

[0020] In one embodiment, the method further comprises:

[0021] When the depth information of the area above the obstacle does not meet the preset depth condition, the position and posture of the robot arm is adjusted so that at least a preset proportion value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0022] Perform edge cleaning around the obstruction.

[0023] In one embodiment, the method further comprises:

[0024] When the angle between the surface of the upper area of ​​the obstacle and the ground is greater than or equal to a preset angle threshold, the position and posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground;

[0025] Perform edge cleaning around the obstruction.

[0026] In one embodiment, the method further comprises:

[0027] When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area that does not need to be cleaned, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0028] Perform edge cleaning around the obstruction.

[0029] In one embodiment, the method further comprises:

[0030] When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground;

[0031] Perform edge cleaning around the obstruction.

[0032] In one embodiment, the method further comprises:

[0033] When the height information of the obstacle is greater than or equal to a preset second height threshold, the position and posture of the robot arm is adjusted so that at least a preset proportional value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0034] Perform edge cleaning around the obstruction.

[0035] In one embodiment, the first sensor system and the second sensor system include one or more of the following sensors: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

[0036] This specification also provides a control method for a cleaning robot, which is applied to the cleaning robot, wherein the body of the cleaning robot is provided with a mechanical arm and a first sensor system capable of acquiring three-dimensional information of obstacles, and the mechanical arm is provided with a second sensor system capable of acquiring three-dimensional information of obstacles, and the method comprises:

[0037] When the distance between the cleaning robot and the obstacle is less than or equal to the first detection threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system arranged on the robotic arm and the ground is greater than the height of the obstacle; and the second sensor system is used to obtain the three-dimensional information of the second obstacle and the environmental information of the area behind the obstacle; wherein the second three-dimensional information of the obstacle includes at least the height information of the obstacle and the depth information of the area above the obstacle;

[0038] When the width of the obstacle is greater than a preset width threshold, the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform the cleaning action.

[0039] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the method further includes:

[0040] When the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, the robotic arm is controlled to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0041] In one embodiment, controlling a mechanical arm to assist a cleaning robot to cross an obstacle includes:

[0042] Control the robotic arm to hook the edge or top of the obstacle and lift the moving part of the cleaning robot to the edge of the obstacle;

[0043] The moving part is driven and the mechanical arm is retracted so that the cleaning robot can cross obstacles.

[0044] In one embodiment, after lifting the moving part of the cleaning robot to the edge of the obstacle, the method further includes:

[0045] Driving the moving part and retracting the robotic arm so that the cleaning robot reaches the area above the obstacle;

[0046] The robot arm is controlled to cooperate with the moving part to move the cleaning robot to the rear area of ​​the obstacle.

[0047] In one embodiment, the method further comprises:

[0048] When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area that does not need to be cleaned, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0049] Perform edge cleaning around the obstruction.

[0050] In one embodiment, the method further comprises:

[0051] When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground;

[0052] Perform edge cleaning around the obstruction.

[0053] In one embodiment, the method further comprises:

[0054] When the height information of the obstacle is greater than or equal to a preset second height threshold, the position and posture of the robot arm is adjusted so that at least a preset proportional value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0055] Perform edge cleaning around the obstruction.

[0056] This specification also provides a control method for a cleaning robot, which is applied to the cleaning robot, wherein the body of the cleaning robot is provided with a mechanical arm and a first sensor system capable of acquiring three-dimensional information of obstacles, and the mechanical arm is provided with a second sensor system capable of acquiring three-dimensional information of obstacles, and the method comprises:

[0057] When the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold, the first sensor system is used to obtain three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; and the obstacle is a threshold obstacle;

[0058] When the first obstacle three-dimensional information indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system arranged on the robotic arm and the ground is greater than the height of the obstacle; and the second obstacle three-dimensional information and environmental information of the rear area of ​​the obstacle are obtained by using the second sensor system; the second obstacle three-dimensional information includes at least the height information of the obstacle;

[0059] When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the height information of the obstacle is less than or equal to a preset first height threshold, the posture of the robot arm is adjusted so that at least a preset proportion value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0060] Control the cleaning robot to cross obstacles, enter the area behind the obstacles, and perform cleaning actions.

[0061] In one embodiment, controlling the cleaning robot to cross obstacles includes:

[0062] Starting the obstacle surmounting unit to control the cleaning robot to cross the obstacle through the obstacle surmounting unit;

[0063] Alternatively, the moving part is controlled to accelerate so as to control the cleaning robot to cross obstacles.

[0064] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, the method further includes:

[0065] When the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, the robotic arm is controlled to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0066] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, the method further includes:

[0067] When the height information of the obstacle is greater than or equal to a preset second height threshold, the position and posture of the robot arm is adjusted so that at least a preset proportional value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0068] Perform edge cleaning around the obstruction.

[0069] In one embodiment, the method further comprises:

[0070] When the environmental information of the rear area of ​​the obstacle indicates that the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground;

[0071] Perform edge cleaning around the obstruction.

[0072] This specification also provides a cleaning robot, comprising: a body, a mechanical arm, a first sensor system, a second sensor system, a processor, and a memory for storing instructions executable by the processor; wherein the mechanical arm and the first sensor system are arranged on the body, the second sensor system is arranged on the mechanical arm, and the first sensor system and the second sensor system can obtain three-dimensional information of obstacles;

[0073] When the processor executes the instructions, the relevant steps of the control method of the cleaning robot are implemented.

[0074] The present specification also provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein the program executes relevant steps of the control method of the cleaning robot when running.

[0075] Based on the control method and cleaning robot of the cleaning robot provided in the present specification, during the movement of the cleaning robot, when the distance between the cleaning robot and an obstacle is greater than a first detection threshold and less than a second detection threshold, the first sensor system is used to obtain three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; the obstacle is a threshold obstacle; when the three-dimensional information of the first obstacle indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system set in the robotic arm and the ground is greater than the height of the obstacle; and the second sensor system is used to obtain the three-dimensional information of the second obstacle and the environmental information of the rear area of ​​the obstacle; the second three-dimensional information of the obstacle includes at least the height information of the obstacle and the depth information of the area above the obstacle; when the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is the area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the rear area of ​​the obstacle, and perform a cleaning action. By combining the use of a mechanical arm and a sensor system, the cleaning robot can accurately obtain relatively complete and detailed data information related to the threshold-type obstacle (at least including the three-dimensional information of the obstacle and the environmental information of the rear area of ​​the obstacle), so that the cleaning robot can be accurately and safely controlled to cross the obstacle and enter the rear area of ​​the obstacle to perform cleaning actions according to the above data information, thereby obtaining a better cleaning effect. Specifically, the mechanical arm provided with the sensor system can be controlled to start and extend, and the position and posture of the sensor system (for example, the height and angle of the sensor system relative to the threshold-type obstacle) can be flexibly adjusted by adjusting the mechanical arm, so that the sensor system can fully cover the threshold-type obstacle and the adjacent areas such as the rear area of ​​the threshold-type obstacle, and then the sensor system can be used to completely and finely collect data information related to the threshold-type obstacle. In addition, when crossing the threshold-type obstacle and entering the rear area of ​​the threshold-type obstacle, the mechanical arm can be flexibly used for corresponding assistance, and the structural performance advantages of the mechanical arm can be fully utilized to better complete the crossing of the threshold-type obstacle and the cleaning of the rear area of ​​the threshold-type obstacle.Specifically, based on the data information collected by the sensor system, different situations can be distinguished, and the robotic arm can be controlled in a differentiated manner to perform matching actions: for example, when a threshold-type obstacle is relatively high, the robotic arm can be promptly controlled to be retracted, and the robot can give up crossing the threshold-type obstacle to avoid damage to the cleaning robot during the crossing process; for another example, when the threshold-type obstacle has a relatively certain height but is not particularly high, the robotic arm can be controlled to hook the edge or top of the obstacle to provide auxiliary force for the cleaning robot to help the cleaning robot cross the threshold obstacle smoothly and steadily with a smaller driving force; and after crossing the threshold-type obstacle and entering the rear area of ​​the threshold-type obstacle, the robotic arm can be promptly controlled to be retracted to avoid the extended robotic arm interfering with the cleaning of the rear area, etc., so that the robotic arm can be flexibly used to better complete various tasks such as crossing threshold-type obstacles and cleaning the rear area of ​​threshold-type obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the embodiments of this specification, the drawings required for use in the embodiments will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0077] Figure 1 It is a schematic diagram of an embodiment of the structural composition of the back side of the body of a cleaning robot to which the control method of the cleaning robot provided in the embodiments of this specification is applied;

[0078] Figure 2 It is a schematic diagram of an embodiment of the structural composition of the front side of the body of a cleaning robot to which the control method of the cleaning robot provided in the embodiments of this specification is applied;

[0079] Figure 3 It is a schematic diagram of an embodiment of the structural composition of a mechanical arm of a cleaning robot to which the control method of the cleaning robot provided in the embodiments of this specification is applied;

[0080] Figure 4 is a flow chart of a control method of a cleaning robot provided by an embodiment of the present specification;

[0081] Figure 5 is a schematic diagram of an embodiment of a control method for a cleaning robot provided by an embodiment of this specification, in a scenario example;

[0082] Figure 6 is a schematic diagram of an embodiment of a control method for a cleaning robot provided by an embodiment of this specification, in a scenario example;

[0083] Figure 7 is a flowchart of a control method for a cleaning robot provided by an embodiment of this specification, in a scenario example;

[0084] Figure 8 is a schematic diagram of an embodiment of a control method for a cleaning robot provided by an embodiment of this specification, in a scenario example;

[0085] Fig. 9 is a flow chart of a control method of a cleaning robot provided by another embodiment of the present specification;

[0086] Fig.10 is a flowchart of a control method for a cleaning robot provided in yet another embodiment of the present specification;

[0087] Fig.11 is a schematic diagram of the structure of a cleaning robot provided by an embodiment of the present specification;

[0088] Fig.12 It is a schematic diagram of the structural composition of a control device of a cleaning robot provided in one embodiment of the present specification. DETAILED DESCRIPTION

[0089] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0090] This specification provides a cleaning robot. Figure 1 shown.

[0091] The cleaning robot may be an autonomous robot that can move autonomously in a working area and complete cleaning tasks autonomously without external human information input and control. The working area may include indoor areas and outdoor areas. Indoor areas may include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas may include lawns, gardens, roads, etc. Cleaning tasks may include sweeping (e.g., washing, mopping, sweeping, etc.), mowing lawns, snow removal, etc.

[0092] The above-mentioned cleaning robots include but are not limited to: sweeping robots, floor scrubbers, sweeping and mopping robots, lawn mowers, snow sweeping robots, etc. The cleaning robots can clean by sweeping first and mopping second or by sweeping and mopping separately. Among them, the sweeping and mopping second method can sweep the floor and mop the floor at the same time, which can improve the cleaning efficiency. The sweeping and mopping separately method can sweep the floor first and then mop the floor after sweeping the floor, which can improve the cleaning effect.

[0093] For details, see Figure 1 As shown, the cleaning robot at least includes a body, a controller, one or more cleaning components, and a sensor system capable of acquiring three-dimensional information of obstacles.

[0094] The cleaning components may specifically include one or more of the following: a side brush, a main brush (or roller brush), a rag plate (or mop plate), etc.

[0095] Specifically, the shape of the fuselage may be circular, square or other shapes. For example, a part of the fuselage may be circular, and another part may be square.

[0096] The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices that can have control functions.

[0097] The shape of the cleaning component can be circular, square or other shapes (such as semicircular, arc, triangular and other special shapes). The circular shape facilitates the cleaning component to perform rotational cleaning. The special shape facilitates the cleaning component to clean corner areas.

[0098] The side brush can gather foreign matter and move it toward the center of the bottom of the cleaning robot. The main brush can sweep up foreign matter at the bottom of the cleaning robot and allow it to enter the dust collection box through the suction port. The rag plate is used for wiping or mopping the floor.

[0099] Specifically, a rag is arranged on the rag plate. A water tank is arranged on the cleaning robot. Water in the water tank flows to the rag through the hole to wet the rag. The wetted rag is used for mopping the floor.

[0100] The main brush is disposed in a main brush chamber at the bottom of the body of the cleaning robot. The main brush chamber is connected to the dust suction channel of the cleaning robot. Smaller garbage such as dust and hair swept up by the main brush and / or the side brush will be sucked into the main brush chamber by the cleaning robot.

[0101] The sensor system can be arranged on the body of the cleaning robot (which can be recorded as the first sensor system), and can at least obtain three-dimensional information of obstacles. The cleaning robot can detect and identify obstacles based on the three-dimensional information of obstacles obtained by the sensor system. Furthermore, the controller can control the cleaning robot accordingly according to the detected and identified obstacles.

[0102] Among them, the above-mentioned sensor system can specifically include one or more of the following: monocular vision sensor, binocular vision sensor, line laser sensor, surface laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0103] Specifically, the monocular vision sensor can obtain the projection image of an object on a two-dimensional plane through a single camera, and the image can carry information such as the shape, size, color, texture, etc. of the object. The binocular vision sensor can simulate human vision and obtain three-dimensional information of an object through two cameras.

[0104] The line laser sensor may be a sensor that uses a line laser to achieve measurement. The surface laser sensor may be a sensor that uses a surface laser to achieve measurement.

[0105] The above-mentioned LDS (Laser Direct Structuring, laser radar) sensor can be an optical sensor that uses triangulation laser ranging. The above-mentioned Dtof (Direct Time of Flight, direct flight time) sensor is also called a depth time flight sensor. Based on the above-mentioned Dtof sensor, the Dtof camera can emit infrared laser pulses to measure the time required for the pulse to reach the target from the camera and return to achieve depth perception. The above-mentioned Itof (indirect Time-of-Flight, indirect light flight time) sensor can specifically refer to a long-range anti-interference Itof depth image sensor. Based on the above-mentioned Itof sensor, a modulated infrared light signal can be emitted to the scene, and then the sensor receives the light signal reflected back by the target to be measured in the scene, and the phase difference between the emitted signal and the received signal is calculated according to the accumulated charge during the exposure (integration) time, thereby obtaining the depth information of the target.

[0106] Of course, it should be noted that the sensors listed above are only schematic illustrations. In specific implementation, according to specific circumstances and processing requirements, the sensor system may also include other types of sensors such as infrared sensors.

[0107] Specifically, based on the above sensor system, two-dimensional information (for example, plane images, etc.) and depth information of obstacles within a certain range can be collected; then by fusing the above two-dimensional obstacle information and depth information, the corresponding three-dimensional obstacle information can be obtained; further, more accurate detection and identification of obstacles can be achieved based on the three-dimensional obstacle information, and richer feature information about the obstacles such as shape, size, texture, etc. can be obtained.

[0108] Specifically, in some embodiments, the sensor system may include a binocular camera disposed at the front of the cleaning robot. In specific implementation, the cleaning robot can use the binocular camera to obtain image information of visible light and / or infrared light and other bands of objects in the environment where the cleaning robot is located, so as to identify the type and boundary range of the object; on the other hand, the three-dimensional shape and distance of the object can be calculated through the parallax of the two cameras to obtain the corresponding three-dimensional information of the obstacle. Furthermore, obstacle avoidance can be performed based on three-dimensional information such as obstacle type, boundary range, three-dimensional shape, and distance, as well as functions such as dirt detection, cleaning surface material detection, threshold step detection, room and furniture recognition, and human or pet recognition.

[0109] In some other embodiments, the sensor system may also include a monocular camera and a structured light sensor (such as a line laser sensor, a cross light sensor, etc.) arranged at the front of the cleaning robot. In this way, the cleaning robot can obtain image information of visible light and / or infrared light and other bands of objects in the environment where the cleaning robot is located through the monocular camera, so as to identify the type and boundary range of the object; the structured light sensor can also be combined with the robot's motion scanning, or combined with the rotation or movement of the LDS sensor to detect the three-dimensional shape and distance of the object to obtain the corresponding three-dimensional information of the obstacle. Furthermore, obstacle avoidance can be performed based on the three-dimensional information of the obstacle, such as the obstacle type, boundary range, three-dimensional shape, distance, etc., and functions such as dirt detection, cleaning surface material detection, threshold step detection, room and furniture recognition, and human or pet recognition can be realized.

[0110] Specifically, for example, an obstacle detection model pre-trained based on an artificial intelligence algorithm can be used to process the three-dimensional information of obstacles obtained by the sensor system, intelligently detect and identify obstacles, determine the specific type of obstacles, and obtain characteristic information of the obstacles such as shape, size (for example, height, width, length, etc.), texture, etc.

[0111] For further information, see Figure 2 As shown, the cleaning robot may further include a mechanical arm. A mechanical arm storage slot matching the mechanical arm may also be provided on the body. A rotating shaft may also be fixedly provided in the mechanical arm storage slot, and the mechanical arm is connected to the rotating shaft.

[0112] For details, see Figure 2 As shown, when the robot arm is not in use, it can be retracted and placed in the robot arm storage slot.

[0113] See also Figure 3 As shown, when the robotic arm is started and used, the robotic arm can rotate and unfold with the rotating shaft as a fulcrum, and then the robotic arm can be used to complete specific actions, such as grasping actions, pushing actions, etc.

[0114] For details, see Figure 3 As shown, the above-mentioned mechanical arm is at least provided with a grasping part, for example, a clamping claw, etc. Accordingly, the cleaning robot can grasp specific objects using the grasping part provided on the mechanical arm.

[0115] The above-mentioned robot arm may be provided with a sensor system (which may be recorded as a second sensor system), for example, a binocular sensor system, etc. Accordingly, the sensor system provided on the robot arm may be used to obtain three-dimensional information of obstacles.

[0116] It should be noted that the above-mentioned robotic arms and robotic arm storage slots are only schematic illustrations. In specific implementation, other types of robotic arms and other types of robotic arm storage slots may also be included according to specific application scenarios and processing requirements. This specification does not limit this.

[0117] Taking into account the existing control methods for cleaning robots, when the cleaning robot encounters obstacles such as thresholds during its movement, on the one hand, since the threshold is at a certain height relative to the ground, the threshold itself will cause a certain degree of obstruction to the sensors arranged on the body, making it difficult for the cleaning robot to accurately collect complete data information related to the threshold, such as the size information of the area above the threshold and the environmental information of the area behind the threshold using only the above-mentioned sensors, which in turn makes it easy for the cleaning robot to make errors in its subsequent cleaning decisions.

[0118] On the other hand, since the threshold is at a certain height relative to the ground, and the cleaning robot cannot obtain complete data information related to the threshold, the cleaning robot is often unable to accurately analyze the specific situation of the threshold and can only blindly drive the moving wheels to try to forcefully cross the threshold.

[0119] In some cases, after multiple attempts, the cleaning robot still cannot cross the threshold, resulting in the inability to enter and clean the area behind the threshold, affecting the overall cleaning effect.

[0120] In other cases, after consuming a lot of energy and making many attempts, the robot finally crosses the threshold, only to find that the area behind the threshold does not need to be cleaned, or the area behind the threshold is too small, making it impossible for the cleaning robot to clean it.

[0121] In most cases, the cleaning robot fails to cross the threshold after multiple attempts and gives up, and performs edge cleaning, which results in the area behind the threshold not being effectively cleaned, affecting the overall cleaning effect.

[0122] In addition, due to the great blindness of the attempt, when driving the moving wheels to try to forcibly cross the threshold, the driving force is often too large, causing the body or moving wheels of the cleaning robot to collide violently with the threshold, causing damage to the cleaning robot and even affecting the safe operation of the cleaning robot.

[0123] The applicant has noticed the above-mentioned problems. In combination with the root causes of the above-mentioned problems, the applicant has considered that based on the existing cleaning robots, on the one hand, since the position of the sensor arranged on the fuselage is relatively fixed, the relative position of the sensor relative to the obstacle cannot be flexibly adjusted within a large range. For example, the height of the sensor relative to the threshold cannot be adjusted. As a result, when the sensor is affected by the threshold, it is difficult to obtain complete obstacle information based on the sensor alone, which in turn causes the cleaning robot to be unable to finely analyze the specific situation of the threshold later. On the other hand, the original moving wheels of the cleaning robot are designed mainly to adapt to movement on a flat ground. The structure itself is not suitable for crossing high thresholds. It is difficult to cross the threshold relying solely on the moving wheels, and a large driving force is required, which causes the cleaning robot to easily collide with the threshold more violently.

[0124] The mechanical arm provided on the cleaning robot, due to its structural advantages, can support a variety of operations such as expansion, contraction, and rotation, allowing the posture (including position and angle) to be changed within a large range. Accordingly, by providing a sensor system on the mechanical arm and performing operations such as expansion, contraction, and rotation on the mechanical arm, the posture of the mechanical arm relative to the obstacle can be flexibly adjusted, and the posture of the sensor system relative to the obstacle can be flexibly and finely adjusted within a large range. For example, the height of the sensor system can be made higher than the threshold. In this way, by adjusting the mechanical arm, the sensor system can cover as much as possible the areas that were previously easily blocked by the threshold, such as the area above the threshold and the area behind the threshold. Therefore, the sensor system provided on the mechanical arm can accurately obtain relatively complete and detailed data information related to the threshold, including the size information of the area above the threshold and the environmental information of the area behind the threshold.

[0125] Furthermore, by using the above data information, the specific conditions of obstacles such as thresholds can be finely identified and analyzed. For example, it can be determined whether the threshold can be crossed based only on the moving wheels without introducing other external forces; for example, whether the area behind the threshold allows the cleaning robot to perform cleaning operations; for example, whether the area behind the threshold is very clean and needs to be cleaned; and whether the area above the threshold is relatively sharp and whether it will cause damage to the cleaning robot when the cleaning robot crosses the threshold, etc. At the same time, different situations can be distinguished, and the robotic arm can be flexibly used to assist the cleaning robot in completing the crossing of high thresholds. Therefore, the robotic arm can be used to help the robot smoothly and safely cross the high threshold to effectively clean the area behind the threshold; at the same time, it can also effectively reduce the collision between the cleaning robot and the threshold during the crossing process, reduce the damage to the cleaning robot, and protect the safe operation of the cleaning robot.

[0126] Based on the above ideas, see Figure 4 As shown, an embodiment of this specification provides a control method for a cleaning robot. The method is applied to a cleaning robot, wherein the body of the cleaning robot is provided with a mechanical arm and a first sensor system capable of obtaining three-dimensional information of obstacles, and the mechanical arm is provided with a second sensor system capable of obtaining three-dimensional information of obstacles. When the method is specifically implemented, it may include the following contents:

[0127] S401: when the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold, using a first sensor system to obtain three-dimensional information of a first obstacle; wherein the first detection threshold is related to the first sensor system; and the obstacle is a threshold obstacle;

[0128] S402: When the first obstacle three-dimensional information indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, start the robotic arm; raise the robotic arm so that the height between the second sensor system provided on the robotic arm and the ground is greater than the height of the obstacle; and use the second sensor system to obtain second obstacle three-dimensional information and environmental information of the area behind the obstacle; the second obstacle three-dimensional information includes at least the height information of the obstacle and the depth information of the area above the obstacle;

[0129] S403: When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0130] The first sensor system may specifically be a sensor system disposed on a body of the cleaning robot, and the second sensor system may specifically be a sensor system disposed on a mechanical arm of the cleaning robot.

[0131] The first sensor system and the second sensor system may be the same sensor system or different sensor systems.

[0132] In a specific implementation, the three-dimensional obstacle information obtained by the first sensor system may be recorded as the first three-dimensional obstacle information, and the three-dimensional obstacle information obtained by the second sensor system may be recorded as the second three-dimensional obstacle information.

[0133] The first detection threshold may be specifically understood as a lower limit of a relative distance at which the first sensor system can accurately obtain height information of an obstacle.

[0134] The second detection threshold may be specifically understood as an upper limit value of a relative distance at which the first sensor system can accurately obtain height information of an obstacle.

[0135] Specifically, the first detection threshold may be 5 cm, and the second detection threshold may be greater than or equal to 10 cm and less than or equal to 30 cm. Specifically, for example, the second detection threshold may be 15 cm, or 20 cm.

[0136] Of course, the first detection threshold and the second detection threshold listed above are only schematic illustrations. In specific implementation, according to the parameter information of the first sensor system used, the first detection threshold and the second detection threshold may also be other appropriate values.

[0137] It should be noted that when the distance between the cleaning robot and the obstacle is greater than the first detection threshold and less than the second detection threshold, the height information in the three-dimensional information of the first obstacle that can be collected by the first sensor system has high accuracy and credibility. However, the above height information may be the complete height information of the obstacle, or it may be partial height information of the obstacle. For example, the height of the obstacle is particularly high, reaching 10 cm. Within the above distance range, the effective detection range of the first sensor system for detecting height is only 5 cm, that is, the first sensor system can only observe things with a height of less than 5 cm at most, and it can no longer be observed if it exceeds 5 cm. Therefore, in this case, only partial height information of 5 cm of the obstacle can be obtained through the first sensor system, and the complete height information of the obstacle cannot be obtained.

[0138] The above detection range can be specifically understood as an effective detection range based on the ability of the first sensor system to accurately obtain complete three-dimensional information of obstacles.

[0139] Specifically, the above detection range may include one or more of the following: an effective height range, an effective width range, an effective field of view angle range, an effective distance range, etc.

[0140] Generally, when the size of the obstacle and / or the position relative to the cleaning robot meets the above detection range, the first sensor system can be used to accurately obtain complete three-dimensional obstacle information about the obstacle.

[0141] On the contrary, when the size of the obstacle and / or the position relative to the cleaning robot does not satisfy the above detection range, the first sensor system cannot accurately obtain complete three-dimensional obstacle information about the obstacle.

[0142] During specific implementation, the cleaning robot may first use the first sensor system and / or the second sensor system to obtain three-dimensional information of obstacles in the front area while moving.

[0143] When an obstacle is detected in the front area according to the three-dimensional obstacle information, the distance between the cleaning robot and the obstacle can be determined according to the three-dimensional obstacle information.

[0144] Then detect whether the distance between the cleaning robot and the obstacle is greater than the first detection threshold and less than the second detection threshold.

[0145] When it is determined that the distance between the cleaning robot and the obstacle is greater than the first detection threshold and less than the second detection threshold, it can be determined that the height of the obstacle can be accurately determined by the first sensor system.

[0146] At this time, the cleaning robot can use the first sensor system to obtain the three-dimensional information of the obstacle, and determine the height of the obstacle based on the three-dimensional information of the obstacle. Alternatively, the cleaning robot can use a sensor capable of measuring height in the first sensor system to measure and determine the height of the obstacle.

[0147] When it is determined that the distance between the cleaning robot and the obstacle is greater than or equal to the second detection threshold, it can be determined that the current cleaning robot is far away from the obstacle, and the height of the obstacle cannot be accurately determined by the first sensor system. In this case, even if the height information of the obstacle is obtained by the first sensor system, the above height information is of low accuracy and unreliable.

[0148] At this time, the cleaning robot can continue to move along the current direction of travel.

[0149] During specific implementation, after the cleaning robot acquires the three-dimensional information of the obstacle using the first sensor system, it can also determine whether the obstacle is a threshold obstacle based on the three-dimensional information of the obstacle.

[0150] Specifically, the cleaning robot can extract the graphic features and graphic size relationship of the obstacle based on the three-dimensional information of the obstacle; and then match the graphic features and graphic size relationship of the obstacle with the preset graphic parameter template of the threshold obstacle. If the match is successful, it can be determined that the obstacle is a threshold obstacle. If the match fails, it can be determined that the obstacle is a non-threshold obstacle.

[0151] The threshold obstacle can be specifically understood as an obstacle set at a certain height on the ground, and there is a certain space behind the obstacle, and usually you need to cross the obstacle to reach the area behind the obstacle. Figure 5 As shown, for example, a threshold is provided at the junction between different rooms.

[0152] It should be added that the control method of the cleaning robot provided in this specification is not only applicable to threshold obstacles, but also to other similar obstacles with a certain height, such as step obstacles, shoe rack obstacles, etc. This specification does not limit this.

[0153] Further, the cleaning robot can detect whether the height of the obstacle exceeds the detection range of the first sensor system.

[0154] When it is determined that the height of the obstacle exceeds the detection range of the first sensor system, it can be determined that the first sensor system cannot accurately obtain complete obstacle three-dimensional information for the obstacle, as well as other relevant data information such as environmental information of the area behind the obstacle. For example, it may be impossible to accurately obtain size information of the area above the obstacle and / or environmental information of the area behind the obstacle.

[0155] Furthermore, since the width of the obstacle detected by the first sensor system is greater than the preset width threshold, it can be determined that in this case, the cleaning robot is not suitable to go around the rear of the obstacle to observe the rear area of ​​the obstacle.

[0156] The preset width threshold is related to the body width of the cleaning robot. Specifically, the preset width threshold may be a data value greater than or equal to 5 times the body width of the cleaning robot.

[0157] At this time, the robotic arm can be started; and the second sensor system arranged on the robotic arm can be used to obtain the three-dimensional information of the second obstacle, as well as the environmental information of the area behind the obstacle and log in the relevant data information.

[0158] For specific implementation, please refer to Figure 6As shown, the cleaning robot starts the mechanical arm and unfolds the mechanical arm; then, according to the obstacle information obtained by the first sensor system and / or the second sensor system, the relative posture (including relative position and / or relative angle) of the mechanical arm relative to the threshold obstacle is adjusted in a targeted manner by performing operations such as rotating and retracting the mechanical arm, thereby adjusting the relative posture of the second sensor system relative to the threshold obstacle, so that the second sensor system can more comprehensively cover relevant areas including the area above the obstacle and the area behind the obstacle; and then the adjusted second sensor system is used to obtain relatively complete and detailed data information related to the obstacle, including at least the three-dimensional information of the second obstacle and the complete information of the area behind the obstacle.

[0159] Specifically, for example, when the cleaning robot starts the mechanical arm, it can gradually adjust the position of the mechanical arm according to the preset step value, so that the distance between the second sensor system and the ground gradually increases, and use the increased second sensor system to collect the height information of the obstacle. When the position of the mechanical arm is adjusted multiple times, so that the distance between the second sensor system and the ground changes multiple times, and the height information of the obstacle collected by the second sensor system no longer changes, it can be determined that the height between the second sensor system set in the mechanical arm and the ground is greater than the height of the obstacle. At this time, the obstacle is within the detection range of the second sensor system, and the second sensor system can more completely and clearly observe the upper area and rear area of ​​the obstacle that could not be observed before, such as the area.

[0160] At this time, the second sensor system can be used to successfully obtain relatively comprehensive and complete data information related to the obstacle, including three-dimensional information of the second obstacle, environmental information of the area behind the obstacle, and so on.

[0161] The second obstacle three-dimensional information includes at least the height information of the obstacle and the depth information of the area above the obstacle. The depth information of the area above the obstacle can be specifically understood as the maximum distance of the area above the obstacle in a direction parallel to the current travel direction of the cleaning robot.

[0162] Furthermore, the second obstacle three-dimensional information may also include width information of the obstacle. The width information of the obstacle may be specifically understood as the maximum value of the distance of the obstacle in a direction perpendicular to the current traveling direction of the cleaning robot.

[0163] During specific implementation, the cleaning robot may use the three-dimensional information of the second obstacle directly obtained by the second sensor system as the three-dimensional obstacle information of the obstacle; at the same time, the environmental information of the rear area of ​​the obstacle may also be directly collected.

[0164] During specific implementation, the second obstacle three-dimensional information may be fused with the first obstacle three-dimensional information to obtain fused obstacle three-dimensional information as the second obstacle three-dimensional information.

[0165] For example, the second obstacle three-dimensional information may be used to supplement and repair the first obstacle three-dimensional information to obtain the obstacle three-dimensional information of the obstacle.

[0166] In this way, the structural advantages of the robotic arm can be fully utilized to help the cleaning robot accurately obtain relatively complete and detailed data information related to the obstacle, including three-dimensional information of the second obstacle and environmental information of the area behind the obstacle.

[0167] When it is determined that the height of the obstacle does not exceed the detection range of the first sensor system, it can be judged that the first sensor system can accurately obtain complete three-dimensional obstacle information for the obstacle, as well as other relevant data information such as environmental information of the area behind the obstacle.

[0168] At this time, the robot arm may not be activated, and the first sensor system arranged on the fuselage may continue to be used to obtain data information related to the obstacle.

[0169] In this way, more complete and detailed obstacle information can be accurately obtained without consuming additional energy, reducing the energy consumption of the cleaning robot.

[0170] After relatively complete three-dimensional information of the second obstacle and environmental information of the area behind the obstacle are obtained, it can be determined whether the area behind the obstacle is an area to be cleaned according to the environmental information of the area behind the obstacle.

[0171] In specific implementation, the environment information of the area behind the obstacle can be processed using a pre-trained environment detection model to obtain a corresponding environment detection result; then, based on the environment detection result, it is determined whether the area behind the obstacle is an area that needs to be cleaned. It is also possible to determine whether the area behind the obstacle is an area that needs to be cleaned by performing garbage identification information detection based on the environment information of the area behind.

[0172] If the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, it can be determined that the cleaning robot needs to cross the obstacle as much as possible to enter the area behind the obstacle and perform corresponding cleaning actions.

[0173] If the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area that does not need to be cleaned, it can be directly determined that the cleaning robot does not need to waste energy to cross the obstacle and enter the area behind the obstacle.

[0174] The area to be cleaned may specifically be an area that has not been cleaned before, is relatively dirty, or has garbage to be cleaned (for example, dust, paper scraps, etc. to be cleaned), and the spatial area supports the cleaning robot to enter and perform cleaning actions.

[0175] The above-mentioned area that does not need to be cleaned may be an area that has been cleaned before, or is relatively clean and does not contain any garbage to be cleaned, or the space area does not support the cleaning robot to enter, or the space area does not support the robot to perform cleaning actions, or the user defines an area that does not need to be cleaned.

[0176] When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, it can be further determined whether the area above the obstacle meets the preset depth condition based on the second obstacle three-dimensional information.

[0177] Specifically, the depth information of the area above the obstacle can be obtained according to the second obstacle three-dimensional information, and then the depth information of the area above the obstacle is detected to see whether it is greater than a preset depth threshold, wherein the preset depth threshold can be specifically set to 5 cm.

[0178] Specifically, when the depth information of the area above the obstacle is detected to be less than or equal to the preset depth threshold, it can be determined that the area above the obstacle is relatively sharp. When the cleaning robot crosses the obstacle, there is a high probability that it will be damaged by the area above the obstacle or the rear drive wheel will be suspended in the air, the center of gravity will be unstable, etc., which will affect the operating safety and service life of the cleaning robot. At this time, it can be determined that the depth information of the area above the obstacle does not meet the preset depth condition.

[0179] When the depth information of the area above the obstacle does not meet the preset depth condition, in order to avoid the cleaning robot from being damaged when crossing over, protect the operation safety of the cleaning robot and extend its service life, the cleaning robot can be controlled to give up crossing the obstacle.

[0180] On the contrary, when the depth information of the area above the area above the obstacle is detected to be greater than the preset depth threshold, it can be determined that the area above the obstacle is relatively flat. When the cleaning robot crosses the obstacle, it will hardly be damaged by the area above the obstacle. At this time, it can be determined that the depth information of the area above the obstacle meets the preset depth condition.

[0181] When the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot can be controlled to cross the obstacle and enter the area behind the obstacle; then, the cleaning action can be performed in the area behind the obstacle, thereby expanding the cleaning range and obtaining a better cleaning effect.

[0182] Based on the above embodiments, different situations can be finely distinguished by obtaining and using information such as the distance between the cleaning robot and the obstacle, the height of the obstacle, etc., and for different situations, a matching method is adopted to flexibly use the first sensor system set on the fuselage and the second sensor system set on the robotic arm, so that the cleaning robot can accurately obtain relatively complete and detailed data information related to threshold obstacles, including three-dimensional information of the obstacle, environmental information of the area behind the obstacle, etc. Then, based on the above data information, the cleaning robot can be accurately and safely controlled to cross the obstacle and enter the area behind the obstacle to perform cleaning actions, thereby obtaining a better cleaning effect.

[0183] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the method may further include the following when it is specifically implemented:

[0184] When the angle between the surface of the area above the obstacle and the ground is less than a preset angle threshold, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform a cleaning action.

[0185] The preset angle threshold may specifically be 70 degrees. In some cases, the preset angle threshold may also be set to 65 degrees or 75 degrees.

[0186] Specifically, when the angle between the surface of the upper area of ​​the obstacle and the ground is less than a preset angle threshold, it can be determined that the slope of the surface of the obstacle currently facing the cleaning robot is relatively small, and the cleaning robot has a high probability of successfully crossing the obstacle through this surface. Then, the cleaning robot can be controlled to cross the obstacle along this surface.

[0187] On the contrary, when the angle between the surface of the upper area of ​​the obstacle and the ground is greater than or equal to the preset angle threshold, it can be determined that the slope of the surface of the obstacle currently facing the cleaning robot is relatively large, and the cleaning robot has a high probability of not being able to successfully cross the obstacle through this surface. Then, the cleaning robot can be controlled to give up crossing the obstacle.

[0188] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the method may further include the following when it is specifically implemented:

[0189] When the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, the robotic arm is controlled to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0190] The first height threshold may be specifically understood as the upper limit of the height of a threshold obstacle that the cleaning robot can cross within a tolerable collision range when there is no robotic arm assistance.

[0191] The second height threshold may be specifically understood as the upper limit of the height of the threshold-type obstacle that the cleaning robot can cross when there is robotic arm assistance.

[0192] The first height threshold and the second height threshold may be determined in advance by performing multiple tests on crossing threshold obstacles using a sample cleaning robot.

[0193] During specific implementation, the cleaning robot may first determine the height of the obstacle based on the three-dimensional information of the obstacle; and then detect whether the height of the obstacle is greater than a preset first height threshold.

[0194] If the height of the obstacle is less than or equal to a preset first height threshold, it can be predicted that the cleaning robot can safely cross the obstacle without the assistance of a robotic arm.

[0195] Specifically, for example, the cleaning robot can start the obstacle crossing unit to control the cleaning robot to cross the obstacle through the obstacle crossing unit; or control the moving unit to accelerate to control the cleaning robot to cross the obstacle. In this way, the obstacle can be smoothly crossed without starting and using the robot arm.

[0196] If the height of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, it can be predicted that the cleaning robot can successfully cross the obstacle with the assistance of a robotic arm.

[0197] In specific implementation, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is the area to be cleaned, and the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, it can be judged that: the cleaning robot is currently required to cross the obstacle as much as possible and enter the area behind the obstacle to perform the cleaning task; at the same time, the cleaning robot needs to use the assistance of a robotic arm to cross the obstacle.

[0198] Then the cleaning robot can automatically control the mechanical arm to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform the cleaning action. In this way, it can effectively cover a relatively larger cleaning area as much as possible and obtain a better cleaning effect.

[0199] When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is the area to be cleaned, and the height information of the obstacle is less than or equal to the preset first height threshold, it can be judged that: the cleaning robot is currently required to cross the obstacle as much as possible and enter the area behind the obstacle to perform the cleaning task; at the same time, the cleaning robot can smoothly cross the obstacle without the assistance of a robotic arm.

[0200] Therefore, the cleaning robot can smoothly cross the obstacle, enter the area behind the obstacle, and perform cleaning actions by using only the moving part of the cleaning robot without starting up or using the mechanical arm. In this way, while being able to effectively cover a relatively large cleaning area as much as possible and obtain a better cleaning effect, unnecessary energy consumption can be reduced as much as possible, thereby increasing the operating time of the cleaning robot.

[0201] When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is the area to be cleaned, and the height information of the obstacle is greater than or equal to the preset second height threshold, it can be judged that: although the cleaning robot is currently required to try to cross the obstacle and enter the area behind the obstacle to perform the cleaning task; at the same time, the height of the obstacle is too high, and even if it is started and assisted by a robotic arm, the cleaning robot cannot safely and smoothly cross the obstacle.

[0202] Then the cleaning robot can directly give up cleaning the area behind the obstacle and perform cleaning actions around the obstacle. In this way, on the one hand, it can effectively avoid blindly controlling the cleaning robot to try to cross the obstacle, causing damage to the cleaning robot due to collision, and protect the operation safety of the cleaning robot; on the other hand, it can also avoid wasting time and energy due to trying to cross the obstacle, which helps to reduce unnecessary energy consumption and shorten the overall processing time.

[0203] When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area that does not need to be cleaned, it can be determined that the cleaning robot is currently not required to cross the obstacle and enter the area behind the obstacle to perform a cleaning task.

[0204] Then the cleaning robot can directly give up cleaning the area behind the obstacle and perform cleaning actions around the obstacle. In this way, it can effectively avoid blindly controlling the cleaning robot to try to cross the obstacle, causing damage to the cleaning robot due to collision, and protect the operation safety of the cleaning robot; on the other hand, it can also avoid wasting time and energy due to trying to cross the obstacle, which helps to reduce unnecessary energy consumption and shorten the overall processing time.

[0205] In one embodiment, the first sensor system and the second sensor system may specifically include one or more of the following sensors: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor, etc.

[0206] The first sensor system and the second sensor system may be the same or different.

[0207] Specifically, the second sensor system arranged on the robot arm may be a binocular vision sensor, or a binocular sensor system that at least includes a binocular vision sensor.

[0208] In this way, the second sensor system arranged on the robotic arm can have a high degree of matching with the structure of the robotic arm, thereby effectively utilizing the structural characteristics of the robotic arm and better utilizing the second sensor system to obtain corresponding three-dimensional information of obstacles.

[0209] In one embodiment, see Figure 7 As shown, the above control of the mechanical arm to assist the cleaning robot to cross obstacles may include the following contents during specific implementation:

[0210] S1: Control the robotic arm to hook the edge or top of the obstacle and lift the moving part of the cleaning robot to the edge of the obstacle;

[0211] S2: Drive the moving part and retract the robotic arm to enable the cleaning robot to cross the obstacle.

[0212] Specifically, first, the cleaning robot can continuously adjust the posture of the robotic arm according to the three-dimensional information of the obstacle obtained by the first sensor system and / or the second sensor system, so as to control the grasping part of the robotic arm to hook on the edge (for example, the square edge, the upper left edge, or the upper right edge) or the top of the obstacle; and control the capturing part to clamp the grasped position.

[0213] The cleaning robot can then control the force of the robotic arm to lift the mobile portion of the cleaning robot to the edge of the obstacle. Figure 8 shown.

[0214] When the moving part of the cleaning robot has been lifted to the edge of the obstacle, the cleaning robot can drive the moving part and retract the mechanical arm at the same time, so that the cleaning robot can simultaneously obtain and utilize the force of the moving part and the force of the mechanical arm to smoothly cross the obstacle.

[0215] Based on the above embodiment, the moving part of the cleaning robot can be first lifted to the edge of the obstacle using a robotic arm so that the moving part can be better driven subsequently, while reducing the collision between the cleaning robot and the obstacle when the moving part is running; and then the force of the robotic arm and the moving part can be combined to enable the cleaning robot to smoothly and safely cross obstacles of a certain height.

[0216] In one embodiment, after controlling the robotic arm to hook the edge or top of the obstacle and lifting the moving part of the cleaning robot to the edge of the obstacle, the cleaning robot can also cross the obstacle by driving the moving part or retracting the robotic arm.

[0217] In one embodiment, after the moving part of the cleaning robot is lifted to the edge of the obstacle, the method may further include the following when implemented:

[0218] S1: driving the moving part and retracting the robotic arm so that the cleaning robot reaches the area above the obstacle;

[0219] S2: Control the robotic arm to cooperate with the moving part to move the cleaning robot to the rear area of ​​the obstacle.

[0220] In specific implementation, when the cleaning robot reaches the area above the obstacle, it can also obtain environmental information of the area above the obstacle through the sensor system; and based on the environmental information of the area above the obstacle, detect whether the area above the obstacle is an area to be cleaned.

[0221] After determining that the area above the obstacle is the area to be cleaned, the cleaning robot can be controlled to perform cleaning actions in the area above the obstacle; after completing the cleaning task of the area above the obstacle, the mechanical arm is controlled to cooperate with the moving part to move the cleaning robot to the area behind the obstacle. In this way, the area above the obstacle can be effectively cleaned and a better cleaning effect can be obtained.

[0222] On the contrary, after determining that the area above the obstacle is an area that does not need to be cleaned, the mechanical arm can be directly controlled to cooperate with the moving part to move the cleaning robot to the area behind the obstacle.

[0223] In specific implementation, after the cleaning robot reaches the area above the obstacle, the cleaning robot can first control the robotic arm to hook the ground in the area behind the obstacle or the bottom of the obstacle; then use the robotic arm to assist and drive the moving part to move to the area behind the obstacle. In this way, the cleaning robot can move more smoothly and safely from the area above the obstacle to the area behind the obstacle.

[0224] In specific implementation, after the cleaning robot reaches the rear area of ​​the obstacle, the cleaning robot can re-acquire the three-dimensional information of the rear area of ​​the obstacle through the first sensor system and / or the second sensor system; and then plan a cleaning route for the rear area of ​​the obstacle based on the above three-dimensional information; according to the cleaning route, the cleaning robot is controlled to move in the rear area of ​​the obstacle and perform cleaning actions to efficiently complete the cleaning task of the rear area of ​​the obstacle.

[0225] In specific implementation, after the cleaning robot completes cleaning the area behind the obstacle, the cleaning robot can also control the robotic arm to hook the edge or top of the obstacle, and lift the moving part of the cleaning robot to the edge of the obstacle; and drive the moving part and retract the robotic arm to allow the cleaning robot to cross the obstacle and return to the area in front of the obstacle.

[0226] In one embodiment, the method may further include the following contents when it is implemented:

[0227] S1: When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area that does not need to be cleaned, adjust the posture of the robot arm so that at least a preset proportion of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0228] S2: Perform edge cleaning around the obstacle.

[0229] The preset ratio threshold may be determined by the manufacturer through actual machine testing using the same model of cleaning robots.

[0230] Specifically, the preset ratio threshold may be greater than or equal to 60%, for example, 65%, 70%, or 85%.

[0231] Of course, during specific implementation, depending on the specific conditions of the cleaning robot used, the above-mentioned preset ratio threshold can also be a data value greater than or equal to 75%.

[0232] During specific implementation, by adjusting the posture of the robotic arm so that the projection of at least a preset proportional value of the robotic arm on the ground is within the range of the projection of the body of the cleaning robot on the ground, the center of gravity of the robotic arm can be located within the range of the center of gravity of the entire cleaning robot. In this way, on the one hand, it can avoid safety accidents such as unstable center of gravity of the entire cleaning robot due to the action of the robotic arm, thereby protecting the safe operation of the cleaning robot; on the other hand, it can also avoid the collision of the robotic arm with surrounding obstacles during the operation of the cleaning robot, thereby more comprehensively and effectively protecting the safe operation of the cleaning robot.

[0233] Specifically, the above-mentioned adjustment of the posture of the robotic arm so that the projection of at least a preset proportional value of the robotic arm on the ground is located within the range of the projection of the body of the cleaning robot on the ground may include: folding the robotic arm; and placing the folded robotic arm in a robotic arm storage slot.

[0234] In specific implementation, the environmental information of the area in front of the obstacle can be determined based on the three-dimensional information of the obstacle (including the first obstacle three-dimensional information and / or the second obstacle three-dimensional information); then, based on the environment of the area in front of the obstacle, a cleaning route along the edge around the obstacle based on the area in front of the obstacle is determined; then, based on the cleaning route along the edge, the cleaning robot is controlled to move and perform cleaning actions to efficiently complete the cleaning task along the edge of the obstacle.

[0235] In one embodiment, the method may further include the following contents when it is implemented:

[0236] S1: When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground;

[0237] S2: Perform edge cleaning around the obstacle.

[0238] In specific implementation, when the environmental information of the rear area of ​​the obstacle at least indicates that the rear area of ​​the obstacle is a relatively dirty area or an area to be cleaned where there is garbage to be cleaned, it can be further detected whether the area of ​​the rear area is smaller than a preset area threshold.

[0239] The preset area threshold may be determined based on the size parameters of the cleaning robot body.

[0240] If the area behind the obstacle is greater than or equal to the preset area threshold, it can be determined that the cleaning robot can enter the area behind the obstacle for cleaning. Accordingly, the cleaning robot can be controlled to cross the obstacle and enter the area behind the obstacle to perform specific cleaning actions.

[0241] On the contrary, if the area of ​​the rear region of the obstacle is smaller than the preset area threshold, it can be determined that the cleaning robot cannot enter the rear region of the obstacle for cleaning. Accordingly, the cleaning of the rear region of the obstacle can be abandoned.

[0242] Specifically, the position of the robot arm can be adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the projection of the cleaning robot body on the ground; and cleaning is performed along the edge around the obstacle. In this way, it can be avoided that the cleaning robot wastes time and energy to cross the obstacle but is unable to clean the area behind the obstacle.

[0243] In one embodiment, the method may further include the following contents when it is implemented:

[0244] S1: When the height information of the obstacle is greater than or equal to a preset second height threshold, adjust the posture of the robot arm so that at least a preset proportional value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0245] S2: Perform edge cleaning around the obstacle.

[0246] In specific implementation, when the height information of the obstacle is greater than or equal to the preset second height threshold, it can be determined that the cleaning robot cannot cross the obstacle even with the assistance of the mechanical arm. At this time, the cleaning of the area behind the obstacle can be abandoned to reduce processing time and processing energy consumption.

[0247] In one embodiment, the method may further include the following contents when it is implemented:

[0248] S1: When the depth information of the area above the obstacle does not meet the preset depth condition, adjust the posture of the robot arm so that at least a preset proportion value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0249] S2: Perform edge cleaning around the obstacle.

[0250] During specific implementation, based on the three-dimensional information of the second obstacle, when the upper area of ​​the detected obstacle is relatively sharp, it can be determined that the depth information of the upper area of ​​the obstacle does not meet the preset depth condition, and then the obstacle can be abandoned in time to avoid damage to the cleaning robot during the crossing process, thereby effectively protecting the safe operation of the cleaning robot.

[0251] In one embodiment, the method may further include the following contents when implemented:

[0252] S1: When the angle between the surface of the upper area of ​​the obstacle and the ground is greater than or equal to a preset angle threshold, adjust the position of the robot arm so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground;

[0253] S2: Perform edge cleaning around the obstacle.

[0254] In specific implementation, when it is detected that the angle between the surface of the upper area of ​​the obstacle and the ground is greater than or equal to a preset angle threshold, it can be determined that the slope of the obstacle surface currently facing the cleaning robot is steeper, and it is difficult for the cleaning robot to safely cross the obstacle along this surface. Therefore, the robot can promptly give up crossing the obstacle, effectively saving unnecessary energy consumption. At the same time, it can also avoid damage to the cleaning robot during the crossing process, thereby protecting the safe operation of the cleaning robot.

[0255] As can be seen from the above, based on the control method of the cleaning robot provided in this specification, during the movement of the cleaning robot, when the distance between the cleaning robot and the obstacle is greater than the first detection threshold and less than the second detection threshold, the first sensor system is used to obtain the three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; the obstacle is a threshold-type obstacle; when the three-dimensional information of the first obstacle indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than the preset width threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system set in the robotic arm and the ground is greater than the height of the obstacle; and the second sensor system is used to obtain the three-dimensional information of the second obstacle and the environmental information of the rear area of ​​the obstacle; the second three-dimensional information of the obstacle includes at least the height information of the obstacle, and the depth information of the area above the obstacle; when the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is the area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the rear area of ​​the obstacle, and perform the cleaning action. By combining the use of a mechanical arm and a sensor system, the cleaning robot can accurately obtain relatively complete and detailed data information related to the threshold-type obstacle (at least including the three-dimensional information of the obstacle and the environmental information of the area behind the obstacle), so that the cleaning robot can be accurately and safely controlled to cross the obstacle and enter the area behind the obstacle to perform cleaning actions according to the above data information, thereby obtaining a better cleaning effect. Specifically, the mechanical arm provided with the sensor system can be started and extended, and the position and posture of the sensor system (for example, the height and angle of the sensor system relative to the threshold-type obstacle) can be flexibly adjusted by adjusting the mechanical arm, so that the sensor system can fully cover the threshold-type obstacle and adjacent areas such as the area behind the threshold-type obstacle, and then the sensor system can be used to completely and finely collect data information related to the threshold-type obstacle. In addition, when crossing the threshold-type obstacle and entering the area behind the threshold-type obstacle, the mechanical arm can be flexibly used for corresponding assistance, making full use of the structural performance advantages of the mechanical arm, and better completing the crossing of the threshold-type obstacle and the cleaning of the area behind the threshold-type obstacle.Specifically, based on the data information collected by the sensor system, different situations can be distinguished, and the robotic arm can be controlled in a differentiated manner to perform matching actions: for example, when a threshold-type obstacle is relatively high, the robotic arm can be promptly controlled to be retracted, and the robot can give up crossing the threshold-type obstacle to avoid damage to the cleaning robot during the crossing process; for another example, when the threshold-type obstacle has a relatively certain height but is not particularly high, the robotic arm can be controlled to hook the edge or top of the obstacle to provide auxiliary force for the cleaning robot to help the cleaning robot cross the threshold obstacle smoothly and steadily with a smaller driving force; and after crossing the threshold-type obstacle and entering the rear area of ​​the threshold-type obstacle, the robotic arm can be promptly controlled to be retracted to avoid the extended robotic arm interfering with the cleaning of the rear area, etc., so that the robotic arm can be flexibly used to better complete various tasks such as crossing threshold-type obstacles and cleaning the rear area of ​​threshold-type obstacles.

[0256] See also Fig. 9 As shown, the embodiment of this specification also provides another control method of a cleaning robot. The method is applied to a cleaning robot, wherein the body of the cleaning robot is provided with a mechanical arm and a first sensor system capable of obtaining three-dimensional information of obstacles, and the mechanical arm is provided with a second sensor system capable of obtaining three-dimensional information of obstacles. When the method is specifically implemented, it may include the following contents:

[0257] S901: When the distance between the cleaning robot and the obstacle is less than or equal to the first detection threshold, start the robotic arm; raise the robotic arm so that the height between the second sensor system provided on the robotic arm and the ground is greater than the height of the obstacle; and use the second sensor system to obtain the three-dimensional information of the second obstacle and the environmental information of the area behind the obstacle; wherein the second three-dimensional information of the obstacle includes at least the height information of the obstacle and the depth information of the area above the obstacle, and the obstacle is a threshold obstacle;

[0258] S902: When the width of the obstacle is greater than a preset width threshold, the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0259] In a specific implementation, when the distance between the cleaning machine and the obstacle is less than or equal to the first detection threshold, it can be determined that at the current position, the height information of the obstacle cannot be accurately obtained using the first sensor system disposed on the machine body. For example, the height information of the obstacle cannot be accurately determined based on the three-dimensional information of the first obstacle obtained by the first sensor system.

[0260] At this time, the robot arm can be started, and the second sensor system provided in the robot arm can be used to obtain the second obstacle three-dimensional information for the obstacle. The second obstacle three-dimensional information can be used to accurately obtain the height information of the obstacle, the depth information of the area above the obstacle, and other data information.

[0261] At the same time, the second sensor system can also accurately obtain environmental information of the area behind the obstacle.

[0262] In this way, the cleaning robot can accurately obtain relatively complete and detailed data information related to the threshold-type obstacle, including the three-dimensional information of the second obstacle and the environmental information of the area behind the obstacle.

[0263] Next, based on the above-mentioned three-dimensional information of the second obstacle, the environmental information of the area behind the obstacle and other relevant data information, it is further detected whether the width of the obstacle is greater than the preset width threshold, whether the area behind the obstacle is the area to be cleaned, and whether the area above the obstacle meets the preset depth conditions.

[0264] When the width of the obstacle is greater than a preset width threshold, the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform the cleaning action.

[0265] Thereby, the cleaning robot can be controlled to cross the obstacle accurately and safely, enter the area behind the obstacle to perform cleaning actions, and obtain a better cleaning effect.

[0266] In one embodiment, when the method is specifically implemented, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the method may further include the following contents when it is specifically implemented:

[0267] When the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, the robotic arm is controlled to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0268] Based on the above embodiments, the robot arm can be used to effectively clean the area behind the obstacle to obtain a better cleaning effect.

[0269] In one embodiment, the above-mentioned control of the robotic arm to assist the cleaning robot to cross an obstacle may include: controlling the robotic arm to hook the edge or top of the obstacle and lift the moving part of the cleaning robot to the edge of the obstacle; driving the moving part and retracting the robotic arm to enable the cleaning robot to cross the obstacle.

[0270] Based on the above embodiments, the robotic arm can be used to assist the cleaning robot to cross the obstacle efficiently and safely.

[0271] In one embodiment, after lifting the moving part of the cleaning robot to the edge of the obstacle, the method may also include: driving the moving part and retracting the robotic arm so that the cleaning robot reaches the area above the obstacle; controlling the robotic arm to cooperate with the moving part to move the cleaning robot to the area behind the obstacle.

[0272] Based on the above embodiments, the robotic arm can be used to more precisely assist the cleaning robot to cross obstacles and enter the area behind the obstacles, thereby better protecting the operation safety of the cleaning robot.

[0273] In one embodiment, when the method is implemented, it may also include: when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area that does not need to be cleaned, adjusting the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and performing edge cleaning around the obstacle.

[0274] Based on the above embodiments, it is possible to prevent the robot arm from colliding with obstacles or affecting the center of gravity of the cleaning robot during mobile cleaning, thereby safely completing the edge cleaning task around obstacles.

[0275] In one embodiment, when the method is implemented, it may also include: when the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, adjusting the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and performing edge cleaning around the obstacle.

[0276] Based on the above embodiments, the areas behind obstacles that cannot be cleaned can be accurately distinguished and identified, and the cleaning of such areas can be abandoned in a timely manner, thereby effectively reducing the waste of time and energy.

[0277] In one embodiment, when the method is implemented, it may also include: when the height information of the obstacle is greater than or equal to a preset second height threshold, adjusting the posture of the robotic arm so that at least a projection of a preset proportional value in the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and performing edge cleaning around the obstacle.

[0278] Based on the above embodiments, obstacles that cannot be crossed even with the use of a robotic arm can be accurately distinguished and identified, and crossing of such obstacles can be abandoned in a timely manner, thereby effectively reducing the waste of time and energy and better protecting the equipment safety of the cleaning robot.

[0279] In one embodiment, when the distance between the cleaning robot and the obstacle is less than or equal to a first detection threshold, the posture of the body can also be adjusted; then the cleaning robot is controlled to retreat a specified distance so that the distance between the cleaning robot and the obstacle is greater than the first detection threshold and less than the second detection threshold; then the first sensor system is used to obtain the first obstacle three-dimensional information of the obstacle; based on the first obstacle three-dimensional information, the height information of the obstacle is determined.

[0280] In one embodiment, the first sensor system and the second sensor system may specifically include one or more of the following sensors: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor, etc.

[0281] The first sensor system and the second sensor system may be the same or different.

[0282] Specifically, the second sensor system arranged on the robot arm may be a binocular vision sensor, or a binocular sensor system that at least includes a dual-target vision sensor.

[0283] In this way, the second sensor system set on the robotic arm can have a high degree of matching with the structure of the robotic arm, and thus can effectively utilize the structural characteristics of the robotic arm and better utilize the second sensor system to obtain relevant data information including three-dimensional information of obstacles, environmental information of the area behind the obstacles, etc.

[0284] As can be seen from the above, based on the control method of the cleaning robot provided in this specification, when the distance between the cleaning robot and the obstacle is less than or equal to the first detection threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system arranged on the robotic arm and the ground is greater than the height of the obstacle; and the second sensor system is used to obtain the three-dimensional information of the second obstacle and the environmental information of the area behind the obstacle; wherein the second three-dimensional information of the obstacle includes at least the height information of the obstacle and the depth information of the area above the obstacle, and the obstacle is a threshold-type obstacle; when the width of the obstacle is greater than a preset width threshold, the environmental information of the area behind the obstacle indicates that the area behind the obstacle is the area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform the cleaning action. By combining the use of a mechanical arm and a sensor system, the cleaning robot can accurately obtain relatively complete and detailed data information related to the threshold-type obstacle (at least including the three-dimensional information of the obstacle and the environmental information of the area behind the obstacle), so that the cleaning robot can be accurately and safely controlled to cross the obstacle and enter the area behind the obstacle to perform cleaning actions according to the above data information, thereby obtaining a better cleaning effect. Specifically, the mechanical arm provided with the sensor system can be started and extended, and the position and posture of the sensor system (for example, the height and angle of the sensor system relative to the threshold-type obstacle) can be flexibly adjusted by adjusting the mechanical arm, so that the sensor system can fully cover the threshold-type obstacle and adjacent areas such as the area behind the threshold-type obstacle, and then the sensor system can be used to completely and finely collect data information related to the threshold-type obstacle. In addition, when crossing the threshold-type obstacle and entering the area behind the threshold-type obstacle, the mechanical arm can be flexibly used for corresponding assistance, making full use of the structural performance advantages of the mechanical arm, and better completing the crossing of the threshold-type obstacle and the cleaning of the area behind the threshold-type obstacle. Specifically, based on the data information collected by the sensor system, different situations can be distinguished, and the robotic arm can be controlled in a differentiated manner to perform matching actions: for example, when a threshold-type obstacle is relatively high, the robotic arm can be promptly controlled to be retracted, and the robot can give up crossing the threshold-type obstacle to avoid damage to the cleaning robot during the crossing process; for another example, when the threshold-type obstacle has a relatively certain height but is not particularly high, the robotic arm can be controlled to hook the edge or top of the obstacle to provide auxiliary force for the cleaning robot to help the cleaning robot cross the threshold obstacle smoothly and steadily with a smaller driving force; and after crossing the threshold-type obstacle and entering the rear area of ​​the threshold-type obstacle, the robotic arm can be promptly controlled to be retracted to avoid the extended robotic arm interfering with the cleaning of the rear area, etc., so that the robotic arm can be flexibly used to better complete various tasks such as crossing threshold-type obstacles and cleaning the rear area of ​​threshold-type obstacles.

[0285] See also Fig.10 As shown, the embodiment of this specification also provides another control method for a cleaning robot. The method is applied to a cleaning robot, wherein the body of the cleaning robot is provided with a mechanical arm and a first sensor system capable of obtaining three-dimensional information of obstacles, and the mechanical arm is provided with a second sensor system capable of obtaining three-dimensional information of obstacles. When the method is specifically implemented, it may include the following contents:

[0286] S1001: when the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold, using a first sensor system to obtain three-dimensional information of a first obstacle; wherein the first detection threshold is related to the first sensor system; and the obstacle is a threshold obstacle;

[0287] S1002: when the first obstacle three-dimensional information indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, start the robotic arm; raise the robotic arm so that the height between the second sensor system disposed on the robotic arm and the ground is greater than the height of the obstacle; and use the second sensor system to obtain second obstacle three-dimensional information and environmental information of the area behind the obstacle; the second obstacle three-dimensional information includes at least the height information of the obstacle;

[0288] S1003: When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the height information of the obstacle is less than or equal to a preset first height threshold, adjusting the posture of the robot arm so that at least a preset proportion of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground;

[0289] S1004: Control the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0290] In a specific implementation, when the distance between the cleaning robot and the obstacle is greater than the first detection threshold and less than the second detection threshold, it can be determined that the three-dimensional information of the obstacle cannot be accurately acquired based on the first sensor system.

[0291] At this time, by starting the robotic arm and using the second sensor arranged on the robotic arm, relatively accurate second obstacle three-dimensional information about the obstacle can be obtained; at the same time, environmental information of the area behind the obstacle can also be obtained, thereby obtaining relatively complete and detailed relevant data information about the obstacle.

[0292] In specific implementation, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is the area to be cleaned, and the height information of the obstacle is less than or equal to the preset first height threshold, it can be judged that the cleaning robot needs to cross the obstacle and enter the area behind the obstacle for cleaning; at the same time, the height of the obstacle is relatively low, and there is no need to start and use the robotic arm to smoothly and safely cross the obstacle and enter the area behind the obstacle.

[0293] At this time, there is no need to waste time and energy and start the robotic arm. The moving part of the cleaning robot can be directly used to efficiently cross the obstacle, enter the area behind the obstacle, and perform specific cleaning actions.

[0294] In one embodiment, the above-mentioned control of the cleaning robot to cross obstacles may include:

[0295] Starting the obstacle surmounting unit to control the cleaning robot to cross the obstacle through the obstacle surmounting unit;

[0296] Alternatively, the moving part is controlled to accelerate so as to control the cleaning robot to cross obstacles.

[0297] The obstacle-crossing portion may specifically be a protruding piece disposed at the bottom of the body of the cleaning robot.

[0298] Normally, the obstacle-crossing unit is in a retracted state. When the obstacle-crossing unit is activated, the obstacle-crossing unit is lowered from the bottom of the fuselage and deployed to assist the mobile unit in performing a certain degree of obstacle-crossing operation. When the obstacle-crossing unit is in a directional and deployed state, the height relative to the ground can be greater than the height relative to the ground of the mobile unit.

[0299] During specific implementation, the obstacle-crossing part can be activated and used to assist the moving part, so that the cleaning robot can smoothly cross obstacles of corresponding heights.

[0300] Specifically, the obstacle-crossing part can be understood as a component for assisting in overcoming obstacles. The obstacle-crossing part can have a swinging member. The swinging member can swing around its own swinging axis. The swinging member can swing when started. The swinging member can contact with an obstacle to generate a relative force with the obstacle, thereby assisting the cleaning robot in overcoming obstacles.

[0301] In specific implementation, a matching acceleration can be determined based on the height information of the obstacle; and then the moving part is controlled to move according to the acceleration, so as to utilize the momentum during the accelerated movement to help the cleaning robot successfully cross the obstacle.

[0302] During specific implementation, the cleaning robot may be controlled to retreat a specified buffer distance first, and then the moving part may be controlled to accelerate, so as to control the cleaning robot to cross obstacles.

[0303] In this way, the cleaning machine can smoothly cross obstacles without having to start the obstacle crossing unit. On the one hand, the service life of the obstacle crossing unit can be extended by reducing the number of times the obstacle crossing unit is used; on the other hand, the overall cleaning time can be shortened and the overall cleaning efficiency can be improved by reducing the time spent on starting the obstacle crossing unit.

[0304] In specific implementation, the obstacle crossing part can be started, and the moving part can be controlled to accelerate, so as to control the cleaning robot to cross the obstacle, thereby assisting the cleaning robot to smoothly cross the obstacle with a certain height.

[0305] Based on the above embodiments, a variety of differentiated methods can be adopted for a variety of different situations to flexibly and specifically assist the cleaning robot to successfully cross obstacles.

[0306] In one embodiment, when the method is implemented, it may also include: when the environmental information of the rear area of ​​the obstacle indicates that the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, adjusting the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and performing edge cleaning around the obstacle.

[0307] Based on the above embodiments, the areas behind obstacles that cannot be cleaned can be accurately distinguished and identified, and the cleaning of such areas can be abandoned in a timely manner, thereby effectively reducing the waste of time and energy.

[0308] In one embodiment, the first sensor system and the second sensor system may specifically include one or more of the following sensors: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor, etc.

[0309] The first sensor system and the second sensor system may be the same or different.

[0310] Specifically, the second sensor system arranged on the robot arm may be a binocular vision sensor, or a binocular sensor system that at least includes a dual-target vision sensor.

[0311] In this way, the second sensor system arranged on the robotic arm can have a high degree of matching with the structure of the robotic arm, thereby effectively utilizing the structural characteristics of the robotic arm and better utilizing the second sensor system to obtain corresponding three-dimensional information of obstacles.

[0312] As can be seen from the above, based on the control method of the cleaning robot provided in this specification, when the distance between the cleaning robot and the obstacle is greater than the first detection threshold and less than the second detection threshold, the first sensor system is used to obtain the three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; the obstacle is a threshold obstacle; when the three-dimensional information of the first obstacle indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than the preset width threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system set in the robotic arm and the ground is greater than the height of the obstacle; and the second sensor system is used to obtain the three-dimensional information of the second obstacle and the environmental information of the rear area of ​​the obstacle; the second three-dimensional information of the obstacle includes at least the height information of the obstacle; when the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is the area to be cleaned, and the height information of the obstacle is less than or equal to the preset first height threshold, the posture of the robotic arm is adjusted so that at least the projection of the preset proportion value in the projection of the robotic arm on the ground is located within the range of the projection of the body of the cleaning robot on the ground; the cleaning robot is controlled to cross the obstacle, enter the rear area of ​​the obstacle, and perform the cleaning action. By combining the use of a mechanical arm and a sensor system, the cleaning robot can accurately obtain relatively complete and detailed data information related to the threshold-type obstacle (at least including the three-dimensional information of the obstacle and the environmental information of the area behind the obstacle), so that the cleaning robot can be accurately and safely controlled to cross the obstacle and enter the area behind the obstacle to perform cleaning actions according to the above data information, thereby obtaining a better cleaning effect. Specifically, the mechanical arm provided with the sensor system can be started and extended, and the position and posture of the sensor system (for example, the height and angle of the sensor system relative to the threshold-type obstacle) can be flexibly adjusted by adjusting the mechanical arm, so that the sensor system can fully cover the threshold-type obstacle and adjacent areas such as the area behind the threshold-type obstacle, and then the sensor system can be used to completely and finely collect data information related to the threshold-type obstacle. In addition, when crossing the threshold-type obstacle and entering the area behind the threshold-type obstacle, the mechanical arm can be flexibly used for corresponding assistance, making full use of the structural performance advantages of the mechanical arm, and better completing the crossing of the threshold-type obstacle and the cleaning of the area behind the threshold-type obstacle.Specifically, based on the data information collected by the sensor system, different situations can be distinguished, and the robotic arm can be controlled in a differentiated manner to perform matching actions: for example, when a threshold-type obstacle is relatively high, the robotic arm can be promptly controlled to be retracted, and the robot can give up crossing the threshold-type obstacle to avoid damage to the cleaning robot during the crossing process; for another example, when the threshold-type obstacle has a relatively certain height but is not particularly high, the robotic arm can be controlled to hook the edge or top of the obstacle to provide auxiliary force for the cleaning robot to help the cleaning robot cross the threshold obstacle smoothly and steadily with a smaller driving force; and after crossing the threshold-type obstacle and entering the rear area of ​​the threshold-type obstacle, the robotic arm can be promptly controlled to be retracted to avoid the extended robotic arm interfering with the cleaning of the rear area, etc., so that the robotic arm can be flexibly used to better complete various tasks such as crossing threshold-type obstacles and cleaning the rear area of ​​threshold-type obstacles.

[0313] See also Fig.11 As shown, the embodiment of this specification also provides a cleaning robot, wherein the cleaning robot comprises:

[0314] The system comprises: a fuselage 1101, a first sensor system 1102 disposed on the fuselage 1101 and capable of acquiring three-dimensional information of obstacles, a processor 1103, and a memory 1104 for storing instructions executable by the processor; wherein a mechanical arm 1105 is further disposed on the fuselage, and a second sensor system 1106 capable of acquiring three-dimensional information of obstacles is further disposed on the mechanical arm 1105;

[0315] During the movement of the cleaning robot, the processor 1103 can implement the relevant steps of the control method of the cleaning robot by executing the relevant instructions in the memory 1104, so that the sensor system 1102 can effectively obtain the three-dimensional information of obstacles that meet the requirements.

[0316] During specific implementation, the processor 1103, during the movement of the cleaning robot, when the distance between the cleaning robot and the obstacle is greater than the first detection threshold and less than the second detection threshold, uses the first sensor system to obtain the three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; the obstacle is a threshold obstacle; when the three-dimensional information of the first obstacle indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than the preset width threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system provided on the robotic arm and the ground is greater than the height of the obstacle; and the second sensor system is used to obtain the three-dimensional information of the second obstacle and the environmental information of the area behind the obstacle; the second three-dimensional information of the obstacle includes at least the height information of the obstacle and the depth information of the area above the obstacle; when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is the area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform the cleaning action.

[0317] During specific implementation, the processor 1103 starts the robotic arm when the distance between the cleaning robot and an obstacle is less than or equal to a first detection threshold during the movement of the cleaning robot; lifts the robotic arm so that the height between the second sensor system provided on the robotic arm and the ground is greater than the height of the obstacle; and uses the second sensor system to obtain three-dimensional information of the second obstacle and environmental information of the area behind the obstacle; wherein the second three-dimensional information of the obstacle includes at least the height information of the obstacle and the depth information of the area above the obstacle, and the obstacle is a threshold-type obstacle; when the width of the obstacle is greater than a preset width threshold, the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0318] In a specific implementation, the processor 1103, during the movement of the cleaning robot, when the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold, uses the first sensor system to obtain three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; the obstacle is a threshold obstacle; when the three-dimensional information of the first obstacle indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system set in the robotic arm and the ground is greater than the height of the obstacle; and the second sensor system is used to obtain three-dimensional information of the second obstacle and environmental information of the rear area of ​​the obstacle; the second three-dimensional information of the obstacle includes at least the height information of the obstacle; when the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the height information of the obstacle is less than or equal to the preset first height threshold, the posture of the robotic arm is adjusted so that at least a preset proportion value of the projection of the robotic arm on the ground is located within the range of the projection of the body of the cleaning robot on the ground; the cleaning robot is controlled to cross the obstacle, enter the rear area of ​​the obstacle, and perform a cleaning action.

[0319] In this embodiment, the processor 1103 may be implemented in any appropriate manner. For example, the processor may take the form of a microprocessor or a processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) executable by the (micro)processor, a logic gate, a switch, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller, etc. This specification does not limit this.

[0320] In this embodiment, the memory 1104 may include multiple levels. In a digital system, anything that can store binary data can be a memory; in an integrated circuit, a circuit with a storage function that has no physical form is also called a memory, such as RAM, FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0321] The embodiment of the present specification also provides a computer-readable storage medium based on the control method of the above-mentioned cleaning robot, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are implemented: when the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold, using the first sensor system to obtain the first obstacle three-dimensional information; wherein the first detection threshold is related to the first sensor system; the obstacle is a threshold obstacle; when the first obstacle three-dimensional information indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, start the robotic arm; lift the robotic arm so that the height between the second sensor system set in the robotic arm and the ground is greater than the height of the obstacle; and use the second sensor system to obtain the second obstacle three-dimensional information and the environmental information of the rear area of ​​the obstacle; the second obstacle three-dimensional information includes at least the height information of the obstacle and the depth information of the area above the obstacle; when the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is the area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, control the cleaning robot to cross the obstacle, enter the rear area of ​​the obstacle, and perform the cleaning action.

[0322] The embodiment of this specification also provides another computer-readable storage medium based on the control method of the above-mentioned cleaning robot, and the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are implemented: when the distance between the cleaning robot and the obstacle is less than or equal to the first detection threshold, start the robotic arm; lift the robotic arm so that the height between the second sensor system set in the robotic arm and the ground is greater than the height of the obstacle; and use the second sensor system to obtain the second obstacle three-dimensional information and the environmental information of the area behind the obstacle; wherein the second obstacle three-dimensional information includes at least the height information of the obstacle and the depth information of the area above the obstacle, and the obstacle is a threshold-type obstacle; when the width of the obstacle is greater than a preset width threshold, the environmental information of the area behind the obstacle indicates that the area behind the obstacle is the area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, control the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform the cleaning action.

[0323] The embodiment of this specification also provides another computer-readable storage medium based on the control method of the above-mentioned cleaning robot, and the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are implemented: when the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold, using the first sensor system to obtain three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; the obstacle is a threshold-type obstacle; when the three-dimensional information of the first obstacle indicates that the height of the obstacle exceeds the detection range of the first sensor system and the width of the obstacle is greater than a preset width threshold, starting the robotic arm; and raising the robotic arm , so that the height between the second sensor system arranged on the robot arm and the ground is greater than the height of the obstacle; and the second sensor system is used to obtain the second obstacle three-dimensional information and the environmental information of the rear area of ​​the obstacle; the second obstacle three-dimensional information includes at least the height information of the obstacle; when the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is the area to be cleaned, and the height information of the obstacle is less than or equal to the preset first height threshold, adjust the posture of the robot arm so that the projection of at least a preset proportional value of the robot arm on the ground is located within the range of the projection of the body of the cleaning robot on the ground; control the cleaning robot to cross the obstacle, enter the rear area of ​​the obstacle, and perform the cleaning action.

[0324] In this embodiment, the storage medium includes but is not limited to a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk (HDD) or a memory card. The memory may be used to store computer program instructions. The network communication unit may be an interface for network connection communication set in accordance with the standard specified by the communication protocol.

[0325] In this embodiment, the functions and effects specifically implemented by the program instructions stored in the computer-readable storage medium can be explained in comparison with other implementations and will not be described in detail here.

[0326] The embodiments of this specification also provide a computer program product, which at least includes a computer program, and when the computer program is executed by a processor, the relevant steps of the control method of the cleaning robot are implemented.

[0327] The embodiment of the present specification also provides a control device for a cleaning robot, which is applied to the cleaning robot, wherein the body of the cleaning robot is provided with a mechanical arm and a first sensor system capable of acquiring three-dimensional information of obstacles, and the mechanical arm is provided with a second sensor system capable of acquiring three-dimensional information of obstacles. Fig.12As shown, the device may specifically include:

[0328] The acquisition module 1201 may be specifically used to acquire the three-dimensional information of the first obstacle using the first sensor system when the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold; wherein the first detection threshold is related to the first sensor system; and the obstacle is a threshold obstacle;

[0329] The first control module 1202 may be specifically configured to start the robotic arm when the first obstacle three-dimensional information indicates that the height of the obstacle exceeds the detection range of the first sensor system and the width of the obstacle is greater than a preset width threshold; raise the robotic arm so that the height between the second sensor system disposed on the robotic arm and the ground is greater than the height of the obstacle; and obtain the second obstacle three-dimensional information and the environmental information of the area behind the obstacle by using the second sensor system; the second obstacle three-dimensional information includes at least the height information of the obstacle and the depth information of the area above the obstacle;

[0330] The second control module 1203 can be specifically used to control the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned and the depth information of the area above the obstacle meets the preset depth conditions.

[0331] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the device can also be used when it is implemented: when the angle between the surface of the area above the obstacle and the ground is less than a preset angle threshold, control the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0332] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the device can also be used when it is implemented: when the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, control the robotic arm to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0333] In one embodiment, when the above-mentioned second control module 1203 is implemented, the robotic arm can be controlled to assist the cleaning robot to cross an obstacle in the following manner: control the robotic arm to hook the edge or top of the obstacle, and lift the moving part of the cleaning robot to the edge of the obstacle; drive the moving part, and retract the robotic arm to enable the cleaning robot to cross the obstacle.

[0334] In one embodiment, after lifting the moving part of the cleaning robot to the edge of the obstacle, the second control module 1203 can also be used to: drive the moving part and retract the robotic arm so that the cleaning robot reaches the area above the obstacle; control the robotic arm to cooperate with the moving part to move the cleaning robot to the area behind the obstacle.

[0335] In one embodiment, when the device is implemented, it can also be used to: when the depth information of the area above the obstacle does not meet the preset depth condition, adjust the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0336] In one embodiment, when the device is implemented, it can also be used to: when the angle between the surface of the upper area of ​​the obstacle and the ground is greater than or equal to a preset angle threshold, adjust the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0337] In one embodiment, when the device is implemented, it can also be used to: when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area that does not need to be cleaned, adjust the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0338] In one embodiment, when the device is implemented, it can also be used to: when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the area of ​​the area behind the obstacle is smaller than a preset area threshold, adjust the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0339] In one embodiment, when the device is implemented, it can also be used to: when the height information of the obstacle is greater than or equal to a preset second height threshold, adjust the posture of the robot arm so that at least a preset proportional value of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0340] In one embodiment, the first sensor system and the second sensor system may specifically include one or more of the following sensors: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor, etc.

[0341] This specification also provides a control device for a cleaning robot, which is applied to the cleaning robot. The body of the cleaning robot is provided with a mechanical arm and a first sensor system capable of obtaining three-dimensional information of obstacles. The mechanical arm is provided with a second sensor system capable of obtaining three-dimensional information of obstacles. The device may specifically include:

[0342] An acquisition module is used to start the robotic arm when the distance between the cleaning robot and the obstacle is less than or equal to a first detection threshold; lift the robotic arm so that the height between the second sensor system arranged on the robotic arm and the ground is greater than the height of the obstacle; and use the second sensor system to acquire the three-dimensional information of the second obstacle and the environmental information of the area behind the obstacle; wherein the second three-dimensional information of the obstacle includes at least the height information of the obstacle and the depth information of the area above the obstacle, and the obstacle is a threshold obstacle;

[0343] The control module is used to control the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions when the width of the obstacle is greater than a preset width threshold, the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth conditions.

[0344] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the device can also be used when it is implemented: when the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, control the robotic arm to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0345] In one embodiment, when the device is implemented, the robotic arm can be controlled in the following manner to assist the cleaning robot to cross an obstacle: control the robotic arm to hook the edge or top of the obstacle, and lift the moving part of the cleaning robot to the edge of the obstacle; drive the moving part, and retract the robotic arm to allow the cleaning robot to cross the obstacle.

[0346] In one embodiment, after lifting the moving part of the cleaning robot to the edge of the obstacle, the device, when implemented, can also be used to: drive the moving part and retract the robotic arm so that the cleaning robot reaches the area above the obstacle; control the robotic arm to cooperate with the moving part to move the cleaning robot to the area behind the obstacle.

[0347] In one embodiment, when the device is implemented, it can also be used to: when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area that does not need to be cleaned, adjust the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0348] In one embodiment, when the device is implemented, it can also be used to: when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the area of ​​the area behind the obstacle is smaller than a preset area threshold, adjust the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0349] In one embodiment, when the device is implemented, it can also be used to: when the height information of the obstacle is greater than or equal to a preset second height threshold, adjust the posture of the robot arm so that at least a preset proportional value of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0350] This specification also provides a control device for a cleaning robot, which is applied to the cleaning robot. The body of the cleaning robot is provided with a mechanical arm and a first sensor system capable of acquiring three-dimensional information of obstacles. The mechanical arm is provided with a second sensor system capable of acquiring three-dimensional information of obstacles. The device may specifically include:

[0351] An acquisition module, used for acquiring three-dimensional information of a first obstacle using a first sensor system when the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold; wherein the first detection threshold is related to the first sensor system; and the obstacle is a threshold obstacle;

[0352] The first control module is configured to start the robotic arm when the first obstacle three-dimensional information indicates that the height of the obstacle exceeds the detection range of the first sensor system and the width of the obstacle is greater than a preset width threshold; raise the robotic arm so that the height between the second sensor system provided on the robotic arm and the ground is greater than the height of the obstacle; and obtain the second obstacle three-dimensional information and the environmental information of the rear area of ​​the obstacle by using the second sensor system; the second obstacle three-dimensional information includes at least the height information of the obstacle;

[0353] A second control module is used to adjust the posture of the robot arm so that at least a projection of a preset proportion value of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground when the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned and the height information of the obstacle is less than or equal to a preset first height threshold;

[0354] The third control module is used to control the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0355] In one embodiment, when the above-mentioned device is implemented, the cleaning robot can be controlled to cross obstacles in the following manner: the obstacle crossing unit is started to control the cleaning robot to cross obstacles through the obstacle crossing unit; or, the moving unit is controlled to accelerate to control the cleaning robot to cross obstacles.

[0356] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, the device can also be used when it is implemented: when the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, control the robotic arm to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

[0357] In one embodiment, when the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, the device can also be used to adjust the posture of the robotic arm when the height information of the obstacle is greater than or equal to a preset second height threshold, so that the projection of at least a preset proportional value of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0358] In one embodiment, when the device is implemented, it can also be used to: when the environmental information of the rear area of ​​the obstacle indicates that the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, adjust the posture of the robotic arm so that at least a preset proportional value of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and perform edge cleaning around the obstacle.

[0359] It should be noted that the units, devices or modules described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described separately by functions divided into various modules. Of course, when implementing this specification, the functions of each module can be implemented in the same or more software and / or hardware, or the modules that implement the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0360] As can be seen from the above, based on the control device of the cleaning robot provided in the embodiment of this specification, by combining the use of a robotic arm and a sensor system, the cleaning robot can accurately obtain relatively complete and detailed data information related to threshold-type obstacles, including three-dimensional information of the obstacle and environmental information of the area behind the obstacle; and based on the above data information, the cleaning robot can be accurately and safely controlled to cross the obstacle and enter the area behind the obstacle to perform cleaning actions, thereby obtaining a better cleaning effect.

[0361] Although the present specification provides method operation steps as described in the embodiments or flow charts, more or fewer operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only order of execution. When the device or client product in practice is executed, it can be executed in sequence or in parallel according to the method shown in the embodiments or the drawings (for example, a parallel processor or a multi-threaded processing environment, or even a distributed data processing environment). The terms "include", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such a process, method, product or device. In the absence of more restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. The words first, second, etc. are used to represent the name, and do not represent any particular order.

[0362] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0363] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer-readable storage media including storage devices.

[0364] Through the description of the above embodiments, it can be known that those skilled in the art can clearly understand that the present specification can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present specification can essentially be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in each embodiment of the present specification or some parts of the embodiments.

[0365] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. This specification can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0366] Although the present specification is described through embodiments, those skilled in the art will appreciate that there are many modifications and changes to the present specification without departing from the spirit of the present specification, and it is intended that the appended claims include these modifications and changes without departing from the spirit of the present specification.

Claims

1. A control method for a cleaning robot, It is characterized in that Applied to a cleaning robot, the body of the cleaning robot is provided with a mechanical arm, and a first sensor system capable of acquiring three-dimensional information of obstacles, the mechanical arm is provided with a second sensor system capable of acquiring three-dimensional information of obstacles, the method comprises: When the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold, the first sensor system is used to obtain three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; and the obstacle is a threshold obstacle; When the first obstacle three-dimensional information indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system arranged on the robotic arm and the ground is greater than the height of the obstacle; and the second obstacle three-dimensional information and environmental information of the area behind the obstacle are obtained by using the second sensor system; the second obstacle three-dimensional information includes at least the height information of the obstacle and the depth information of the area above the obstacle; When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform a cleaning action; When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the method further includes: When the angle between the surface of the area above the obstacle and the ground is less than a preset angle threshold, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform a cleaning action; or When the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, the robotic arm is controlled to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

2. The method according to claim 1, It is characterized in that Control the robotic arm to assist the cleaning robot to cross obstacles, including: Control the robotic arm to hook the edge or top of the obstacle and lift the moving part of the cleaning robot to the edge of the obstacle; The moving part is driven and the mechanical arm is retracted so that the cleaning robot can cross obstacles.

3. The method according to claim 2, It is characterized in that After lifting the moving part of the cleaning robot to the edge of the obstacle, the method further includes: Driving the moving part and retracting the robotic arm so that the cleaning robot reaches the area above the obstacle; The robot arm is controlled to cooperate with the moving part to move the cleaning robot to the rear area of ​​the obstacle.

4. The method according to claim 1, It is characterized in that The method further comprises: When the depth information of the area above the obstacle does not meet the preset depth condition, the position and posture of the robot arm is adjusted so that at least a preset proportion value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

5. The method according to claim 1, It is characterized in that The method further comprises: When the angle between the surface of the upper area of ​​the obstacle and the ground is greater than or equal to a preset angle threshold, the position and posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

6. The method according to claim 1, It is characterized in that The method further comprises: When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area that does not need to be cleaned, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

7. The method according to claim 1, It is characterized in that The method further comprises: When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

8. The method according to claim 1, It is characterized in that The method further comprises: When the height information of the obstacle is greater than or equal to a preset second height threshold, the position and posture of the robot arm is adjusted so that at least a preset proportional value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

9. The method according to claim 1, It is characterized in that The first sensor system and the second sensor system include one or more of the following sensors: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

10. A control method for a cleaning robot, It is characterized in that Applied to a cleaning robot, the body of the cleaning robot is provided with a mechanical arm, and a first sensor system capable of acquiring three-dimensional information of obstacles, the mechanical arm is provided with a second sensor system capable of acquiring three-dimensional information of obstacles, the method comprises: When the distance between the cleaning robot and the obstacle is less than or equal to the first detection threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system arranged on the robotic arm and the ground is greater than the height of the obstacle; and the second sensor system is used to obtain the three-dimensional information of the second obstacle and the environmental information of the area behind the obstacle; wherein the second three-dimensional information of the obstacle includes at least the height information of the obstacle and the depth information of the area above the obstacle, and the obstacle is a threshold obstacle; When the width of the obstacle is greater than a preset width threshold, the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the cleaning robot is controlled to cross the obstacle, enter the area behind the obstacle, and perform the cleaning action; When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, and the depth information of the area above the obstacle meets the preset depth condition, the method also includes: when the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, controlling the robotic arm to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

11. The method according to claim 10, It is characterized in that Control the robotic arm to assist the cleaning robot to cross obstacles, including: Control the robotic arm to hook the edge or top of the obstacle and lift the moving part of the cleaning robot to the edge of the obstacle; The moving part is driven and the mechanical arm is retracted so that the cleaning robot can cross obstacles.

12. The method according to claim 11, It is characterized in that After lifting the moving part of the cleaning robot to the edge of the obstacle, the method further includes: Driving the moving part and retracting the robotic arm so that the cleaning robot reaches the area above the obstacle; The robot arm is controlled to cooperate with the moving part to move the cleaning robot to the rear area of ​​the obstacle.

13. The method according to claim 10, It is characterized in that The method further comprises: When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area that does not need to be cleaned, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

14. The method according to claim 10, It is characterized in that The method further comprises: When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

15. The method according to claim 10, It is characterized in that The method further comprises: When the height information of the obstacle is greater than or equal to a preset second height threshold, the position and posture of the robot arm is adjusted so that at least a preset proportional value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

16. A control method for a cleaning robot, It is characterized in that Applied to a cleaning robot, the body of the cleaning robot is provided with a mechanical arm, and a first sensor system capable of acquiring three-dimensional information of obstacles, the mechanical arm is provided with a second sensor system capable of acquiring three-dimensional information of obstacles, the method comprises: When the distance between the cleaning robot and the obstacle is greater than a first detection threshold and less than a second detection threshold, the first sensor system is used to obtain three-dimensional information of the first obstacle; wherein the first detection threshold is related to the first sensor system; and the obstacle is a threshold obstacle; When the first obstacle three-dimensional information indicates that the height of the obstacle exceeds the detection range of the first sensor system, and the width of the obstacle is greater than a preset width threshold, the robotic arm is started; the robotic arm is raised so that the height between the second sensor system arranged on the robotic arm and the ground is greater than the height of the obstacle; and the second obstacle three-dimensional information and environmental information of the rear area of ​​the obstacle are obtained by using the second sensor system; the second obstacle three-dimensional information includes at least the height information of the obstacle; When the environmental information of the rear area of ​​the obstacle indicates that the rear area of ​​the obstacle is an area to be cleaned, and the height information of the obstacle is less than or equal to a preset first height threshold, the posture of the robot arm is adjusted so that at least a preset proportion value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground; Control the cleaning robot to cross obstacles, enter the area behind the obstacles, and perform cleaning actions.

17. The method according to claim 16, It is characterized in that Control the cleaning robot to cross obstacles, including: Starting the obstacle surmounting unit to control the cleaning robot to cross the obstacle through the obstacle surmounting unit; Alternatively, the moving part is controlled to accelerate so as to control the cleaning robot to cross obstacles.

18. The method according to claim 16, It is characterized in that When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, the method further includes: When the height information of the obstacle is greater than a preset first height threshold and less than a preset second height threshold, the robotic arm is controlled to assist the cleaning robot to cross the obstacle, enter the area behind the obstacle, and perform cleaning actions.

19. The method according to claim 16, It is characterized in that When the environmental information of the area behind the obstacle indicates that the area behind the obstacle is an area to be cleaned, the method further includes: When the height information of the obstacle is greater than or equal to a preset second height threshold, the position and posture of the robot arm is adjusted so that at least a preset proportional value of the projection of the robot arm on the ground is located within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

20. The method according to claim 16, It is characterized in that The method further comprises: When the environmental information of the rear area of ​​the obstacle indicates that the area of ​​the rear area of ​​the obstacle is smaller than a preset area threshold, the posture of the robot arm is adjusted so that at least a preset proportion of the projection of the robot arm on the ground is within the range of the projection of the cleaning robot body on the ground; Perform edge cleaning around the obstruction.

21. A cleaning robot, It is characterized in that include: A fuselage, a mechanical arm, a first sensor system, a second sensor system, a processor, and a memory for storing instructions executable by the processor; wherein the mechanical arm and the first sensor system are arranged on the fuselage, the second sensor system is arranged on the mechanical arm, and the first sensor system and the second sensor system can obtain three-dimensional information of obstacles; When the processor executes the instructions, the steps of the control method of the cleaning robot according to any one of claims 1 to 20 are implemented.

22. A computer-readable storage medium, It is characterized in that The computer-readable storage medium includes a stored program, wherein the control method of the cleaning robot according to any one of claims 1 to 20 is executed when the program is executed.

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