Control method and control apparatus for a cleaning robot, and cleaning robot

Abstract

This invention proposes a control method, control device, and cleaning robot for a cleaning robot. The control method includes: acquiring the cleaning area where the cleaning robot is located; planning at least one cleaning path within the cleaning area along a first direction and / or a second direction, based on the cleaning area; wherein the first direction is from a first side of the cleaning area to a second side of the cleaning area, the first side and the second side being located at opposite ends of the cleaning area; the second direction is from a third side of the cleaning area to a fourth side of the cleaning area, the third side and the fourth side being located at the other opposite ends of the cleaning area; and the angle between the second direction and the first direction is greater than 0 degrees; and controlling the cleaning robot to move along the at least one cleaning path.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a control method, control device, and cleaning robot for a cleaning robot. Background Technology

[0002] In related technologies, cleaning robots typically clean the floor of a designated area according to a preset cleaning path. However, even if the cleaning robot cleans multiple times along the cleaning path, there are still areas that cannot be thoroughly cleaned, resulting in poor cleaning performance and impacting user experience. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] Therefore, a first aspect of the present invention provides a control method for a cleaning robot.

[0005] A second aspect of the present invention provides a control device for a cleaning robot.

[0006] A third aspect of the present invention provides a control device for a cleaning robot.

[0007] A fourth aspect of the present invention provides a cleaning robot.

[0008] A fifth aspect of the present invention provides a readable storage medium.

[0009] A first aspect of the present invention provides a control method for a cleaning robot, comprising: obtaining a cleaning area in which the cleaning robot is located; planning at least one cleaning path within the cleaning area along a first direction and / or a second direction, based on the cleaning area; wherein the first direction is from a first side of the cleaning area to a second side of the cleaning area, the first side and the second side being located at opposite ends of the cleaning area; the second direction is from a third side of the cleaning area to a fourth side of the cleaning area, the third side and the fourth side being located at the other opposite ends of the cleaning area; and the angle between the second direction and the first direction is greater than 0 degrees; and controlling the cleaning robot to move along the at least one cleaning path.

[0010] The control method for a cleaning robot provided by this invention can be used to control the cleaning robot to clean the ground within a designated cleaning area. First, the cleaning area where the cleaning robot is located can be obtained, which is the ground area that the cleaning robot needs to clean.

[0011] After obtaining the cleaning area that the cleaning robot needs to clean, at least one cleaning path can be planned for the cleaning robot along a first direction and / or a second direction based on the cleaning area. The first direction is from a first side of the cleaning area to a second side of the cleaning area, with the first and second sides located at opposite ends of the cleaning area. The second direction is from a third side of the cleaning area to a fourth side of the cleaning area, with the third and fourth sides located at the other opposite ends of the cleaning area. The angle between the second direction and the first direction is greater than 0 degrees.

[0012] Then, the cleaning robot is controlled to walk along at least one planned cleaning path to clean the ground, thereby ensuring that the robot can cover the entire ground in the cleaning area while walking along at least one cleaning path, so as to ensure the cleaning effect of the cleaning robot.

[0013] In addition, the control method for the cleaning robot in the above-described technical solution provided by the present invention may also have the following additional technical features:

[0014] In the above technical solution, the control method of the cleaning robot further includes: determining the target point on the original path that is closest to the cleaning robot between the starting point of the original path and the first turning point of the original path; planning a navigation path based on the target point; and controlling the cleaning robot to clean according to the navigation path; wherein the original path is any one of at least one cleaning path.

[0015] In this technical solution, before controlling the cleaning robot to move along at least one cleaning path, a target point can be determined to improve the robot's navigation success rate. Then, a new navigation path is determined based on the new target point. Specifically, the target point can be determined between the starting point and the first turning point of the original path, identifying the point on the original path closest to the robot's current position. That is, the target point is the point on the first straight segment of the original path closest to the robot's current position. The original path can be any one of at least one cleaning path. In other words, if the starting point of any of the at least one cleaning path has an obstacle, that path needs to be replanned to ensure the cleaning robot can thoroughly clean the area.

[0016] Then, based on the target point, a new navigation path is determined. Finally, after the navigation path is planned, the cleaning robot can be controlled to clean according to the navigation path. Specifically, the new navigation path can be an arc-shaped path extending along a first direction or a second direction.

[0017] Understandably, when there is an obstacle at the starting point of the original path, the cleaning robot's target point can be determined between the obstacle and the first turning point of the original path, that is, between the obstacle and the first turning point of the original path. The robot can then determine the target point on the original path that is closest to it, and then plan a new navigation path based on the new target point.

[0018] In any of the above technical solutions, further, planning a navigation path based on the target point includes: obtaining a first distance between the target point and the starting point of the original path and a second distance between the target point and the first turning point; determining the walking direction of the cleaning robot based on the first distance and the second distance; and planning a navigation path based on the target point and the walking direction.

[0019] In this technical solution, after determining the target point of the cleaning robot, a first distance between the target point and the starting point of the original path, and a second distance between the target point and the first turning point of the original path, can be obtained. Then, the walking direction of the cleaning robot is determined based on the first and second distances. It is understandable that if there is an obstacle at the starting point of the original path, the first distance is the distance between the target point and the obstacle.

[0020] Then, based on the cleaning robot's target point and direction of travel, a new navigation path for the cleaning robot is planned.

[0021] The cleaning robot's direction of travel is determined by the first and second distances. Then, a new navigation path is planned based on the target point and the direction of travel, which can further improve the navigation efficiency of the cleaning robot.

[0022] In any of the above technical solutions, further, determining the walking direction of the cleaning robot based on the first distance and the second distance includes: if the first distance is less than the second distance, determining the walking direction of the robot as the starting direction from the target point to the original path; if the first distance is greater than the second distance, determining the walking direction of the robot as the starting direction from the target point to the first turning point of the original path.

[0023] In this technical solution, after determining the first distance between the target point and the starting point of the original path, and the second distance between the target point and the first turning point of the original path, the walking direction of the cleaning robot can be determined based on the relationship between the first and second distances. Specifically, when the first distance is less than the second distance, the robot's walking direction between the original starting point and the first turning point of the original path is determined as the direction from the target point to the starting point of the original path. That is, the distance between the target point and the starting point of the original path is shorter than the distance between the target point and the first turning point; therefore, the direction from the target point to the starting point of the original path can be used as the walking direction.

[0024] In cases where there is an obstacle at the starting point of the original path, the point on the original path closest to the obstacle can be used as the target point. Specifically, the point where the cleaning robot comes into contact with the obstacle can be used as the target point.

[0025] Conversely, when the first distance is greater than the second distance, that is, when the distance between the target point and the first turning point of the original path is relatively short, the robot's walking direction is determined to be the starting direction from the target point to the first turning point of the original path.

[0026] In any of the above technical solutions, the navigation path further includes a straight path and a preset bow-shaped path. The navigation path is planned according to the target point and the direction of travel, including: planning a straight path according to the target point and the direction of travel; and planning a preset bow-shaped path with the end point of the straight path as the starting point of the preset bow-shaped path; wherein the extension direction of the first straight segment of the preset bow-shaped path is the same as the extension direction of the straight path.

[0027] In this technical solution, the new navigation path can include a straight path and a preset bow-shaped path. The straight path is a straight path extending from the target point along the walking direction of the cleaning robot. The preset bow-shaped path is a bow-shaped path starting from the end point of the straight path. In planning the new navigation path, firstly, a straight path can be planned based on the target point and the walking direction of the cleaning robot. After the straight path is planned, the end point of the straight path can be used as the starting point of the preset bow-shaped path to plan the preset bow-shaped path.

[0028] In this pre-defined arc-shaped path, the first straight segment extends in the same direction as the straight path. In other words, as the cleaning robot follows the new navigation path, it first moves from the target point along the straight path to its endpoint. Then, the robot turns 180 degrees and moves in the opposite direction of the straight path, completing the pre-defined arc-shaped path.

[0029] In any of the above-mentioned technical solutions, further, based on the cleaning area, at least one cleaning path is planned within the cleaning area along a first direction and / or a second direction, including: based on the cleaning area, along the first direction, a first arc-shaped path is planned within the cleaning area; based on the cleaning area, along the first direction, a second arc-shaped path is planned within the cleaning area; wherein the second arc-shaped path extends in the same direction as the first arc-shaped path, and multiple straight segments of the second arc-shaped path are staggered with multiple straight segments of the first arc-shaped path.

[0030] In this technical solution, after planning the first arc-shaped path, a second arc-shaped path can be planned within the cleaning area. By planning the second arc-shaped path, the cleaning robot can perform a second cleaning of the area, thus cleaning areas not thoroughly cleaned by the first arc-shaped path and improving the cleaning effect. It is understandable that during actual operation, due to potential influences from the ground environment or the robot's own structure, areas may remain uncleaned after cleaning along the first arc-shaped path. For example, due to the robot's size limitations, the area between two adjacent straight segments of the first arc-shaped path may not be completely cleaned. Therefore, by planning the second arc-shaped path, the cleaning robot can continue cleaning along the second arc-shaped path after completing the first, further improving the cleaning effect.

[0031] Specifically, the second bow-shaped path can be a path extending in a bow shape along the first direction of the cleaning area. That is, the extension direction of the second bow-shaped path is the same as that of the first bow-shaped path, and the multiple straight segments of the second bow-shaped path are staggered with the multiple straight segments of the first bow-shaped path. In other words, each straight segment of the second bow-shaped path is located between adjacent straight segments of the first bow-shaped path. Thus, during the cleaning process along the second bow-shaped path, the cleaning robot can directly clean the area between two adjacent straight segments of the first bow-shaped path, thereby cleaning the areas between two adjacent straight segments of the first bow-shaped path that were not thoroughly cleaned, and improving the cleaning effect of the cleaning robot.

[0032] In any of the above-mentioned technical solutions, further, according to the cleaning area, along the first direction, a second arc-shaped path is planned within the cleaning area, including: planning the starting point of the second arc-shaped path according to the starting point of the first arc-shaped path; planning the second arc-shaped path along the first direction according to the starting point of the second arc-shaped path; wherein, along the first direction, the distance between the starting point of the second arc-shaped path and the starting point of the first arc-shaped path is less than the distance between two adjacent straight segments of the first arc-shaped path.

[0033] In this technical solution, after the first arc-shaped path is planned, a second arc-shaped path can be planned based on the first arc-shaped path. Specifically, firstly, the starting point of the second arc-shaped path can be planned based on the starting point of the first arc-shaped path. The starting point of the first arc-shaped path can be a point that is simultaneously close to two adjacent edges of the cleaning area. Again, taking a rectangular cleaning area as an example, the first arc-shaped path can be a point within the rectangular cleaning area that is simultaneously close to both the long and short sides, that is, a point located at a corner of the rectangular cleaning area.

[0034] Then, starting from the beginning of the first arc-shaped path, along the first direction, a point whose distance from the beginning of the first arc-shaped path is less than the distance between two adjacent straight segments of the first arc-shaped path is designated as the starting point of the second arc-shaped path. In other words, the distance between the starting point of the second arc-shaped path and the starting point of the first arc-shaped path is less than the distance between two adjacent straight segments of the first arc-shaped path. This ensures that the second arc-shaped path covers the area between two adjacent straight segments of the first arc-shaped path, thereby ensuring that the cleaning robot can cover areas not covered by the first arc-shaped path during cleaning along the second arc-shaped path, thus improving the cleaning effect of the cleaning robot.

[0035] In any of the above-mentioned technical solutions, further, based on the cleaning area, at least one cleaning path is planned within the cleaning area along the first direction and / or the second direction, including: based on the cleaning area, a first arc-shaped path is planned within the cleaning area along the first direction; based on the cleaning area, a third arc-shaped path is planned within the cleaning area along the second direction.

[0036] In this technical solution, after planning the first arc-shaped path, a third arc-shaped path can be planned within the cleaning area. By planning the third arc-shaped path, the cleaning robot can perform a second cleaning of the cleaning area, thereby cleaning the areas that were not cleaned by the first arc-shaped path again, thus improving the cleaning effect of the cleaning robot on the cleaning area.

[0037] Specifically, the third arc-shaped path can be a path extending in an arc along the second direction of the cleaning area. The angle between the second direction and the first direction is greater than 0 degrees. That is, the third arc-shaped path and the first arc-shaped path are arc-shaped paths extending in different directions within the cleaning area. In this way, during the cleaning process along the third arc-shaped path, the cleaning robot can ensure that it passes through areas not traversed by the first arc-shaped path, thereby cleaning areas not thoroughly cleaned by the first arc-shaped path and improving the cleaning effect.

[0038] Furthermore, after planning the first arc-shaped path, a second arc-shaped path and a third arc-shaped path can be planned in sequence. That is, the cleaning robot's cleaning path includes the first arc-shaped path, the second arc-shaped path, and the third arc-shaped path simultaneously. In this way, the cleaning robot can clean the cleaning area along the first arc-shaped path, the second arc-shaped path, and the third arc-shaped path in sequence, thereby further ensuring the cleaning robot's coverage area and further improving the cleaning effect of the cleaning robot.

[0039] Furthermore, after planning the cleaning path of the cleaning robot within the cleaning area, the robot can be controlled to clean the area along the planned path. Specifically, if the cleaning path only includes a first arc-shaped path and a second arc-shaped path, the robot is first controlled to clean along the first arc-shaped path, and then along the second arc-shaped path. If the cleaning path includes only a first arc-shaped path and a third arc-shaped path, the robot is first controlled to clean along the first arc-shaped path, and then along the third arc-shaped path. If the cleaning path includes all three arc-shaped paths, the robot is first controlled to clean along the first arc-shaped path, then along the second arc-shaped path, and finally along the third arc-shaped path. It is understandable that, during the cleaning process, the cleaning robot does not need to follow the order of the first, second, and third arc-shaped paths. As long as the cleaning robot can clean according to the three cleaning paths, it is sufficient.

[0040] The cleaning robot control method provided by this invention, during the planning of the cleaning path of the cleaning robot, can cover areas not completely covered by the first bow-shaped path by planning the second bow-shaped path and / or the third bow-shaped path. This allows the cleaning robot to clean the ground in areas not completely covered by the first bow-shaped path during the cleaning process, thereby further improving the cleaning effect of the cleaning robot and enhancing the user experience.

[0041] In any of the above technical solutions, further, according to the cleaning area, along the second direction, a third arc-shaped path is planned within the cleaning area, including: planning the starting point of the third arc-shaped path according to the starting point of the first arc-shaped path; planning the third arc-shaped path along the second direction according to the starting point of the third arc-shaped path; wherein, the starting point of the third arc-shaped path coincides with the starting point of the first arc-shaped path, or, the starting point of the third arc-shaped path coincides with the ending point of the first arc-shaped path, or, the starting point of the third arc-shaped path coincides with the first turning point of the first arc-shaped path, or, the starting point of the third arc-shaped path coincides with the last turning point of the first arc-shaped path.

[0042] In this technical solution, after the first arc-shaped path is planned, a second arc-shaped path can be planned based on the first arc-shaped path. Specifically, firstly, the starting point of the second arc-shaped path can be planned based on the starting point of the first arc-shaped path. The starting point of the first arc-shaped path can be a point that is simultaneously close to two adjacent edges of the cleaning area. Again, taking a rectangular cleaning area as an example, the first arc-shaped path can be a point within the rectangular cleaning area that is simultaneously close to both the long and short sides, that is, a point located at a corner of the rectangular cleaning area.

[0043] Furthermore, the starting point of the first arc-shaped path can be directly used as the starting point of the third arc-shaped path, and then the third arc-shaped path can be planned within the cleaning area along the second direction. That is, the starting point of the third arc-shaped path coincides with the starting point of the first arc-shaped path.

[0044] Alternatively, the end point of the first arc-shaped path can be used as the starting point of the third arc-shaped path, and then the third arc-shaped path can be planned along the second direction within the cleaning area. That is, the starting point of the third arc-shaped path coincides with the end point of the first arc-shaped path.

[0045] Alternatively, the first turning point of the first arc-shaped path can be used as the starting point of the third arc-shaped path. That is, within the cleaning area, along the second direction, the point opposite to the starting point of the first arc-shaped path is used as the starting point of the third path. Taking a rectangular cleaning area as an example, the starting point of the first arc-shaped path is located at one corner of the rectangular cleaning area, and correspondingly, the starting point of the third arc-shaped path can be located at another corner of the rectangular cleaning area along the second direction.

[0046] Alternatively, the last turning point of the first arc-shaped path can be used as the starting point of the third arc-shaped path. That is, within the cleaning area, the point opposite to the starting point of the first arc-shaped path along the first direction is used as the starting point of the third path. Taking a rectangular cleaning area as an example, the starting point of the first arc-shaped path is located at one corner of the rectangular cleaning area, and correspondingly, the starting point of the third arc-shaped path can be located at another corner of the rectangular cleaning area along the first direction.

[0047] In any of the above technical solutions, the control method further includes: planning a fourth arcuate path in the cleaning area along the second direction according to the cleaning area; wherein the fourth arcuate path extends in the same direction as the third arcuate path, and multiple straight segments of the fourth arcuate path are arranged alternately with multiple straight segments of the third arcuate path.

[0048] In this technical solution, after planning the third arc-shaped path of the cleaning robot, a fourth arc-shaped path can also be planned. By planning the fourth arc-shaped path, the area between two adjacent straight segments of the third arc-shaped path can be covered, thereby further increasing the coverage area of ​​the cleaning area during the cleaning process and thus further improving the cleaning effect.

[0049] Specifically, the fourth bow-shaped path can be a path extending in a bow shape along the second direction of the cleaning area. That is, the extension direction of the fourth bow-shaped path is the same as that of the third bow-shaped path, and the multiple straight segments of the fourth bow-shaped path are staggered with the multiple straight segments of the third bow-shaped path. In other words, each straight segment of the fourth bow-shaped path is located between adjacent straight segments of the third bow-shaped path. Thus, during the cleaning process along the fourth bow-shaped path, the cleaning robot can directly clean the area between two adjacent straight segments of the third bow-shaped path, thereby cleaning the areas between two adjacent straight segments of the third bow-shaped path that were not thoroughly cleaned, and improving the cleaning effect of the cleaning robot.

[0050] In any of the above technical solutions, further, planning a fourth bow-shaped path within the cleaning area along the second direction includes: determining the starting point of the fourth bow-shaped path based on the starting point of the third bow-shaped path; planning the fourth bow-shaped path along the second direction based on the starting point of the fourth bow-shaped path; wherein, along the second direction, the distance between the starting point of the fourth bow-shaped path and the starting point of the third bow-shaped path is less than the distance between two adjacent straight segments of the third bow-shaped path.

[0051] In this technical solution, after the third arc-shaped path is planned, a fourth arc-shaped path can be planned based on the third arc-shaped path. Specifically, firstly, the starting point of the fourth arc-shaped path can be determined based on the starting point of the third arc-shaped path. The starting point of the third arc-shaped path can be a point that is simultaneously close to two adjacent edges of the cleaning area. Again, taking a rectangular cleaning area as an example, the third arc-shaped path can be a point within the rectangular cleaning area that is simultaneously close to both the long and short sides, that is, a point located at a corner of the rectangular cleaning area.

[0052] Then, starting from the beginning of the third bow-shaped path, along the second direction, a point whose distance from the beginning of the third bow-shaped path is less than the distance between two adjacent straight segments of the third bow-shaped path is designated as the starting point of the fourth bow-shaped path. In other words, the distance between the starting point of the fourth bow-shaped path and the starting point of the third bow-shaped path is less than the distance between two adjacent straight segments of the third bow-shaped path. This ensures that the fourth bow-shaped path covers the area between two adjacent straight segments of the third bow-shaped path, thus ensuring that the cleaning robot can cover areas not covered by the third bow-shaped path during cleaning along the fourth bow-shaped path, thereby improving the cleaning effect of the cleaning robot.

[0053] According to a second aspect of the present invention, a control device for a cleaning robot is provided, comprising: an acquisition unit for acquiring a cleaning area where the cleaning robot is located; a planning unit for planning at least one cleaning path within the cleaning area along a first direction and / or a second direction, based on the cleaning area; wherein the first direction is from a first side of the cleaning area to a second side of the cleaning area, the first side and the second side being located at opposite ends of the cleaning area, and the second direction is from a third side of the cleaning area to a fourth side of the cleaning area, the third side and the fourth side being located at the other opposite ends of the cleaning area; and a control unit for controlling the cleaning robot to move along the at least one cleaning path.

[0054] The control device for the cleaning robot provided by this invention, through a planning unit, after obtaining the cleaning area to be cleaned by the cleaning robot, can plan at least one cleaning path for the cleaning robot along a first direction and / or a second direction based on the cleaning area. The first direction is from a first side of the cleaning area to a second side of the cleaning area, with the first and second sides located at opposite ends of the cleaning area. The second direction is from a third side of the cleaning area to a fourth side of the cleaning area, with the third and fourth sides located at the other opposite ends of the cleaning area. The angle between the second and first directions is greater than 0 degrees. Then, the cleaning robot is controlled to walk along the planned at least one cleaning path to clean the ground, thereby ensuring that the cleaning robot can completely cover the ground within the cleaning area while walking along the at least one cleaning path, thus guaranteeing the cleaning effect of the cleaning robot.

[0055] Furthermore, the control device also includes a determining unit, which is used to: determine the target point on the original path that is closest to the cleaning robot between the starting point of the original path and the first turning point of the original path;

[0056] The planning unit is also used to plan navigation routes based on target points.

[0057] The control unit is also used to: control the cleaning robot to clean according to the navigation path; wherein the original path is any one of at least one cleaning path.

[0058] Furthermore, the planning unit is specifically used to: obtain the first distance between the target point and the starting point of the original path and the second distance between the target point and the first turning point; and determine the walking direction of the cleaning robot based on the first distance and the second distance.

[0059] Furthermore, the determining unit is also specifically used to: determine the robot's walking direction as the starting direction from the target point to the original path when the first distance is less than the second distance; and determine the robot's walking direction as the starting direction from the target point to the first turning point of the original path when the first distance is greater than the second distance.

[0060] Furthermore, the navigation path includes a straight path and a preset bow-shaped path. The planning unit is also used to: plan a straight path based on the target point and the direction of travel; and plan a preset bow-shaped path with the end point of the straight path as the starting point of the preset bow-shaped path; wherein the extension direction of the first straight segment of the preset bow-shaped path is the same as the extension direction of the straight path.

[0061] Furthermore, the planning unit is specifically used for: planning a first arc-shaped path within the cleaning area along a first direction based on the cleaning area; and planning a second arc-shaped path within the cleaning area along a first direction based on the cleaning area; wherein the second arc-shaped path extends in the same direction as the first arc-shaped path, and multiple straight segments of the second arc-shaped path are arranged alternately with multiple straight segments of the first arc-shaped path.

[0062] Furthermore, the planning unit is specifically used for: planning the starting point of the second bow-shaped path based on the starting point of the first bow-shaped path; and planning the second bow-shaped path along a first direction based on the starting point of the second bow-shaped path; wherein, along the first direction, the distance between the starting point of the second bow-shaped path and the starting point of the first bow-shaped path is less than the distance between two adjacent straight segments of the first bow-shaped path.

[0063] Furthermore, the planning unit is specifically used for: planning a first arc-shaped path within the cleaning area along a first direction, based on the cleaning area; and planning a third arc-shaped path within the cleaning area along a second direction, based on the cleaning area.

[0064] Furthermore, the planning unit is specifically used for: planning the starting point of the third bow-shaped path based on the starting point of the first bow-shaped path; and planning the third bow-shaped path along the second direction based on the starting point of the third bow-shaped path; wherein the starting point of the third bow-shaped path coincides with the starting point of the first bow-shaped path, or the starting point of the third bow-shaped path coincides with the ending point of the first bow-shaped path, or the starting point of the third bow-shaped path coincides with the first turning point of the first bow-shaped path, or the starting point of the third bow-shaped path coincides with the last turning point of the first bow-shaped path.

[0065] Furthermore, the planning unit is also used to: plan a fourth arcuate path within the cleaning area along the second direction; wherein the fourth arcuate path extends in the same direction as the third arcuate path, and multiple straight segments of the fourth arcuate path are staggered with multiple straight segments of the third arcuate path.

[0066] Furthermore, the planning unit is specifically used for: determining the starting point of the fourth bow-shaped path based on the starting point of the third bow-shaped path; and planning the fourth bow-shaped path along the second direction based on the starting point of the fourth bow-shaped path; wherein, along the second direction, the distance between the starting point of the fourth bow-shaped path and the starting point of the third bow-shaped path is less than the distance between two adjacent straight segments of the third bow-shaped path.

[0067] According to a third aspect of the present invention, a control device for a cleaning robot is provided, comprising: a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the control method for the cleaning robot as provided in the first aspect.

[0068] The control device for a cleaning robot provided by the present invention includes a memory and a processor, and also includes a program or instructions stored in the memory. When the program or instructions are executed by the processor, they can implement the steps of the control method for the cleaning robot described in the first aspect. Therefore, the control device for the cleaning robot has all the beneficial effects of the control method for the cleaning robot described above, which will not be repeated here.

[0069] According to a fourth aspect of the present invention, a cleaning robot is provided, including a control device for the cleaning robot as described in any of the above-described technical solutions.

[0070] The cleaning robot provided by the present invention includes the control device of the cleaning robot according to any of the above technical solutions. Therefore, the cleaning robot has all the beneficial effects of the control device of the cleaning robot, which will not be repeated here.

[0071] According to a fifth aspect of the present invention, a readable storage medium is provided on which a program or instructions are stored, which, when executed by a processor, implement a control method for a cleaning robot as described in any of the above-described technical solutions.

[0072] The readable storage medium provided by the present invention stores a program or instructions. When the program or instructions are executed by a processor, they can realize the control method of the cleaning robot as described in any of the above technical solutions. Therefore, the readable storage medium has all the beneficial effects of the control method of the cleaning robot described above, which will not be repeated here.

[0073] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0074] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0075] Figure 1 A flowchart illustrating a control method for a cleaning robot according to an embodiment of the present invention is shown.

[0076] Figure 2 A flowchart illustrating a control method for a cleaning robot according to another embodiment of the present invention is shown;

[0077] Figure 3A flowchart illustrating a control method for a cleaning robot according to another embodiment of the present invention is shown;

[0078] Figure 4 A flowchart illustrating a control method for a cleaning robot according to another embodiment of the present invention is shown;

[0079] Figure 5 A flowchart illustrating a control method for a cleaning robot according to another embodiment of the present invention is shown;

[0080] Figure 6 A flowchart illustrating a control method for a cleaning robot according to another embodiment of the present invention is shown;

[0081] Figure 7 A flowchart illustrating a control method for a cleaning robot according to an embodiment of the present invention is shown.

[0082] Figure 8 A structural block diagram of a bow-shaped path setting module and a bow-shaped path execution module of a cleaning robot according to an embodiment of the present invention is shown;

[0083] Figure 9 A flowchart illustrating the operation of the bow-shaped path setting module and the bow-shaped path execution module according to an embodiment of the present invention is shown.

[0084] Figure 10 A flowchart illustrating the operation of the bow-shaped path setting module and the bow-shaped path execution module according to another embodiment of the present invention is shown.

[0085] Figure 11 A schematic diagram of a first arc-shaped path according to an embodiment of the present invention is shown;

[0086] Figure 12 A schematic diagram of a first arcuate path according to another embodiment of the present invention is shown;

[0087] Figure 13 A schematic diagram of a first and second arcuate paths according to an embodiment of the present invention is shown;

[0088] Figure 14 A schematic diagram of a first and a second arcuate path according to another embodiment of the present invention is shown;

[0089] Figure 15 A schematic diagram of a first and third arcuate paths according to an embodiment of the present invention is shown;

[0090] Figure 16 A schematic diagram of a first bow-shaped path, a second bow-shaped path, a third bow-shaped path, and a fourth bow-shaped path according to an embodiment of the present invention is shown;

[0091] Figure 17 A schematic diagram of the cleaning area is shown in one embodiment of the present invention;

[0092] Figure 18 A schematic diagram of the cleaning area is shown in another embodiment of the present invention. Detailed Implementation

[0093] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0094] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0095] The following reference Figures 1 to 18 This invention describes a control method, control device, and cleaning robot provided according to some embodiments of the present invention.

[0096] like Figure 1 As shown, according to an embodiment of the present invention, a control method for a cleaning robot is proposed, comprising:

[0097] S102, Obtain the cleaning area where the cleaning robot is located;

[0098] S104, Based on the cleaning area, plan at least one cleaning path within the cleaning area along the first direction and / or the second direction;

[0099] The first direction is the direction from the first side of the cleaning area to the second side of the cleaning area, with the first side and the second side located at opposite ends of the cleaning area. The second direction is the direction from the third side of the cleaning area to the fourth side of the cleaning area, with the third side and the fourth side located at the other opposite ends of the cleaning area. The angle between the second direction and the first direction is greater than 0 degrees.

[0100] S106 controls the cleaning robot to follow at least one cleaning path.

[0101] The control method for a cleaning robot provided by this invention can be used to control the cleaning robot to clean the ground within a designated cleaning area. First, the cleaning area where the cleaning robot is located can be obtained, which is the ground area that the cleaning robot needs to clean.

[0102] After obtaining the cleaning area to be cleaned by the cleaning robot, at least one cleaning path can be planned along a first direction and / or a second direction based on this area. The first direction is from a first side of the cleaning area to a second side, with the first and second sides located at opposite ends of the cleaning area. The second direction is from a third side of the cleaning area to a fourth side, with the third and fourth sides located at the other opposite ends of the cleaning area. The angle between the second and first directions is greater than 0 degrees. Then, the cleaning robot is controlled to move along at least one planned cleaning path to clean the floor, ensuring that the cleaning robot can completely cover the floor within the cleaning area while moving along the at least one cleaning path, thus guaranteeing the cleaning effect.

[0103] According to one embodiment of the present invention, such as Figure 2 As shown, a control method for a cleaning robot is proposed, including:

[0104] S202, between the starting point of the original path and the first turning point of the original path, determine the target point on the original path that is closest to the cleaning robot;

[0105] S204, plan the navigation route based on the target point;

[0106] S206 controls the cleaning robot to follow the navigation path.

[0107] The original path is any one of at least one cleaning path.

[0108] In this embodiment, before controlling the cleaning robot to move along at least one cleaning path, a target point can be determined to improve the robot's navigation success rate. Then, a new navigation path is determined based on the new target point. Specifically, the target point can be determined between the starting point and the first turning point of the original path, identifying the point on the original path closest to the robot's current position. That is, the target point is the point on the first straight segment of the original path closest to the robot's current position. The original path can be any one of the at least one cleaning path. In other words, if the starting point of any of the at least one cleaning path has an obstacle, that path needs to be replanned to ensure the cleaning robot can thoroughly clean the area.

[0109] Then, based on the target point, a new navigation path is determined. Finally, after the navigation path is planned, the cleaning robot can be controlled to clean according to the navigation path. Specifically, the new navigation path can be an arc-shaped path extending along a first direction or a second direction.

[0110] It is understandable that, such as Figure 17 and Figure 18 As shown, when there is an obstacle at the starting point of the original path, the target point of the cleaning robot can be determined between the obstacle and the first turning point of the original path. That is, between the obstacle and the first turning point of the original path, the target point closest to the cleaning robot on the original path is determined, and then a new navigation path is planned based on the new target point.

[0111] In any of the above embodiments, further, planning a navigation path based on the target point includes: obtaining a first distance between the target point and the starting point of the original path and a second distance between the target point and the first turning point; determining the walking direction of the cleaning robot based on the first distance and the second distance; and planning a navigation path based on the target point and the walking direction.

[0112] In this embodiment, after determining the target point of the cleaning robot, a first distance between the target point and the starting point of the original path, and a second distance between the target point and the first turning point of the original path, can be obtained. Then, the walking direction of the cleaning robot is determined based on the first and second distances. It is understood that if there is an obstacle at the starting point of the original path, the first distance is the distance between the target point and the obstacle.

[0113] Then, based on the cleaning robot's target point and direction of travel, a new navigation path for the cleaning robot is planned.

[0114] The cleaning robot's direction of travel is determined by the first and second distances. Then, a new navigation path is planned based on the target point and the direction of travel, which can further improve the navigation efficiency of the cleaning robot.

[0115] Further, the walking direction of the cleaning robot is determined based on the first distance and the second distance, including: if the first distance is less than the second distance, the walking direction of the robot is determined to be the starting direction from the target point to the starting point of the original path; if the first distance is greater than the second distance, the walking direction of the robot is determined to be the starting direction from the target point to the first turning point of the original path.

[0116] Specifically, after determining the first distance between the target point and the starting point of the original path, and the second distance between the target point and the first turning point of the original path, the walking direction of the cleaning robot can be determined based on the relationship between the first and second distances. Specifically, if the first distance is less than the second distance, the robot's walking direction between the original starting point and the first turning point of the original path is determined as the direction from the target point to the starting point of the original path. That is, the distance between the target point and the starting point of the original path is shorter than the distance between the target point and the first turning point; therefore, the direction from the target point to the starting point of the original path can be used as the walking direction.

[0117] Among them, such as Figure 17 As shown, when there is an obstacle at the starting point of the original path, the point on the original path closest to the obstacle can be taken as the target point. Specifically, the point where the cleaning robot comes into contact with the obstacle can be taken as the target point.

[0118] Conversely, when the first distance is greater than the second distance, that is, when the distance between the target point and the first turning point of the original path is relatively short, the robot's walking direction is determined to be the starting direction from the target point to the first turning point of the original path.

[0119] It is understandable that, such as Figure 18 As shown, if either the first distance or the second distance is zero, an arc-shaped path can be directly planned based on the target point.

[0120] In any of the above embodiments, the navigation path further includes a straight path and a preset bow-shaped path. The navigation path is planned according to the target point and the walking direction, including: planning a straight path according to the target point and the walking direction; and planning a preset bow-shaped path with the end point of the straight path as the starting point of the preset bow-shaped path; wherein the extension direction of the first straight segment of the preset bow-shaped path is the same as the extension direction of the straight path.

[0121] In this embodiment, the new navigation path may include a straight path and a preset bow-shaped path. The straight path is a straight path extending from the target point along the walking direction of the cleaning robot. The preset bow-shaped path is a bow-shaped path starting from the end point of the straight path. In planning the new navigation path, firstly, a straight path can be planned based on the target point and the walking direction of the cleaning robot. After the straight path is planned, the end point of the straight path can be used as the starting point of the preset bow-shaped path to plan the preset bow-shaped path.

[0122] In this pre-defined arc-shaped path, the first straight segment extends in the same direction as the straight path. In other words, as the cleaning robot follows the new navigation path, it first moves from the target point along the straight path to its endpoint. Then, the robot turns 180 degrees and moves in the opposite direction of the straight path, completing the pre-defined arc-shaped path.

[0123] In actual operation, such as Figure 7As shown, when there is an obstacle at the starting point of the original path, the target point closest to the cleaning robot is first determined on the first straight segment of the original path. The cleaning robot is then controlled to move to this target point. That is, the point on the arc-shaped straight line containing the target point that is closest to the cleaning robot is taken as the new target point. After the cleaning robot reaches the target point, it is determined whether both sides of the target point include uncleaned areas. If only one side of the target point has an uncleaned area, the cleaning robot is controlled to walk towards that area. If both sides of the current target point have uncleaned areas, the shorter one is determined, and the cleaning robot begins cleaning along the shorter side until it reaches the edge of the obstacle or the edge of the cleaning area. Then, the cleaning robot is controlled to turn 180 degrees in place and clean within the cleaning area according to the arc-shaped navigation path.

[0124] like Figure 3 As shown, according to an embodiment of the present invention, a control method for a cleaning robot is proposed, comprising:

[0125] S302, Obtain the cleaning area where the cleaning robot is located;

[0126] S304, Based on the cleaning area, plan a first arc-shaped path within the cleaning area along the first direction;

[0127] S306, Based on the cleaning area, along the first direction, plan a second arc-shaped path within the cleaning area;

[0128] S308 controls the cleaning robot to walk along the first arc-shaped path;

[0129] S310 controls the cleaning robot to walk along the second bow-shaped path.

[0130] In this path, the second arcuate path extends in the same direction as the first arcuate path, and multiple straight line segments of the second arcuate path are arranged alternately with multiple straight line segments of the first arcuate path, such as... Figure 13 As shown, the extension directions of the first arc-shaped path are all in the first direction, and they are arranged in an alternating pattern.

[0131] The control method for a cleaning robot provided by this invention can be used to control the cleaning robot to clean the ground within a designated cleaning area. First, the cleaning area where the cleaning robot is located can be obtained, which is the ground area that the cleaning robot needs to clean.

[0132] like Figure 11 and Figure 12As shown, after obtaining the cleaning area that the cleaning robot needs to clean, its cleaning path can be planned based on this area. Specifically, firstly, a first arc-shaped path can be planned within the cleaning area along a first direction. The first direction is the direction from one side of the cleaning area to the other. Taking a rectangular cleaning area as an example, the first direction can be from one long side of the rectangular cleaning area to the other long side, or it can be from one short side of the rectangular cleaning area to the other short side. Furthermore, the first arc-shaped path is a path extending in an arc shape from one side of the cleaning area to the other. By setting the first arc-shaped path, the cleaning robot can ensure coverage of the cleaning area during cleaning along the first direction, thereby improving the cleaning effect of the cleaning robot during cleaning along the first direction.

[0133] Furthermore, such as Figure 13 and Figure 14 As shown, after planning the first arc-shaped path, a second arc-shaped path can be planned within the cleaning area. This second arc-shaped path allows the cleaning robot to perform a second cleaning of the area, thus cleaning areas not thoroughly cleaned by the first arc-shaped path and improving the cleaning effect. It is understandable that during actual operation, due to potential influences from the ground environment or the robot's own structure, areas may remain uncleaned after cleaning along the first arc-shaped path. For example, the size of the robot may limit the cleaning between adjacent straight segments of the first arc-shaped path. Therefore, planning the second arc-shaped path allows the robot to continue cleaning along the second arc-shaped path after completing the first, further improving the cleaning effect.

[0134] Specifically, the second bow-shaped path can be a path extending in a bow shape along the first direction of the cleaning area. That is, the extension direction of the second bow-shaped path is the same as that of the first bow-shaped path, and the multiple straight segments of the second bow-shaped path are staggered with the multiple straight segments of the first bow-shaped path. In other words, each straight segment of the second bow-shaped path is located between adjacent straight segments of the first bow-shaped path. Thus, during the cleaning process along the second bow-shaped path, the cleaning robot can directly clean the area between two adjacent straight segments of the first bow-shaped path, thereby cleaning the areas between two adjacent straight segments of the first bow-shaped path that were not thoroughly cleaned, and improving the cleaning effect of the cleaning robot.

[0135] According to one embodiment of the present invention, such as Figure 4 As shown, a control method for a cleaning robot is proposed, including:

[0136] S402, Obtain the cleaning area where the cleaning robot is located;

[0137] S404, Based on the cleaning area, plan a first arc-shaped path within the cleaning area along the first direction;

[0138] S406, Based on the cleaning area, along the second direction, plan a third arc-shaped path within the cleaning area;

[0139] S408 controls the cleaning robot to walk along the first arc-shaped path;

[0140] S410 controls the cleaning robot to follow the third bow-shaped path.

[0141] The angle between the second direction and the first direction is greater than 0 degrees.

[0142] In this embodiment, such as Figure 15 As shown, after planning the first arc-shaped path, a third arc-shaped path can be planned within the cleaning area. By planning the third arc-shaped path, the cleaning robot can perform a second cleaning of the cleaning area, thereby cleaning the areas that were not cleaned by the first arc-shaped path again, thus improving the cleaning effect of the cleaning robot on the cleaning area.

[0143] Specifically, the third arc-shaped path can be a path extending in an arc along the second direction of the cleaning area. The angle between the second direction and the first direction is greater than 0 degrees. That is, the third arc-shaped path and the first arc-shaped path are arc-shaped paths extending in different directions within the cleaning area. In this way, during the cleaning process along the third arc-shaped path, the cleaning robot can ensure that it passes through areas not traversed by the first arc-shaped path, thereby cleaning areas not thoroughly cleaned by the first arc-shaped path and improving the cleaning effect.

[0144] Taking a rectangular cleaning area as an example, the first direction can be from one long side of the rectangular cleaning area to the other long side. Correspondingly, the second direction can be from one short side of the rectangular cleaning area to the other short side. That is, the angle between the second and first directions is 90 degrees. In this way, as the cleaning robot cleans along the first and third arc-shaped paths, it can clean in two mutually perpendicular directions, thus ensuring the coverage area and cleaning effect. Of course, depending on the actual shape of the cleaning area's edge, the angle between the first and second directions can also be 45 degrees, 60 degrees, or other angles to ensure the cleaning robot's coverage area.

[0145] According to one embodiment of the present invention, such as Figure 5 As shown, a control method for a cleaning robot is proposed, including:

[0146] S502, Obtain the cleaning area where the cleaning robot is located;

[0147] S504, Based on the cleaning area, plan a first arc-shaped path within the cleaning area along the first direction;

[0148] S506, Based on the cleaning area, plan a second arc-shaped path within the cleaning area along the first direction;

[0149] S508, based on the cleaning area, plans a third arc-shaped path within the cleaning area along the second direction;

[0150] S510 controls the cleaning robot to walk along the first arc-shaped path;

[0151] S512 controls the cleaning robot to walk along the second and third bow-shaped paths.

[0152] In this embodiment, such as Figure 16 As shown, after planning the first arc-shaped path, the second and third arc-shaped paths can be planned in sequence. That is, the cleaning robot's cleaning path includes the first, second, and third arc-shaped paths simultaneously. In this way, the cleaning robot can clean the cleaning area along the first, second, and third arc-shaped paths in sequence, thereby further ensuring the cleaning robot's coverage area and further improving the cleaning effect of the cleaning robot.

[0153] After planning the cleaning path of the cleaning robot within the designated cleaning area, the robot can be controlled to clean the area along this path. Specifically, if the cleaning path only includes a first arc-shaped path and a second arc-shaped path, the robot first cleans along the first arc-shaped path, and then cleans along the second arc-shaped path. If the cleaning path includes both a first and a third arc-shaped path, the robot first cleans along the first arc-shaped path, and then cleans along the third arc-shaped path. If the cleaning path includes all three arc-shaped paths, the robot first cleans along the first arc-shaped path, then cleans along the second arc-shaped path, and finally cleans along the third arc-shaped path. It is understandable that, during the cleaning process, the cleaning robot does not need to follow the order of the first, second, and third arc-shaped paths. As long as the cleaning robot can clean according to the three cleaning paths, it is sufficient.

[0154] The cleaning robot control method provided by this invention, during the planning of the cleaning path of the cleaning robot, can cover areas not completely covered by the first bow-shaped path by planning the second bow-shaped path and / or the third bow-shaped path. This allows the cleaning robot to clean the ground in areas not completely covered by the first bow-shaped path during the cleaning process, thereby further improving the cleaning effect of the cleaning robot and enhancing the user experience.

[0155] In the above embodiments, further, based on the cleaning area, a second arc-shaped path is planned within the cleaning area along a first direction, including: planning the starting point of the second arc-shaped path based on the starting point of the first arc-shaped path; and planning the second arc-shaped path along the first direction based on the starting point of the second arc-shaped path; wherein, along the first direction, the distance between the starting point of the second arc-shaped path and the starting point of the first arc-shaped path is less than the distance between two adjacent straight segments of the first or second arc-shaped path. Figure 13 As shown, the distance 'a' between the starting point of the second arc-shaped path and the starting point of the first arc-shaped path is less than the distance 'b' between two adjacent straight segments of the second arc-shaped path.

[0156] In this embodiment, after the first arc-shaped path is planned, a second arc-shaped path can be planned based on the first arc-shaped path. Specifically, firstly, the starting point of the second arc-shaped path can be planned based on the starting point of the first arc-shaped path. The starting point of the first arc-shaped path can be a point that is simultaneously close to two adjacent edges of the cleaning area. Again, taking a rectangular cleaning area as an example, the first arc-shaped path can be a point within the rectangular cleaning area that is simultaneously close to both the long and short sides, that is, a point located at a corner of the rectangular cleaning area.

[0157] Then, starting from the beginning of the first arc-shaped path, along the first direction, a point whose distance from the beginning of the first arc-shaped path is less than the distance between two adjacent straight segments of the first arc-shaped path is designated as the starting point of the second arc-shaped path. In other words, the distance between the starting point of the second arc-shaped path and the starting point of the first arc-shaped path is less than the distance between two adjacent straight segments of the first arc-shaped path. This ensures that the second arc-shaped path covers the area between two adjacent straight segments of the first arc-shaped path, thereby ensuring that the cleaning robot can cover areas not covered by the first arc-shaped path during cleaning along the second arc-shaped path, thus improving the cleaning effect of the cleaning robot.

[0158] Specifically, the distance between the starting point of the second arc-shaped path and the starting point of the first arc-shaped path can be half the distance between two adjacent straight segments of the first arc-shaped path.

[0159] In any of the above embodiments, further, according to the cleaning area, a third arcuate path is planned in the cleaning area along the second direction, including: planning the starting point of the third arcuate path according to the starting point of the first arcuate path; planning the third arcuate path along the second direction according to the starting point of the third arcuate path; wherein the starting point of the third arcuate path coincides with the starting point of the first arcuate path, or the starting point of the third arcuate path coincides with the ending point of the first arcuate path, or the starting point of the third arcuate path coincides with the first turning point of the first arcuate path, or the starting point of the third arcuate path coincides with the last turning point of the first arcuate path.

[0160] In this embodiment, after the first arc-shaped path is planned, a second arc-shaped path can be planned based on the first arc-shaped path. Specifically, firstly, the starting point of the second arc-shaped path can be planned based on the starting point of the first arc-shaped path. The starting point of the first arc-shaped path can be a point that is simultaneously close to two adjacent edges of the cleaning area. Again, taking a rectangular cleaning area as an example, the first arc-shaped path can be a point within the rectangular cleaning area that is simultaneously close to both the long and short sides, that is, a point located at a corner of the rectangular cleaning area.

[0161] Furthermore, the starting point of the first arc-shaped path can be directly used as the starting point of the third arc-shaped path, and then the third arc-shaped path can be planned within the cleaning area along the second direction. That is, the starting point of the third arc-shaped path coincides with the starting point of the first arc-shaped path.

[0162] Alternatively, the end point of the first arc-shaped path can be used as the starting point of the third arc-shaped path, and then the third arc-shaped path can be planned along the second direction within the cleaning area. That is, the starting point of the third arc-shaped path coincides with the end point of the first arc-shaped path.

[0163] Alternatively, the first turning point of the first arc-shaped path can be used as the starting point of the third arc-shaped path. That is, within the cleaning area, along the second direction, the point opposite to the starting point of the first arc-shaped path is used as the starting point of the third path. Taking a rectangular cleaning area as an example, the starting point of the first arc-shaped path is located at one corner of the rectangular cleaning area, and correspondingly, the starting point of the third arc-shaped path can be located at another corner of the rectangular cleaning area along the second direction.

[0164] Alternatively, the last turning point of the first arc-shaped path can be used as the starting point of the third arc-shaped path. That is, within the cleaning area, the point opposite to the starting point of the first arc-shaped path along the first direction is used as the starting point of the third path. Taking a rectangular cleaning area as an example, the starting point of the first arc-shaped path is located at one corner of the rectangular cleaning area, and correspondingly, the starting point of the third arc-shaped path can be located at another corner of the rectangular cleaning area along the first direction.

[0165] According to one embodiment of the present invention, such as Figure 6As shown, a control method for a cleaning robot is proposed, including:

[0166] S602, Obtain the cleaning area where the cleaning robot is located;

[0167] S604, Based on the cleaning area, plan a first arc-shaped path within the cleaning area along the first direction;

[0168] S606, based on the cleaning area, along the first direction, plan a second arc-shaped path within the cleaning area;

[0169] S608, based on the cleaning area, plans a third arc-shaped path within the cleaning area along the second direction;

[0170] S610, based on the cleaning area, plans a fourth arc-shaped path within the cleaning area along the second direction;

[0171] S612 controls the cleaning robot to walk along the first arc-shaped path;

[0172] S614 controls the cleaning robot to walk along the second, third, and fourth bow-shaped paths.

[0173] In this embodiment, such as Figure 16 As shown, after planning the third arc-shaped path of the cleaning robot, a fourth arc-shaped path can also be planned. By planning the fourth arc-shaped path, the area between two adjacent straight segments of the third arc-shaped path can be covered, thereby further increasing the coverage area of ​​the cleaning area during the cleaning process and thus further improving the cleaning effect.

[0174] Specifically, the fourth bow-shaped path can be a path extending in a bow shape along the second direction of the cleaning area. That is, the extension direction of the fourth bow-shaped path is the same as that of the third bow-shaped path, and the multiple straight segments of the fourth bow-shaped path are staggered with the multiple straight segments of the third bow-shaped path. In other words, each straight segment of the fourth bow-shaped path is located between adjacent straight segments of the third bow-shaped path. Thus, during the cleaning process along the fourth bow-shaped path, the cleaning robot can directly clean the area between two adjacent straight segments of the third bow-shaped path, thereby cleaning the areas between two adjacent straight segments of the third bow-shaped path that were not thoroughly cleaned, and improving the cleaning effect of the cleaning robot.

[0175] In the above embodiment, further, planning a fourth bow-shaped path within the cleaning area along the second direction includes: determining the starting point of the fourth bow-shaped path based on the starting point of the third bow-shaped path; and planning the fourth bow-shaped path along the second direction based on the starting point of the fourth bow-shaped path; wherein, along the second direction, the distance between the starting point of the fourth bow-shaped path and the starting point of the third bow-shaped path is less than the distance between two adjacent straight segments of the third bow-shaped path.

[0176] In this embodiment, after the third arc-shaped path is planned, a fourth arc-shaped path can be planned based on the third arc-shaped path. Specifically, firstly, the starting point of the fourth arc-shaped path can be determined based on the starting point of the third arc-shaped path. The starting point of the third arc-shaped path can be a point that is simultaneously close to two adjacent edges of the cleaning area. Again, taking a rectangular cleaning area as an example, the third arc-shaped path can be a point within the rectangular cleaning area that is simultaneously close to both the long and short sides, that is, a point located at a corner of the rectangular cleaning area.

[0177] Then, starting from the beginning of the third bow-shaped path, along the second direction, a point whose distance from the beginning of the third bow-shaped path is less than the distance between two adjacent straight segments of the third bow-shaped path is designated as the starting point of the fourth bow-shaped path. In other words, the distance between the starting point of the fourth bow-shaped path and the starting point of the third bow-shaped path is less than the distance between two adjacent straight segments of the third bow-shaped path. This ensures that the fourth bow-shaped path covers the area between two adjacent straight segments of the third bow-shaped path, thus ensuring that the cleaning robot can cover areas not covered by the third bow-shaped path during cleaning along the fourth bow-shaped path, thereby improving the cleaning effect of the cleaning robot.

[0178] Specifically, the distance between the starting point of the fourth arc-shaped path and the starting point of the third arc-shaped path can be half the distance between two adjacent straight segments of the third arc-shaped path.

[0179] According to a second aspect of the present invention, a control device for a cleaning robot is provided, comprising: an acquisition unit for acquiring a cleaning area where the cleaning robot is located; a planning unit for planning at least one cleaning path within the cleaning area along a first direction and / or a second direction, based on the cleaning area; wherein the first direction is from a first side of the cleaning area to a second side of the cleaning area, the first side and the second side being located at opposite ends of the cleaning area, and the second direction is from a third side of the cleaning area to a fourth side of the cleaning area, the third side and the fourth side being located at the other opposite ends of the cleaning area; and a control unit for controlling the cleaning robot to move along the at least one cleaning path.

[0180] The control device for the cleaning robot provided by this invention, through a planning unit, after obtaining the cleaning area to be cleaned by the cleaning robot, can plan at least one cleaning path for the cleaning robot along a first direction and / or a second direction based on the cleaning area. The first direction is from a first side of the cleaning area to a second side of the cleaning area, with the first and second sides located at opposite ends of the cleaning area. The second direction is from a third side of the cleaning area to a fourth side of the cleaning area, with the third and fourth sides located at the other opposite ends of the cleaning area. The angle between the second direction and the first direction is greater than 0 degrees. Then, the cleaning robot is controlled to walk along the planned at least one cleaning path to clean the ground, thereby ensuring that the cleaning robot can completely cover the ground within the cleaning area while walking along the at least one cleaning path, thus guaranteeing the cleaning effect of the cleaning robot.

[0181] Furthermore, the control device also includes a determining unit, which is used to: determine the target point on the original path that is closest to the cleaning robot between the starting point of the original path and the first turning point of the original path;

[0182] The planning unit is also used to plan navigation routes based on target points.

[0183] The control unit is also used to: control the cleaning robot to clean according to the navigation path; wherein the original path is any one of at least one cleaning path.

[0184] Furthermore, the planning unit is specifically used to: obtain the first distance between the target point and the starting point of the original path and the second distance between the target point and the first turning point; and determine the walking direction of the cleaning robot based on the first distance and the second distance.

[0185] Furthermore, the determining unit is also specifically used to: determine the robot's walking direction as the starting direction from the target point to the original path when the first distance is less than the second distance; and determine the robot's walking direction as the starting direction from the target point to the first turning point of the original path when the first distance is greater than the second distance.

[0186] Furthermore, the navigation path includes a straight path and a preset bow-shaped path. The planning unit is also used to: plan a straight path based on the target point and the direction of travel; and plan a preset bow-shaped path with the end point of the straight path as the starting point of the preset bow-shaped path; wherein the extension direction of the first straight segment of the preset bow-shaped path is the same as the extension direction of the straight path.

[0187] Furthermore, the planning unit is specifically used for: planning a first arc-shaped path within the cleaning area along a first direction based on the cleaning area; and planning a second arc-shaped path within the cleaning area along a first direction based on the cleaning area; wherein the second arc-shaped path extends in the same direction as the first arc-shaped path, and multiple straight segments of the second arc-shaped path are arranged alternately with multiple straight segments of the first arc-shaped path.

[0188] Furthermore, the planning unit is specifically used for: planning the starting point of the second bow-shaped path based on the starting point of the first bow-shaped path; and planning the second bow-shaped path along a first direction based on the starting point of the second bow-shaped path; wherein, along the first direction, the distance between the starting point of the second bow-shaped path and the starting point of the first bow-shaped path is less than the distance between two adjacent straight segments of the first bow-shaped path.

[0189] Furthermore, the planning unit is specifically used for: planning a first arc-shaped path within the cleaning area along a first direction, based on the cleaning area; and planning a third arc-shaped path within the cleaning area along a second direction, based on the cleaning area.

[0190] Furthermore, the planning unit is specifically used for: planning the starting point of the third bow-shaped path based on the starting point of the first bow-shaped path; and planning the third bow-shaped path along the second direction based on the starting point of the third bow-shaped path; wherein the starting point of the third bow-shaped path coincides with the starting point of the first bow-shaped path, or the starting point of the third bow-shaped path coincides with the ending point of the first bow-shaped path, or the starting point of the third bow-shaped path coincides with the first turning point of the first bow-shaped path, or the starting point of the third bow-shaped path coincides with the last turning point of the first bow-shaped path.

[0191] Furthermore, the planning unit is also used to: plan a fourth arcuate path within the cleaning area along the second direction; wherein the fourth arcuate path extends in the same direction as the third arcuate path, and multiple straight segments of the fourth arcuate path are staggered with multiple straight segments of the third arcuate path.

[0192] Furthermore, the planning unit is specifically used for: determining the starting point of the fourth bow-shaped path based on the starting point of the third bow-shaped path; and planning the fourth bow-shaped path along the second direction based on the starting point of the fourth bow-shaped path; wherein, along the second direction, the distance between the starting point of the fourth bow-shaped path and the starting point of the third bow-shaped path is less than the distance between two adjacent straight segments of the third bow-shaped path.

[0193] According to a third aspect of the present invention, a control device for a cleaning robot is provided, comprising: a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the control method for the cleaning robot as provided in the first aspect.

[0194] The control device for a cleaning robot provided by the present invention includes a memory and a processor, and also includes a program or instructions stored in the memory. When the program or instructions are executed by the processor, they can implement the steps of the control method for the cleaning robot described in the first aspect. Therefore, the control device for the cleaning robot has all the beneficial effects of the control method for the cleaning robot described above, which will not be repeated here.

[0195] According to a fourth aspect of the present invention, a cleaning robot is provided, including a control device for the cleaning robot as described in any of the above-described technical solutions.

[0196] The cleaning robot provided by the present invention includes the control device of the cleaning robot according to any of the above technical solutions. Therefore, the cleaning robot has all the beneficial effects of the control device of the cleaning robot, which will not be repeated here.

[0197] Specifically, such as Figure 8 , Figure 9 and Figure 10 As shown, the cleaning robot may include an arc path setting module and an arc path execution module. The arc path setting module is used to set the arc path and then transmit the set arc path to the arc path execution module. The arc path execution module is used to control the cleaning robot to perform the cleaning process according to the arc path during the cleaning process.

[0198] According to a fifth aspect of the present invention, a readable storage medium is provided on which a program or instructions are stored, which, when executed by a processor, implement a control method for a cleaning robot as described in any of the above-described technical solutions.

[0199] The readable storage medium provided by the present invention stores a program or instructions. When the program or instructions are executed by a processor, they can realize the control method of the cleaning robot as described in any of the above technical solutions. Therefore, the readable storage medium has all the beneficial effects of the control method of the cleaning robot described above, which will not be repeated here.

[0200] In the description of this invention, the term "a plurality of" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0201] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0202] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method of a cleaning robot, characterized by, The control method includes: Obtain the cleaning area where the cleaning robot is located; Based on the cleaning area, at least one cleaning path is planned within the cleaning area along a first direction and / or a second direction; Wherein, the first direction is the direction from the first side of the cleaning area to the second side of the cleaning area, the first side and the second side are located at opposite ends of the cleaning area, the second direction is the direction from the third side of the cleaning area to the fourth side of the cleaning area, the third side and the fourth side are located at the other opposite ends of the cleaning area, and the angle between the second direction and the first direction is greater than 0 degrees. Control the cleaning robot to move along at least one cleaning path; Between the starting point of the original path and the first turning point of the original path, determine the target point on the original path that is closest to the cleaning robot; Based on the target point, plan a navigation route; Control the robot to walk along the navigation path; Wherein, the original path is any one of the at least one cleaning path; Specifically, between the obstacle and the first turning point of the original path, the nearest target point to the cleaning robot on the original path is determined, and then a new navigation path is planned based on the new target point.

2. The control method according to claim 1, characterized by, The step of planning a navigation path based on the target point includes: Obtain the first distance between the target point and the starting point of the original path, and the second distance between the target point and the first turning point; The walking direction of the cleaning robot is determined based on the first distance and the second distance; The navigation path is planned based on the target point and the direction of travel.

3. The control method according to claim 2, characterized by, Determining the walking direction of the cleaning robot based on the first distance and the second distance includes: If the first distance is less than the second distance, the robot's walking direction is determined to be from the target point to the starting point of the original path; If the first distance is greater than the second distance, the robot's walking direction is determined to be the starting direction from the target point to the first turning point of the original path.

4. The control method according to claim 3, characterized by The navigation path includes a straight path and a preset arc-shaped path. Planning the navigation path based on the target point and the walking direction includes: Based on the target point and the direction of travel, plan the straight path; The preset bow-shaped path is planned by taking the end point of the straight path as the starting point of the preset bow-shaped path; Wherein, the extension direction of the first straight segment of the preset bow-shaped path is the same as the extension direction of the straight path.

5. The control method according to any one of claims 1 to 4, characterized in that, The step of planning at least one cleaning path within the cleaning area along a first direction and / or a second direction includes: Based on the cleaning area, a first arc-shaped path is planned within the cleaning area along a first direction; Based on the cleaning area, along the first direction, a second arc-shaped path is planned within the cleaning area; The second bow-shaped path extends in the same direction as the first bow-shaped path, and multiple straight segments of the second bow-shaped path are arranged alternately with multiple straight segments of the first bow-shaped path.

6. The control method according to claim 5, characterized in that, The step of planning a second arc-shaped path within the cleaning area along the first direction, based on the cleaning area, includes: Determine the starting point of the second bow-shaped path based on the starting point of the first bow-shaped path; Based on the starting point of the second bow-shaped path, plan the second bow-shaped path along the first direction; Wherein, along the first direction, the distance between the starting point of the second bow-shaped path and the starting point of the first bow-shaped path is less than the distance between two adjacent straight segments of the first bow-shaped path.

7. The control method according to any one of claims 1 to 4, characterized in that, The step of planning at least one cleaning path within the cleaning area along a first direction and / or a second direction includes: Based on the cleaning area, a first arc-shaped path is planned within the cleaning area along a first direction; Based on the cleaning area, a third arc-shaped path is planned within the cleaning area along the second direction.

8. The control method according to claim 7, characterized in that, The step of planning a third arc-shaped path within the cleaning area along the second direction, based on the cleaning area, includes: The starting point of the third bow-shaped path is determined based on the starting point of the first bow-shaped path; Based on the starting point of the third bow-shaped path, plan the third bow-shaped path along the second direction; Wherein, the starting point of the third bow-shaped path coincides with the starting point of the first bow-shaped path, or the starting point of the third bow-shaped path coincides with the ending point of the first bow-shaped path, or the starting point of the third bow-shaped path coincides with the first turning point of the first bow-shaped path, or the starting point of the third bow-shaped path coincides with the last turning point of the first bow-shaped path.

9. The control method according to claim 7, characterized in that, The control method further includes: Based on the cleaning area, along the second direction, a fourth arc-shaped path is planned within the cleaning area; The fourth bow-shaped path extends in the same direction as the third bow-shaped path, and the multiple straight line segments of the fourth bow-shaped path are arranged alternately with the multiple straight line segments of the third bow-shaped path.

10. The control method according to claim 9, characterized in that, Planning a fourth arc-shaped path within the cleaning area along the second direction includes: The starting point of the fourth bow-shaped path is determined based on the starting point of the third bow-shaped path. Based on the starting point of the fourth bow-shaped path, plan the fourth bow-shaped path along the second direction; Wherein, along the second direction, the distance between the starting point of the fourth bow-shaped path and the starting point of the third bow-shaped path is less than the distance between two adjacent straight segments of the third bow-shaped path.

11. A control device for a cleaning robot, characterized in that, include: The acquisition unit is used to acquire the cleaning area where the cleaning robot is located; A planning unit is configured to plan at least one cleaning path within the cleaning area, along a first direction and / or a second direction, based on the cleaning area. Wherein, the first direction is the direction from the first side of the cleaning area to the second side of the cleaning area, the first side and the second side are located at opposite ends of the cleaning area, and the second direction is the direction from the third side of the cleaning area to the fourth side of the cleaning area, the third side and the fourth side are located at the other opposite ends of the cleaning area; A control unit is used to control the cleaning robot to move along the at least one cleaning path; The determining unit is used to: determine the target point on the original path that is closest to the cleaning robot between the starting point of the original path and the first turning point of the original path; The planning unit is also used to: plan navigation routes based on target points; The control unit is also used to: control the cleaning robot to clean according to the navigation path; The original path is any one of at least one cleaning path; Specifically, between the obstacle and the first turning point of the original path, the nearest target point to the cleaning robot on the original path is determined, and then a new navigation path is planned based on the new target point.

12. A control device for a cleaning robot, characterized in that, include: A processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the control method for the cleaning robot as claimed in any one of claims 1 to 10.

13. A cleaning robot, characterized in that, include: The control device for the cleaning robot as described in claim 11 or 12.

14. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the control method for the cleaning robot as described in any one of claims 1 to 10.

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