Control method and device of cleaning robot

Abstract

The invention relates to the technical field of cleaning robot rotation control, in particular to a cleaning robot control method and device.A cleaning robot comprises two parallel walking tracks, the centers of the two walking tracks and the mass center of the cleaning robot are located on the same straight line, and the method comprises the steps that the rotation angle needed by the cleaning robot is determined; and the two walking tracks are controlled to operate in the same rotating direction and at different rotating speeds, so that the cleaning robot rotates by a set angle with the set position as the rotating center. According to the technical scheme, when the cleaning robot rotates, the cleaning robot rotates with the set position except the cleaning robot as the rotation center, rotation tearing and friction to the walking crawler belt can be reduced in the mode, and then the service life of the walking crawler belt is prolonged; and in the working scene of obstacles and cliffs, reasonable motion planning can be carried out in cooperation with the rotating mode, the cleaning robot is better attached to the edges of the obstacles or the working face, and covering during cleaning is more complete.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robot rotation control, and in particular to a cleaning robot control method and device. Background Art

[0002] Window cleaning robots are a type of robot that can be attached to glass or other smooth surfaces and has the ability to clean. They are generally attached to the work surface using vacuum negative pressure. The walking mechanism is generally a crawler type. When the walking mechanism is running, the driving wheel drives the crawler to rotate, thereby driving the movement of the cleaning robot. Window cleaning robots generally have the ability to operate automatically. Through sensor detection information and planned paths, they can autonomously complete the cleaning of the entire area and finally return to the initial position to complete the entire process.

[0003] The walking mechanism of the existing window-cleaning robot can realize forward and backward movement and turning movement, but does not support lateral movement. That is, in some usage scenarios of the window-cleaning robot, the window-cleaning robot is downward, and turning movement is required to achieve the purpose of adjusting the direction of the window-cleaning robot.

[0004] At present, when the walking mechanism rotates, it generally rotates in place, that is, the left and right tracks have the same speed but opposite directions. Taking the left track as an example, the upper part of the track has a left component speed, and the lower part has a right component speed. This method causes greater tearing and friction to the left track, thereby affecting the service life of the track and the normal operation of the window cleaning robot. Summary of the invention

[0005] In order to solve at least the above technical problems existing in the prior art, the present invention provides a control method and device for a cleaning robot.

[0006] On one hand, the present invention provides a control method for a cleaning robot, wherein the cleaning robot comprises two parallel walking tracks, and the centers of the two walking tracks are located on the same straight line with the center of mass of the cleaning robot. The method comprises: determining the required rotation angle of the cleaning robot; controlling the two walking tracks to operate in the same rotation direction and different rotation speeds, so that the cleaning robot rotates a set angle with a set position as the rotation center.

[0007] In some embodiments, the method for determining the required rotation angle of the cleaning robot includes: obtaining distance information between at least two front ends of the cleaning robot and obstacles; determining the angle between the central axis of the cleaning robot and the surface of the obstacle based on the distance information, and the angle is the required rotation angle of the cleaning robot.

[0008] In some embodiments, the method of determining the angle between the central axis of the cleaning robot and the obstacle surface according to the distance information includes: calculating the angle according to the following formula:

[0009]

[0010] Among them, γ is the angle, dis_left is one distance information, dis_right is another distance information, and 2D is the width value of the cleaning robot.

[0011] In some embodiments, the method for determining the required rotation angle of the cleaning robot includes: obtaining distance change information between at least two front ends of the cleaning robot and the working surface; determining the moving distance of the cleaning robot based on the interval time of the distance change information and the moving speed of the cleaning robot; determining the angle between the central axis of the cleaning robot and the edge of the working surface based on the moving distance, and the angle is the required rotation angle of the cleaning robot.

[0012] In some embodiments, the method of determining the angle between the central axis of the cleaning robot and the edge of the working surface according to the moving distance includes: calculating the angle according to the following formula:

[0013]

[0014] Wherein, θ is the angle, dis_pass is the moving distance, and 2D is the width value of the cleaning robot.

[0015] In some embodiments, the method of causing the cleaning robot to rotate a set angle with a set position as the rotation center also includes: after the cleaning robot rotates the set angle, the straight-line distances between each position of the front end of the cleaning robot and the obstacle are the same, or the straight-line distances between each position of the front end of the cleaning robot and the edge of the working surface are the same.

[0016] On the other hand, the present invention also provides a control device for a cleaning robot, wherein the cleaning robot comprises two parallel walking tracks, wherein the centers of the two walking tracks and the center of mass of the cleaning robot are located on the same straight line, and the device comprises: a determination module, wherein the determination module is configured to determine the required rotation angle of the cleaning robot; and a control module, wherein the control module is configured to control the two walking tracks to operate in the same rotation direction and at different rotation speeds, so that the cleaning robot rotates a set angle with a set position as the rotation center.

[0017] In some embodiments, the determination module includes an acquisition module and a calculation module; the acquisition module is configured to acquire distance information between at least two front ends of the cleaning robot and obstacles; the calculation module is configured to determine the angle between the central axis of the cleaning robot and the surface of the obstacle based on the distance information, and the angle is the required rotation angle of the cleaning robot.

[0018] In some embodiments, the determination module includes an acquisition module and a calculation module; the acquisition module is configured to acquire distance change information between at least two front ends of the cleaning robot and the working surface; the calculation module is configured to determine the moving distance of the cleaning robot based on the interval time of the distance change information and the moving speed of the cleaning robot; and determine the angle between the central axis of the cleaning robot and the edge of the working surface based on the moving distance, and the angle is the required rotation angle of the cleaning robot.

[0019] In some embodiments, the front end and the rear end of the cleaning robot respectively include cleaning scrapers, and the cleaning scrapers include a first ranging sensor set in the moving direction of the cleaning robot and a second ranging sensor set in the direction of the working surface; the acquisition module is configured to obtain the distance information of at least two front ends of the cleaning robot and obstacles through the first ranging sensor, or the acquisition module is configured to obtain the distance change information of at least two front ends of the cleaning robot and the working surface through the second ranging sensor.

[0020] The present invention provides a control method and device for a cleaning robot. When in use, the two walking tracks of the cleaning robot rotate in the same direction and there is a certain speed difference, so that when the cleaning robot rotates, it rotates with a set position outside the cleaning robot as the rotation center. This method can reduce the rotational tearing and friction of the walking tracks, thereby extending the service life of the walking tracks; and in working scenarios with obstacles and cliffs, in combination with the above-mentioned rotation method, reasonable motion planning can be carried out, and the cleaning robot is more closely aligned with the edge of the obstacle or the working surface, so that the coverage during cleaning is more complete. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:

[0022] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0023] Figure 1 A schematic diagram of the structure of a cleaning robot provided by an embodiment of the present invention;

[0024] Figure 2 A flow chart of a control method for a cleaning robot provided by an embodiment of the present invention Figure 1 ;

[0025] Figure 3 A schematic diagram of a cleaning robot provided by an embodiment of the present invention when it rotates 90 degrees;

[0026] Figure 4 A schematic diagram of a cleaning robot provided by an embodiment of the present invention when its position is translated;

[0027] Figure 5 A flow chart of a control method for a cleaning robot provided by an embodiment of the present invention Figure 2 ;

[0028] Figure 6 A schematic diagram of a cleaning robot provided by an embodiment of the present invention during obstacle recognition;

[0029] Figure 7 A schematic diagram of a cleaning robot provided by an embodiment of the present invention during cliff recognition;

[0030] Figure 8 The structural frame of the control device of the cleaning robot provided by the embodiment of the present invention Figure 1 ;

[0031] Fig. 9 The structural frame of the control device of the cleaning robot provided by the embodiment of the present invention Figure 2 .

[0032] In the figure:

[0033] 1: Cleaning robot; 2: Left track; 3: Right track;

[0034] 10: determination module; 20: control module;

[0035] 110: acquisition module; 120: calculation module. DETAILED DESCRIPTION

[0036] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0037] The embodiment of the present invention provides a control method for a cleaning robot. The cleaning robot 1 includes two parallel walking tracks. The centers of the two walking tracks and the center of mass of the cleaning robot are located on the same straight line. Figure 1 The straight line AB is shown, and the length of the cleaning robot 1 is 2L, the width is 2D, and the width of the walking track is 2d.

[0038] The front and rear ends of the cleaning robot 1 include scraping bars respectively. When the cleaning robot 1 is in operation, the scraping bars are used to clean the working surface; and the cleaning robot 1 is internally configured with an inertial sensor for detecting the orientation information and acceleration information of the cleaning robot 1 during movement.

[0039] Continue to refer Figure 1 As shown, if the cleaning robot 1 rotates in situ to adjust the direction, and the two walking tracks rotate in opposite directions, the upper track and the lower track of any walking track will have opposite component speeds, thereby causing tearing and friction.

[0040] like Figure 2 As shown, in an embodiment of the present invention, the control method of the cleaning robot includes:

[0041] Step S10: Determine the required rotation angle of the cleaning robot. During the operation of the cleaning robot, it is necessary to continuously change its operation path to complete the cleaning operation of the entire work surface. After completing the cleaning of one line, the position of the cleaning robot is turned to move to the next line to be cleaned. This process requires adjusting the position of the cleaning robot on the work surface, that is, the angle of the cleaning robot needs to be changed during the process.

[0042] In addition, during the operation of the cleaning robot, it may encounter obstacles, "cliffs" and other working scenes. In such working scenes, it is also necessary to adjust the angle of the cleaning robot in time. For specific adjustment methods, please refer to the following description.

[0043] After the required rotation angle of the cleaning robot is determined, the position adjustment of the cleaning robot is started.

[0044] Step S20: Control the two walking tracks to run in the same rotation direction and at different rotation speeds, so that the cleaning robot rotates at a set angle with the set position as the rotation center.

[0045] by Figure 1 For example, the perspective in FIG. 1 includes a walking track on the left and a walking track on the right, namely, a left track 2 and a right track 3. When the cleaning robot 1 needs to turn left by a certain angle, the left track 2 and the right track 3 are driven to rotate in the same direction, and the rotation speed of the left track 2 is lower than that of the right track 3. In the case of a speed difference, the cleaning robot 1 rotates left along a certain rotation radius; similarly, when it needs to turn right, the rotation speed of the right track 3 is higher than that of the left track 2.

[0046] When the cleaning robot 1 rotates to the left, the rotation center is located outside the left crawler 2, and when the cleaning robot 1 rotates to the right, the rotation center is located outside the right crawler 3. The actual speeds of the left crawler 2 and the right crawler 3 are:

[0047] v L =ω*d

[0048] v R =ω*(D+d)

[0049] Relying on the above-mentioned rotation control can effectively reduce the wear and tear of the crawler track caused by the rotation of the cleaning robot, thereby increasing the life of the walking crawler track and the safety during use.

[0050] Among them, the size of the turning radius is determined according to the differential value of the left track 2 and the right track 3. When the differential value of the left track 2 and the right track 3 is larger, the turning radius is smaller. On the contrary, when the differential value of the left track 2 and the right track 3 is smaller, the turning radius is larger.

[0051] Generally, the rotation radius of the cleaning robot 1 should not be too large. A too large rotation radius requires a larger rotation space and the rotation angle is difficult to control, so that the position of the cleaning robot needs to be adjusted over a large stroke during or after the rotation.

[0052] In the embodiment of the present invention, the steering of the cleaning robot is controlled based on the control method of the cleaning robot. Since the rotation amplitude of the cleaning robot is relatively large, the position of the cleaning robot needs to be adjusted during or after the rotation.

[0053] like Figure 3 As shown, taking a 90° rotation as an example: if the cleaning robot 1 rotates 90 degrees, it will move D+2d to the left and D+2d upward, where D+2d is the rotation radius. Therefore, during the rotation process, the up and down positions can be adjusted before the rotation, that is, the cleaning robot moves down by D+2d, and after the 90-degree rotation, the left and right positions of the cleaning robot are adjusted, that is, it moves right by D+2d.

[0054] like Figure 4 As shown, the cleaning robot can rotate to any direction and translate to any length laterally through two rotation and adjustment processes. The cleaning robot first rotates to the left at an angle α with the outer center point of the left track 2 as the rotation center, and then rotates to the right at an angle β with the outer center point of the right track 3 as the rotation center. When α=β, the robot can move laterally without changing its direction. The lateral movement distance L is:

[0055] L=(D+2d)(cosα+cosβ)

[0056] At the same time, the robot moves upwards by a distance E of:

[0057] E=(D+2d)(sinα+sinβ)

[0058] The upward movement distance can be offset by the downward movement distance E before the robot rotates.

[0059] like Figure 5 As shown, in the embodiment of the present invention, the control method of the cleaning robot further includes:

[0060] Step S11: obtaining distance information between the front ends of at least two cleaning robots and obstacles; determining the angle between the central axis of the cleaning robot and the surface of the obstacle according to the distance information, where the angle is the required rotation angle of the cleaning robot.

[0061] When there are obstacles on the moving path of the cleaning robot, the cleaning robot needs to identify the obstacles in time and determine the required rotation angle to avoid collision with the obstacles and change the path of the cleaning robot in time.

[0062] like Figure 6 As shown, taking obtaining two distance information as an example, distance sensors are respectively arranged at the left and right positions of the scraper bar at the front end of the cleaning robot, and the distances measured by the left and right distance sensors are dis_left and dis_right respectively.

[0063] In the embodiment of the present invention, the angle between the central axis of the cleaning robot and the obstacle surface is calculated according to the following formula:

[0064]

[0065] Among them, γ is the angle, dis_left is one distance information, dis_right is another distance information, and 2D is the width value of the cleaning robot.

[0066] After the cleaning robot identifies an obstacle, it does not need to collide with the obstacle. The cleaning robot stops or reduces its speed at a certain distance from the obstacle. After determining the required rotation angle information, the adjustment method in step S20 is adopted to adjust the angle of the cleaning robot.

[0067] like Figure 5 As shown, the method provided by the embodiment of the present invention also includes:

[0068] Step S12: Obtain the distance change information between the front ends of at least two cleaning robots and the working surface; determine the moving distance of the cleaning robot according to the interval time of the distance change information and the moving speed of the cleaning robot; determine the angle between the central axis of the cleaning robot and the edge of the working surface according to the moving distance, and the angle is the required rotation angle of the cleaning robot.

[0069] The moving path of the cleaning robot includes a "cliff" situation, that is, the cleaning robot moves to the edge of the working surface. At this time, it is necessary to obtain the cliff information in time and adjust the position of the cleaning robot in time.

[0070] like Figure 7As shown, taking obtaining two distance change information as an example, two distance sensors are set on the scraper bar at the front end of the cleaning robot, and the two distance sensors face the working surface to obtain the distance information between the distance sensor (scraper bar) and the working surface.

[0071] When the scraper at the front end of the cleaning robot is working on the working surface, the distance information between the distance sensor and the working surface is a set distance or a set range. When it moves to the cliff position, which is the working surface, the value obtained by the distance sensor will increase instantly and become another distance information. That is, when the distance of the distance sensor at this position changes, it is recorded as the first moment. Subsequently, the cleaning robot continues to move, and when the distance of the distance sensor at another position changes, it is the second moment, and the robot stops running.

[0072] Through the first moment and the second moment, the interval time when the two distance sensors detect the distance change can be determined, and the moving speed (uniform speed) of the cleaning robot is a known parameter. The moving distance of the cleaning robot is determined according to the speed and time, and the distance is recorded as dis_pass. It is stipulated that when the left sensor detects the suspended state first, dis_pass is negative, and when the right sensor detects the suspended state first, dis_pass is positive.

[0073] The angle between the center axis of the cleaning robot and the edge of the working surface is calculated according to the following formula:

[0074]

[0075] Among them, θ is the angle, dis_pass is the moving distance, and 2D is the width value of the cleaning robot.

[0076] After the required rotation angle information is determined, the adjustment method in step S20 is adopted to adjust the angle of the cleaning robot.

[0077] In the embodiment of the present invention, to ensure safety, the upper limit of the absolute value of dis_pass is limited to not exceed the distance length of the distance sensor of the cleaning robot's scraper. When dis_pass is equal to length, it is determined that the angle between the cleaning robot and the cliff cannot continue to move forward, and the robot retreats more than the distance length and rotates a certain angle, where dis_pass is positive, the cleaning robot rotates to the left, and dis_pass is negative, the cleaning robot rotates to the right, and the angle value is:

[0078]

[0079] After the angle rotation θ is adjusted, the relative angle of the cliff is determined according to step S12 to determine the angle that the cleaning robot needs to adjust.

[0080] In the above steps S11 and S12, only the angle adjustment in one direction is described. If the direction is forward, the cleaning robot will also include reverse movement when it is running. During the reverse movement, the control logic of the cleaning robot is the same and will not be repeated.

[0081] like Figure 5 As shown, in the embodiment of the present invention, the control method of the cleaning robot further includes:

[0082] Step S21: After the cleaning robot rotates to a set angle, the straight-line distances between each position of the front end of the cleaning robot and the obstacle are the same, or the straight-line distances between each position of the front end of the cleaning robot and the edge of the working surface are the same.

[0083] Through this adjustment method, the purpose is to adjust the end of the cleaning robot to be parallel to the obstacle. Then, in this state, as the cleaning robot continues to move, the obstacles with corners or cliff positions can be fully cleaned, that is, the cleaning is more comprehensive and complete.

[0084] In the embodiment of the present invention, based on the control method of the cleaning robot, the control logic covers a more comprehensive position, so that the cleaning effect on the work surface is more comprehensive; and during the cleaning process, the cleaning robot can promptly identify scenes such as obstacles or cliffs to avoid collisions or falling, which is more suitable for large-volume and heavy-weight crawler cleaning robots.

[0085] like Figure 8 and Fig. 9 As shown, an embodiment of the present invention provides a control device for a cleaning robot, wherein the cleaning robot comprises two parallel walking tracks, the centers of the two walking tracks and the center of mass of the cleaning robot are located on the same straight line, and the device comprises: a determination module 10, wherein the determination module 10 is configured to determine the required rotation angle of the cleaning robot; and a control module 20, wherein the control module 20 is configured to control the two walking tracks to operate in the same rotation direction and at different rotation speeds, so that the cleaning robot rotates a set angle with a set position as the rotation center.

[0086] In some embodiments, the determination module 10 includes an acquisition module 110 and a calculation module 120; the acquisition module 110 is configured to acquire distance information between at least two front ends of the cleaning robots and obstacles; the calculation module 120 is configured to determine the angle between the central axis of the cleaning robot and the surface of the obstacle based on the distance information, and the angle is the required rotation angle of the cleaning robot.

[0087] In some embodiments, the determination module 10 includes an acquisition module 110 and a calculation module 120; the acquisition module 110 is configured to acquire distance change information between the front ends of at least two cleaning robots and the working surface; the calculation module 120 is configured to determine the moving distance of the cleaning robot based on the interval time of the distance change information and the moving speed of the cleaning robot; and determine the angle between the central axis of the cleaning robot and the edge of the working surface based on the moving distance, wherein the angle is the required rotation angle of the cleaning robot.

[0088] In some embodiments, the front end and the rear end of the cleaning robot respectively include cleaning scrapers, and the cleaning scrapers include a first ranging sensor set in the direction of movement of the cleaning robot and a second ranging sensor set in the direction of the working surface; the acquisition module 110 is configured to obtain the distance information between at least two front ends of the cleaning robot and obstacles through the first ranging sensor, or the acquisition module 110 is configured to obtain the distance change information between at least two front ends of the cleaning robot and the working surface through the second ranging sensor.

[0089] In the embodiments of the present invention, the sensor, ranging sensor, and distance sensor described may be an ultrasonic sensor, an infrared distance sensor, or a laser distance sensor, or may be other sensor structures capable of measuring distance.

[0090] It should be noted that the description of the control device of the cleaning robot in the embodiment of the present invention is similar to the description of the control method of the cleaning robot in the embodiment, and has similar beneficial effects as the method embodiment, so it will not be described in detail. Figures 1 to 7 The present invention should be understood by referring to the description of any one of the accompanying drawings.

[0091] The present invention provides a control method and device for a cleaning robot. When in use, the two walking tracks of the cleaning robot rotate in the same direction and there is a certain speed difference, so that when the cleaning robot rotates, it rotates with a set position outside the cleaning robot as the rotation center. This method can reduce the rotational tearing and friction of the walking tracks, thereby extending the service life of the walking tracks; and in working scenarios with obstacles and cliffs, in combination with the above-mentioned rotation method, reasonable motion planning can be carried out, and the cleaning robot is more closely aligned with the edge of the obstacle or the working surface, so that the coverage during cleaning is more complete.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0093] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0094] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot comprises two parallel walking tracks, the centers of the two walking tracks and the center of mass of the cleaning robot are located on the same straight line, and the method comprises: Determining the required rotation angle of the cleaning robot; The two walking crawlers are controlled to run in the same rotation direction and at different rotation speeds, so that the cleaning robot rotates at a set angle with a set position as the rotation center.

2. The control method of the cleaning robot according to claim 1, characterized in that: The method for determining the required rotation angle of the cleaning robot comprises: Obtaining distance information between at least two front ends of the cleaning robots and obstacles; The angle between the central axis of the cleaning robot and the obstacle surface is determined according to the distance information, and the angle is the required rotation angle of the cleaning robot.

3. The control method of the cleaning robot according to claim 2, characterized in that: The method for determining the angle between the central axis of the cleaning robot and the obstacle surface according to the distance information includes: The angle is calculated according to the following formula: Among them, γ is the angle, dis_left is one distance information, dis_right is another distance information, and 2D is the width value of the cleaning robot.

4. The control method of the cleaning robot according to claim 1, characterized in that: The method for determining the required rotation angle of the cleaning robot comprises: Acquiring distance change information between at least two front ends of the cleaning robots and the working surface; Determining the moving distance of the cleaning robot according to the interval time of the distance change information and the moving speed of the cleaning robot; The angle between the central axis of the cleaning robot and the edge of the working surface is determined according to the moving distance, and the angle is the required rotation angle of the cleaning robot.

5. The method for measuring distance using a rope-type wall-climbing robot according to claim 4, characterized in that: The method for determining the angle between the central axis of the cleaning robot and the edge of the working surface according to the moving distance comprises: The angle is calculated according to the following formula: Wherein, θ is the angle, dis_pass is the moving distance, and 2D is the width value of the cleaning robot.

6. The control method of the cleaning robot according to claim 2 or 4, characterized in that: The method for causing the cleaning robot to rotate at a set angle with the set position as the rotation center also includes: After the cleaning robot rotates to a set angle, the straight-line distances between each position of the front end of the cleaning robot and the obstacle are the same, or the straight-line distances between each position of the front end of the cleaning robot and the edge of the working surface are the same.

7. A control device for a cleaning robot, characterized in that: The cleaning robot comprises two parallel walking tracks, the centers of the two walking tracks and the center of mass of the cleaning robot are located on the same straight line, and the device comprises: A determination module (10), the determination module (10) being configured to determine a required rotation angle of the cleaning robot; A control module (20) is configured to control the two walking tracks to operate in the same rotation direction and at different rotation speeds, so that the cleaning robot rotates at a set angle with a set position as the rotation center.

8. The control device of the cleaning robot according to claim 7, characterized in that: The determination module (10) comprises an acquisition module (110) and a calculation module (120); The acquisition module (110) is configured to acquire distance information between at least two front ends of the cleaning robot and obstacles; The calculation module (120) is configured to determine the angle between the central axis of the cleaning robot and the obstacle surface according to the distance information, wherein the angle is the required rotation angle of the cleaning robot.

9. The control device of the cleaning robot according to claim 7, characterized in that: The determination module (10) comprises an acquisition module (110) and a calculation module (120); The acquisition module (110) is configured to acquire distance change information between at least two front ends of the cleaning robots and the working surface; The calculation module (120) is configured to determine the moving distance of the cleaning robot according to the interval time of the distance change information and the moving speed of the cleaning robot; and to determine the angle between the central axis of the cleaning robot and the edge of the working surface according to the moving distance, wherein the angle is the required rotation angle of the cleaning robot.

10. The control device of the cleaning robot according to claim 8 or 9, characterized in that: The front end and the rear end of the cleaning robot respectively comprise cleaning scrapers, and the cleaning scrapers include a first distance measuring sensor arranged in the moving direction of the cleaning robot and a second distance measuring sensor arranged in the direction of the working surface; The acquisition module (110) is configured to acquire distance information between at least two front ends of the cleaning robot and obstacles through the first ranging sensor, or the acquisition module (110) is configured to acquire distance change information between at least two front ends of the cleaning robot and a working surface through the second ranging sensor.

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