Cleaning robot control method and device and cleaning robot

Abstract

The invention provides a control method and device of a cleaning robot and the cleaning robot. According to the method, in the process of controlling the cleaning robot to conduct edge cleaning along a predefined first path, for a hollowed-out area where the cleaning robot cannot enter, the cleaning path of a first cleaning component is changed, namely the first cleaning component is controlled to rotate towards the hollowed-out area, and therefore cleaning of the hollowed-out area is achieved; and the cleaning coverage rate of the cleaning robot is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic cleaning equipment, and is related to but not limited to a control method and device for a cleaning robot, and a cleaning robot. Background Art

[0002] Cleaning robots (such as floor scrubbers, sweepers, etc.) are special robots that perform cleaning and washing tasks, and they mainly serve the fields of home, business, medical care, and industry. In recent years, with the popularization of the concept of smart home and the continuous advancement of technology, cleaning robots have shown a rapid growth trend.

[0003] The working scenes of cleaning robots usually include indoor environments such as residences and office areas. Indoor environments are relatively complex, and due to reasons such as path planning and obstacles, there may be areas that the cleaning robots miss, thereby reducing the cleaning coverage rate of the cleaning robots. Summary of the invention

[0004] The present application provides a control method and device for a cleaning robot, and a cleaning robot, wherein:

[0005] In a first aspect, an embodiment of the present application provides a control method for a cleaning robot, the method comprising: controlling the cleaning robot to perform edge cleaning along a predefined first path; during the edge cleaning process, in the case where there is a hollow area on the side of the first body of the cleaning robot, controlling a first cleaning component extending from the edge of the chassis of the cleaning robot to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

[0006] In a second aspect, an embodiment of the present application provides a control device for a cleaning robot, the device comprising: a control module; the control module is configured to: control the cleaning robot to perform edge cleaning along a predefined first path; and during edge cleaning, in the event that there is a hollow area on the side of the first body of the cleaning robot, control the first cleaning component extending out from the edge of the chassis of the cleaning robot to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

[0007] In the third aspect, an embodiment of the present application provides a cleaning robot, which includes: a body, a first cleaning component and a control unit; the control unit is configured to: control the cleaning robot to perform edge cleaning along a predefined first path; and during the edge cleaning process, in the event that there is a hollow area on the side of the first body of the cleaning robot, control the first cleaning component extending out from the edge of the chassis of the cleaning robot to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in the embodiment of the present application.

[0009] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements the method provided in the embodiment of the present application.

[0010] In an embodiment of the present application, while controlling the cleaning robot to perform edge cleaning along a predefined first path, for hollow areas that the cleaning robot cannot enter, the cleaning path of the first cleaning component is changed, that is, the first cleaning component is controlled to rotate toward the hollow area, thereby cleaning the hollow area and improving the cleaning coverage of the cleaning robot.

[0011] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0014] Figure 1 is a schematic top view of a cleaning robot to which the embodiments of the present application may be applicable;

[0015] Figure 2 This is a schematic diagram of a cleaning robot that may be applicable to the embodiments of the present application. Figure 1 ;

[0016] Figure 3A This is a schematic diagram of a cleaning robot that may be applicable to the embodiments of the present application. Figure 2 ;

[0017] Figure 3B is a bottom view schematic diagram 3 of a cleaning robot that may be applicable to the embodiments of the present application;

[0018] Figure 4 It is a front view of an example scene of a bottom hollow design provided in an embodiment of the present application;

[0019] Figure 5 This is a schematic diagram of the implementation process of the control method of the cleaning robot provided in the embodiment of the present application. Figure 1 ;

[0020] Figure 6 This is a top view of the cleaning scene provided in the embodiment of the present application. Figure 1 ;

[0021] Figure 7 This is a top view of the cleaning scene provided in the embodiment of the present application. Figure 2 ;

[0022] Figure 8 This is a top view of the cleaning scene provided in the embodiment of the present application;

[0023] Fig. 9 This is a schematic diagram of a further implementation process of controlling the first cleaning component to rotate toward the hollow area at a first angle provided in an embodiment of the present application. Figure 1 ;

[0024] Fig.10 This is a schematic diagram of a further implementation process of controlling the first cleaning component to rotate toward the hollow area at a first angle provided in an embodiment of the present application. Figure 2 ;

[0025] Fig.11 This is a top view of the cleaning scene provided in the embodiment of the present application. Figure 4 ;

[0026] Fig.12 is a schematic diagram of the structure of a control device of a cleaning robot provided in an embodiment of the present application;

[0027] Fig.13 It is a schematic diagram of the structure of the cleaning robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the specific technical solution of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0030] In the following description, reference is made to “some embodiments”, “this embodiment”, “embodiments of the present application” and examples, etc., which describe a subset of all possible embodiments, but it can be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0031] The descriptions of “first, second, third” etc. that appear in the embodiments of the present application are only for illustration and distinction of the description objects. There is no distinction of order, nor do they indicate any special limitation on the number of devices in the embodiments of the present application, and cannot constitute any limitation on the embodiments of the present application.

[0032] In the embodiments of the present application, unless otherwise specified, the directional words used, such as "up, down, top, bottom", etc., are usually relative to the ground; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present application.

[0033] To facilitate understanding of the technical solutions of the embodiments of the present application, the following describes the related technologies or terms of the embodiments of the present application. The following related technologies or related terms as optional solutions can be combined with the technical solutions of the embodiments of the present application at will, and they all belong to the protection scope of the embodiments of the present application.

[0034] (1) Cleaning Robot

[0035] A cleaning robot is an intelligent robotic device that can move autonomously in a work area and complete cleaning tasks autonomously. The work area may include indoor areas and outdoor areas. Indoor areas may include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas may include lawns, gardens, roads, etc. Cleaning tasks may include sweeping (e.g., washing, mopping, sweeping, etc.), mowing lawns, snow removal, etc.

[0036] In the embodiments of the present application, the cleaning robot may be any type of intelligent device with autonomous cleaning capabilities, for example, the cleaning robot may be a sweeping robot, a floor scrubber, a sweeping and mopping robot, a lawn mowing robot, a snow sweeping robot, etc. The cleaning robot may clean by sweeping first and mopping later or by sweeping and mopping separately. The sweeping and mopping before mopping method allows the user to sweep and mop the floor at the same time, which can improve cleaning efficiency. The sweeping and mopping separately method allows the user to sweep the floor first and then mop the floor after sweeping the floor, which can improve cleaning effect.

[0037] Figure 1 is a schematic top view of a cleaning robot to which the embodiments of the present application may be applicable; Figure 2 This is a schematic diagram of a cleaning robot that may be applicable to the embodiments of the present application. Figure 1 ;like Figure 1 and 2 As shown, the cleaning robot 100 includes: a body 101; the robot 100 also includes a first cleaning component 102 and / or a second cleaning component 103; the robot 100 also includes a moving component 104, a control unit (not shown) and a sensor component (not shown); wherein:

[0038] The body 101 forms an outer shell of the cleaning robot 100 and accommodates other components, such as a control unit, a sensor assembly, a memory, and the like.

[0039] The moving component 104 can make the cleaning robot 100 move forward, backward, rotate, rise or fall, etc.

[0040] In some embodiments, the first cleaning component 102 may include an edge component such as a mop or a brush; optionally, the first cleaning component 102 can be extended and retracted. It can be understood that the difference between the extension and retraction of the first cleaning component 102 is that the area of ​​the projection of the fuselage after the extension is larger than the area of ​​the projection of the fuselage after the retraction. Part or all of the first cleaning component 102 can be extended outside the projection of the fuselage. For example Figure 2 As shown, at least part of the first cleaning component 102 can extend out of the edge of the chassis of the cleaning robot 100, thereby improving the cleaning coverage of the cleaning robot 100; Figure 3A As shown, the first cleaning component 102 can be retracted inside the body, thereby reducing the space occupied by the cleaning robot 100. Of course, when the first cleaning component 102 is in the retracted state, a part of it may be exposed outside the projection of the body. Figure 2 The extended state shown, Figure 3B As shown, the area of ​​the projection of the first cleaning member 102 after it is retracted is smaller than the area of ​​the projection of the first cleaning member 102 after it is extended.

[0041] In some embodiments, the second cleaning component 103 may include a side cleaning component such as a side mop or a side brush; optionally, the second cleaning component 103 can be retracted. It can be understood that the difference between the extension and retraction of the second cleaning component 103 is that the area of ​​the second cleaning component 103 exposed outside the body projection after extension is larger than the area of ​​the second cleaning component 103 exposed outside the body projection after retraction. Part or all of the second cleaning component 103 can be extended outside the body projection. For example Figure 2 As shown, at least part of the second cleaning component 103 can extend out of the edge of the chassis of the cleaning robot 100, thereby improving the cleaning coverage of the cleaning robot 100; Figure 3A As shown, the second cleaning component 103 can be retracted inside the body, thereby reducing the space occupied by the cleaning robot 100. Of course, when the second cleaning component 103 is in the retracted state, a part of it may be exposed outside the projection of the body. Figure 2 The extended state shown, Figure 3B As shown, the area of ​​the projection of the second cleaning component 103 after it is retracted is smaller than the area of ​​the projection of the second cleaning component 103 after it is extended.

[0042] For example, in one possible implementation, the first cleaning component 102 includes a side brush, and the second cleaning component 103 includes a side mop; in another possible implementation, the first cleaning component 102 includes a side mop, and the second cleaning component 103 includes a side brush. In short, in the embodiment of the present application, there is no limitation on the first cleaning component 102 and the second cleaning component 103.

[0043] In one possible implementation, the bottom of the cleaning robot 100 also includes a roller brush. The side brush can gather foreign matter and make the foreign matter gather to the roller brush 105 at the bottom of the cleaning robot 100. The roller brush 105 can sweep up the foreign matter at the bottom of the cleaning robot 100 and make the foreign matter enter the dust collection box through the suction port.

[0044] In a possible implementation, the cleaning robot 100 is provided with a water tank, and the water in the water tank flows to the mop through the holes to wet the mop, and the wet mop is used for mopping and wiping the floor.

[0045] The sensor component is used to observe obstacles and dirt in the environment, so as to help the cleaning robot autonomously plan paths, avoid obstacles, etc. Exemplarily, the sensor component includes one or more of the following: laser distance sensor (LDS), infrared distance sensor, ultrasonic distance sensor, camera, contact sensor, Hall sensor, etc.

[0046] It should be noted that in the embodiments of the present application, the cleaning robot is not limited to Figure 1 and Figure 2 The cleaning robot 100 shown, Figure 1 and Figure 2 The cleaning robot 100 shown is only to help to more clearly understand the technical solution provided by the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. The cleaning robot in the embodiment of the present application can be various intelligent devices with autonomous cleaning capabilities.

[0047] The body shape of the cleaning robot in the embodiment of the present application can be various shapes. For example, the body shape of the cleaning robot can be round, square, one part of the body can be round and the other part can be square or other shapes.

[0048] (2) Hollow area

[0049] In the embodiments of the present application, the hollow area refers to a cavity or hole disposed at least partially in the bottom of the obstacle, so the "hollow area" can also be understood as a "bottom hollow area", "bottom hollow area", etc. In some embodiments, the hollow area refers to an area that the body of the cleaning robot cannot enter.

[0050] The scene with hollow areas is common in home environments. For example, at least part of the bottom edge of kitchen cabinets, wardrobes, floating furniture, walls, bookcases, etc. is hollowed out. Figure 4 is a front view of an example scene of a bottom hollow design provided in an embodiment of the present application; Figure 4 As shown, 401 is an obstacle (such as a wall, kitchen cabinet, closet, suspended furniture, wall, bookcase, etc.), and 100 is a cleaning robot. It can be seen that the obstacle 401 on the side of the body of the cleaning robot 100 has a hollow design at the bottom, but the bottom height of the hollow area is lower than the body height of the cleaning robot 100, resulting in the body of the cleaning robot 100 being unable to enter the hollow area for cleaning.

[0051] Of course, in the embodiment of the present application, the hollow area may also be a low space that the cleaning robot 100 cannot enter or pass through, such as under the bottom of a sofa, bed, coffee table, TV cabinet, etc.

[0052] In the embodiment of the present application, the hollow area can be in various shapes, for example, it can be a cube, a hole shape, etc.

[0053] The present application provides a control method for a cleaning robot. Figure 5 This is a schematic diagram of the implementation process of the control method of the cleaning robot provided in the embodiment of the present application. Figure 1 ,like Figure 5 As shown, the method may include the following steps 501 to 502:

[0054] Step 501, controlling the cleaning robot to perform edge cleaning along a predefined first path;

[0055] Step 502, during the edge cleaning process, if there is a hollow area on the side of the first body of the cleaning robot, control the first cleaning component extending from the edge of the chassis of the cleaning robot to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

[0056] It can be understood that in the embodiment of the present application, in the process of controlling the cleaning robot to perform edge cleaning along a predefined first path, for the hollow area that the cleaning robot cannot enter, the cleaning path of the first cleaning component is changed, that is, the first cleaning component is controlled to rotate toward the hollow area, thereby cleaning the hollow area, thereby improving the cleaning coverage of the cleaning robot.

[0057] For example, Figure 6 This is a top view of the cleaning scene provided in the embodiment of the present application. Figure 1 ;like Figure 6 As shown, 601 represents a protruding wall surface, and 602 represents a perspective concave wall surface, that is, the bottom of the wall surface is hollow (for example Figure 4 Front view shown); in one implementation, the cleaning robot 100 cleans along a predefined path (such as along the edge of the wall 601), and the boundary of its cleaning area is EF, that is, the cleaning robot 100 cleans along the edge and can only cover the area to the left of EF, and cannot touch the hollow area to the right of EF. In another implementation, the cleaning robot 100 cleans along a predefined path (such as along the edge of the wall 601), and since it is determined that the first body side of the cleaning robot 100 (such as the hollow area on the right side here) exists, the first cleaning component 102 of the cleaning robot 100 is controlled to rotate toward the hollow area (i.e., rotate to the right), thereby changing the original cleaning path of the first cleaning component 102, so that the boundary of the cleaning path of the first cleaning component 102 is part or all of the CB curve, so that even if the cleaning robot 100 cannot enter the hollow area, it can still clean the hollow area, thereby improving the cleaning coverage rate.

[0058] Furthermore, in some embodiments, after controlling the first cleaning component 102 to rotate toward the hollow area at a certain angle (for example, controlling the cleaning robot to rotate clockwise to drive the first cleaning component 102 to rotate toward the hollow area), the second cleaning component 103 can also be controlled to rotate toward the hollow area (for example, controlling the cleaning robot to rotate counterclockwise to drive the second cleaning component 103 to rotate toward the hollow area), thereby further improving the cleaning coverage rate of the cleaning robot.

[0059] It should be noted that, in the embodiment of the present application, the first body side of the cleaning robot described in step 502 refers to the side adjacent to the hollow area, and there is a hollow area near the side, which can be an area near the body side on the same side as the first cleaning component, for example Figure 6 As shown, there is a hollow area composed of 601 and 602 near the right side of the cleaning robot 100. Of course, the hollow area can also be an area near the side of the body that is not on the same side as the first cleaning component. In short, in the embodiment of the present application, the hollow area can be an area near any side of the body of the cleaning robot.

[0060] The following describes further optional implementations and related terms of each of the above steps.

[0061] Step 501 : Control the cleaning robot to perform edge cleaning along a predefined first path.

[0062] In the embodiment of the present application, there is no limitation on the first path, which may be a straight path or a non-straight path. The first path may include the boundaries of obstacles (such as walls, wardrobes, bookcases, sideboards, cabinets, etc.).

[0063] Step 502, during the edge cleaning process, if there is a hollow area on the side of the first body of the cleaning robot, control the first cleaning component extending from the edge of the chassis of the cleaning robot to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

[0064] It should be noted that the rotation of the first cleaning component toward the hollow area and the rotation of the first cleaning component around its own center are two different actions. The rotation center of the former is the center of the cleaning robot, and the rotation center of the latter is the center of the first cleaning component. Figure 6 As shown, the first cleaning component 102 rotates toward the hollow area, its rotation center is the core A of the cleaning robot 100, and the rotation radius is AC; the first cleaning component 102 rotates around its own center, its rotation center is D, and the rotation radius is DC.

[0065] In some embodiments, the first cleaning component is in an extended state before rotating toward the hollow area and has been extended to the limit and cannot be extended any further. After the first cleaning component is extended, at least part of it exceeds the edge of the chassis of the cleaning robot, that is, after the first cleaning component is extended, at least part of it is located outside the projection of the fuselage.

[0066] In this way, since the first cleaning member cannot clean the hollow area by continuing to extend, the first cleaning member is controlled to rotate toward the hollow area, thereby moving toward the hollow area, for example Figure 6As shown, the hollow area can be cleaned and the cleaning coverage of the cleaning robot can be improved.

[0067] In the embodiment of the present application, there is no limitation on the implementation method of rotating the first cleaning component toward the hollow area. In one possible implementation method, the position of the first cleaning component relative to the cleaning robot remains unchanged, and the cleaning robot is controlled to rotate in a direction close to the hollow area with the machine core as the rotation center, so that the first cleaning component moves toward the hollow area, thereby cleaning the hollow area; in another possible implementation method, the position of the cleaning robot relative to the ground remains unchanged, and the first cleaning component is driven to move along the edge of the chassis toward the hollow area, so that the first cleaning component rotates toward the hollow area, and the rotation center is the machine core of the cleaning robot.

[0068] Step 502, during the edge cleaning process, if there is a hollow area on the side of the first body of the cleaning robot, control the first cleaning component extending from the edge of the chassis of the cleaning robot to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

[0069] Regarding controlling the first cleaning component extending out from the edge of the chassis of the cleaning robot to rotate toward the hollow area in step 502, in some embodiments, it can include: controlling the first cleaning component to rotate toward the hollow area by a first angle with the center of the cleaning robot as the rotation center to clean the hollow area.

[0070] Furthermore, in some embodiments, the first angle is less than or equal to the second angle, the second angle is the angle when the first cleaning component rotates to the point where the first connecting line is perpendicular to the first inner side surface of the hollow area, and the first connecting line refers to the connecting line between the center of the cleaning robot and the center of the first cleaning component (for example Figure 7 or Figure 8 The first inner side refers to the inner side opposite to the first body side, for example Figure 6 As shown, 602 is the first inner side.

[0071] It can be understood that the reason why the first cleaning component is controlled to rotate toward the hollow area at a first angle less than or equal to the second angle is a compromise between the cleaning coverage and the cleaning efficiency / travel efficiency of the cleaning robot.

[0072] Alternatively, in some other embodiments, the first angle is less than or equal to the third angle, and the third angle is the maximum rotation angle of the first cleaning member to rotate toward the hollow area without being blocked. Further, in some embodiments, the third angle is less than or equal to the second angle. In this way, the hollow area is cleaned while the wear of the hollow area on the first cleaning member is reduced.

[0073] It is understandable that in actual scenarios, the first angle of the first cleaning component may not reach the second angle due to the obstruction of the first inner side surface. Whether the first angle of the first cleaning component can reach the second angle when it rotates toward the hollow area by the first angle is related to the hollow depth of the hollow area. Figure 7 As shown, if the distance between the first inner side surface 602 and 601 of the hollow area (hollow depth) is large, the length of AC is smaller than the distance from the core A to the first inner side surface 602. In this scenario, the first angle of rotation of the first cleaning component 102 can reach the second angle α. Figure 8 As shown, if the distance between the first inner side surface 602 and 601 of the hollow area (hollow depth) is small, the length of AC is greater than the distance from the core A to the first inner side surface 602. In this scenario, since the first inner side surface 602 will prevent the first cleaning component 102 from continuing to rotate around the core A, the first angle of rotation of the first cleaning component 102 is smaller than the second angle. Figure 8 As shown, the maximum value of the first angle of the first cleaning member 102 is β.

[0074] Of course, in other embodiments, the first angle may be greater than the second angle. For example, in a scenario where the first inner side of the hollow area does not hinder the first cleaning component from rotating around the center of the cleaning robot, the first angle of rotation of the first cleaning component may be greater than the second angle.

[0075] As mentioned above, in step 502, controlling the first cleaning component extending out from the edge of the chassis of the cleaning robot to rotate toward the hollow area may, in some embodiments, include: controlling the first cleaning component to rotate toward the hollow area by a first angle with the center of the cleaning robot as the rotation center to clean the hollow area.

[0076] It can be understood that in the aforementioned embodiments, the actual angle (i.e., the first angle) at which the first cleaning component rotates toward the hollow area is less than or equal to the second angle, or less than or equal to the third angle. For embodiments in which the first angle is less than or equal to the second angle, it may be more suitable for a cleaning robot that cannot accurately measure the depth of the hollow area. For embodiments in which the first angle is less than or equal to the third angle, it may be more suitable for a cleaning robot that can accurately measure the depth of the hollow area.

[0077] However, how to further realize the rotation control of the first cleaning component toward the hollow area (wherein the rotation center is the center of the cleaning robot) is not limited in the embodiments of the present application.

[0078] In some embodiments, the first cleaning component is controlled to rotate toward the hollow area by a first angle with the center of the cleaning robot as the rotation center, such as Fig. 9As shown, it includes the following steps 901 to 903:

[0079] Step 901, controlling the first cleaning component to rotate toward the hollow area with the center of the cleaning robot as the rotation center;

[0080] Step 902, in the process of controlling the first cleaning component to rotate toward the hollow area, determining the relationship between the first electrical parameter of the first driving component of the first cleaning component and the first threshold value; wherein the first cleaning component is driven by the first driving component to rotate around the center of the first cleaning component while rotating toward the hollow area;

[0081] Step 903, when the first electrical parameter is less than the first threshold, control the first cleaning component to continue rotating toward the hollow area until it rotates to the second angle or the third angle, or until the first electrical parameter is greater than or equal to the first threshold.

[0082] In some embodiments, Fig. 9 As shown, the control method of the cleaning robot also includes step 904, when the first electrical parameter is greater than or equal to the first threshold, or when the first cleaning component is rotated toward the hollow area by a second angle or a third angle, controlling the first cleaning component to rotate in the opposite direction to the hollow area with the center of the cleaning robot as the rotation center.

[0083] For the convenience of description, we refer to the rotation of the first cleaning component toward the hollow area with the center of the cleaning robot as the rotation center as the first rotation, and the action of the first cleaning component being driven by the first driving component (such as a motor) to rotate around its own center as the second rotation. It can be understood that in a scenario where the depth of the hollow area is small, the first inner side surface of the hollow area will not only hinder / block the first cleaning component from performing the first rotation, but also hinder / block the second rotation. The obstruction of the second rotation will cause the first electrical parameter (such as working current, working voltage or power, etc.) of the first driving component to increase.

[0084] In view of this, in an embodiment of the present application, when it is impossible to accurately determine in advance how much the first cleaning component can rotate to, during the process of controlling the first cleaning component to rotate toward the hollow area, the relationship between the first electrical parameter of the first drive component and the first threshold is monitored; if the current first electrical parameter is less than the first threshold, the first cleaning component is controlled to continue rotating toward the hollow area until the first electrical parameter is greater than or equal to the first threshold or rotates to the second angle, and then stops rotating; if the current first electrical parameter is greater than or equal to the first threshold, the first cleaning component is controlled to rotate in the opposite direction of the hollow area with the center of the cleaning robot as the rotation center, so as to move the first cleaning component away from the first inner side surface of the hollow area, thereby removing the obstruction of the first inner side surface to the second rotation of the first cleaning component, and further removing the overcurrent condition in the first drive interval. It can be understood that Fig. 9 The control scheme for the first rotation of the first cleaning component shown can improve the cleaning coverage of the cleaning robot while enhancing the use safety of the cleaning robot.

[0085] For the embodiment in which the first angle is less than or equal to the third angle, it is considered that the cleaning robot can accurately measure the depth of the hollow area. Fig.10 As shown, the third angle can be determined through the following steps 1001 to 1002:

[0086] Step 1001, determining the depth of the hollowed-out area;

[0087] In some embodiments, the depth of the hollow area can be measured by a TOF module of the cleaning robot. The depth of the hollow area is the depth in the horizontal direction.

[0088] Step 1002, determining a third angle according to the depth of the hollow area; wherein the third angle refers to the maximum rotation angle of the first cleaning component toward the hollow area without being obstructed; further, in some embodiments, the third angle is smaller than the second angle.

[0089] In a possible implementation, the first cleaning component is controlled to rotate toward the hollow area at a first angle with the center of the cleaning robot as the rotation center, wherein the first angle is equal to the third angle.

[0090] It can be understood that the first angle is the angle at which the first cleaning member can actually rotate, and the size of the first angle at which the first cleaning member can actually rotate is related to the depth of the hollow area. Figure 7 and Figure 8 . And, if the depth of the hollow area is known, the third angle can be easily calculated based on the geometric relationship. Therefore, as mentioned above, in one possible implementation, the rotation angle (i.e., the third angle) matching the hollow depth of the hollow area can be determined based on the hollow depth of the hollow area, and then the first cleaning component can be controlled to rotate toward the hollow area by the third angle with the center of the cleaning robot as the rotation center; this is beneficial to increasing the cleaning area while improving the cleaning efficiency, and can reduce the wear on the first cleaning component.

[0091] In the control method of the cleaning robot described in one or more of the above embodiments, further, in some embodiments, the control method also includes: after controlling the first cleaning component to rotate toward the hollow area, controlling the second cleaning component extending out from the edge of the chassis of the cleaning robot to rotate toward the hollow area to clean the hollow area; this is beneficial to improving the cleaning ability of the cleaning robot on the hollow area.

[0092] In other embodiments, during the process of controlling the first cleaning component to rotate toward the hollow area, the second cleaning component extending out of the edge of the chassis of the cleaning robot may be controlled to rotate toward the hollow area.

[0093] Further, in some embodiments, the controlling the second cleaning component extending from the edge of the chassis of the cleaning robot to rotate toward the hollow area includes: controlling the second cleaning component to rotate toward the hollow area at a fourth angle with the center of the cleaning robot as the rotation center; the fourth angle is less than or equal to the fifth angle, or the fourth angle is less than or equal to the sixth angle;

[0094] The fifth angle is the angle when the second cleaning component rotates to the point where the second connecting line is perpendicular to the first inner side surface of the hollow area, and the second connecting line refers to the connecting line between the center of the cleaning robot and the center of the second cleaning component (for example Figure 7 or Figure 8 The first inner side surface refers to the inner side surface opposite to the first body side surface;

[0095] The sixth angle is the maximum rotation angle of the second cleaning component that can rotate toward the hollow area without being obstructed; further, in some embodiments, the sixth angle is less than or equal to the fifth angle.

[0096] In some embodiments, the second cleaning component moves away from the hollow area when the first cleaning component rotates toward the hollow area, and the first cleaning component moves away from the hollow area when the second cleaning component rotates toward the hollow area; the first angle is less than or equal to the second angle (or the first angle is less than or equal to the third angle), and the fourth angle is less than or equal to the fifth angle (or the fourth angle is less than or equal to the sixth angle); in this way, repeated cleaning of the same position of the hollow area by the first cleaning component and the second cleaning component is reduced, so that the cleaning robot can both maximize the cleaning of the hollow area and improve the cleaning efficiency.

[0097] Furthermore, in some embodiments, the controlling the second cleaning component to rotate toward the hollow area by a fourth angle with the center of the cleaning robot as the rotation center includes: controlling the second cleaning component to rotate toward the hollow area with the center of the cleaning robot as the rotation center; in the process of controlling the second cleaning component to rotate toward the hollow area, determining the relationship between the second electrical parameter of the second driving component of the second cleaning component and the second threshold value; wherein, while the second cleaning component rotates toward the hollow area, it is driven by the second driving component to rotate around the center of the second cleaning component; when the second electrical parameter is less than the second threshold value, controlling the second cleaning component to continue rotating toward the hollow area until it rotates to the fifth angle or the sixth angle, or until the second electrical parameter is greater than or equal to the second threshold value.

[0098] In some embodiments, when the second electrical parameter is greater than or equal to the second threshold, or the second cleaning component rotates toward the hollow area by a fifth angle or a sixth angle, the second cleaning component is controlled to rotate in the opposite direction of the hollow area with the center of the cleaning robot as the rotation center.

[0099] In some other embodiments, the sixth angle can be determined as follows: determine the depth of the hollow area, and determine the sixth angle according to the depth of the hollow area; wherein the sixth angle refers to the maximum rotation angle of the second cleaning component toward the hollow area without being blocked; further, in some embodiments, the sixth angle is less than or equal to the fifth angle. Based on this, in a possible implementation, the second cleaning component can be controlled to rotate toward the hollow area at a fourth angle with the center of the cleaning robot as the rotation center, wherein the fourth angle is equal to the sixth angle.

[0100] In the embodiment of the present application, the fourth angle rotation of the second cleaning component can be understood with reference to the first angle rotation of the first cleaning component. Whether the magnitude of the fourth angle rotation of the second cleaning component can reach the fifth angle is related to the depth of the hollow area.

[0101] In the embodiment of the present application, there is no limitation on the positional relationship between the first cleaning member and the second cleaning member. In some embodiments, the second cleaning member moves away from the hollow area when the first cleaning member rotates toward the hollow area, and vice versa, the first cleaning member moves away from the hollow area when the second cleaning member rotates toward the hollow area.

[0102] For the control method of the cleaning robot described in one or more of the above-mentioned embodiments, in some embodiments, the method also includes: in the process of edge cleaning, collecting obstacle information within the first detection range through at least one sensor; and determining whether there is a hollow area on the side of the fuselage based on the obstacle information.

[0103] Furthermore, in a possible implementation, the cleaning robot includes a first sensor and a second sensor, and the height of the first sensor is higher than the height of the second sensor; wherein the obstacle information may include: the distance to the obstacle measured by the first sensor in a first detection range is the first distance, and the distance to the obstacle measured by the second sensor in the same detection range (i.e., the first detection range) is the second distance; the first distance and the second distance are the distances detected by the cleaning robot in the same detection direction; based on this, the cleaning robot can determine whether there is a hollow area on the side of the fuselage as follows: determine whether there is a hollow area on the side of the fuselage based on the relationship between the first distance and the second distance; determine that there is a hollow area on the side of the fuselage when the first distance is less than the second distance and the difference between the second distance and the first distance is greater than a distance threshold.

[0104] Furthermore, in another possible implementation, the image data within the first detection range collected by the image sensor of the cleaning robot includes the obstacle information; the image data can be identified to determine whether there is a hollow area on the side of the body;

[0105] Furthermore, in another possible implementation, the point cloud data within the first detection range collected by the LDS of the cleaning robot includes the obstacle information; based on the point cloud data, it can be determined whether there is a hollow area on the side of the fuselage.

[0106] The following examples describe possible implementation schemes of the control method of the cleaning robot described in one or more of the above embodiments.

[0107] like Figure 4 As shown, when the cleaning robot 100 cleans along the wall 401 with the bottom hollow, in the related scheme, the cleaning robot 100 is controlled to clean along the original path (i.e., along the edge of the raised wall). In this way, the side brush and side mop of the cleaning robot 100 can only sweep to the position with the same distance as the raised wall.

[0108] The present application embodiment provides a control method for a cleaning robot, in which, Fig.11 As shown, after the sweeping machine detects through sensors that the current cleaning scene is this kind of bottom hollow wall, the sweeping machine twists left and right during the cleaning process to make the brushing and mopping process as deep as possible.

[0109] In a possible implementation, the sweeping robot can detect the distance from the body of the robot by integrating sensors at different heights to determine whether a scene with a bottom layer hollowed out is detected;

[0110] In a possible implementation, when the sweeping machine is cleaning the bottom hollow scene along the edge, the sweeping machine stops after each advance of a fuselage distance, such as Fig.11 As shown, the body is controlled to rotate counterclockwise by angle 1 to drive the side mop to rotate by angle 1, so that the side mop can clean the hollow area. Then the body is controlled to rotate clockwise by angle 2 to drive the side brush to rotate by angle 2, so that the side brush 2 can clean deeper; wherein angle 1 is an example of the first angle, and angle 2 is an example of the fourth angle.

[0111] For the calculation of Angle 1 and Angle 2, for models that cannot accurately measure the hollow depth, Angle 1 and Angle 2 adopt a dynamic change strategy. First, the maximum rotation angle is pre-set (that is, the second angle or the fifth angle, which makes the installation position of the side brush or side mop and the connection line of the cleaning robot's core perpendicular to the wall), and the sweeper is controlled to start rotating. When the working current of the motor corresponding to the side brush or side mop exceeds a certain current threshold, it stops and switches to the next action (for example, reverse rotation); if there is no overcurrent, it turns to the maximum rotation angle.

[0112] For the calculation of Angle 1 and Angle 2, for the models on the right that can accurately measure the hollow depth (such as the vertical line model), the maximum rotation angle of brushing or mopping without blocking is calculated based on the measured hollow depth (ie the third angle or the sixth angle).

[0113] It can be understood that the control method of the cleaning robot provided in the embodiment of the present application enables the cleaning robot to perform deeper cleaning of bottom-level dead corners such as kitchen cabinets, closets and suspended furniture.

[0114] It should be noted that although the steps of the method in the present application are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.; or, steps in different embodiments may be combined into a new technical solution.

[0115] Based on the foregoing embodiments, an embodiment of the present application provides a control device for a cleaning robot, which includes the modules included and the units included in the modules, and can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be an AI acceleration engine (such as NPU, etc.), GPU, central processing unit (CPU), microprocessor (MPU), digital signal processor (DSP) or field programmable gate array (FPGA), etc.

[0116] Fig.12 is a schematic diagram of the structure of the control device of the cleaning robot provided in the embodiment of the present application. Fig.12 As shown, the control device 120 of the cleaning robot includes: a control module 1201; the module 1201 is configured to:

[0117] Controlling the cleaning robot to perform edge cleaning along a predefined first path;

[0118] During the edge cleaning process, if there is a hollow area on the side of the first body of the cleaning robot, the first cleaning component extending out from the edge of the chassis of the cleaning robot is controlled to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

[0119] In some embodiments, the control module 1201 is configured to: control the first cleaning component to rotate toward the hollow area at a first angle with the center of the cleaning robot as the rotation center, so as to clean the hollow area; the first angle is less than or equal to the second angle, or the first angle is less than or equal to the third angle;

[0120] The second angle is the angle when the first cleaning component rotates to the point where the first connecting line is perpendicular to the first inner side surface of the hollow area, the first connecting line refers to the connecting line between the center of the cleaning robot and the center of the first cleaning component, and the first inner side surface refers to the inner side surface opposite to the side surface of the first body;

[0121] The third angle is the maximum rotation angle of the first cleaning component toward the hollow area without being blocked; the third angle is less than or equal to the second angle.

[0122] Further, in some embodiments, the control module 1201 is configured to: control the first cleaning component to rotate toward the hollow area with the center of the cleaning robot as the rotation center; in the process of controlling the first cleaning component to rotate toward the hollow area, determine the relationship between the first electrical parameter of the first driving component of the first cleaning component and the first threshold value; when the first electrical parameter is less than the first threshold value, control the first cleaning component to continue to rotate toward the hollow area until it rotates to the second angle or the third angle, or until the first electrical parameter is greater than or equal to the first threshold value; wherein, while the first cleaning component rotates toward the hollow area, it is driven by the first driving component to rotate around the center of the first cleaning component.

[0123] In some embodiments, the control module 1201 is further configured to: when the first electrical parameter is greater than or equal to the first threshold, or when the first cleaning component is rotated toward the hollow area by a second angle or a third angle, control the first cleaning component to rotate in the opposite direction to the hollow area with the center of the cleaning robot as the rotation center.

[0124] Furthermore, in some other embodiments, the control module 1201 is configured to: determine the depth of the hollow area; and determine the third angle according to the depth of the hollow area.

[0125] In some embodiments, the control module 1201 is further configured to: after controlling the first cleaning component to rotate toward the hollow area, control the second cleaning component extending from the edge of the chassis of the cleaning robot to rotate toward the hollow area to clean the hollow area; wherein the first cleaning component moves away from the hollow area during the process of the second cleaning component rotating toward the hollow area.

[0126] Further, in some embodiments, the control module 1201 is configured to: control the second cleaning component to rotate toward the hollow area at a fourth angle with the center of the cleaning robot as the rotation center; the fourth angle is less than or equal to the fifth angle, or the fourth angle is less than or equal to the sixth angle;

[0127] The fifth angle is the angle when the second cleaning component rotates to the point where the second connecting line is perpendicular to the first inner side surface of the hollow area, the second connecting line refers to the connecting line between the center of the cleaning robot and the center of the second cleaning component, and the first inner side surface refers to the inner side surface opposite to the side surface of the first body;

[0128] The sixth angle is the maximum rotation angle of the second cleaning component that can rotate toward the hollow area without being blocked; the sixth angle is less than or equal to the fifth angle.

[0129] Furthermore, in some embodiments, the control module 1201 is configured to: control the second cleaning component to rotate toward the hollow area with the center of the cleaning robot as the rotation center; in the process of controlling the second cleaning component to rotate toward the hollow area, determine the relationship between the second electrical parameter of the second driving component of the second cleaning component and the second threshold; wherein, the second cleaning component is driven by the second driving component to rotate around the center of the second cleaning component while rotating toward the hollow area; when the second electrical parameter is less than the second threshold, control the second cleaning component to continue rotating toward the hollow area until it rotates to the fifth angle or the sixth angle, or until the second electrical parameter is greater than or equal to the second threshold.

[0130] In some embodiments, the control module 1201 is further configured to: when the second electrical parameter is greater than or equal to the second threshold, or the second cleaning component rotates toward the hollow area at a fifth angle or a sixth angle, control the second cleaning component to rotate in the opposite direction of the hollow area with the center of the cleaning robot as the rotation center.

[0131] In some embodiments, the control module 1201 is further configured to: determine the depth of the hollow area, and determine the sixth angle according to the depth of the hollow area.

[0132] In some embodiments, the control module 1201 is further configured to: during edge cleaning, collect obstacle information within the first detection range through at least one sensor; and determine whether there is a hollow area on the side of the fuselage based on the obstacle information.

[0133] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0134] It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit. It may also be implemented in the form of a combination of software and hardware.

[0135] It should be noted that in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the relevant technology. The computer software product is stored in a storage medium, including several instructions to enable the cleaning robot to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0136] The present application embodiment provides a cleaning robot, Fig.13 is a schematic diagram of the structure of the cleaning robot provided in the embodiment of the present application, such as Fig.13 As shown, the cleaning robot 130 includes: a body 1301, a first cleaning component 1302 and a control unit 1303; wherein the control unit 1303 is configured as follows:

[0137] Controlling the cleaning robot 130 to perform edge cleaning along a predefined first path;

[0138] During edge cleaning, if there is a hollow area on the side of the first body of the cleaning robot 130, the first cleaning component 1302 extending from the edge of the chassis of the cleaning robot 130 is controlled to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot 130.

[0139] In some embodiments, Fig.13As shown, the cleaning robot 130 also includes a second cleaning component 1304; the control unit 1303 is also configured to: after controlling the first cleaning component 1302 to rotate toward the hollow area, control the second cleaning component 1304 extending out of the edge of the chassis of the cleaning robot 130 to rotate toward the hollow area to clean the hollow area; wherein the first cleaning component 1302 moves away from the hollow area during the process of the second cleaning component 1304 rotating toward the hollow area.

[0140] In some embodiments, the controlling the second cleaning component 1304 extending from the edge of the chassis of the cleaning robot 130 to rotate toward the hollow area includes: controlling the first cleaning component 1302 to rotate toward the hollow area by a first angle with the center of the cleaning robot 130 as the rotation center, so as to clean the hollow area; the first angle is less than or equal to the second angle, or the first angle is less than or equal to the third angle;

[0141] The second angle is the angle when the first cleaning component rotates to the point where the first connecting line is perpendicular to the first inner side surface of the hollow area, the first connecting line refers to the connecting line between the center of the cleaning robot and the center of the first cleaning component, and the first inner side surface refers to the inner side surface opposite to the side surface of the first body;

[0142] The third angle is the maximum rotation angle of the first cleaning component that can rotate toward the hollow area without being blocked; the third angle is less than or equal to the second angle.

[0143] Further, in some embodiments, the cleaning robot 130 also includes a first driving component; the controlling the first cleaning component 1302 to rotate toward the hollow area by a first angle with the center of the cleaning robot 130 as the rotation center includes: controlling the first cleaning component 1302 to rotate toward the hollow area with the center of the cleaning robot 130 as the rotation center; in the process of controlling the first cleaning component 1302 to rotate toward the hollow area, determining the relationship between a first electrical parameter of the first driving component of the first cleaning component 1302 and a first threshold value; wherein, while the first cleaning component 1302 rotates toward the hollow area, it is driven by the first driving component to rotate around the center of the first cleaning component 1302; when the first electrical parameter is less than the first threshold value, controlling the first cleaning component 1302 to continue to rotate toward the hollow area until it rotates to a second angle or a third angle, or until the first electrical parameter is greater than or equal to the first threshold value.

[0144] In some embodiments, the control unit 1303 is also configured to: when the first electrical parameter is greater than or equal to the first threshold, or when the first cleaning component is rotated toward the hollow area by a second angle or a third angle, control the first cleaning component 1302 to rotate in the opposite direction of the hollow area with the center of the cleaning robot 130 as the rotation center.

[0145] In other embodiments, controlling the first cleaning component 1302 to rotate toward the hollow area by a first angle with the center of the cleaning robot 130 as the rotation center includes: determining the depth of the hollow area; and determining a third angle according to the depth of the hollow area.

[0146] Further, in some embodiments, the control unit 1303 is configured to: control the second cleaning component 1304 to rotate toward the hollow area at a fourth angle with the center of the cleaning robot 130 as the rotation center; the fourth angle is less than or equal to the fifth angle, or the fourth angle is less than or equal to the sixth angle;

[0147] The fifth angle is the angle when the second cleaning component 1304 rotates to the point where the second connecting line is perpendicular to the first inner side surface of the hollow area, the second connecting line refers to the connecting line between the center of the cleaning robot 130 and the center of the second cleaning component 1304, and the first inner side surface refers to the inner side surface opposite to the side surface of the first body;

[0148] The sixth angle is the maximum rotation angle of the second cleaning component 1304 that can rotate toward the hollow area without being blocked; the sixth angle is less than or equal to the fifth angle.

[0149] In some embodiments, the control unit 1303 is configured to: control the second cleaning component 1304 to rotate toward the hollow area with the center of the cleaning robot 130 as the rotation center; in the process of controlling the second cleaning component 1304 to rotate toward the hollow area, determine the relationship between the second electrical parameter of the second driving component of the second cleaning component 1304 and the second threshold; wherein, the second cleaning component 1304 is driven by the second driving component to rotate around the center of the second cleaning component 1304 while rotating toward the hollow area; when the second electrical parameter is less than the second threshold, control the second cleaning component 1304 to continue rotating toward the hollow area until it rotates to the fifth angle or the sixth angle, or until the second electrical parameter is greater than or equal to the second threshold.

[0150] In some embodiments, the control unit 1303 is configured to: when the second electrical parameter is greater than or equal to the second threshold, or the second cleaning component 1304 rotates toward the hollow area by a fifth angle or a sixth angle, control the second cleaning component 1304 to rotate in the opposite direction of the hollow area with the center of the cleaning robot 130 as the rotation center.

[0151] In some embodiments, the control unit 1303 is configured to: determine the depth of the hollow area, and determine the sixth angle according to the depth of the hollow area.

[0152] In some embodiments, the cleaning robot 130 also includes at least one sensor, and the control unit 1303 is also configured to: during the edge cleaning process of the cleaning robot 130, collect obstacle information within the first detection range through at least one sensor; and determine whether there is a hollow area on the side of the fuselage based on the obstacle information.

[0153] In some embodiments, the first cleaning component 1302 may include edge components such as side mopping / mopping cloth or side brushes; in some embodiments, the second cleaning component 1304 may include edge components such as side mopping / mopping cloth or side brushes; the structure, material, etc. of the first cleaning component 1302 and the second cleaning component 1304 may be the same or different.

[0154] In some embodiments, the cleaning robot also includes a memory, which is configured to store instructions and applications executable by the control unit 1303, and can also cache data to be processed or processed by various modules in the control unit 1303 and the cleaning robot 130 (for example, image data, point cloud data, etc.), which can be implemented through flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0155] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the method provided in the above embodiment are implemented.

[0156] An embodiment of the present application provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the steps of the method provided in the above method embodiment.

[0157] It should be noted here that the description of the above cleaning robot, storage medium and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the cleaning robot, storage medium and computer program product embodiments of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0158] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in one embodiment" or "in some embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The above-mentioned sequence numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above description of each embodiment tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. For the sake of brevity, this article will not repeat them.

[0159] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0160] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0161] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0162] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed on multiple network units; some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0163] In addition, all functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may be a separate unit, or two or more modules may be integrated into one unit; the above-mentioned integrated modules may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0164] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0165] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for the cleaning robot to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0166] The methods disclosed in several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0167] The features disclosed in several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0168] The features disclosed in several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0169] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A control method for a cleaning robot, It is characterized in that The method comprises: Controlling the cleaning robot to perform edge cleaning along a predefined first path; During the edge cleaning process, if there is a hollow area on the side of the first body of the cleaning robot, the first cleaning component extending out from the edge of the chassis of the cleaning robot is controlled to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

2. The method according to claim 1, It is characterized in that The controlling the first cleaning component extending out from the edge of the cleaning robot chassis to rotate toward the hollow area comprises: Controlling the first cleaning component to rotate toward the hollow area at a first angle with the center of the cleaning robot as the rotation center; the first angle is less than or equal to the second angle, or the first angle is less than or equal to a third angle; Among them, the second angle is the angle when the first cleaning component rotates to the first connecting line that is perpendicular to the first inner side surface of the hollow area, the first connecting line refers to the line between the center of the cleaning robot and the center of the first cleaning component, and the first inner side surface refers to the inner side surface opposite to the first body side surface; the third angle is the maximum rotation angle of the first cleaning component toward the hollow area without being obstructed; the third angle is less than or equal to the second angle.

3. The method according to claim 2, It is characterized in that The controlling the first cleaning component to rotate toward the hollow area by a first angle with the center of the cleaning robot as the rotation center includes: Controlling the first cleaning component to rotate toward the hollow area with the center of the cleaning robot as the rotation center; In the process of controlling the first cleaning member to rotate toward the hollow area, determining a relationship between a first electrical parameter of a first driving component of the first cleaning member and a first threshold value; wherein the first cleaning member is driven by the first driving component to rotate around the center of the first cleaning member while rotating toward the hollow area; When the first electrical parameter is less than the first threshold, the first cleaning component is controlled to continue rotating toward the hollow area until it rotates to the second angle or the third angle, or until the first electrical parameter is greater than or equal to the first threshold.

4. The method according to claim 3, It is characterized in that The method further comprises: When the first electrical parameter is greater than or equal to the first threshold, or the first cleaning member rotates toward the hollow area by the second angle or the third angle, the first cleaning member is controlled to rotate in the opposite direction of the hollow area with the core as the rotation center.

5. The method according to claim 2, It is characterized in that The method further comprises: Determining the depth of the hollowed-out area; The third angle is determined according to the depth of the hollow area.

6. The method according to any one of claims 1 to 5, It is characterized in that The method further comprises: After controlling the first cleaning component to rotate toward the hollow area, controlling the second cleaning component extending out of the edge of the chassis of the cleaning robot to rotate toward the hollow area to clean the hollow area; Wherein, the first cleaning component moves away from the hollow area when the second cleaning component rotates toward the hollow area.

7. The method according to claim 6, It is characterized in that The controlling the second cleaning component extending out from the edge of the chassis of the cleaning robot to rotate toward the hollow area includes: Control the second cleaning component to rotate toward the hollow area at a fourth angle with the center of the cleaning robot as the rotation center; the fourth angle is less than or equal to the fifth angle, or the fourth angle is less than or equal to the sixth angle; Among them, the fifth angle is the angle when the second cleaning component rotates to the second connecting line that is perpendicular to the first inner side surface of the hollow area, the second connecting line refers to the line between the center of the cleaning robot and the center of the second cleaning component, and the first inner side surface refers to the inner side surface opposite to the first body side surface; the sixth angle is the maximum rotation angle of the second cleaning component toward the hollow area without being obstructed; the sixth angle is less than or equal to the fifth angle.

8. The method according to claim 7, It is characterized in that The controlling the second cleaning component to rotate toward the hollow area by a fourth angle with the center of the cleaning robot as the rotation center includes: Controlling the second cleaning component to rotate toward the hollow area with the center of the cleaning robot as the rotation center; In the process of controlling the second cleaning member to rotate toward the hollow area, determining the relationship between the second electrical parameter of the second driving component of the second cleaning member and the second threshold value; wherein the second cleaning member is driven by the second driving component to rotate around the center of the second cleaning member while rotating toward the hollow area; When the second electrical parameter is less than the second threshold, the second cleaning component is controlled to continue rotating toward the hollow area until it rotates to the fifth angle or the sixth angle, or until the second electrical parameter is greater than or equal to the second threshold.

9. The method according to claim 8, It is characterized in that The method further comprises: When the second electrical parameter is greater than or equal to the second threshold, or the second cleaning member rotates toward the hollow area by the fifth angle or the sixth angle, the second cleaning member is controlled to rotate in the opposite direction of the hollow area with the core as the rotation center.

10. The method according to claim 7, It is characterized in that The method further comprises: The depth of the hollow area is determined, and the sixth angle is determined according to the depth of the hollow area.

11. A control device for a cleaning robot, It is characterized in that The device comprises a control module, wherein the control module is configured to: Controlling the cleaning robot to perform edge cleaning along a predefined first path; During the edge cleaning process, if there is a hollow area on the side of the first body of the cleaning robot, the first cleaning component extending out from the edge of the chassis of the cleaning robot is controlled to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

12. A cleaning robot, It is characterized in that The cleaning robot comprises: a body, a first cleaning component and a control unit; the control unit is configured to: Controlling the cleaning robot to perform edge cleaning along a predefined first path; During the edge cleaning process, if there is a hollow area on the side of the first body of the cleaning robot, the first cleaning component extending out from the edge of the chassis of the cleaning robot is controlled to rotate toward the hollow area to clean the hollow area; wherein the bottom height of the hollow area is lower than the body height of the cleaning robot.

13. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

14. A computer program product comprising a computer program or instructions, It is characterized in that When the computer program or instruction is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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