Edge cleaning method and system, storage medium and cleaning robot with edge cleaning system

Abstract

The invention relates to an edge cleaning method and system, a storage medium and a cleaning robot with the same. The method comprises the steps that when the cleaning assembly is in an outward swinging state, obstacle information in the advancing direction of the cleaning robot is obtained in real time; when it is determined that the cleaning robot executes a preset edge cleaning task based on the obstacle information, whether the cleaning robot meets a preset obstacle avoidance condition or not is determined according to the obstacle information; and when the preset obstacle avoidance condition is met, the action of the machine body is controlled according to the obstacle information, and a preset edge cleaning task is completed, so that the cleaning assembly in the outward swinging state is prevented from being scratched. According to the cleaning robot, only actions of the robot body are controlled, so that when the cleaning robot executes edgewise cleaning work, on the premise that the cleaning assembly capable of swinging outwards is not retracted to guarantee high coverage rate, the problem of obstacle scratching caused by the cleaning assembly swinging outwards and protruding outwards is solved, and the service life of the robot is effectively prolonged.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment, and in particular to an edge cleaning method, system, storage medium and a cleaning robot having the same. Background Art

[0002] A cleaning robot is a device that automatically cleans a space by sucking foreign matter such as dust accumulated on the floor while moving in the space. It is suitable for various indoor environments, such as shopping malls, office buildings, walkways, and hotels. It replaces manual cleaning, reduces labor intensity, and has high cleaning efficiency.

[0003] For existing cleaning robots, it is usually necessary to clean along the edges of cleaning areas with boundaries. However, it is easy to miss edges in corners and small obstacles. To solve the above problems and provide higher coverage, some cleaning robots have added cleaning components that can swing outwards. For example, a rag mechanism that can swing outwards is added to the rear end of the chassis of the machine. The rag mechanism is equipped with a rag. The water in the water tank flows evenly to the rag through the small holes on the water tank. When walking, the rag mechanism is dragged outwards, so that the rag and the floor generate friction, so as to achieve the purpose of cleaning along the edges in a wider range.

[0004] However, the cleaning components of the above cleaning robot that are swung out will cause a higher probability of scratching obstacles, which seriously affects the service life of the machine. If the cleaning components that are swung out are retracted to avoid scratching obstacles, on the one hand, the high coverage rate of the machine cannot be guaranteed, and on the other hand, the number of times the cleaning components are retracted and released increases, which will also affect the service life of the machine. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is how to reduce the problem of scratches caused by the protruding cleaning components when the cleaning robot performs edge cleaning work, without retracting the cleaning components that can be swung outward to ensure a high coverage rate, thereby extending the service life of the machine.

[0006] In order to solve the above technical problems, the present invention provides an edge cleaning method for a cleaning robot, wherein the cleaning robot comprises a body and a cleaning component movably arranged on the body, wherein the cleaning component has an outward swing state and a retracted state, and when the cleaning component is in the outward swing state, the portion of the cleaning component located outside the body is larger than the portion of the cleaning component located outside the body when the cleaning component is in the retracted state; the method comprises:

[0007] When the cleaning component is in the outward swing state, obtaining obstacle information in the moving direction of the cleaning robot in real time;

[0008] When determining that the cleaning robot is performing a preset edge cleaning task based on the obstacle information, determining whether the cleaning robot meets a preset obstacle avoidance condition according to the obstacle information;

[0009] When the cleaning robot meets the preset obstacle avoidance conditions, the movement of the body is controlled according to the obstacle information to complete the preset edge cleaning task to avoid scratches on the cleaning component that is maintained in the outward swing state.

[0010] Optionally, when it is determined based on the obstacle information that the cleaning robot has an obstacle on the vertical side of the fuselage when performing the preset edge cleaning task; the obstacle on the vertical side of the fuselage is located in front of or behind the moving direction of the fuselage;

[0011] The determining whether the cleaning robot meets a preset obstacle avoidance condition according to the obstacle information includes:

[0012] Acquire a first distance between the fuselage and an obstacle on a vertical side of the fuselage according to the obstacle information;

[0013] Determining whether the first distance is less than or equal to a first preset threshold;

[0014] If so, it is determined that the cleaning robot meets the preset obstacle avoidance condition.

[0015] Optionally, when it is determined based on the obstacle information that the cleaning robot is performing the preset edge cleaning task, there is also an obstacle on the horizontal side of the fuselage; wherein the obstacle on the horizontal side of the fuselage is located on the left or right side of the moving direction of the fuselage;

[0016] When the cleaning robot meets the preset obstacle avoidance condition, controlling the action of the body according to the obstacle information to complete the preset edge cleaning task to avoid scratching the cleaning component that maintains the outward swing state includes:

[0017] Acquire the current speed of the aircraft body, and reduce the current speed;

[0018] Determine whether the first distance obtained is less than or equal to a second preset threshold value at the reduced current travel speed; wherein the second preset threshold value is less than the first preset threshold value;

[0019] If the first distance obtained is less than or equal to the second preset threshold, the current travel speed of the fuselage is controlled to drop to zero; and after a first preset time, the movement of the fuselage is controlled according to a first action strategy so that the cleaning component deviates from the obstacle on the horizontal side of the fuselage.

[0020] Optionally, the obstacle on the vertical side of the fuselage is a clean area boundary and / or an obstacle outline, and the obstacle on the horizontal side of the fuselage is a clean area boundary.

[0021] Optionally, the controlling the action of the body according to the obstacle information to complete the preset edge cleaning task to avoid scratching of the cleaning component in the outward swing state further includes:

[0022] If the first distance obtained is greater than the second preset threshold, the current travel speed of the fuselage continues to be reduced until the first distance obtained is less than or equal to the second preset threshold at the reduced current travel speed.

[0023] Optionally, after the first preset time, according to a first action strategy, controlling the action of the fuselage so that the cleaning component is away from obstacles on the horizontal side of the fuselage includes:

[0024] Acquire a second distance between the cleaning component and the obstacle on the horizontal side of the fuselage according to the obstacle information;

[0025] After the first preset time, with the center of the fuselage as the center of the circle, control the side of the fuselage provided with the cleaning component to rotate in a direction away from the obstacle on the horizontal side of the fuselage; at the same time, control the fuselage to move in a direction away from the obstacle on the vertical side of the fuselage until the first distance is greater than or equal to the third preset threshold and the second distance is greater than or equal to the fourth preset threshold; or, after the first preset time, first control the side of the fuselage provided with the cleaning component to rotate in a direction away from the obstacle on the horizontal side of the fuselage with the center of the circle as the center of the circle according to the first preset angle; then control the fuselage to move in a direction away from the obstacle on the vertical side of the fuselage and the obstacle on the horizontal side of the fuselage until the first distance is greater than or equal to the third preset threshold and the second distance is greater than or equal to the fourth preset threshold;

[0026] After the second preset time period, the movement of the fuselage is controlled according to the second movement strategy so that the cleaning component bypasses obstacles on the vertical side of the fuselage.

[0027] Optionally, after the first preset time, controlling the movement of the body according to a first movement strategy so that the cleaning component deviates from the obstacle on the horizontal side of the body includes:

[0028] According to the obstacle information, respectively acquiring a fourth distance between the fuselage and an obstacle on a horizontal side of the fuselage and a third distance between the cleaning component and an obstacle on a vertical side of the fuselage;

[0029] After the first preset time, the fuselage is first controlled to move in a direction away from the obstacle on the vertical side of the fuselage until the first distance is greater than or equal to a third preset threshold; then, with the center of the fuselage as the center of the circle, the side of the fuselage provided with the cleaning component is controlled to rotate in a direction close to the obstacle on the vertical side of the fuselage according to a third preset angle until the fourth distance is greater than or equal to the third preset threshold;

[0030] After the second preset time period, the movement of the fuselage is controlled according to the second movement strategy so that the cleaning component bypasses obstacles on the vertical side of the fuselage.

[0031] Optionally, after the second preset time, controlling the movement of the fuselage according to a second movement strategy so that the cleaning component bypasses obstacles on the vertical side of the fuselage includes:

[0032] Acquire, according to the obstacle information, a third distance between the cleaning component and the obstacle on the vertical side of the fuselage;

[0033] After the second preset time, with the center of the fuselage as the center of the circle, control the side of the fuselage provided with the cleaning component to rotate toward the direction of the obstacle on the vertical side of the fuselage; at the same time, control the fuselage to move toward the direction of the obstacle on the vertical side of the fuselage until the first distance is less than or equal to the fifth preset threshold and the third distance is less than or equal to the sixth preset threshold; or, after the second preset time, first control the side of the fuselage provided with the cleaning component to rotate toward the direction of the obstacle on the horizontal side of the fuselage with the center of the circle as the center of the circle according to the second preset angle; then control the fuselage to move toward the obstacle on the vertical side of the fuselage and the obstacle on the horizontal side of the fuselage until the first distance is less than or equal to the fifth preset threshold and the third distance is less than or equal to the sixth preset threshold;

[0034] After the third preset time period, the action of the fuselage is controlled according to the third action strategy to complete the preset edge cleaning task.

[0035] Optionally, after the third preset time period, controlling the action of the fuselage according to a third action strategy to complete the preset edge cleaning task includes:

[0036] After the third preset time, the fuselage is controlled to move toward the obstacle on the vertical side of the fuselage until the third distance is less than or equal to the seventh preset threshold value. Then, the fuselage is controlled to clean along the contour of the obstacle on the horizontal side of the fuselage at a preset travel speed to complete the preset edge cleaning task.

[0037] Optionally, when determining based on the obstacle information that the cleaning robot is performing a preset edge cleaning task, determining according to the obstacle information whether the cleaning robot meets a preset obstacle avoidance condition includes:

[0038] Obtaining obstacle distribution data according to the obstacle information;

[0039] Determining whether obstacles exist on both the vertical side and the horizontal side of the fuselage according to the obstacle distribution data;

[0040] If it is determined that there are obstacles on both the vertical side and the horizontal side of the fuselage, a first distance between the fuselage and the obstacle on the vertical side of the fuselage is acquired in real time according to the obstacle information; whether the moving direction of the fuselage is parallel to the outline of the obstacle on the horizontal side of the fuselage is determined according to the obstacle information, and whether the first distance acquired in real time meets a preset change condition;

[0041] If the moving direction of the fuselage is parallel to the outline of the obstacle on the horizontal side of the fuselage, and the first distance acquired in real time meets the preset change condition, it is determined that the cleaning robot is performing the preset edge cleaning task; and based on the obstacle information, it is determined whether the cleaning robot meets the preset obstacle avoidance condition.

[0042] Optionally, the determining whether the first distance acquired in real time satisfies a preset change condition includes:

[0043] If the first distance acquired in real time gradually decreases, it is determined that the first distance meets the preset change condition.

[0044] Optionally, the method further comprises:

[0045] When it is determined according to the obstacle information that the cleaning robot does not meet the preset obstacle avoidance condition, the action of the body is controlled according to the fourth action strategy to complete the preset edge cleaning task.

[0046] Optionally, the method further comprises:

[0047] When it is determined based on the obstacle information that the cleaning robot is performing a non-preset edge cleaning task, the action of the body is controlled according to the fifth action strategy to complete the non-preset edge cleaning task.

[0048] Optionally, the preset edge cleaning tasks include at least one of inner corner edge cleaning, outer corner edge cleaning, table and chair leg edge cleaning, and dead end edge cleaning.

[0049] In addition, the present invention also proposes an edge cleaning system for a cleaning robot, the cleaning robot comprising a body and a cleaning component movably arranged on the body, the cleaning component having an outward swing state and a retracted state, and when the cleaning component is in the outward swing state, the portion of the cleaning component located outside the body is larger than the portion of the cleaning component located outside the body when the cleaning component is in the retracted state; the system comprises:

[0050] An obstacle detection module, used to obtain obstacle information in the moving direction of the cleaning robot in real time when the cleaning component is in the swing-out state;

[0051] an obstacle analysis module, which is in communication with the obstacle detection module and is used to determine whether the cleaning robot meets a preset obstacle avoidance condition when the cleaning robot is performing a preset edge cleaning task based on the obstacle information;

[0052] A cleaning control module is communicatively connected to the obstacle analysis module and is used to control the movement of the body according to the obstacle information when the obstacle analysis module determines that the cleaning robot meets the preset obstacle avoidance conditions, so as to complete the preset edge cleaning task to avoid scratches on the cleaning component maintained in the outward swing state.

[0053] In addition, the present invention further provides a cleaning robot, comprising a body and a cleaning component movably arranged on the body, wherein the cleaning component has an outward swing state and a retracted state, and when the cleaning component is in the outward swing state, the portion of the cleaning component located outside the body is larger than the portion of the cleaning component located outside the body when the cleaning component is in the retracted state;

[0054] Also includes:

[0055] a sensor, disposed on the body, for acquiring obstacle information in the direction of travel of the cleaning robot in real time when the cleaning component is in the outward swing state; and

[0056] A controller is disposed on the body and electrically connected to the sensor, and is used to:

[0057] When determining that the cleaning robot is performing a preset edge cleaning task based on the obstacle information, determining whether the cleaning robot meets a preset obstacle avoidance condition according to the obstacle information;

[0058] When the cleaning robot meets the preset obstacle avoidance conditions, the movement of the body is controlled according to the obstacle information to complete the preset edge cleaning task to avoid scratches on the cleaning component that is maintained in the outward swing state.

[0059] Optionally, it also includes:

[0060] The driving component is arranged on the body and is electrically connected to the controller, and is used to drive the movement of the body under the control instruction of the controller to prevent the cleaning component from being scratched.

[0061] Optionally, the driving assembly comprises:

[0062] a walking wheel motor, disposed on the machine body, electrically connected to the controller, and configured to receive the control instruction from the controller and rotate according to the control instruction; and

[0063] The transmission mechanism is arranged on the machine body and is transmission-connected to the output shaft of the walking wheel motor and the machine body, and is used for converting the rotation of the walking wheel motor into the movement of the machine body.

[0064] Optionally, the cleaning component includes any one of a side brush, a rag disc and a roller brush.

[0065] In addition, the present invention also proposes a computer storage medium, which includes: at least one instruction, and when the instruction is executed, the method steps of the aforementioned edge cleaning method are implemented.

[0066] The edge cleaning method, system, storage medium and cleaning robot having the same provided by the present invention obtain obstacle information when the cleaning component is in an outward swing state. On the one hand, it is convenient to subsequently combine the working state of the cleaning robot to know whether it is performing a preset edge cleaning task, thereby facilitating better control of the edge cleaning of the cleaning robot; on the other hand, it is convenient to subsequently judge whether the cleaning robot meets the preset obstacle avoidance conditions according to the obstacle information in the working state, thereby accurately controlling the obstacle avoidance of the cleaning robot to ensure that the cleaning component is not scratched; when it is determined that the cleaning robot is performing the preset edge cleaning task and it also meets the preset obstacle avoidance conditions, by only controlling the movement of the fuselage, the preset edge cleaning task is completed without the cleaning component being retracted to the inside of the fuselage (i.e. maintaining its outward swing state), and the cleaning component performing the preset edge cleaning task is effectively prevented from scratching against surrounding obstacles; thereby achieving the reduction of the problem of obstacle scratches caused by the protruding cleaning component when the cleaning robot performs the edge cleaning work without retracting the outward swingable cleaning component to ensure a high coverage rate, thereby effectively extending the service life of the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0068] Figure 1 A top view model diagram of the first obstacle scene in the first embodiment of the present invention is shown;

[0069] Figure 2 A top view model diagram of the second obstacle scene in the first embodiment of the present invention is shown;

[0070] Figure 3 A top view structural model diagram of a cleaning component in a cleaning robot in a retracted state in Embodiment 1 of the present invention is shown;

[0071] Figure 4 A top view structural model diagram of a cleaning component in a cleaning robot in a first embodiment of the present invention in an outward swing state is shown;

[0072] Figure 5 A flow chart of an edge cleaning method in Embodiment 1 of the present invention is shown;

[0073] Figures 6a to 6j A top view model diagram of obstacle avoidance in a first specific implementation manner in a first obstacle scenario in Embodiment 1 of the present invention is shown;

[0074] Figures 7a to 7j A top view model diagram of obstacle avoidance in a second obstacle scenario in the first embodiment of the present invention is shown;

[0075] Figures 8a to 8h A top view model diagram of obstacle avoidance in a second specific implementation manner in a first obstacle scenario in the first embodiment of the present invention is shown;

[0076] Figures 9a to 9h A top view model diagram of obstacle avoidance in a third specific implementation manner in a first obstacle scenario in Embodiment 1 of the present invention is shown;

[0077] Fig.10 The structure diagram of a side cleaning system in the second embodiment of the present invention is shown.

[0078] Description of reference numerals:

[0079] 100. Cleaning robot, 110. Body, 120. Cleaning component. DETAILED DESCRIPTION

[0080] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0081] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0082] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; 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 invention.

[0083] Embodiment 1

[0084] Generally, the working environment of the cleaning robot is an indoor home environment. When performing the edge cleaning task in the indoor home environment, it mainly cleans the boundary of a certain cleaning area indoors, such as the wall of the room. The cleaning components need to be swung outward to clean the ground under the wall of the room. There are also many types of obstacle scenes in the indoor home environment, such as Figure 1 The inner corner shown (the walls on both sides of the corner will become obstacles for the edge cleaning task, affecting the cleaning components in this scene) and Figure 2 The legs of tables and chairs shown in the figure (the legs of tables and chairs and the side walls will become obstacles for edge cleaning tasks, affecting the cleaning components in this scenario), when the cleaning components swung outward by the cleaning robot hit these obstacles, it is very easy for the obstacles and the cleaning components to be scratched. When the obstacles are scratched, the obstacles will be damaged (for example, the walls will be damaged, the legs of tables and chairs will be damaged, etc.); and when the cleaning components are scratched, the cleaning components will be damaged, affecting the service life of the cleaning components.

[0085] Therefore, although the cleaning robot swings the cleaning component outward from the body to expand the cleaning range and increase the cleaning coverage, it also increases the chance of scratches, which affects the service life of the machine; and in order to avoid scratches caused by obstacles, the cleaning component that is swung outward is retracted. On the one hand, it cannot guarantee a high coverage rate of the machine, and on the other hand, it also causes an increase in the number of times the cleaning component is retracted and released, which also affects the service life of the machine. In order to solve the above technical problems, the present invention proposes a method for cleaning along the edge, which can ensure a high coverage rate and reduce the problem of scratches caused by obstacles caused by the protruding cleaning component without retracting the cleaning component, thereby extending the service life of the machine.

[0086] In the following embodiments, the Figure 3 and Figure 4 The cleaning robot shown is used as an example for explanation. Figure 3 A top view structural model diagram of a cleaning component in a retracted state of the cleaning robot is shown. In this working state, a portion of the cleaning component is located outside the periphery of the body and is located at position A; Figure 4 A top-down structural model diagram of the cleaning robot with the cleaning component in an outward-swinging state is shown. In this working state, a part of the cleaning component is also located outside the body, in position B, but the part outside the body is larger than the part outside the body when the cleaning component is in a retracted state, that is, a top-down structural model diagram of the working state that the cleaning robot in this embodiment always maintains.

[0087] Specifically, Figure 3 and Figure 4 As shown, the cleaning robot 100 includes a body 110 and a cleaning assembly 120 movably disposed on the body 110. More specifically, the cleaning assembly 120 is disposed at the bottom of the body 110, and the number of the cleaning assembly 120 may be one or more, and may be any one of a side brush, a rag plate, and a roller brush, and the specific number and specific form thereof are not limited herein.

[0088] For the purpose of convenience of explanation, the forward direction of the fuselage 110 is taken as the forward direction, and the backward direction is taken as the backward direction. The forward side of the forward direction is the forward side of the fuselage, and the backward side is the backward side of the fuselage. The forward side of the fuselage and the backward side of the fuselage are collectively referred to as the vertical side of the fuselage. The left side of the forward direction is the left side of the fuselage, and the right side is the right side of the fuselage. The left side of the fuselage and the right side of the fuselage are collectively referred to as the horizontal side of the fuselage. The horizontal side of the fuselage and the vertical side of the fuselage are perpendicular to each other. When the forward direction of the cleaning robot is set to forward, the cleaning robot will move toward the forward side of the fuselage according to its forward direction (of course, the forward direction of the cleaning robot can also be set to backward. When it is set to backward, the cleaning robot will move backward toward the backward side of the fuselage according to its forward direction). When the cleaning robot 100 is in the entire process of performing the preset edge cleaning task, when the body 110 rotates with the center O1 of the body 110 as the center of the circle, the horizontal side of the body and the vertical side of the body before and after the rotation may be interchanged; for example, when the body 110 rotates 90° or 270° with the center O1 of the body as the center of the circle, the original horizontal side of the body will become the vertical side of the body, and the vertical side of the body will become the horizontal side of the body. The edge cleaning of this embodiment is a real-time control process, so it should be understood that the specific directions of the horizontal side and the vertical side of the body in this embodiment are not fixed relative to the cleaning area, and will change according to the movement of the body 110, which is understandable to those skilled in the art.

[0089] for Figure 3 and Figure 4 In the cleaning robot 100 shown, the cleaning component 120 is arranged at the rear side of the bottom of the body 110. Of course, the cleaning robot can also arrange the cleaning component at the front side of the bottom of the body according to actual needs.

[0090] like Figure 5 As shown, this embodiment provides a method for cleaning along the edge, the method comprising:

[0091] S1: When the cleaning component is in the outward swing state, obtain obstacle information in the moving direction of the cleaning robot in real time;

[0092] S2: when determining based on the obstacle information that the cleaning robot is performing a preset edge cleaning task, determining based on the obstacle information whether the cleaning robot meets a preset obstacle avoidance condition;

[0093] S3: When the cleaning robot meets the preset obstacle avoidance conditions, the movement of the body is controlled according to the obstacle information to complete the preset edge cleaning task to avoid scratches on the cleaning components that are maintained in the outward swing state.

[0094] In order to obtain a method for edge cleaning without scratching the cleaning component under the premise that the cleaning component is not retracted, the edge cleaning method described above in this embodiment is based on the premise that the cleaning component is in an outward swing state, and obtains obstacle information in this state. On the one hand, it can be convenient for the subsequent combination with the working state of the cleaning robot to know whether it is performing the preset edge cleaning task, thereby facilitating better control of the edge cleaning of the cleaning robot; on the other hand, it can be convenient for the subsequent judgment of whether the cleaning robot meets the preset obstacle avoidance conditions according to the obstacle information in the working state, thereby accurately controlling the obstacle avoidance of the cleaning robot to ensure that the cleaning component is not scratched; When it is determined that the cleaning robot is performing a preset edge cleaning task and it also meets the preset obstacle avoidance conditions, by only controlling the movement of the fuselage, it can complete the preset edge cleaning task without retracting the cleaning component to the inside of the fuselage (i.e. maintaining its swing-out state), and effectively avoid the cleaning component from scratching against surrounding obstacles during the execution of the preset edge cleaning task; thereby achieving the goal of reducing the problem of scratches against obstacles caused by the protruding cleaning component when the cleaning robot performs edge cleaning work, without retracting the swing-out cleaning component to ensure a high coverage rate, thereby effectively extending the service life of the machine.

[0095] In an optional embodiment, a driving component (not shown in the figure) is provided in the cleaning robot, and the driving action of the driving component can be used to control the cleaning component to be in an outward swing state. Therefore, before S1, whether the cleaning component is in an outward swing state can be determined by the state of the driving component.

[0096] In an optional embodiment, the cleaning robot is further provided with a sensor (not shown in the figure) to obtain obstacle information in the direction of travel of the cleaning robot. The sensor includes but is not limited to a line laser sensor, a lidar sensor, an infrared sensor, and an edge sensor; the number of sensors includes one or more. These types of sensors can obtain information such as obstacle point cloud data and obstacle contours of the environment around the cleaning robot. Through this information, the distance between the cleaning robot and obstacles in the surrounding environment, obstacle distribution data, and other data can be analyzed.

[0097] In an optional embodiment, the sensor can also be a visual sensor, which collects images in the direction of travel of the cleaning robot, and then analyzes data such as the distance between the cleaning robot and obstacles in the surrounding environment, obstacle distribution data, etc. based on visual technology.

[0098] It should be understood that the above-mentioned sensors are conventional sensors in the prior art, and their working principles and specific methods for collecting obstacle information are all prior art, and their specific details are not repeated here.

[0099] In this embodiment, when it is determined based on obstacle information that the cleaning robot has an obstacle on the vertical side of the fuselage when performing a preset edge cleaning task; wherein the obstacle on the vertical side of the fuselage is located in front of or behind the direction of travel of the fuselage.

[0100] In this embodiment, when it is determined based on obstacle information that the cleaning robot is performing a preset edge cleaning task, there are also obstacles on the horizontal side of the fuselage; wherein the obstacles on the horizontal side of the fuselage are located on the left or right side of the moving direction of the fuselage.

[0101] When there are obstacles on both the vertical side and the horizontal side of the cleaning robot, it can be determined that the cleaning robot is in an obstacle scene for the preset edge cleaning task. Figure 1 The sum of the interior angles shown Figure 2 The legs of the table and chair shown in the figure, the vertical side of the fuselage and the horizontal side of the fuselage all have obstacles at the same time; of course, there are other obstacle scenes that meet the requirements, such as outer corners and dead ends. When the cleaning robot is in the above obstacle scenes and performs edge cleaning, its corresponding preset edge cleaning tasks are inner corner edge cleaning (i.e. Figure 1 edge cleaning tasks in the obstacle scenario shown), edge cleaning of table and chair legs (i.e. Figure 2 Edge cleaning tasks in the obstacle scenario shown), outer corner edge cleaning (not shown) and dead end edge cleaning (not shown).

[0102] In an optional embodiment, the obstacle on the vertical side of the fuselage is a clean area boundary and / or an obstacle outline, and the obstacle on the horizontal side of the fuselage is a clean area boundary. The clean area boundary refers to the boundary of the clean area, usually the wall of the room, and the obstacle outline refers to the outline of the obstacle in the obstacle scene, such as the legs of a table or chair located at the clean area boundary.

[0103] for Figure 1 In the obstacle scenario shown, at the initial stage of edge cleaning, the boundary of the cleaning area on the right side of the fuselage (i.e., the wall) is the obstacle on the horizontal side of the fuselage, and the boundary of the cleaning area on the front side of the fuselage (i.e., the wall) is the obstacle on the vertical side of the fuselage; when the cleaning robot continues to move after rounding the corner, the boundary of the cleaning area on the right side of the fuselage (i.e., the wall) is the new obstacle on the horizontal side of the fuselage, and the boundary of the cleaning area on the rear side of the fuselage (i.e., the wall) is the new obstacle on the vertical side of the fuselage.

[0104] for Figure 2In the obstacle scenario shown, at the initial stage of edge cleaning, the boundary of the cleaning area on the right side of the fuselage (i.e., the wall) is the obstacle on the horizontal side of the fuselage, and the obstacle outline on the front side of the fuselage (i.e., the legs of tables and chairs) is the obstacle on the vertical side of the fuselage; when the cleaning robot bypasses the legs of tables and chairs and continues to move forward, the obstacle outline on the right side of the fuselage (i.e., the legs of tables and chairs) is the new obstacle on the horizontal side of the fuselage, and the boundary of the cleaning area on the rear side of the fuselage (i.e., the wall) is the new obstacle on the vertical side of the fuselage.

[0105] In an optional embodiment, the edge cleaning method of this embodiment further includes:

[0106] S4: When it is determined according to the obstacle information that the cleaning robot does not meet the preset obstacle avoidance condition, the fourth action strategy is used to control the action of the body to complete the preset edge cleaning task.

[0107] When executing the preset edge cleaning task, the cleaning robot moves in real time. If it is determined that it does not meet the preset obstacle avoidance conditions, it still needs to continue the remaining edge cleaning and continue to judge in real time whether the subsequent movement process will meet the preset obstacle avoidance conditions. Therefore, this embodiment controls the movement of the fuselage according to the fourth action strategy to ensure the smooth completion of the preset edge cleaning task.

[0108] In this embodiment, the fourth action strategy is a pre-set strategy, which can control the action of the machine body by maintaining the current cleaning mode, for example, according to the current travel speed and the current travel direction, the machine body is controlled to continue to move forward to continue to clean along the edge. Of course, the current travel speed can also be increased or decreased according to actual needs, and the machine body can be controlled to accelerate or decelerate in the current travel direction to continue to clean along the edge.

[0109] The preset obstacle avoidance condition is a pre-set obstacle avoidance condition. In an optional embodiment, the preset obstacle avoidance condition includes a condition satisfied by a first distance between the fuselage and an obstacle on a vertical side of the fuselage.

[0110] In an optional embodiment, determining whether the cleaning robot meets a preset obstacle avoidance condition according to the obstacle information in S2 includes:

[0111] S21: Acquire a first distance between the fuselage and an obstacle on a vertical side of the fuselage according to the obstacle information;

[0112] S22: Determine whether the first distance is less than or equal to a first preset threshold;

[0113] S23A: If so, it is determined that the cleaning robot meets the preset obstacle avoidance condition.

[0114] According to the analysis and processing of obstacle information, the first distance between the fuselage and the obstacle on the vertical side of the fuselage can be obtained; because the obstacle information is obtained in real time when the cleaning robot is moving, the first distance obtained is also real-time data. When the first distance is less than or equal to the first preset threshold, it means that the fuselage is approaching the obstacle on the vertical side of the fuselage, and the distance to the obstacle on the vertical side of the fuselage is too close, and timely measures need to be taken to avoid the obstacle. At this time, it can be determined that the cleaning robot meets the preset obstacle avoidance conditions. Through the judgment of the above first distance, the distance between the fuselage and the obstacle on the front or rear side of the fuselage can be monitored in real time, which facilitates accurate obstacle avoidance and avoids scratches on the cleaning components.

[0115] It should be understood that the first distance may refer to the center of the fuselage (ie Figure 3 and Figure 4 The distance between the obstacle (O1) and the obstacle on the vertical side of the fuselage can be obtained by analyzing the obstacle point cloud data obtained by sensors such as the laser radar sensor on the front side of the fuselage to obtain the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage, and then combining it with the inherent size of the cleaning robot; it can also be obtained by performing image analysis on the image obtained by the visual sensor on the front side of the fuselage to obtain the distance between the front side of the fuselage and the obstacle on the vertical side, and then combining it with the inherent size of the cleaning robot (including the size of the fuselage, the distance between the sensor and the periphery of the fuselage, etc.); it can also be obtained by comprehensively analyzing the data measured by multiple sensors arranged on the fuselage (such as the line laser sensor on the front side of the fuselage, the camera, and the sensor arranged on the top of the fuselage, etc.) to obtain the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage, and then combining it with the inherent size of the cleaning robot. For example, the dimension between the center of the cleaning robot and the periphery is 20 cm, and the distance between the front side of the body and the obstacle on the vertical side of the body obtained by any of the above methods is 10 cm, then the first distance (the distance between the center of the body and the obstacle on the vertical side of the body) is 30 cm. For another example, the dimension between the center of the cleaning robot and the periphery is 15 cm, and the distance between the front side of the body and the obstacle on the vertical side of the body obtained by any of the above methods is 12 cm, then the first distance (the distance between the center of the body and the obstacle on the vertical side of the body) is 27 cm.

[0116] Of course, the first distance can also be directly the front side of the fuselage (ie Figure 3 and Figure 4The distance between the front edge point of the fuselage and the obstacle on the vertical side of the fuselage can be obtained by any of the above methods. At this time, there is no need to consider the inherent size of the cleaning robot, that is, the size between the center of the fuselage and the periphery of the fuselage. For example, when the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage obtained by any of the above methods is 10 cm, the first distance (the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage) is 10 cm. For another example, when the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage obtained by any of the above methods is 12 cm, the first distance (the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage) is 12 cm.

[0117] for Figure 1 In the obstacle scenario shown in FIG. 1 , when the first distance between the fuselage and the obstacle on the vertical side of the fuselage (specifically, the wall on the front side of the fuselage) obtained according to the obstacle information reaches a first preset threshold, the preset obstacle avoidance condition is met, and measures need to be taken to control the action of the fuselage to achieve obstacle avoidance; Figure 2 In the obstacle scenario shown, when the first distance between the fuselage and the obstacle on the vertical side of the fuselage (specifically, the table and chair legs on the front side of the fuselage) obtained according to the obstacle information reaches the first preset threshold, the preset obstacle avoidance condition is met, and measures need to be taken to control the action of the fuselage to achieve obstacle avoidance. For other preset obstacle scenarios, similar to this case, no further description is given here.

[0118] The first preset threshold value in this embodiment can be preset according to actual conditions. For example, when the first distance refers to the distance between the center of the fuselage and the obstacle on the vertical side of the fuselage, when the size between the center of the fuselage and the outer periphery of the cleaning robot is 20 cm, the first preset threshold value is set to 28 cm. Once the first distance reaches 28 cm, it means that the distance between the outer periphery of the fuselage and the obstacle on the vertical side of the fuselage is relatively close (8 cm), and subsequent action control is performed; for another example, when the first distance refers to the distance between the center of the fuselage and the obstacle on the vertical side of the fuselage, when the size between the center of the fuselage and the outer periphery of the cleaning robot is 15 cm, the first preset threshold value is set to 21 cm. Once the first distance reaches 21 cm, it means that the distance between the outer periphery of the fuselage and the obstacle on the vertical side of the fuselage is relatively close (6 cm), and subsequent action control is performed.

[0119] For another example, when the first distance refers to the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage, the first preset threshold is set to 8 cm. Once the first distance reaches 8 cm, it means that the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage is relatively close (8 cm), and subsequent action control is performed; for another example, when the first distance refers to the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage, the first preset threshold is set to 6 cm. Once the first distance reaches 6 cm, it means that the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage is relatively close (6 cm), and subsequent action control is performed.

[0120] The first preset thresholds (28 cm or 21 cm and 8 cm or 6 cm) in the above two situations can also be adjusted up or down according to actual conditions, which is only used as an example here.

[0121] In an optional embodiment, S3, when the cleaning robot meets the preset obstacle avoidance condition, the action of the body is controlled according to the obstacle information to complete the preset edge cleaning task to avoid scratching the cleaning component that is maintained in the swing-out state, including:

[0122] S31: obtaining the current speed of the aircraft body and reducing the current speed;

[0123] S32: determining whether the first distance obtained at the reduced current travel speed is less than or equal to a second preset threshold; wherein the second preset threshold is less than the first preset threshold;

[0124] S331: If the acquired first distance is less than or equal to the second preset threshold, the current moving speed of the fuselage is controlled to be reduced to zero; and after the first preset time, the action of the fuselage is controlled according to the first action strategy so that the cleaning component deviates from the obstacle on the horizontal side of the fuselage.

[0125] When the cleaning robot meets the preset obstacle avoidance conditions, by reducing the current travel speed, it is convenient to take timely measures to control the movement of the fuselage to avoid the obstacle when the fuselage approaches the obstacle on the vertical side of the fuselage; when the first distance reaches a smaller second preset threshold at the reduced current travel speed, it means that the cleaning robot is about to hit the obstacle on the vertical side of the fuselage. At this time, the current travel speed is controlled to be reduced to zero to brake the machine, which can effectively avoid the cleaning component from scratching the obstacle on the vertical side of the fuselage; after the first preset time, the movement of the fuselage is controlled to deviate from the obstacle on the horizontal side of the fuselage, so that the cleaning component can further avoid scratching the obstacle on the horizontal side of the fuselage on the premise that there is no scratch between the cleaning component and the obstacle on the vertical side of the fuselage, and in the subsequent adjustment of the fuselage movement, sufficient movement space is given to the machine to adjust its posture, and it is ensured that its movement will not collide with the obstacle on the horizontal side of the fuselage during posture adjustment, so that it can always maintain a state of no scratching with both the horizontal and vertical obstacles.

[0126] Similar to the first preset threshold, the second preset threshold and the first preset time can be pre-set according to actual conditions. For example, when the first distance refers to the distance between the center of the fuselage and the obstacle on the vertical side of the fuselage, the second preset threshold is set to 21cm (assuming that the size between the center of the fuselage and the outer periphery of the cleaning robot is 20cm). Once the first distance reaches 21cm, it means that the distance between the outer periphery of the fuselage and the obstacle on the vertical side of the fuselage is only 1cm, and it almost touches the obstacle on the vertical side of the fuselage, then the machine is braked; the first preset time is set to 1s, that is, 1s after the brake is stopped, the action of the fuselage is controlled according to the first action strategy. When the first distance refers to the distance between the front side of the fuselage and the obstacle on the vertical side of the fuselage, the second preset threshold is set to 1cm. Once the first distance reaches 1cm, it means that the outer periphery of the fuselage almost touches the obstacle on the vertical side of the fuselage, then the machine is braked; the first preset time is set to 1s, that is, 1s after the brake is stopped, the action of the fuselage is controlled according to the first action strategy. Similarly, the second preset thresholds (21 cm and 1 cm) and the first preset time length in the above two cases can be adjusted up or down according to actual conditions, which are only used as examples here.

[0127] for Figure 1 The obstacle scene shown in Figure 1 shows the obstacle avoidance top-down model. Figures 6a to 6j , Figures 8a to 8f as well as Figures 9a to 9f As shown. Figure 6a In the example, when the distance between the cleaning robot's body (specifically, the center of the body) and the room wall in front of the body reaches 28 cm, the body begins to decelerate; Figure 6b In the process, when the distance between the body of the cleaning robot (specifically the center of the body) and the room wall in front of the body reaches 21 cm (that is, almost touching the room wall), the machine stops.

[0128] for Figure 2 The obstacle scene shown in Figure 1 shows the obstacle avoidance top-down model. Figures 7a to 7j As shown. Figure 7a In the process, when the distance between the cleaning robot's body (specifically the center of the body) and the table and chair legs in front of the body reaches 28cm, the body begins to decelerate; Figure 7b In the process, when the distance between the body of the cleaning robot (specifically the center of the body) and the table and chair legs on the front side of the body reaches 21 cm (that is, almost touching the table and chair legs), the machine stops.

[0129] In an optional embodiment, a speed sensor (not shown) is provided in the cleaning robot, which can detect the current travel speed of the body in real time and transmit it to a controller (not shown) inside the cleaning robot; a driving assembly (not shown) is provided in the body, which includes a walking wheel motor and a transmission mechanism connected to the walking wheel motor, and the transmission mechanism is also connected to the body. The walking wheel motor can receive control instructions from the controller to change its own rotation, and convert it into movement of the body through the transmission mechanism, thereby changing the travel speed of the body.

[0130] In an optional embodiment, when the cleaning robot meets the preset obstacle avoidance condition, the action of the body is controlled according to the obstacle information to complete the preset edge cleaning task to avoid scratching the cleaning component maintained in the swing-out state, and further includes:

[0131] S332: If the acquired first distance is greater than the second preset threshold, continue to reduce the current travel speed of the fuselage until the acquired first distance is less than or equal to the second preset threshold at the reduced current travel speed.

[0132] When the first distance obtained is greater than the second preset threshold value at the reduced current travel speed, it means that the cleaning robot has not yet encountered the obstacle on the vertical side of the fuselage. At this time, the current travel speed can be further reduced until the first distance is less than or equal to the second preset threshold value. Under the premise of ensuring that the cleaning components are not scratched, the cleaning robot can find the closest position to the obstacle on the vertical side of the fuselage, so that it can maximize the coverage of the area near the obstacle and maximize the edge cleaning effect.

[0133] In a first specific implementation, in S331, after a first preset time, according to a first action strategy, controlling the action of the fuselage so that the cleaning component deviates from the obstacle on the horizontal side of the fuselage includes:

[0134] S331A1: Acquire a second distance between the cleaning component and the obstacle on the horizontal side of the fuselage according to the obstacle information;

[0135] S331A2: After the first preset time, with the center of the body as the center of the circle, control the side of the body provided with the cleaning component to rotate in a direction away from the obstacle on the horizontal side of the body; and at the same time control the body to move in a direction away from the obstacle on the vertical side of the body until the first distance is greater than or equal to the third preset threshold and the second distance is greater than or equal to the fourth preset threshold;

[0136] S331A3: After the second preset time period, according to the second action strategy, the movement of the fuselage is controlled so that the cleaning component bypasses the obstacles on the vertical side of the fuselage.

[0137] In the above-mentioned first specific implementation process of controlling the fuselage movement to make the cleaning component deviate from the obstacle on the horizontal side of the fuselage, by controlling the side of the fuselage located on the cleaning component to rotate away from the obstacle on the horizontal side of the fuselage with the center of the fuselage as the center of the circle, and at the same time controlling the fuselage to move away from the obstacle on the vertical side of the fuselage, the entire cleaning robot can form a rotation and backward effect relative to the obstacles in two directions. Through this rotation and backward, the direction of the cleaning component can be adjusted by adjusting the posture of the fuselage, thereby avoiding scratches on the cleaning component. When the first distance between the fuselage and the obstacle on the vertical side of the fuselage is greater than or equal to the third preset threshold, and the second distance between the cleaning component and the obstacle on the horizontal side of the fuselage is greater than or equal to the fourth preset threshold, the rotation and retreat is stopped; it can ensure that the cleaning component is driven away from the obstacle on the horizontal side of the fuselage only by adjusting the posture of the fuselage in the current situation, and the cleaning component will not be too far away from the obstacle on the horizontal side of the fuselage, so as to ensure its high coverage rate; it can also ensure that in the subsequent actions of the machine, the cleaning component will not touch the obstacle on the horizontal side of the fuselage, and maintain the state of no scratches on the cleaning component. After the rotation and retreat is completed, after the second preset time, the action of the fuselage is controlled according to the second action strategy to make the cleaning component bypass the obstacle on the vertical side of the fuselage. On the one hand, it can ensure the smooth completion of the subsequent edge cleaning task, and on the other hand, it can continue to ensure that when the cleaning component is not retracted, it can further avoid the scratches between the cleaning component and the obstacles on the vertical side of the fuselage, and always maintain its no scratch state.

[0138] It should be understood that the second distance can refer to the center of the cleaning component (i.e. Figure 3 and Figure 4 The distance between the obstacle on the horizontal side of the body (O2) and the obstacle on the horizontal side of the fuselage, the specific acquisition method is similar to the first distance, which can be obtained by analyzing the obstacle information and combining the inherent size of the cleaning robot (including the size of the cleaning component); it can also refer to the periphery of the cleaning component (specifically Figure 3 The distance between the rightmost edge point of the cleaning component in the figure and the obstacle on the horizontal side of the fuselage is obtained in a specific way similar to the first distance and can be directly obtained by analyzing the obstacle information.

[0139] In an optional embodiment, the third preset threshold and the fourth preset threshold are both pre-set and adjusted according to actual conditions, so as to ensure that the cleaning component will not be scratched by obstacles on the vertical side of the fuselage and obstacles on the horizontal side of the fuselage when the fuselage moves in the subsequent operation. In a specific embodiment, since the position of the cleaning component extending to the outside of the fuselage is fixed when the cleaning component is in the outward swing state, the extension distance between the outermost edge point of the cleaning component and the outer periphery of the fuselage can be obtained in advance when the cleaning component is in the fixed position, for example, 5 cm, and then the third preset threshold and the fourth preset threshold are set according to the extension distance, for example, the third preset threshold is set to 27 cm (wherein the dimension between the center of the fuselage and the outer periphery of the fuselage is 20 cm), and the fourth preset threshold is set to 7 cm (wherein the dimension between the center of the cleaning component and the outer periphery of the cleaning component is 5 cm). Since the third preset threshold and the fourth preset threshold are both greater than the extension distance, it can be ensured that the cleaning component extending outward will not be scratched by obstacles on the vertical side of the fuselage and obstacles on the horizontal side of the fuselage when the fuselage moves in the subsequent operation. In this embodiment, the second preset time length is also a preset time length, for example, it can be set to 1s or 0.1s, and can be the same as or different from the first preset time length.

[0140] for Figure 1 The obstacle scenario shown in Figure 6b In the example, after the machine stops for 1 second, the obstacle on the horizontal side of the machine body (i.e., the wall on the right side of the machine body) is located on the right side of the machine body, and the cleaning component is located on the right rear side of the machine body. Figure 6c In the embodiment, the body starts to rotate toward its left rear side (i.e. clockwise) and moves away from the obstacle on the vertical side of the body (i.e. the wall in front of the body), forming a rotating backward effect; when the first distance (the distance between the body and the wall in front of the body) reaches the third preset threshold value (e.g. 27 cm), and the second distance (the distance between the cleaning component and the wall on the right side of the body) reaches the fourth preset threshold value (e.g. 7 cm), i.e. Figure 6d At the middle position, the machine stops rotating and moving.

[0141] for Figure 2 The obstacle scenario shown in Figure 7b In the example, the machine stops for 1 second. Because the obstacle on the horizontal side of the machine body (i.e., the wall on the right side of the machine body) is located on the right side of the machine body, and the cleaning component is located on the right rear side of the machine body, Figure 7c In the process, the body starts to rotate toward its left rear side (i.e. clockwise) and moves away from the obstacles on the vertical side of the body (i.e. the legs of tables and chairs on the front side of the body), forming a rotating backward effect; when the first distance (the distance between the body and the legs of tables and chairs on the front side of the body) reaches the third preset threshold value (e.g. 27 cm), and the second distance (the distance between the cleaning component and the wall on the right side of the body) reaches the fourth preset threshold value (e.g. 7 cm), that is Figure 7dAt the middle position, the machine stops rotating and moving.

[0142] In a second specific implementation, in S331, after the first preset time, according to the first action strategy, the action of the fuselage is controlled so that the cleaning component deviates from the obstacle on the horizontal side of the fuselage, including:

[0143] S331B1: Acquire a second distance between the cleaning component and the obstacle on the horizontal side of the fuselage according to the obstacle information;

[0144] S331B2: After the first preset time, first, with the center of the fuselage as the center of the circle, control the side of the fuselage provided with the cleaning component to rotate in a direction away from the obstacle on the horizontal side of the fuselage according to the first preset angle; then control the fuselage to move in a direction away from the obstacle on the vertical side of the fuselage and the obstacle on the horizontal side of the fuselage until the first distance is greater than or equal to the third preset threshold and the second distance is greater than or equal to the fourth preset threshold;

[0145] S331B3: After the second preset time, according to the second action strategy, the action of the fuselage is controlled so that the cleaning component bypasses the obstacle on the vertical side of the fuselage.

[0146] In the above-mentioned second specific implementation process of controlling the action of the fuselage to make the cleaning component deviate from the obstacle on the horizontal side of the fuselage, the control action is similar to the first specific implementation, but the control order is different. In the second specific implementation, by first controlling the side of the fuselage provided on the cleaning component to rotate in the direction away from the obstacle on the horizontal side of the fuselage, and then controlling the fuselage to move in the direction away from the obstacle on the vertical side of the fuselage, the entire cleaning robot can also form a rotating backward effect relative to the obstacles in two directions, and thus can also achieve the direction adjustment of the cleaning component driven by the posture adjustment of the fuselage, thereby avoiding the cleaning component from being scratched. It can ensure that the cleaning component can only drive the cleaning component away from the obstacle on the horizontal side of the fuselage through the posture adjustment of the fuselage in the current situation, and will not let the cleaning component be too far away from the obstacle on the horizontal side of the fuselage, so as to ensure its high coverage rate; it can also ensure that in the subsequent actions of the machine, the cleaning component will not touch the obstacle on the horizontal side of the fuselage, so as to maintain the cleaning component in a scratch-free state.

[0147] for Figure 1 In the obstacle scenario shown in the figure, in the second specific implementation method of controlling the action of the fuselage to make the cleaning component deviate from the obstacle on the horizontal side of the fuselage, the second specific implementation method of controlling the action of the fuselage to make the cleaning component deviate from the obstacle on the horizontal side of the fuselage is also firstly Figure 6a to Figure 6b As shown, the machine body is decelerated and braked, which will not be listed here. When the machine stops for 1 second, the obstacle on the horizontal side of the machine body (i.e., the wall on the right side of the machine body) is located on the right side of the machine body, and the cleaning component is located on the right rear side of the machine body. Figure 8aIn the process, the fuselage starts to rotate clockwise, and when the rotation angle reaches the first preset angle, the rotation stops. Figure 8b shown; then Figure 8c In the process, move away from the obstacles on the vertical side of the fuselage and the obstacles on the horizontal side of the fuselage (including the wall in front of the fuselage and the wall on the right side of the fuselage), that is, move towards Figure 8c When the first distance (the distance between the body and the wall in front of the body) reaches the third preset threshold value (e.g. 27 cm), and the second distance (the distance between the cleaning component and the wall on the right side of the body) reaches the fourth preset threshold value (e.g. 7 cm), that is Figure 8d At the middle position, the machine stops moving.

[0148] Specifically, in this embodiment, the first preset angle is 0-90°, which can be preset. The third preset threshold and the fourth preset threshold are the same as those in the first embodiment, and will not be described in detail here.

[0149] for Figure 2 In the obstacle scene shown in FIG. 1 , when the second specific implementation method of controlling the action of the fuselage to make the cleaning component deviate from the obstacle on the horizontal side of the fuselage is used for control, the specific process is the same as Figures 8a to 8c Similar, no longer listed here.

[0150] In a third specific implementation, in S331, after the first preset time, according to the first action strategy, the action of the fuselage is controlled so that the cleaning component deviates from the obstacle on the horizontal side of the fuselage, including:

[0151] S331C1: acquiring, according to the obstacle information, a fourth distance between the fuselage and the obstacle on the horizontal side of the fuselage and a third distance between the cleaning component and the obstacle on the vertical side of the fuselage;

[0152] S331C2: after a first preset time, controlling the fuselage to move in a direction away from the obstacle on the vertical side of the fuselage until the first distance is greater than or equal to a third preset threshold; taking the center of the fuselage as the center of a circle, controlling a side of the fuselage provided with a cleaning component to rotate in a direction close to the obstacle on the vertical side of the fuselage according to a third preset angle until a fourth distance is greater than or equal to the third preset threshold;

[0153] S331C3: After a second preset time period, according to a second action strategy, the action of the fuselage is controlled so that the cleaning component bypasses obstacles on the vertical side of the fuselage.

[0154] In the third specific implementation process of controlling the action of the fuselage to make the cleaning component deviate from the obstacle on the horizontal side of the fuselage, it first controls the fuselage to move in the direction away from the obstacle on the vertical side of the fuselage to form a retreat effect, and then uses the rotation of the fuselage according to the third preset angle to make the entire cleaning robot form a rotation and retreat effect relative to the obstacle, and then can also achieve the direction adjustment of the cleaning component by adjusting the posture of the fuselage, thereby avoiding the cleaning component from scratching. It can ensure that the cleaning component is only driven away from the obstacle on the horizontal side of the fuselage by adjusting the posture of the fuselage in the current situation, and the cleaning component will not be too far away from the obstacle on the horizontal side of the fuselage, which can ensure its high coverage rate; it can also ensure that in the subsequent actions of the machine, the cleaning component will not touch the obstacle on the horizontal side of the fuselage, and maintain the cleaning component in a non-scratch state. In addition, the third specific implementation is also convenient for the subsequent adjustment of the fuselage state so that it can bypass the obstacle on the vertical side of the fuselage.

[0155] Specifically, in this embodiment, the third preset angle is 180°, which can be preset. The third preset threshold and the fourth preset threshold are the same as those in the first embodiment, and will not be described in detail here.

[0156] for Figure 1 In the obstacle scenario shown in the figure, in the third specific implementation method of controlling the action of the fuselage to make the cleaning component deviate from the obstacle on the horizontal side of the fuselage, the first Figure 6a to Figure 6b As shown, the machine body is decelerated and braked, which will not be listed here. When the machine stops for 1 second, the obstacle on the horizontal side of the machine body (i.e., the wall on the right side of the machine body) is located on the right side of the machine body, and the cleaning component is located on the right rear side of the machine body. Figure 9a In the process, the fuselage starts to retreat, and when the distance between the fuselage and the obstacle on the vertical side of the fuselage (i.e., the first distance) reaches a third preset threshold, the retreat is stopped, such as Figure 9b As shown; then the fuselage starts to rotate clockwise, as shown Fig.9c As shown, when the rotation angle reaches a third preset angle (specifically 180°) and the fourth distance is greater than or equal to the third preset threshold, the rotation is stopped. Figure 9d Position shown.

[0157] for Figure 2 In the obstacle scene shown in FIG. 1 , when the third specific implementation method of controlling the action of the fuselage to make the cleaning component deviate from the obstacle on the horizontal side of the fuselage is used for control, the specific process is the same as Figures 9a to 9c Similar, no longer listed here.

[0158] The first specific implementation of the above S331A3, SS331B3, and S331C3, after the second preset time, controls the action of the fuselage according to the second action strategy so that the cleaning component bypasses the obstacle on the vertical side of the fuselage, including:

[0159] S3313a1: acquiring a third distance between the cleaning component and the obstacle on the vertical side of the fuselage according to the obstacle information;

[0160] S3313a2: After the second preset time, the side of the body provided with the cleaning component is controlled to rotate toward the direction of the obstacle on the vertical side of the body with the center of the body as the center of the circle; and the body is controlled to move toward the direction of the obstacle on the vertical side of the body until the first distance is less than or equal to the fifth preset threshold and the third distance is less than or equal to the sixth preset threshold;

[0161] S3313a3: After the third preset time period, the action of the fuselage is controlled according to the third action strategy to complete the preset edge cleaning task.

[0162] After the above-mentioned fuselage completes the action control of deviating from the obstacle on the horizontal side of the fuselage, in the first specific implementation method of controlling the action of the fuselage to enable the cleaning component to bypass the obstacle on the vertical side of the fuselage, after the second preset time length, the center of the fuselage is again used as the center of the circle to control the side of the fuselage where the cleaning component is provided to rotate toward the direction of the obstacle close to the vertical side of the fuselage, and at the same time, the fuselage is controlled to move toward the direction of the obstacle close to the vertical side of the fuselage, so that the entire cleaning robot can form a rotating forward effect relative to the obstacle on the vertical side of the fuselage. Through this rotating forward, the posture adjustment of the fuselage can be further utilized to drive the direction adjustment of the cleaning component, thereby avoiding scratches of the cleaning component. When the first distance between the fuselage and the obstacle on the vertical side of the fuselage is less than or equal to the fifth preset threshold, and the third distance between the cleaning component and the obstacle on the vertical side of the fuselage is less than or equal to the sixth preset threshold, the rotation and advancement is stopped; this can ensure as much as possible that the cleaning component, under the current circumstances, drives the cleaning component to bypass the obstacles on the vertical side of the fuselage only by adjusting the posture of the fuselage, so that the cleaning component will not touch the obstacles on the vertical side of the fuselage and the obstacles on the horizontal side of the fuselage, and maintain the state of the cleaning component without scratches; it will not let the cleaning component be too far away from the obstacles on the vertical side of the fuselage, and its high coverage rate can be guaranteed. After the rotation and advancement is completed, after the third preset time, the fuselage action is controlled according to the third action strategy, which can ensure the smooth completion of subsequent edge cleaning.

[0163] It should be understood that the third distance refers to the distance between the center of the cleaning component and the obstacle on the vertical side of the fuselage. The specific acquisition method is similar to the second distance. The obstacle information can be analyzed and combined with the inherent size of the cleaning robot (including the size of the cleaning component) to obtain it.

[0164] In an optional embodiment, the fifth preset threshold and the sixth preset threshold are both preset and adjusted according to actual conditions, for example, the fifth preset threshold is set to 26 cm (wherein the dimension between the center of the fuselage and the periphery of the fuselage is 20 cm, and the dimension between the center of the cleaning component and the periphery of the cleaning component is 5 cm), and the sixth preset threshold is set to 6 cm. The third preset duration is also a preset duration, for example, it can be set to 1 s or 0.1 s, and can be the same as or different from the first preset duration and the second preset duration.

[0165] for Figure 1 The obstacle scenario shown in Figure 6d In the example, after the machine stops rotating and moving for 1 second, the obstacle on the horizontal side of the machine body (i.e., the wall on the right side of the machine body) is located on the right side of the machine body, and the cleaning component is located on the right rear side of the machine body. Figure 6e In the process, the fuselage starts to rotate toward its left front side (i.e., counterclockwise) and moves toward the obstacle on the vertical side of the fuselage (i.e., the wall in front of the fuselage), such as Figure 6f As shown, a rotating forward effect is formed; when the first distance (the distance between the fuselage and the wall on the front side of the fuselage) reaches the fifth preset threshold value (for example, 26 cm), and the third distance (the distance between the cleaning component and the wall on the right side of the fuselage) reaches the sixth preset threshold value (for example, 6 cm), that is Figure 6g At the middle position, the machine stops rotating and moving.

[0166] for Figure 2 The obstacle scenario shown in Figure 7d In the example, after the machine stops rotating and moving for 1 second, the obstacle on the horizontal side of the machine body (i.e., the wall on the right side of the machine body) is located on the right side of the machine body, and the cleaning component is located on the right rear side of the machine body. Figure 7e In the process, the fuselage starts to rotate toward its left front side (i.e. counterclockwise) and moves toward the obstacle on the vertical side of the fuselage (i.e. the table and chair legs on the front side of the fuselage). Figure 7f As shown, a rotating forward effect is formed; when the first distance (the distance between the fuselage and the table and chair legs on the front side of the fuselage) reaches the fifth preset threshold (for example, 26 cm), and the third distance (the distance between the cleaning component and the wall on the right side of the fuselage) reaches the sixth preset threshold (for example, 6 cm), that is Figure 7g At the middle position, the machine stops rotating and moving.

[0167] The second specific implementation of the above S331A3, SS331B3, and S331C3, after the second preset time, controls the action of the fuselage according to the second action strategy so that the cleaning component bypasses the obstacle on the vertical side of the fuselage, including:

[0168] S3313b1: acquiring a third distance between the cleaning component and an obstacle on a vertical side of the fuselage according to the obstacle information;

[0169] S3313b2: After the second preset time, first, with the center of the fuselage as the center of the circle, control the side of the fuselage provided with the cleaning component to rotate toward the direction of the obstacle on the horizontal side of the fuselage according to the second preset angle; then control the fuselage to move toward the obstacle on the vertical side of the fuselage and the obstacle on the horizontal side of the fuselage until the first distance is less than or equal to the fifth preset threshold and the third distance is less than or equal to the sixth preset threshold;

[0170] S3313b3: After the third preset time period, the movement of the fuselage is controlled according to the third action strategy to complete the preset edge cleaning task.

[0171] After the aforementioned fuselage completes the motion control of deviating from the obstacle on the horizontal side of the fuselage, in the second specific implementation method of controlling the action of the fuselage so that the cleaning component bypasses the obstacle on the vertical side of the fuselage, after the second preset time, firstly, with the center of the fuselage as the center of the circle, control the side of the fuselage provided with the cleaning component to rotate in the direction close to the obstacle on the horizontal side of the fuselage, and then control the fuselage to move in the direction close to the obstacle on the vertical side of the fuselage and the obstacle on the horizontal side of the fuselage, so that the entire cleaning robot can also form a rotating forward effect relative to the obstacle on the vertical side of the fuselage. Through this rotating forward, the posture adjustment of the fuselage can be further used to drive the direction adjustment of the cleaning component, thereby avoiding the cleaning component from being scratched. It can ensure as much as possible that the cleaning component, in the current situation, can only drive the cleaning component to bypass the obstacle on the vertical side of the fuselage through the posture adjustment of the fuselage, so that the cleaning component will not hit the obstacle on the vertical side of the fuselage and the obstacle on the horizontal side of the fuselage, and maintain the state of the cleaning component without scratches; it will not make the cleaning component too far away from the obstacle on the vertical side of the fuselage, so as to ensure its high coverage rate.

[0172] for Figure 1 In the obstacle scene shown in the figure, the second specific implementation method of controlling the action of the fuselage to make the cleaning component bypass the obstacle on the vertical side of the fuselage is used to control the bypass of the obstacle on the vertical side of the fuselage. After the machine stops rotating and moving for 1 second, since the obstacle on the horizontal side of the fuselage (i.e., the wall on the right side of the fuselage) is located on the right side of the fuselage and the cleaning component is located on the right rear side of the fuselage, Figure 8e In the embodiment, the fuselage starts to rotate toward its right front side (i.e., counterclockwise), and stops rotating when the rotation angle reaches a second preset angle. Figure 8f Then move towards the obstacle on the vertical side of the fuselage (i.e. the wall on the front side of the fuselage) and the obstacle on the horizontal side of the fuselage (i.e. the wall on the right side of the fuselage), that is, according to Figure 8gWhen the first distance (the distance between the body and the wall in front of the body) reaches the fifth preset threshold value (for example, 26 cm), and the third distance (the distance between the cleaning component and the wall on the right side of the body) reaches the sixth preset threshold value (for example, 6 cm), that is, Figure 8h The machine stops moving at the position in which Figure 2 In the obstacle scenario shown in FIG. 1 , when the second specific implementation method is used to control the obstacle around the vertical side of the fuselage, the specific process is the same as Figures 8e to 8h Similar, no longer listed here.

[0173] In addition, for Figure 1 In the obstacle scenario shown in FIG. 1 , when the second specific implementation method is used to control the obstacle around the vertical side of the fuselage, there is another situation (corresponding to Figure 9d The machine in the figure, after the machine stops rotating for 1 second, because the obstacle on the horizontal side of the machine body (i.e. the wall on the right side of the machine body) is located on the right side of the machine body, and the cleaning component is located on the rear side of the machine body (which is close to the obstacle on the vertical side of the machine body), Fig.9e In the embodiment, the fuselage starts to rotate toward its left front side (i.e. clockwise), and when the rotation angle reaches a second preset angle (specifically 90°), the rotation stops. Figure 9f As shown; then move towards the obstacle on the vertical side of the fuselage (i.e. the wall on the rear side of the fuselage) and the obstacle on the horizontal side of the fuselage (i.e. the wall on the right side of the fuselage), that is, according to Figure 9g When the first distance (the distance between the fuselage and the wall on the rear side of the fuselage) reaches the fifth preset threshold value (for example, 26 cm), and the third distance (the distance between the cleaning component and the wall on the right side of the fuselage) reaches the sixth preset threshold value (for example, 6 cm), that is, Figure 9h The machine stops moving at the position in which Figure 2 In the obstacle scenario shown in FIG. 1 , when the second specific implementation method is used to control the obstacle around the vertical side of the fuselage, the specific process is the same as Figure 9e~9g Similar, no longer listed here.

[0174] It should be understood that when the cleaning assembly bypasses the obstacle on the vertical side of the fuselage according to the above method, the original horizontal and vertical directions of the fuselage are interchanged, and then the obstacle on the horizontal side of the fuselage and the obstacle on the vertical side of the fuselage are interchanged. Figure 6g , 8h As shown in FIG9h, the original obstacle on the horizontal side of the fuselage (i.e., the wall on the right side of the original fuselage) becomes the obstacle on the vertical side of the new fuselage (i.e., the wall on the rear side of the new fuselage), and the original obstacle on the vertical side of the fuselage (i.e., the wall on the front side of the original fuselage) becomes the obstacle on the horizontal side of the new fuselage (i.e., the wall on the right side of the new fuselage). At this time, it is necessary to continue to clean the obstacles on the horizontal side of the new fuselage. Figure 7gAs shown, the original obstacle on the horizontal side of the fuselage (i.e. the wall on the right side of the original fuselage) becomes the obstacle on the vertical side of the new fuselage (i.e. the wall on the rear side of the new fuselage), and the original obstacle on the vertical side of the fuselage (i.e. the legs of tables and chairs on the front side of the original fuselage) becomes the obstacle on the horizontal side of the new fuselage (i.e. the legs of tables and chairs on the right side of the new fuselage). At this time, it is necessary to continue to clean the obstacles on the new horizontal side of the fuselage along the edge.

[0175] In an optional embodiment, the above S3313a3 and S3313b3, after the third preset time period, control the action of the fuselage according to the third action strategy to complete the preset edge cleaning task, including:

[0176] After the third preset time, the fuselage is controlled to move toward the obstacle on the vertical side of the fuselage until the third distance is less than or equal to the seventh preset threshold. Then, the fuselage is controlled to clean along the contour of the obstacle on the horizontal side of the fuselage at the preset travel speed to complete the preset edge cleaning task.

[0177] After the cleaning component completes bypassing the obstacle on the vertical side of the fuselage (the original obstacle on the vertical side of the fuselage) through the aforementioned method, the fuselage continues to be controlled to move toward the obstacle on the vertical side of the fuselage (the new obstacle on the vertical side of the fuselage, that is, the original obstacle on the horizontal side of the fuselage), so that the distance between the cleaning component and the new obstacle on the vertical side of the fuselage is less than or equal to the seventh preset threshold, which can ensure that the machine completes the remaining edge cleaning with maximum coverage and the cleaning component will not be scratched.

[0178] The third preset time duration, the seventh preset threshold value and the preset travel speed in this embodiment are all pre-set parameters. For example, the third preset time duration is set to 1s or 0.1s, the seventh preset threshold value is set to 6cm (wherein the distance between the center of the cleaning component and the periphery of the cleaning component is 5cm), and the speed of the machine when it starts to perform the edge cleaning task is used as the preset travel speed.

[0179] for Figure 1 The obstacle scenario shown in Figure 6g In the process, the machine stops rotating and moving for 1 second. At this time, since the new vertical obstacle of the fuselage (i.e., the wall on the rear side of the fuselage) is located on the rear side of the fuselage, and the cleaning component is located on the right rear side of the fuselage, Figure 6h In the process, the body starts to move toward its rear side to achieve the effect of retreat; when the third distance (the distance between the cleaning component and the wall on the rear side of the body) reaches the seventh preset threshold value (for example, 6 cm), that is, Figure 6i The machine stops moving backwards at the position in the middle; and continues to clean along the new obstacle on the horizontal side of the fuselage (i.e. the wall on the right side of the fuselage) after 1 second. Figure 6j As shown (for Figure 8h and Figure 9hThe embodiment shown, the subsequent machine movement is similar to Figure 6h~6j The same is not listed here).

[0180] for Figure 2 The obstacle scenario shown in Figure 7g In the process, the machine stops rotating and moving for 1 second. At this time, since the new vertical obstacle of the fuselage (i.e., the wall on the rear side of the fuselage) is located on the rear side of the fuselage, and the cleaning component is located on the right rear side of the fuselage, Figure 7h In the process, the body starts to move toward its rear side to achieve the effect of retreat; when the third distance (the distance between the cleaning component and the wall on the rear side of the body) reaches the seventh preset threshold value (for example, 6 cm), that is, Figure 7i The machine stops moving backwards at the position in the middle; and after 1 second, it continues to clean along the new obstacle on the horizontal side of the machine body (i.e., the table and chair legs on the right side of the machine body). Figure 7j shown.

[0181] In an optional embodiment, in the aforementioned S2, when determining based on the obstacle information whether the cleaning robot satisfies the preset obstacle avoidance condition when performing the edge cleaning task of the preset obstacle scene, the obstacle information is used to determine whether the cleaning robot satisfies the preset obstacle avoidance condition, including:

[0182] Obtain obstacle distribution data based on obstacle information;

[0183] According to the obstacle distribution data, determine whether there are obstacles on both the vertical side and the horizontal side of the fuselage;

[0184] If it is determined that there are obstacles on both the vertical side and the horizontal side of the fuselage, a first distance between the fuselage and the obstacle on the vertical side of the fuselage is obtained in real time according to the obstacle information; and whether the moving direction of the fuselage is parallel to the outline of the obstacle on the horizontal side of the fuselage is determined according to the obstacle information, and whether the first distance obtained in real time meets a preset change condition;

[0185] If the moving direction of the fuselage is parallel to the outline of the obstacle on the horizontal side of the fuselage, and the first distance acquired in real time meets the preset change condition, it is determined that the cleaning robot is performing the preset edge cleaning task; and based on the obstacle information, it is determined whether the cleaning robot meets the preset obstacle avoidance condition.

[0186] The above-mentioned obstacle distribution data includes data such as the positioning of the outer contours of each obstacle in the environment where the cleaning robot is located, the distance between the outer contours of each obstacle, etc., which can be obtained based on the obstacle information analysis; based on the above-mentioned positioning and distance, the relative position relationship between each obstacle and the cleaning robot can be determined, that is, it can be determined whether there are obstacles on the horizontal side and the vertical side of the fuselage of the cleaning robot at the same time, and then it can be determined whether the cleaning robot is in the obstacle scene of the preset edge cleaning task; because in some cases, even if the cleaning robot is in the obstacle scene of the preset edge cleaning task, it is not performing edge cleaning, that is, it is not performing edge cleaning tasks, so it is also necessary to determine whether the cleaning robot is performing the preset edge cleaning task based on the moving direction of the fuselage and the change law of the first distance; this embodiment determines that the cleaning robot is performing the preset edge cleaning task through the above-mentioned method, and can make full use of the acquired obstacle information to determine the environmental state and working state of the cleaning robot in real time, so as to facilitate the subsequent precise control of the action of the fuselage to achieve scratch-free edge cleaning, and the method is simple and effective.

[0187] Among them, when the moving direction of the fuselage is parallel to the outline of the obstacle on the horizontal side of the fuselage (specifically the outer outline of the obstacle on the horizontal side of the fuselage), it means that the machine is performing edge cleaning; and at this time, if the first distance obtained in real time also meets the preset change condition, it means that the machine is in the obstacle scene of the preset edge cleaning task, and there is also a risk of encountering obstacles on the vertical side of the fuselage. In this case, it is necessary to make a subsequent judgment on the preset obstacle avoidance conditions, and it is possible to take measures to control the movement of the fuselage to avoid obstacles, so as to determine that the cleaning robot is performing the preset edge cleaning task.

[0188] However, when the obstacle scene in which the cleaning robot is located does not have obstacles on both the horizontal and vertical sides of the body, for example, when the cleaning area of ​​the cleaning robot is only one wall of a room, the machine only needs to clean along the edge of that wall (there are only obstacles on the horizontal side of the body, but no obstacles on the vertical side of the body), which means that the machine is not in the obstacle scene of the preset edge cleaning task at this time, and it does not need to make subsequent judgments on the preset obstacle avoidance conditions. If the first distance obtained in real time does not meet the preset change condition, it means that although the machine is cleaning along the edge in the obstacle scene of the preset edge cleaning task, there is no risk of encountering obstacles on the vertical side of the body. For example, for Figure 2 As shown in the table and chair legs, the machine moves away from the table and chair legs instead of moving towards the table and chair legs. At this time, although there are obstacles on the vertical side of the fuselage and obstacles on the horizontal side of the fuselage, there is no risk of hitting the obstacles on the vertical side of the fuselage, and it does not need to perform subsequent preset obstacle avoidance conditions. When the direction of the fuselage is not parallel to the outline of the obstacle on the horizontal side of the fuselage (specifically, the outer outline of the obstacle on the horizontal side of the fuselage), for example Figure 1In the inner angle shown, the machine performs Z-shaped motion or bow-shaped motion in the area instead of moving along the wall. That is, although it is in the obstacle scene of the preset edge cleaning task, edge cleaning is not performed, and there is no need to perform subsequent judgment of the preset obstacle avoidance conditions.

[0189] The above-mentioned situations where there are no obstacles on the horizontal side and the vertical side of the fuselage at the same time, the machine performs edge cleaning in the obstacle scenario of the preset edge cleaning task but there is no risk of encountering obstacles on the vertical side of the fuselage, and the machine is in the obstacle scenario of the preset edge cleaning task but does not perform edge cleaning, are all uniformly determined as the cleaning robot performing a non-preset edge cleaning task.

[0190] In an optional embodiment, the edge cleaning method further includes:

[0191] When it is determined based on the obstacle information that the cleaning robot is performing a non-preset edge cleaning task, the action of the body is controlled according to the fifth action strategy to complete the non-preset edge cleaning task.

[0192] Since the cleaning work of the cleaning robot is a real-time process, when it is determined that the cleaning robot is performing a non-preset edge cleaning task, it is still necessary to control the movement of the body to ensure that its cleaning work is completed, which is more in line with the actual usage of the cleaning robot.

[0193] In this embodiment, the fifth action strategy is a pre-set strategy, which can control the action of the fuselage by maintaining the current cleaning mode, for example, according to the current travel speed and the current travel direction, the fuselage is controlled to continue to move forward to continue cleaning. Of course, the current travel speed can also be increased or decreased according to actual needs, and the fuselage can be controlled to accelerate or decelerate in the current travel direction to continue cleaning. That is, the fifth action strategy can be the same as or different from the fourth action strategy.

[0194] In an optional embodiment, the above-mentioned determining whether the first distance acquired in real time satisfies a preset change condition includes:

[0195] If the first distance acquired in real time gradually decreases, it is determined that the first distance meets the preset change condition.

[0196] When the first distance between the fuselage and the obstacle on the vertical side of the fuselage gradually decreases, it means that the machine is performing edge cleaning in the obstacle scenario of the preset edge cleaning task. At the same time, there is a risk of encountering obstacles on the vertical side of the fuselage. At this time, it is necessary to judge the preset obstacle avoidance conditions according to the aforementioned method of this embodiment, and control the fuselage when the cleaning robot meets the preset obstacle avoidance conditions to ensure that the cleaning robot performs the preset edge cleaning task. Under the premise of not retracting the swingable cleaning components to ensure high coverage, the problem of scratches caused by obstacles caused by the protruding cleaning components is reduced, thereby effectively extending the service life of the machine.

[0197] Embodiment 2

[0198] This embodiment provides a side cleaning system for a cleaning robot, such as Figure 3 and Figure 4 As shown, the cleaning robot includes a body and a cleaning component movably arranged on the body, the cleaning component has an outward swing state and a retracted state, when the cleaning component is in the outward swing state, the portion of the cleaning component located outside the body is larger than the portion of the cleaning component located outside the body when the cleaning component is in the retracted state; Fig.10 As shown, the system includes:

[0199] The obstacle detection module is used to obtain obstacle information in the direction of travel of the cleaning robot in real time when the cleaning component is in the outward swing state;

[0200] An obstacle analysis module, which is in communication with the obstacle detection module, is used to determine whether the cleaning robot meets a preset obstacle avoidance condition when the cleaning robot performs a preset edge cleaning task based on the obstacle information;

[0201] The cleaning control module is communicated with the obstacle analysis module and is used to control the movement of the fuselage according to the obstacle information when the obstacle analysis module determines that the cleaning robot meets the preset obstacle avoidance conditions, so as to complete the preset edge cleaning task to avoid scratches on the cleaning components maintained in the outward swing state.

[0202] The edge cleaning system provided in the present embodiment utilizes the obstacle detection module to obtain obstacle information when the cleaning component is in the outward swing state. On the one hand, it can facilitate the subsequent combination with the working state of the cleaning robot to know whether it is performing the preset edge cleaning task, thereby facilitating better control of the edge cleaning of the cleaning robot; on the other hand, it can facilitate the subsequent judgment of whether the cleaning robot meets the preset obstacle avoidance conditions according to the obstacle information in the working state, thereby accurately controlling the obstacle avoidance of the cleaning robot to ensure that the cleaning component is not scratched; when the obstacle analysis module determines that the cleaning robot is performing the preset edge cleaning task When the preset edge cleaning task is performed and the preset obstacle avoidance conditions are met, the cleaning control module only controls the movement of the fuselage, so that the preset edge cleaning task can be completed without the cleaning component being retracted to the inside of the fuselage (i.e. maintaining its swing-out state), and the cleaning component can be effectively prevented from scratching against surrounding obstacles during the execution of the preset edge cleaning task; thereby, when the cleaning robot performs edge cleaning work, without retracting the swing-out cleaning component to ensure a high coverage rate, the problem of scratching against obstacles caused by the protruding swing-out cleaning component can be reduced, thereby effectively extending the service life of the machine.

[0203] The functions of each module of the edge cleaning system described in this embodiment correspond to the steps of the edge cleaning method of embodiment 1, so for the details not covered in this embodiment, please refer to embodiment 1 and Figure 1 to Figure 9h The detailed description will not be repeated here.

[0204] Embodiment 3

[0205] This embodiment also provides an edge cleaning device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the method steps in the edge cleaning method of the first embodiment when executed.

[0206] Through a computer program stored in a memory and running on a processor, by only controlling the movement of the fuselage, it is possible to effectively avoid the cleaning components from scratching against surrounding obstacles during the execution of a preset edge cleaning task, without retracting the cleaning components that can be swung outwards to ensure a high coverage rate. This can reduce the problem of scratches against obstacles caused by the protruding cleaning components when the cleaning robot is performing edge cleaning work, thereby effectively extending the service life of the machine.

[0207] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of a computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0208] The memory can be used to store computer programs and / or models. The processor realizes various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0209] It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by a computer program. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0210] These computer programs may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0211] These computer programs can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0212] This embodiment also provides a computer storage medium, which includes: at least one instruction, which implements the method steps of the edge cleaning method of embodiment 1 when the instruction is executed.

[0213] By executing a computer storage medium containing at least one instruction and only controlling the movement of the fuselage, it is possible to effectively avoid the cleaning component from scratching against surrounding obstacles during the execution of a preset edge cleaning task, without retracting the cleaning component that can be swung outward to ensure a high coverage rate. This can reduce the problem of scratching against obstacles caused by the protruding cleaning component when the cleaning robot performs edge cleaning, thereby effectively extending the service life of the machine.

[0214] Similarly, for details not yet provided in this embodiment, please refer to Embodiment 1, Embodiment 2 and Figures 1 to 10 The detailed description will not be repeated here.

[0215] Embodiment 4

[0216] like Figure 3 and Figure 4 As shown, this embodiment provides a cleaning robot 100, including a body 110 and a cleaning component 120 movably arranged on the body 110, the cleaning component 120 has an outward swing state and a retracted state, when the cleaning component 120 is in the outward swing state, the portion of the cleaning component 120 located outside the body is larger than the portion of the cleaning component 120 located outside the body when the cleaning component 120 is in the retracted state;

[0217] Also includes:

[0218] A sensor (not shown), disposed on the body 110, for obtaining obstacle information in the direction of travel of the cleaning robot 100 in real time when the cleaning assembly 120 is in the swing-out state; and

[0219] A controller (not shown) is provided on the body 100 and is electrically connected to the sensor for:

[0220] When determining that the cleaning robot 100 is performing a preset edge cleaning task based on the obstacle information, determining whether the cleaning robot 100 meets a preset obstacle avoidance condition based on the obstacle information;

[0221] When the cleaning robot 100 meets the preset obstacle avoidance conditions, the action of the body 110 is controlled according to the obstacle information to complete the preset edge cleaning task to avoid scratches on the cleaning component 120 that is maintained in an outward swing state.

[0222] The cleaning robot provided in this embodiment can reduce the problem of scratches caused by obstacles caused by the protruding cleaning components when performing edge cleaning work without retracting the cleaning components that can be swung out to ensure a high coverage rate. It has a high cleaning coverage rate and a long service life.

[0223] In an optional embodiment, the cleaning component 120 in this embodiment includes any one of a side brush, a rag disc, and a roller brush.

[0224] When the cleaning component includes a rag tray, it also includes a motor for driving the rag tray, which can convert the rotation of the motor into the extension and retraction motion of the rag tray, thereby respectively extending the rag tray to the outside of the machine body (that is, making the rag tray in an outward swing state) and retracting it to the inside of the machine body. When the cleaning component is in other forms, the specific situation is similar to that of the rag tray, and the specific details are not repeated here.

[0225] In an optional embodiment, the sensor in this embodiment includes but is not limited to a line laser sensor, a laser radar sensor, an infrared sensor, and an edge sensor. The specific description thereof is referred to in the description of the aforementioned embodiment 1, and will not be repeated in this embodiment.

[0226] In an optional embodiment, the sensor in this embodiment also includes a visual sensor, which collects images in the direction of travel of the cleaning robot, and then analyzes data such as the distance between the cleaning robot and obstacles in the surrounding environment, obstacle distribution data, etc. based on visual technology.

[0227] In an optional embodiment, it also includes:

[0228] The driving assembly (not shown) is disposed on the body 110 and is electrically connected to the controller. The driving assembly is used to drive the body 110 to move under the control instruction of the controller to prevent the cleaning assembly 120 from being scratched.

[0229] In an optional embodiment, the drive assembly includes:

[0230] A travel wheel motor (not shown), which is disposed on the body 110 and is electrically connected to the controller, and is used to receive a control instruction from the controller and rotate according to the control instruction; and

[0231] The transmission mechanism (not shown) is disposed on the body 110 and is in transmission connection with the output shaft of the travel wheel motor and the body, and is used for converting the rotation of the travel wheel motor into the movement of the body.

[0232] Through the driving component of the above structure, the movement of the machine body can be controlled in real time, so that the cleaning component can be kept intact, reducing the problem of scratches caused by the protruding cleaning component, thereby effectively extending the service life of the machine.

[0233] The function of the controller described in this embodiment is to implement the edge cleaning method of the aforementioned embodiment 1. The cleaning robot has the same structure as the cleaning robot used in the embodiment 1. Therefore, for details not provided in this embodiment, please refer to the embodiment 1 and Figure 1 to Figure 9h The detailed description will not be repeated here.

[0234] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, ordinary technicians in this field can make other different forms of changes or modifications without creative work, which should fall within the scope of protection of the present invention.

Claims

1. A method for cleaning along an edge, for use with a cleaning robot, the cleaning robot comprising a body and a cleaning component movably arranged on the body, the cleaning component having an outward swing state and a retracted state, the portion of the cleaning component located outside the body when the cleaning component is in the outward swing state being larger than the portion of the cleaning component located outside the body when the cleaning component is in the retracted state; characterized in that: The method comprises: When the cleaning component is in the outward swing state, obtaining obstacle information in the moving direction of the cleaning robot in real time; When determining that the cleaning robot is performing a preset edge cleaning task based on the obstacle information, determining whether the cleaning robot meets a preset obstacle avoidance condition according to the obstacle information; When the cleaning robot meets the preset obstacle avoidance conditions, the movement of the body is controlled according to the obstacle information to complete the preset edge cleaning task to avoid scratches on the cleaning component that is maintained in the outward swing state.

2. The method according to claim 1, characterized in that When it is determined based on the obstacle information that the cleaning robot has an obstacle on the vertical side of the body when performing the preset edge cleaning task; wherein the obstacle on the vertical side of the body is located at the front side or the rear side of the moving direction of the body; The determining whether the cleaning robot meets a preset obstacle avoidance condition according to the obstacle information includes: Acquire, according to the obstacle information, a first distance between the fuselage and an obstacle on a vertical side of the fuselage; Determining whether the first distance is less than or equal to a first preset threshold; If so, it is determined that the cleaning robot meets the preset obstacle avoidance condition.

3. The method according to claim 2, characterized in that When it is determined based on the obstacle information that the cleaning robot also has an obstacle on the horizontal side of the body when performing the preset edge cleaning task; wherein the obstacle on the horizontal side of the body is located on the left or right side of the moving direction of the body; When the cleaning robot meets the preset obstacle avoidance condition, controlling the action of the body according to the obstacle information to complete the preset edge cleaning task to avoid scratching the cleaning component that maintains the outward swing state includes: Acquire the current speed of the aircraft body, and reduce the current speed; Determine whether the first distance obtained is less than or equal to a second preset threshold value at the reduced current travel speed; wherein the second preset threshold value is less than the first preset threshold value; If the first distance obtained is less than or equal to the second preset threshold, the current travel speed of the fuselage is controlled to drop to zero; and after a first preset time, the movement of the fuselage is controlled according to a first action strategy so that the cleaning component deviates from the obstacle on the horizontal side of the fuselage.

4. The method according to claim 3, characterized in that: Obstacles on the vertical side of the fuselage are clean area boundaries and / or obstacle outlines, and obstacles on the horizontal side of the fuselage are clean area boundaries.

5. The method according to claim 3, characterized in that: The controlling the action of the body according to the obstacle information to complete the preset edge cleaning task to avoid scratching of the cleaning component in the outward swing state, further includes: If the first distance obtained is greater than the second preset threshold, the current travel speed of the fuselage continues to be reduced until the first distance obtained is less than or equal to the second preset threshold at the reduced current travel speed.

6. The method according to claim 3, characterized in that After the first preset time, according to the first action strategy, controlling the action of the body so that the cleaning component deviates from the obstacle on the horizontal side of the body includes: Acquire a second distance between the cleaning component and the obstacle on the horizontal side of the fuselage according to the obstacle information; After the first preset time, with the center of the fuselage as the center of the circle, control the side of the fuselage provided with the cleaning component to rotate in a direction away from the obstacle on the horizontal side of the fuselage; at the same time, control the fuselage to move in a direction away from the obstacle on the vertical side of the fuselage until the first distance is greater than or equal to the third preset threshold and the second distance is greater than or equal to the fourth preset threshold; or, after the first preset time, first control the side of the fuselage provided with the cleaning component to rotate in a direction away from the obstacle on the horizontal side of the fuselage with the center of the circle as the center of the circle according to the first preset angle; then control the fuselage to move in a direction away from the obstacle on the vertical side of the fuselage and the obstacle on the horizontal side of the fuselage until the first distance is greater than or equal to the third preset threshold and the second distance is greater than or equal to the fourth preset threshold; After the second preset time period, the movement of the fuselage is controlled according to the second movement strategy so that the cleaning component bypasses obstacles on the vertical side of the fuselage.

7. The method according to claim 3, characterized in that After the first preset time, according to the first action strategy, controlling the action of the body so that the cleaning component deviates from the obstacle on the horizontal side of the body includes: According to the obstacle information, respectively acquiring a fourth distance between the fuselage and an obstacle on a horizontal side of the fuselage and a third distance between the cleaning component and an obstacle on a vertical side of the fuselage; After the first preset time, the fuselage is first controlled to move in a direction away from the obstacle on the vertical side of the fuselage until the first distance is greater than or equal to a third preset threshold; then, with the center of the fuselage as the center of the circle, the side of the fuselage provided with the cleaning component is controlled to rotate in a direction close to the obstacle on the vertical side of the fuselage according to a third preset angle until the fourth distance is greater than or equal to the third preset threshold; After the second preset time period, the movement of the fuselage is controlled according to the second movement strategy so that the cleaning component bypasses obstacles on the vertical side of the fuselage.

8. The method according to claim 6 or 7, characterized in that: After the second preset time, according to the second action strategy, controlling the action of the fuselage so that the cleaning component bypasses the obstacle on the vertical side of the fuselage includes: Acquire, according to the obstacle information, a third distance between the cleaning component and the obstacle on the vertical side of the fuselage; After the second preset time, with the center of the fuselage as the center of the circle, control the side of the fuselage provided with the cleaning component to rotate toward the direction of the obstacle on the vertical side of the fuselage; at the same time, control the fuselage to move toward the direction of the obstacle on the vertical side of the fuselage until the first distance is less than or equal to the fifth preset threshold and the third distance is less than or equal to the sixth preset threshold; or, after the second preset time, first control the side of the fuselage provided with the cleaning component to rotate toward the direction of the obstacle on the horizontal side of the fuselage with the center of the circle as the center of the circle according to the second preset angle; then control the fuselage to move toward the obstacle on the vertical side of the fuselage and the obstacle on the horizontal side of the fuselage until the first distance is less than or equal to the fifth preset threshold and the third distance is less than or equal to the sixth preset threshold; After the third preset time period, the action of the fuselage is controlled according to the third action strategy to complete the preset edge cleaning task.

9. The method according to claim 8, characterized in that After the third preset time, according to the third action strategy, controlling the action of the fuselage to complete the preset edge cleaning task includes: After the third preset time, the fuselage is controlled to move toward the obstacle on the vertical side of the fuselage until the third distance is less than or equal to the seventh preset threshold value. Then, the fuselage is controlled to clean along the contour of the obstacle on the horizontal side of the fuselage at a preset travel speed to complete the preset edge cleaning task.

10. The method according to claim 1, characterized in that The determining, based on the obstacle information, whether the cleaning robot satisfies a preset obstacle avoidance condition when the cleaning robot performs a preset edge cleaning task, comprises: Obtaining obstacle distribution data according to the obstacle information; Determining whether obstacles exist on both the vertical side and the horizontal side of the fuselage according to the obstacle distribution data; If it is determined that there are obstacles on both the vertical side and the horizontal side of the fuselage, a first distance between the fuselage and the obstacle on the vertical side of the fuselage is acquired in real time according to the obstacle information; and whether the moving direction of the fuselage is parallel to the outline of the obstacle on the horizontal side of the fuselage is determined according to the obstacle information, and whether the first distance acquired in real time meets a preset change condition; If the moving direction of the fuselage is parallel to the outline of the obstacle on the horizontal side of the fuselage, and the first distance acquired in real time meets the preset change condition, it is determined that the cleaning robot is performing the preset edge cleaning task; and based on the obstacle information, it is determined whether the cleaning robot meets the preset obstacle avoidance condition.

11. The method according to claim 10, characterized in that The determining whether the first distance acquired in real time satisfies a preset change condition includes: If the first distance acquired in real time gradually decreases, it is determined that the first distance meets the preset change condition.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: When it is determined according to the obstacle information that the cleaning robot does not meet the preset obstacle avoidance condition, the action of the body is controlled according to the fourth action strategy to complete the preset edge cleaning task.

13. The method according to any one of claims 1 to 11, characterized in that The method further comprises: When it is determined based on the obstacle information that the cleaning robot is performing a non-preset edge cleaning task, the action of the body is controlled according to the fifth action strategy to complete the non-preset edge cleaning task.

14. The method according to any one of claims 1 to 11, characterized in that The preset edge cleaning tasks include at least one of inner corner edge cleaning, outer corner edge cleaning, table and chair leg edge cleaning, and dead end edge cleaning.

15. An edge cleaning system for a cleaning robot, the cleaning robot comprising a body and a cleaning component movably arranged on the body, the cleaning component having an outward swing state and a retracted state, the portion of the cleaning component located outside the body when the cleaning component is in the outward swing state being larger than the portion of the cleaning component located outside the body when the cleaning component is in the retracted state; characterized in that: The system comprises: An obstacle detection module, used to obtain obstacle information in the moving direction of the cleaning robot in real time when the cleaning component is in the swing-out state; an obstacle analysis module, which is in communication with the obstacle detection module and is used to determine whether the cleaning robot meets a preset obstacle avoidance condition when the cleaning robot is performing a preset edge cleaning task based on the obstacle information; A cleaning control module is communicatively connected to the obstacle analysis module and is used to control the movement of the body according to the obstacle information when the obstacle analysis module determines that the cleaning robot meets the preset obstacle avoidance conditions, so as to complete the preset edge cleaning task to avoid scratches on the cleaning component maintained in the outward swing state.

16. A cleaning robot, characterized in that: The cleaning device comprises a body and a cleaning component movably arranged on the body, wherein the cleaning component has an outward swing state and a retracted state, and when the cleaning component is in the outward swing state, the portion of the cleaning component located outside the periphery of the body is larger than the portion of the cleaning component located outside the periphery of the body when the cleaning component is in the retracted state; Also includes: A sensor, disposed on the body, for obtaining obstacle information in the direction of travel of the cleaning robot in real time when the cleaning component is in the outward swing state; as well as A controller is disposed on the body and electrically connected to the sensor, and is used to: When determining that the cleaning robot is performing a preset edge cleaning task based on the obstacle information, determining whether the cleaning robot meets a preset obstacle avoidance condition according to the obstacle information; When the cleaning robot meets the preset obstacle avoidance conditions, the movement of the body is controlled according to the obstacle information to complete the preset edge cleaning task to avoid scratches on the cleaning component that is maintained in the outward swing state.

17. The cleaning robot according to claim 16, characterized in that: Also includes: The driving component is arranged on the body and is electrically connected to the controller, and is used to drive the movement of the body under the control instruction of the controller to prevent the cleaning component from being scratched.

18. The cleaning robot according to claim 17, characterized in that: The drive assembly comprises: a walking wheel motor, disposed on the machine body, electrically connected to the controller, and configured to receive the control instruction of the controller and rotate according to the control instruction; and The transmission mechanism is arranged on the machine body and is transmission-connected with the output shaft of the walking wheel motor and the machine body, and is used for converting the rotation of the walking wheel motor into the movement of the machine body.

19. The cleaning robot according to any one of claims 16 to 18, characterized in that: The cleaning component includes any one of a side brush, a rag disc and a roller brush.

20. A computer storage medium, characterized in that The computer storage medium comprises: at least one instruction, which implements the method steps of any one of claims 1 to 14 when executed.

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