Cleaning robot control method and device and cleaning robot

Abstract

The invention is suitable for the technical field of cleaning robots, and provides a control method and device of a cleaning robot and the cleaning robot. The method comprises the steps that when a first sensor detects that an obstacle exists in front in the process that the cleaning robot conducts cleaning work in a working area at a first preset speed, the obstacle is detected; determining a first obstacle detection position of the obstacle according to the first detection data of the first sensor; controlling the cleaning robot to approach the obstacle at a second preset speed, and acquiring second detection data of a second sensor of the cleaning robot on the obstacle to obtain a second obstacle detection position of the obstacle; wherein the second preset speed is smaller than the first preset speed; the detection precision of the second sensor is higher than that of the first sensor; and the cleaning robot is controlled to move along the edge according to the second obstacle detection position and conduct cleaning, so that the cleaning robot can be tightly attached to the edge of the obstacle to move without being scratched, and the high-precision edge cleaning effect is achieved.

Description

Technical Field

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

[0002] At present, cleaning robots are a type of intelligent service robot that can automatically complete floor cleaning (such as sweeping, vacuuming, and mopping). Household service robots are usually small in size. In commercial scenarios such as shopping malls, office buildings, and hotels, cleaning robots often need to be larger in size to improve their cleaning capabilities and cleaning effects, and they often have a certain height to facilitate users to issue instructions through the robot's screen.

[0003] One of the core tasks of cleaning robots is to clean along the edge of obstacles after detecting them. Some cleaning robots use line laser sensors for edge cleaning, which lacks the ability to locate obstacles in advance and is prone to collision. Some cleaning robots are equipped with high-precision stereo vision along the edge, but due to the large blind spot of high-precision stereo vision itself, its recognizable area is ineffective, resulting in poor edge cleaning capabilities.

[0004] Therefore, when the cleaning robot has poor edge cleaning ability, stains will be left on the edges of obstacles along the edges, which is very unsightly and results in a poor user experience. Summary of the invention

[0005] The embodiments of the present application provide a control method and device for a cleaning robot, and a cleaning robot, which can solve the problem of low edge cleaning ability of existing cleaning robots.

[0006] In a first aspect, an embodiment of the present application provides a control method for a cleaning robot, the method comprising:

[0007] When the first sensor detects that there is an obstacle in front of the cleaning robot during the cleaning work at the first preset speed in the working area, determining a first obstacle detection position of the obstacle according to first detection data of the first sensor;

[0008] Controlling the cleaning robot to approach the obstacle at a second preset speed, and obtaining second detection data of the obstacle by a second sensor of the cleaning robot to obtain a second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; and the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor;

[0009] The cleaning robot is controlled to move along the edge and perform cleaning according to the second obstacle detection position.

[0010] In a possible implementation of the first aspect, the second sensor includes a side front edge laser and a side rear edge laser.

[0011] The controlling the cleaning robot to approach the obstacle at a second preset speed, and acquiring second detection data of the obstacle by a second sensor of the cleaning robot to obtain a second obstacle detection position of the obstacle, comprises:

[0012] When the obstacle is detected by the side front edge laser, a third obstacle detection position of the obstacle is obtained according to third detection data of the obstacle by the side front edge laser of the cleaning robot;

[0013] When the obstacle is detected by the laser along the side and rear edge, a fourth obstacle detection position of the obstacle is obtained according to fourth detection data of the obstacle by the laser along the side and rear edge of the cleaning robot.

[0014] In a possible implementation of the first aspect, controlling the cleaning robot to move along the edge and perform cleaning according to the second obstacle detection position includes:

[0015] After obtaining the third obstacle detection position of the obstacle, determining a first edge path of the cleaning robot according to the third obstacle detection position, and controlling the cleaning robot to adjust the posture of the cleaning robot according to the first edge path to perform edge cleaning;

[0016] After obtaining the fourth obstacle detection position of the obstacle, the second edge path of the cleaning robot is determined according to the fourth obstacle detection position and the width of the cleaning component, and the cleaning robot is controlled to adjust the posture of the cleaning robot according to the second edge path to perform edge cleaning.

[0017] In a possible implementation manner of the first aspect, during the cleaning robot performing a cleaning operation, the method further includes:

[0018] The third obstacle detection position of the obstacle obtained based on the third detection data of the obstacle along the edge line laser of the front side of the cleaning robot and the fourth obstacle detection position of the obstacle obtained based on the fourth detection data of the obstacle along the edge line laser of the rear side of the cleaning robot are updated and stored until the cleaning robot finishes cleaning along the edge.

[0019] In a possible implementation manner of the first aspect, after respectively obtaining the first obstacle detection position and the second obstacle detection position, the method includes:

[0020] When the first obstacle detection position is obtained, projecting the first obstacle detection position into a positioning map;

[0021] When the second obstacle detection position is obtained, the second obstacle detection position is projected into the positioning map, and the first obstacle detection position in the positioning map is deleted to obtain an updated positioning map; wherein the positioning map is obtained by constructing the working area in advance.

[0022] In a possible implementation of the first aspect, before the first sensor detects an obstacle ahead during a process in which the cleaning robot performs cleaning work in a working area at a first preset speed, the method includes:

[0023] An initial detection is performed on the working area of ​​the cleaning robot through a laser radar to determine whether there is an obstacle in front of the cleaning robot, wherein the maximum detection height of the laser radar is lower than that of the first sensor, and the detection range of the laser radar in the vertical direction is smaller than that of the first sensor.

[0024] In a second aspect, an embodiment of the present application provides a control device for a cleaning robot, the device comprising:

[0025] A first detection module, configured to determine a first obstacle detection position of the obstacle according to first detection data of the first sensor when the first sensor detects that there is an obstacle in front of the cleaning robot during the cleaning operation at a first preset speed in the working area;

[0026] a second detection module, used to control the cleaning robot to approach the obstacle at a second preset speed, and obtain second detection data of the obstacle by a second sensor of the cleaning robot to obtain a second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; and the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor;

[0027] A path control module is used to control the cleaning robot to move along the edge and perform cleaning according to the second obstacle detection position.

[0028] In a third aspect, an embodiment of the present application provides a cleaning robot, the cleaning robot comprising: a cleaning robot body, a controller, a first sensor and a second sensor, wherein:

[0029] The first sensor is arranged at the front bottom of the cleaning robot body, and is used to detect whether there is an obstacle in front of the cleaning robot, and to perform a preliminary detection of the position of the obstacle to generate first detection data;

[0030] The second sensor is arranged along the edge of the cleaning robot body, and is used to accurately detect the position of the obstacle and generate second detection data;

[0031] The controller is connected to the first sensor and the second sensor, respectively, and is used to determine the first obstacle detection position of the obstacle according to the first detection data of the first sensor when the first sensor detects the existence of an obstacle in front during the cleaning robot performing cleaning work in the working area at a first preset speed; and control the cleaning robot to approach the obstacle at a second preset speed, and obtain the second detection data of the obstacle by the second sensor of the cleaning robot to obtain the second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor; and control the cleaning robot to move along the edge and clean according to the second obstacle detection position.

[0032] In a possible implementation manner of the third aspect, the second sensor includes a side front edge line laser and a side rear edge line laser, wherein:

[0033] The side front edge line laser is located at the front of the side edge of the cleaning robot body, and the edge of the field of view of the side front edge line laser is aligned with the edge of the field of view of the first sensor;

[0034] The side rear edge line laser is located at the rear of the side of the cleaning robot body, and the edge of the field of view of the side rear edge line laser is in contact with the edge of the cleaning component;

[0035] The position height of the laser along the side rear edge is higher than the position height of the laser along the side front edge.

[0036] In a possible implementation of the third aspect, the cleaning robot further includes a laser radar, which is disposed at a middle position of the bottom front side of the cleaning robot body and above the first sensor, and is used to detect environmental characteristics of the area in front of the cleaning robot; wherein the maximum detection height of the laser radar is lower than that of the first sensor, and the detection range of the laser radar in the vertical direction is smaller than that of the first sensor; the height of the laser radar above the ground is 170 mm to 180 mm, and the field of view angle of the laser radar is between 210° and 240°;

[0037] The collecting end of the first sensor is placed tilted upwards;

[0038] A three-dimensional coordinate system is established with the symmetry center of the driving wheel on the cleaning robot body as the coordinate origin, and the first sensor rotates -30° to -45° around the Y axis; the offset of the first sensor on the Y axis is 268mm to 275mm, and the offset on the Z axis is 130mm to 135mm;

[0039] The side front edge laser rotates 36° to 41° around the Y axis, 31° to 35° around the Z axis, and 8° to 11° around the X axis; the offset of the side front edge laser on the X axis is 175mm to 190mm, the offset on the Y axis is 230mm to 245mm, and the offset on the Z axis is 120mm to 132mm;

[0040] The side and rear side edge line laser rotates 21° to 25° around the Y axis, 30° to 32° around the Z axis, and 6° to 9° around the X axis; the side and rear side edge line laser has an offset of 195mm to 205mm on the X axis, an offset of -165mm to -175mm on the Y axis, and an offset of 130mm to 145mm on the Z axis;

[0041] The detection range of the first sensor and the detection range of the laser radar have an overlapping area.

[0042] In a fourth aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-described control methods for the cleaning robot when executing the computer program.

[0043] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the cleaning robot described in any one of the above items is implemented.

[0044] In a sixth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the control method of the cleaning robot described in any one of the above-mentioned first aspects.

[0045] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0046] The control method of the cleaning robot provided in the embodiment of the present application is to determine the first obstacle detection position of the obstacle according to the first detection data of the first sensor when the first sensor detects that there is an obstacle in front of the cleaning robot during the cleaning work in the working area at a first preset speed; then, control the cleaning robot to approach the obstacle at a second preset speed, and obtain the second detection data of the obstacle by the second sensor of the cleaning robot to obtain the second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor; then, control the cleaning robot to move along the edge and clean according to the second obstacle detection position. In the present application, since the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor, the cleaning robot first detects the approximate position of the obstacle in front of it through the first sensor during the cleaning along the edge, and then approaches the obstacle by slowing down to reduce the possibility of collision. At the same time, as the cleaning robot approaches, the second sensor performs high-precision detection of the position of the obstacle, so that the cleaning robot can move close to the edge of the obstacle without scratching, thereby achieving a high-precision cleaning effect along the edge. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 It is a flowchart of a control method of a cleaning robot provided by an embodiment of the present application;

[0049] Figure 2 is a flow chart of a control method of a cleaning robot provided by another embodiment of the present application;

[0050] Figure 3 is a schematic diagram of a first obstacle detection position detected by a first sensor provided by an embodiment of the present application;

[0051] Figure 4 It is a schematic diagram of a third obstacle detection position detected by laser along the sideline in front of the side provided by an embodiment of the present application;

[0052] Figure 5 It is a schematic diagram of an obstacle outline formed by a cleaning robot during edge cleaning provided by an embodiment of the present application;

[0053] Figure 6is a schematic diagram of a fourth obstacle detection position detected by laser along the sideline at the rear side provided by an embodiment of the present application;

[0054] Figure 7 is a front view structural schematic diagram of a cleaning robot provided by an embodiment of the present application;

[0055] Figure 8 It is a left-side structural schematic diagram of a cleaning robot provided in one embodiment of the present application;

[0056] Fig. 9 It is a schematic diagram of the field of view of multiple sensors in a cleaning robot provided by an embodiment of the present application;

[0057] Fig.10 It is a structural schematic diagram of a control device of a cleaning robot provided by an embodiment of the present application;

[0058] Fig.11 It is a structural diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0059] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0060] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0061] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0062] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0063] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0064] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0065] Existing cleaning robots are generally equipped with multiple functional modes such as coverage cleaning mode and edge mode. The coverage cleaning mode mainly uses the navigation and positioning system to build an environmental map and plan a coverage cleaning route, identify obstacles in the cleaning area, and perform all-round cleaning. The edge mode is a functional mode of the cleaning robot specifically used to clean corners and edge positions. During the cleaning process, it can clean along the edge of obstacles to ensure that there are no dead corners.

[0066] Whether in edge cleaning mode or coverage cleaning mode, during the cleaning process, whether in circling or bow-shaped cleaning, the cleaning robot will detect obstacles and then need to go around and clean along the edge of the obstacle, i.e., perform edge cleaning. Therefore, in order to improve the edge cleaning capability of the cleaning robot and enhance the user experience, this embodiment proposes a control method for the cleaning robot for edge cleaning.

[0067] See also Figure 1 , Figure 1 It is a flow chart of a control method of a cleaning robot provided in one embodiment of the present application.

[0068] The method includes:

[0069] S11. When a first sensor detects an obstacle in front of the cleaning robot during cleaning work in a working area at a first preset speed, determine a first obstacle detection position of the obstacle according to first detection data of the first sensor.

[0070] S12, control the cleaning robot to approach the obstacle at a second preset speed, and obtain second detection data of the obstacle by the second sensor of the cleaning robot to obtain a second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; and the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor.

[0071] S13, controlling the cleaning robot to move along the edge and perform cleaning according to the second obstacle detection position.

[0072] It should be noted that, in this embodiment, the execution subject may be a terminal device such as a server, and no specific limitation is made to this.

[0073] The control method of the cleaning robot of this embodiment is mainly applied to commercial cleaning robots.

[0074] It should be noted that before the cleaning robot detects an obstacle and performs edge cleaning using the control method of the cleaning robot provided by this embodiment, the cleaning robot can obtain a map of the working area and the approximate location of the cleaning robot at the current moment through positioning sensors such as laser radar / image modules, combined with positioning navigation algorithms, etc. At this time, the cleaning robot performs cleaning work at a normal driving speed.

[0075] In step S11, the first sensor of the cleaning robot is a sensor for detecting the position of an obstacle in front of the cleaning robot. The first detection data is data obtained by the first sensor detecting the position of the obstacle. The approximate position of the obstacle, i.e., the first obstacle detection position, can be determined through the first detection data. Among them, the first preset speed is the normal driving speed preset when the cleaning robot performs the cleaning mode in the working area. At this time, there are no obstacles around the cleaning robot, and it performs cleaning work at the normal driving speed.

[0076] In step S12, the second sensor of the cleaning robot is a sensor used to perform high-precision detection of the position of the obstacle after the cleaning robot approaches the obstacle. The second detection data is data obtained by the second sensor further detecting the position of the obstacle. The precise position of the obstacle, that is, the second obstacle detection position, can be determined through the second detection data. Among them, the second preset speed is the preset speed at which the cleaning robot approaches the obstacle when an obstacle is detected in front. In this embodiment, in the process of the cleaning robot approaching the obstacle, the speed of the cleaning robot will be reduced so that it slowly approaches the obstacle without scratching the obstacle due to excessive driving speed. Therefore, the second preset speed is less than the first preset speed. Exemplarily, in the process of the cleaning robot approaching the obstacle, the posture of the cleaning robot does not change, but the driving speed is reduced.

[0077] In this embodiment, the detection accuracy of the second sensor is higher than that of the first sensor, such as the detection accuracy of the first sensor is ±10cm, and the detection accuracy of the second sensor is ±1cm. The detection accuracy of the first sensor is lower, but its detection distance is farther, which is conducive to cost saving, and the position of the obstacle can be roughly sensed in advance when the distance to the obstacle is far. Since the detection accuracy of the first sensor is limited, it can only detect the approximate position outline of the obstacle. Therefore, the detection accuracy of the second sensor is set higher than the detection accuracy of the first sensor, so as to obtain a more accurate detection position of the obstacle when the cleaning robot is closer to the obstacle. In this embodiment, the specific values ​​of the detection accuracy of the first sensor and the detection accuracy of the second sensor are not limited.

[0078] Specifically, in the example of the present application, the cleaning robot performs cleaning work in the working area at a first preset speed (such as the driving speed of 0.5m / s in the cleaning mode). When the first sensor detects that there is an obstacle in front, the approximate position of the obstacle from the cleaning robot is determined according to the first detection data of the first sensor; then, the cleaning robot is controlled to approach the obstacle at a second preset speed (such as 0.3m / s). In the process of approaching the obstacle, the second detection data of the obstacle by the second sensor is obtained, and the precise position of the obstacle is obtained according to the second detection data; then, the cleaning robot is controlled to move along the edge according to the precise position, so as to complete the cleaning work.

[0079] In some embodiments, before the first sensor detects an obstacle ahead during the cleaning robot cleaning work at a first preset speed in a working area, the control method of the cleaning robot includes:

[0080] The laser radar is used to perform an initial detection of the working area of ​​the cleaning robot to determine whether there are obstacles in front of the cleaning robot, wherein the maximum detection height of the laser radar is lower than that of the first sensor, and the detection range of the laser radar in the vertical direction is smaller than that of the first sensor.

[0081] In a specific embodiment, the laser radar can scan the area in front of the cleaning robot to detect obstacles in the area in front, and by setting a larger field of view angle, it can detect a larger range of the area in front of the cleaning robot, and the detection distance is farther than the first sensor. When there is an obstacle in front of the robot, the laser radar will detect the obstacle first before the first sensor detects the existence of the obstacle in front, that is, the laser radar will first perform an initial detection of the working area to detect the obstacle in front of the cleaning robot. Since the maximum detection height of the laser radar is lower than that of the first sensor, the detection range of the laser radar in the vertical direction is smaller than that of the first sensor, and the laser radar can only detect the bottom of the obstacle, but not the top of the obstacle. In some embodiments, the laser radar is also used for robot positioning, and its detection range is the horizontal plane. The field of view angle detected in the horizontal direction is larger, and the detection distance is farther, which is convenient for the robot to achieve stable positioning. When the laser radar detects obstacles, if the obstacle is a narrow bottom and wide top obstacle like a table or chair with legs, since the installation height of the laser radar is generally low, it can only detect the supporting structure at the bottom of the obstacle. If it is detected along the edge based on the detection information of the laser radar, it is easy for the laser radar to fail to detect the top of the obstacle and cause a collision due to the close distance. Therefore, the above-mentioned first sensor is set to cooperate with the laser radar to detect high obstacles in front of the cleaning robot, so as to avoid collisions.

[0082] In some embodiments, after respectively obtaining the first obstacle detection position and the second obstacle detection position, the control method of the cleaning robot includes:

[0083] When the first obstacle detection position is obtained, the first obstacle detection position is projected into the positioning map.

[0084] When the second obstacle detection position is obtained, the second obstacle detection position is projected into the positioning map, and the first obstacle detection position in the positioning map is deleted to obtain an updated positioning map. The positioning map is obtained by constructing the working area in advance.

[0085] In this embodiment, the positioning map is a digital map of the spatial layout of the working area pre-constructed by the cleaning robot before cleaning the working area. The positioning map contains various features of the working area, such as the specific locations of walls, elevators, etc., which can help the cleaning robot to locate and navigate autonomously in the actual environment, but there may be obstacles in the environment that do not exist when the map is built, such as temporarily placed tables and chairs. When the cleaning robot obtains the first obstacle detection position through the first sensor, the detection position of the obstacle will be updated to the positioning map so that the cleaning robot can approach the obstacle without collision. Afterwards, when the second obstacle detection position is obtained through the second sensor, since the second obstacle detection position is more accurate than the first obstacle detection position, at this time, the relevant data of the first obstacle detection position in the positioning map will be deleted, and the relevant data of the second obstacle detection position will be updated to the positioning map, and the relevant data of the second obstacle detection position will be retained, so as to obtain an updated positioning map, so that the robot can both get close to the obstacle and improve the edge effect when cleaning along the edge, and without collision. The updated positioning map can accurately reflect the position of the obstacle in the current working area, so that the cleaning robot adjusts the navigation strategy according to the updated positioning map to complete the cleaning work.

[0086] It can be understood that the control method of the cleaning robot provided in this embodiment is to determine the first obstacle detection position of the obstacle according to the first detection data of the first sensor when the first sensor detects that there is an obstacle in front of the cleaning robot during the cleaning work in the working area at a first preset speed; then, control the cleaning robot to approach the obstacle at a second preset speed, and obtain the second detection data of the obstacle by the second sensor of the cleaning robot to obtain the second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor; then, control the cleaning robot to move along the edge and clean according to the second obstacle detection position. In this application, since the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor, the cleaning robot first detects the approximate position of the obstacle in front of it through the first sensor during the cleaning along the edge, and then approaches the obstacle by slowing down to reduce the possibility of collision. At the same time, as the cleaning robot approaches, the second sensor performs high-precision detection of the position of the obstacle, so that the cleaning robot can move close to the edge of the obstacle without scratching, thereby achieving a high-precision cleaning effect along the edge.

[0087] In a possible implementation, the second sensor includes a front side edge line laser and a rear side edge line laser.

[0088] Controlling the cleaning robot to approach the obstacle at a second preset speed, and obtaining second detection data of the obstacle by a second sensor of the cleaning robot to obtain a second obstacle detection position of the obstacle, including:

[0089] When an obstacle is detected by the laser along the side front line, a third obstacle detection position of the obstacle is obtained according to third detection data of the obstacle by the laser along the side front line of the cleaning robot.

[0090] When an obstacle is detected by the laser along the side and rear, a fourth obstacle detection position of the obstacle is obtained according to fourth detection data of the obstacle by the laser along the side and rear of the cleaning robot.

[0091] In this embodiment, the second sensor can be a line laser, which includes a front side edge line laser and a rear side edge line laser, which are respectively arranged in front and rear of the edge of the cleaning robot to detect obstacles in the side area of ​​the cleaning robot and detect the distance between it and the obstacles in the side area to clean the edges and prevent scratches.

[0092] Specifically, when the cleaning robot approaches the obstacle at the second preset speed, when the side front laser detects an obstacle, the side front laser detects the obstacle and obtains detection data, i.e., the third detection data. The third detection data can be used to determine the exact position along the edge where the cleaning robot needs to move, i.e., the third obstacle detection position. Afterwards, the cleaning robot will move along the edge along the detection position until the side rear laser detects an obstacle. The side rear laser detects the obstacle and obtains detection data, i.e., the fourth detection data. At this time, the cleaning robot performs a secondary calibration on the position along the edge where the cleaning robot needs to move according to the fourth detection data, thereby obtaining the fourth obstacle detection position, further improving the accuracy of obstacle position recognition and achieving a high-precision edge cleaning effect.

[0093] Further, after obtaining the third obstacle detection position of the obstacle, the first edge path of the cleaning robot can be determined according to the third obstacle detection position. At this time, the cleaning robot is controlled to adjust the posture of the cleaning robot according to the first edge path to clean along the edge. Although the line laser detection accuracy is high, the side front edge line laser can obtain the accurate position of the obstacle, but errors may accumulate during the driving process of the cleaning robot, and errors will still occur in the edge process of the cleaning robot and the obstacle. At this time, the obstacle position is detected by the side rear edge line laser. After the fourth obstacle detection position of the obstacle is obtained through secondary calibration, the second edge path of the cleaning robot is determined according to the fourth obstacle detection position and the width of the cleaning component, and then the cleaning robot is controlled to adjust the posture of the cleaning robot according to the second edge path to clean along the edge, so that the cleaning component can clean closely to the edge of the obstacle. The cleaning component can be a squeegee, a dust pusher, etc. Taking the squeegee as an example, in one embodiment, the squeegee is set behind the cleaning robot and is close to the side rear edge line laser. By detecting obstacles and squeegees along the edge laser, the squeegee can be controlled to accurately touch the edge. In one embodiment, a cleaning component, such as a side brush, is provided near the laser along the side front edge line. The cleaning robot can control the side brush to clean along the edge through the detection data of the laser along the side front edge line. Then, as the cleaning robot moves along the edge, the squeegee is controlled to clean along the edge according to the detection data of the laser along the side rear edge line, thereby achieving front sweeping and back washing, and improving the cleaning effect.

[0094] It should be noted that in this embodiment, a line laser is arranged near the squeegee of the cleaning robot, and the line laser can be used to detect whether the distance between the obstacle and the cleaning robot is less than the edge of the squeegee. If the distance between the obstacle and the cleaning robot is less than the edge of the squeegee, the cleaning robot will stop moving and perform operations such as rotating to prevent the obstacle from being hooked by the squeegee and being taken away.

[0095] It should be understood that because the cleaning robot may slip during movement, there may be a certain error in the actual position of the cleaning robot. The obstacle detection position recorded on the positioning map is recalibrated through the detection data of the side and rear edge laser, so that the accuracy of the cleaning robot's final edge path is further improved.

[0096] In a possible implementation, during the cleaning process of the cleaning robot, the control method of the cleaning robot further includes:

[0097] The third obstacle detection position of the obstacle obtained based on the third detection data of the obstacle along the edge line by the laser at the front side of the cleaning robot, and the fourth obstacle detection position of the obstacle obtained based on the fourth detection data of the obstacle along the edge line by the laser at the rear side of the cleaning robot are updated and stored until the cleaning robot finishes cleaning along the edge.

[0098] Specifically, during the cleaning process of the cleaning robot, it is necessary to update and store the third obstacle detection position obtained by the third detection data of the obstacle along the front side laser and the fourth obstacle detection position obtained by the fourth detection data of the obstacle along the rear side laser. By storing and updating the third obstacle detection position and the fourth obstacle detection position of the obstacle, the true outline of the obstacle can be formed, and then the positioning map of the cleaning robot can be improved to improve the edge cleaning effect.

[0099] In actual application scenarios, such as Figure 2 As shown, Figure 2 It is a flow chart of a control method of a cleaning robot provided in another embodiment of the present application. Figure 2 The control process of the cleaning robot in practical application is illustrated. Figure 2 In the example, the cleaning robot uses the first sensor (such as the front stereo vision) to detect that there is an obstacle (such as a coffee table) in front of it; at this time, the obstacle position detected by the first sensor (i.e., the first obstacle detection position) is recorded and projected into the positioning map. Figure 3 As shown, Figure 3 A first obstacle detection position detected by the first sensor is illustrated. Figure 3 In the figure, 1 represents the cleaning robot, 2 represents the wall, 3 represents the legs of the coffee table, and 101 represents the outline position of the edge of the coffee table detected by the first sensor. After that, the cleaning robot approaches the obstacle through the positioning and navigation algorithm, so that the side front edge laser can detect the position of the obstacle, and updates the precise position of the obstacle (i.e., the third obstacle detection position) through the detection data of the side front edge laser, and projects it into the positioning map. Take the cleaning robot cleaning the right side edge as an example, refer to Figure 4 As shown, Figure 4 The third obstacle detection position detected by the laser along the sideline in the front side is illustrated. Figure 4 In FIG. 1 , 102 represents the third obstacle detection position, that is, the exact position of the edge of the coffee table detected by the side front edge laser. Then, the cleaning robot starts cleaning along the obstacle according to the third obstacle detection position. In this process, the third detection data of the side front line laser is retained to form the outline of the obstacle, such as Figure 5 As shown, Figure 5 The example shows the obstacle outlines formed by the cleaning robot during edge cleaning. Figure 5In the figure, 103 represents the edge of the coffee table formed by the edge of the coffee table detected by the side front edge laser during the edge cleaning process. Finally, when the obstacle position is detected by the side rear edge laser, a second correction is performed through the fourth detection data of the side rear edge laser to obtain the fourth obstacle detection position, so as to adjust the posture of the cleaning robot for edge cleaning, so that the squeegee can be close to the edge of the obstacle without collision. Figure 6 As shown, Figure 6 The fourth obstacle detection position detected by the laser along the sideline at the rear is illustrated. Figure 6 In the figure, 104 represents the detection result of the edge of the coffee table by the edge line laser.

[0100] Continuing with the above example, Figure 3 In the figure, the first obstacle detection position detected by the first sensor corresponds to the approximate outline of the edge of the coffee table top, i.e., 101, while the laser radar can only detect the edges of the legs and wall of the coffee table, i.e., the partial outlines of 3 and 2. Therefore, when only the laser radar is used to detect obstacles in front of the cleaning robot, it is easy for the laser radar to fail to detect high obstacles and cause a collision. By setting the above-mentioned first sensor to cooperate with the laser radar to detect high obstacles in front of the cleaning robot, a collision can be avoided. Exemplarily, possible obstacles in front can be identified based on the edge contours detected by the laser radar. For example, when the laser radar detects multiple arc edges, it can be identified that there may be obstacles such as tables or chairs in front that affect the movement of the cleaning robot. At this time, the cleaning robot can be controlled to adjust its speed or posture (such as direction) to approach so that possible high obstacles can be collected within the field of view of stereo vision.

[0101] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0102] Corresponding to a control method of a cleaning robot in the above embodiment, Figure 7 FIG. 1 is a front view of a cleaning robot provided by an embodiment of the present application. For the sake of convenience, only the parts related to the embodiment of the present application are shown. Figure 7 In the figure, the cleaning robot 1 includes: a cleaning robot body 10, a controller (not shown in the figure), a first sensor 20 and a second sensor 30.

[0103] like Figure 7In the embodiment, the first sensor 20 is arranged at the front bottom of the cleaning robot body 10, and is used to detect whether there is an obstacle in front of the cleaning robot 1, and to perform a preliminary detection of the position of the obstacle to generate first detection data. The first sensor 20 can adopt a binocular stereoscopic vision with a large viewing angle (FOV 120 x 90° or more), and is tilted to achieve a larger field of view while ensuring effective recognition of obstacles of different materials.

[0104] The second sensor 30 is arranged along the edge of the cleaning robot body 10, and can detect the distance between the cleaning robot body 10 and obstacles in the side area thereof, and can avoid obstacles in the side area to prevent scratches, and accurately detect the position of the obstacles to generate second detection data. Cleaning components for cleaning, such as a side brush, a squeegee, a dust pusher, etc., are arranged along the edge of the cleaning robot body 10.

[0105] The controller is connected to the first sensor 20 and the second sensor 30 respectively, and is used to determine the first obstacle detection position of the obstacle according to the first detection data of the first sensor 20 when the first sensor 20 detects the existence of an obstacle in front during the cleaning robot 1 performing cleaning work in the working area at a first preset speed; thereafter, the cleaning robot 1 is controlled to approach the obstacle at a second preset speed, and the second detection data of the obstacle by the second sensor 30 of the cleaning robot 1 is obtained to obtain the second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; the detection accuracy of the second sensor 30 is higher than the detection accuracy of the first sensor 20; finally, the cleaning robot 1 is controlled to move along the edge and clean according to the second obstacle detection position.

[0106] It should be understood that since the detection accuracy of the second sensor 30 is higher than that of the first sensor 20, the cleaning robot 1 first detects the approximate position of the obstacle in front through the first sensor 20 during edge cleaning, and then performs high-precision detection of the position of the obstacle through the second sensor 30, so that the cleaning robot 1 can move close to the edge of the obstacle without scratching, thereby achieving a high-precision edge cleaning effect.

[0107] Optionally, Figure 8 A left-side structural schematic diagram of a cleaning robot provided in one embodiment of the present application is shown. Figure 8 In the embodiment, the second sensor 30 includes a side front edge line laser 31 and a side rear edge line laser 32, wherein the side front edge line laser 31 is located at the front of the edge side of the cleaning robot body 10. Fig. 9 , Fig. 9 A schematic diagram of the field of view of multiple sensors in a cleaning robot provided by an embodiment of the present application is shown. Fig. 9In the figure, the enclosing frame formed by line 101 illustrates the field of view of the first sensor 20, and the enclosing frame formed by line 103 illustrates the field of view of the side front edge laser 31. The edge of the field of view of the side front edge laser 31 is aligned with the edge of the field of view of the first sensor 20. At this time, the collection end of the side front edge laser 31 is facing the 20° direction of the cleaning robot to make up for the detection range of the first sensor 20, thereby expanding the detection range of the cleaning robot 1 to the front area and the side front area. The side rear edge laser 32 is located at the rear of the side of the cleaning robot body 10. Fig. 9 In the figure, the enclosing frame formed by the line 104 illustrates the field of view of the side rear side edge laser 32, and the edge of the field of view of the side rear side edge laser 32 is in contact with the edge of the squeegee 34 provided at the rear side of the cleaning robot. At this time, the collection end of the side rear side edge laser 32 faces the 43°-49° direction of the cleaning robot 1 to expand the detection range of the side rear area of ​​the cleaning robot 1. Optionally, in order to make fuller use of the field of view, the position height of the side rear side edge laser 32 is generally higher than the side front side edge laser 31, so as to obtain a larger detection range.

[0108] Figure 8 In the embodiment, the cleaning robot 1 may further include an ultrasonic sensor 33, which may detect transparent obstacles, such as glass. Exemplarily, the ultrasonic sensor 30 may be arranged between the side front edge line laser 31 and the side rear edge line laser 32. By arranging the ultrasonic sensor 33 on the edge side, in combination with the side front edge line laser 31 and the side rear edge line laser 32, the recognition of transparent obstacles during edge cleaning may be achieved, thereby improving edge accuracy and obstacle avoidance effects. During the non-edge cleaning movement of the cleaning robot, the ultrasonic sensor 33 may also identify transparent obstacles, thereby reducing collisions between the cleaning robot and the transparent obstacles.

[0109] Exemplarily, when the cleaning robot 1 is performing edge cleaning and approaches an obstacle that needs to be cleaned along the edge, the side front edge line laser 31 will first detect ordinary obstacles in the side area, and then, as the cleaning robot 1 approaches the ordinary obstacle, if there is a transparent obstacle on the side of the cleaning robot 1 along the edge, the ultrasonic sensor 33 can detect the transparent obstacle, and the cleaning robot 1 can maintain a predetermined distance from the obstacle to perform edge cleaning based on the ordinary obstacle detected by the side front edge line laser 31 and the transparent obstacle detected by the ultrasonic sensor 33 to reduce the occurrence of collisions, thereby achieving accurate edge cleaning, thereby improving the edge cleaning accuracy and obstacle avoidance effect of the cleaning robot when cleaning along the edge. Arranging two edge line lasers in front and behind the edge can improve the accuracy of the cleaning robot along the edge and reduce collisions or distances when approaching or leaving obstacles that need to be cleaned along the edge.

[0110] Optionally, four ultrasonic sensors 33 may be provided in the cleaning robot 1. By providing four ultrasonic sensors 33, the transparent obstacles can be further identified in advance and accurately, thereby further improving the edge accuracy and obstacle avoidance effect.

[0111] Alternatively, if Figure 7 In the embodiment, the cleaning robot 1 further includes a laser radar 40, which is disposed at the middle position of the front bottom of the cleaning robot body 10 and above the first sensor 20. The laser radar 40 can scan the area in front of the cleaning robot 1 to detect the environmental features of the area in front of the cleaning robot 1.

[0112] Figure 7 In the embodiment, the height of the laser radar 40 above the ground is between 170 mm and 180 mm, and is located above the first sensor 20. Setting it in this height range is beneficial to the structural stability of the chassis wheel set, and can also avoid setting it too high, which will cause large fluctuations in environmental information and affect the accuracy of positioning. Fig. 9 , Fig. 9 In the figure, the enclosing frame formed by the line 102 illustrates the field of view of the laser radar 40, and the field of view angle of the laser radar 40 is between 210° and 240°. The field of view angle of the laser radar 40 here refers to the angle range that the laser radar 40 can detect in the horizontal direction. By setting the field of view angle of the laser radar 40 between 210° and 240°, it can be ensured that it can detect a larger range of the area in front of the cleaning robot 1, reducing positioning loss due to insufficient detection data, and the detection range can also cover part of the side area of ​​the robot body 10.

[0113] In the example of the present application, the maximum detection height of the laser radar 40 is lower than that of the first sensor 20, the detection range of the laser radar 40 in the vertical direction is smaller than that of the first sensor 20, and the detection range of the first sensor 20 has an overlapping area with the detection range of the laser radar 40. Since the laser radar 40 detects objects with a height of about 170mm to 180mm above the ground, it is difficult to accurately detect three-dimensional objects with a narrow ground and a wide top when cleaning along the edge, and collisions may occur. Therefore, a first sensor 20 with a detection range larger than that of the laser radar 40 in the vertical direction is provided to cooperate with the laser radar 40 to detect obstacles at high places, thereby avoiding collisions. For example, when the obstacle in front of the cleaning robot 1 is a tea table, the laser radar 40 can only detect the legs of the tea table, but cannot detect the table top of the tea table, and collisions may occur easily. At this time, the first sensor 20 can cooperate with the laser radar to detect the table top of the tea table, thereby avoiding collisions.

[0114] Figure 7In the embodiment, the collecting end of the first sensor 20 is tilted upward, and can detect obstacles at a high position in the front area of ​​the cleaning robot 1. The first sensor 20 is located below the laser radar 40, and can cooperate with the laser radar 40 to detect obstacles in the front area of ​​the cleaning robot 1 to make up for the detection area at a high position in front of the cleaning robot 1. Exemplarily, the first sensor 20 can be a front obstacle avoidance stereo vision. In office buildings, restaurants and other places, there may be high obstacles such as tables and chairs, which cannot be detected by the laser radar 40. The front obstacle avoidance stereo vision can detect such obstacles, thereby improving the safety of the robot's operation and the edge effect.

[0115] like Figure 7 As shown, a three-dimensional coordinate system is established with the symmetry center of the driving wheel on the cleaning robot body 10 as the coordinate origin, wherein the positive direction of the Y axis is the forward direction of the cleaning robot body 10, the positive direction of the X axis is the right direction of the cleaning robot body 10, and the positive direction of the Z axis is the height direction of the cleaning robot body 10. The installation angle of the first sensor 20 can be explained according to the installation process of the first sensor 20, as shown in the following example: first, the first sensor 20 is placed at the coordinate origin of the three-dimensional coordinate system, and the shooting part of the first sensor 20 faces the forward direction of the cleaning robot body 10; then, the first sensor 20 is rotated to change the direction of the shooting part; finally, the first sensor 20 is moved from the coordinate origin to the front installation position of the cleaning robot body 10.

[0116] For example, when installing the first sensor 20, the first sensor 20 can be rotated by -30° to -45° around the Y axis, and then moved to the front installation position of the cleaning robot body 10. Optionally, the offset of the first sensor 20 on the Y axis is 268mm to 275mm, and the offset on the Z axis is 130mm to 135mm. This offset distance can make up for the detection area at the front height of the cleaning robot, thereby improving the accuracy of identifying obstacles at the front height.

[0117] Correspondingly, when installing the side front edge line laser 31, the side front edge line laser 31 can be rotated 36°~41° around the Y axis, 31°~35° around the Z axis, and 8°~11° around the X axis, and then moved to the right front installation position of the cleaning robot body 10, and the offset of the side front edge line laser 31 on the X axis is 175mm~190mm, the offset on the Y axis is 230mm~245mm, and the offset on the Z axis is 120mm~132mm. Accordingly, when installing the side rear side edge line laser 32, the side rear side edge line laser 32 can be rotated 21° to 25° around the Y axis, 30° to 32° around the Z axis, and 6° to 9° around the X axis, and then moved to the right rear installation position of the cleaning robot body 10, and the side rear side edge line laser 32 has an offset of 195mm to 205mm in the X axis, an offset of -165mm to -175mm in the Y axis, and an offset of 130mm to 145mm in the Z axis. This offset distance can compensate for the detection accuracy of the first sensor 20 in the cleaning robot 1. On the basis that the cleaning robot 1 has the first sensor 20, the side front edge laser 31 and the side rear edge laser 32 are additionally installed. The side front edge laser 31 and the side rear edge laser 32 and the objects along the edge of the cleaning robot body 10 that need to be along the edge form a high-precision measurement point respectively, and further detection and correction are made to achieve a higher-precision edge effect. At the same time, when the cleaning robot 1 rotates, the side front edge laser 31 and the side rear edge laser 32 can detect obstacles in the lateral area of ​​the cleaning robot 1 in advance, so that the cleaning robot 1 can avoid obstacles in the lateral area to prevent scratches.

[0118] It should be understood that by setting the sensors offset in coordination with each other on the robot body, the overall size of the cleaning robot can be reduced, making it easier to clean in scenes such as narrow passages, and enabling more accurate detection, thereby improving cleaning effects and safety.

[0119] It should be noted that in the perspective diagrams of each sensor in the present application, the enclosing frame formed by the lines is only a diagram of the detection range of the sensor at each angle, and does not represent the actual distance detection range of the sensor. That is, what can be seen from the figure is that a closed enclosing frame is formed at a position very close to the cleaning robot, but the detection signal extends outward and diverges. The actual detection range is larger and wider than the detection range distance illustrated in the figure.

[0120] Corresponding to a control method of a cleaning robot in the above embodiment, Fig.10 A schematic structural diagram of a control device of a cleaning robot provided in one embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0121] Reference Fig.10 , the control device 5 of the cleaning robot of this embodiment includes:

[0122] The first detection module 51 is used to determine a first obstacle detection position of the obstacle according to first detection data of the first sensor when the first sensor detects an obstacle in front of the cleaning robot during the cleaning operation at a first preset speed in the working area.

[0123] The second detection module 52 is used to control the cleaning robot to approach the obstacle at a second preset speed, and obtain the second detection data of the obstacle by the second sensor of the cleaning robot to obtain the second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; and the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor.

[0124] The path control module 53 is used to control the cleaning robot to move along the edge and perform cleaning according to the second obstacle detection position.

[0125] It can be understood that the control device 5 of the cleaning robot provided in this embodiment, when the first sensor detects that there is an obstacle in front of the cleaning robot during the cleaning work in the working area at a first preset speed, determines the first obstacle detection position of the obstacle according to the first detection data of the first sensor through the first detection module 51; then, the cleaning robot is controlled to approach the obstacle at a second preset speed through the second detection module 52, and obtains the second detection data of the obstacle by the second sensor of the cleaning robot, and obtains the second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor; then, the path control module 53 controls the cleaning robot to move along the edge and clean according to the second obstacle detection position. In this application, since the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor, the cleaning robot first detects the approximate position of the obstacle in front through the first sensor during the edge cleaning process, and then approaches the obstacle by decelerating to reduce the possibility of collision. At the same time, as the cleaning robot approaches, the second sensor performs high-precision detection of the position of the obstacle, so that the cleaning robot can move close to the edge of the obstacle without scratching, thereby achieving a high-precision edge cleaning effect.

[0126] Further, the second sensor includes a side front edge laser and a side rear edge laser, and the second detection module 52 includes:

[0127] The third detection unit is used to obtain a third obstacle detection position of the obstacle according to third detection data of the obstacle by the laser along the side front line of the cleaning robot when an obstacle is detected by the laser along the side front line.

[0128] The fourth detection unit is used to obtain a fourth obstacle detection position of the obstacle according to fourth detection data of the obstacle by the laser along the side and rear of the cleaning robot when an obstacle is detected by the laser along the side and rear.

[0129] Furthermore, the path control module 53 includes:

[0130] The first path control unit is used to determine the first edge path of the cleaning robot according to the third obstacle detection position after obtaining the third obstacle detection position of the obstacle, and control the cleaning robot to adjust the posture of the cleaning robot according to the first edge path to perform edge cleaning.

[0131] The second path control unit is used to determine the second edge path of the cleaning robot according to the fourth obstacle detection position and the width of the squeegee after obtaining the fourth obstacle detection position of the obstacle, and control the cleaning robot to adjust the posture of the cleaning robot according to the second edge path to perform edge cleaning.

[0132] Furthermore, during the cleaning process of the cleaning robot, the control device 5 of the cleaning robot further includes:

[0133] The position retention module is used to update and store the third obstacle detection position of the obstacle obtained based on the third detection data of the obstacle along the edge line of the front side of the cleaning robot and the fourth obstacle detection position of the obstacle obtained based on the fourth detection data of the obstacle along the edge line of the rear side of the cleaning robot until the cleaning robot finishes cleaning along the edge.

[0134] Further, after respectively obtaining the first obstacle detection position and the second obstacle detection position, the control device 5 of the cleaning robot includes:

[0135] The first map updating unit is used to project the first obstacle detection position into the positioning map when the first obstacle detection position is obtained.

[0136] The second map updating unit is used to project the second obstacle detection position into the positioning map when the second obstacle detection position is obtained, and delete the first obstacle detection position in the positioning map to obtain an updated positioning map; wherein the positioning map is obtained by constructing the working area in advance.

[0137] Furthermore, before the cleaning robot detects an obstacle ahead during the cleaning operation at the first preset speed in the working area, the control device 5 of the cleaning robot includes:

[0138] The initial detection module is used to perform initial detection of the working area of ​​the cleaning robot through a laser radar to determine whether there are obstacles in front of the cleaning robot, wherein the maximum detection height of the laser radar is lower than that of the first sensor, and the detection range of the laser radar in the vertical direction is smaller than that of the first sensor.

[0139] It should be noted that, since the information interaction, execution process and other contents between the modules in the control device 5 of the above-mentioned cleaning robot are based on the same concept as the method embodiment of the present application, their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0140] The present application also provides a terminal device, such as Fig.11 As shown, Fig.11 A schematic diagram of the structure of a terminal device provided in one embodiment of the present application. Fig.11 The terminal device 6 of this embodiment includes: a memory 61, a processor 62, and a computer program stored in the memory 61 and executable on the processor 62. When the processor 62 executes the computer program, the steps in any one of the above-mentioned control method embodiments of the cleaning robot are implemented.

[0141] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0142] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0143] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0144] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0145] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0146] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0147] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0148] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for a cleaning robot, characterized in that: include: When the first sensor detects that there is an obstacle in front of the cleaning robot during the cleaning work at the first preset speed in the working area, determining a first obstacle detection position of the obstacle according to first detection data of the first sensor; Controlling the cleaning robot to approach the obstacle at a second preset speed, and obtaining second detection data of the obstacle by a second sensor of the cleaning robot to obtain a second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; and the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor; The cleaning robot is controlled to move along the edge and perform cleaning according to the second obstacle detection position.

2. The control method of the cleaning robot according to claim 1, characterized in that: The second sensor includes a front side edge laser and a rear side edge laser. The controlling the cleaning robot to approach the obstacle at a second preset speed and acquiring second detection data of the obstacle by a second sensor of the cleaning robot to obtain a second obstacle detection position of the obstacle includes: When the obstacle is detected by the side front edge laser, a third obstacle detection position of the obstacle is obtained according to third detection data of the obstacle by the side front edge laser of the cleaning robot; When the obstacle is detected by the laser along the side and rear edge, a fourth obstacle detection position of the obstacle is obtained according to fourth detection data of the obstacle by the laser along the side and rear edge of the cleaning robot.

3. The control method of the cleaning robot according to claim 2, characterized in that: The controlling the cleaning robot to move along the edge and perform cleaning according to the second obstacle detection position comprises: After obtaining the third obstacle detection position of the obstacle, determining a first edge path of the cleaning robot according to the third obstacle detection position, and controlling the cleaning robot to adjust the posture of the cleaning robot according to the first edge path to perform edge cleaning; After obtaining the fourth obstacle detection position of the obstacle, the second edge path of the cleaning robot is determined according to the fourth obstacle detection position and the width of the cleaning component, and the cleaning robot is controlled to adjust the posture of the cleaning robot according to the second edge path to perform edge cleaning.

4. The control method of the cleaning robot according to claim 2, characterized in that: During the cleaning process of the cleaning robot, the method further comprises: The third obstacle detection position of the obstacle obtained based on the third detection data of the obstacle along the edge line by the laser of the front side of the cleaning robot and the fourth obstacle detection position of the obstacle obtained based on the fourth detection data of the obstacle along the edge line by the laser of the rear side of the cleaning robot are updated and stored until the cleaning robot finishes cleaning along the edge.

5. The control method of the cleaning robot according to claim 1, characterized in that: After respectively obtaining the first obstacle detection position and the second obstacle detection position, the method includes: When the first obstacle detection position is obtained, projecting the first obstacle detection position into a positioning map; When the second obstacle detection position is obtained, the second obstacle detection position is projected into the positioning map, and the first obstacle detection position in the positioning map is deleted to obtain an updated positioning map; wherein the positioning map is obtained by constructing the working area in advance.

6. The control method of the cleaning robot according to claim 1, characterized in that: Before the first sensor detects an obstacle ahead during the cleaning robot cleaning the working area at a first preset speed, the method includes: An initial detection is performed on the working area of ​​the cleaning robot through a laser radar to determine whether there is an obstacle in front of the cleaning robot, wherein the maximum detection height of the laser radar is lower than that of the first sensor, and the detection range of the laser radar in the vertical direction is smaller than that of the first sensor.

7. A control device for a cleaning robot, characterized in that: include: A first detection module, configured to determine a first obstacle detection position of the obstacle according to first detection data of the first sensor when the first sensor detects that there is an obstacle in front of the cleaning robot during the cleaning operation at a first preset speed in the working area; a second detection module, used to control the cleaning robot to approach the obstacle at a second preset speed, and obtain second detection data of the obstacle by a second sensor of the cleaning robot to obtain a second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; and the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor; A path control module is used to control the cleaning robot to move along the edge and perform cleaning according to the second obstacle detection position.

8. A cleaning robot, characterized in that: The cleaning robot comprises: a cleaning robot body, a controller, a first sensor and a second sensor, wherein: The first sensor is arranged at the front bottom of the cleaning robot body, and is used to detect whether there is an obstacle in front of the cleaning robot, and to perform a preliminary detection of the position of the obstacle to generate first detection data; The second sensor is arranged along the edge of the cleaning robot body, and is used to accurately detect the position of the obstacle and generate second detection data; The controller is connected to the first sensor and the second sensor, respectively, and is used to determine the first obstacle detection position of the obstacle according to the first detection data of the first sensor when the first sensor detects the existence of an obstacle in front during the cleaning robot performing cleaning work in the working area at a first preset speed; and control the cleaning robot to approach the obstacle at a second preset speed, and obtain the second detection data of the obstacle by the second sensor of the cleaning robot to obtain the second obstacle detection position of the obstacle; wherein the second preset speed is less than the first preset speed; the detection accuracy of the second sensor is higher than the detection accuracy of the first sensor; and control the cleaning robot to move along the edge and clean according to the second obstacle detection position.

9. The cleaning robot according to claim 8, characterized in that: The second sensor includes a side front edge laser and a side rear edge laser, wherein: The side front edge line laser is located at the front of the side edge of the cleaning robot body, and the edge of the field of view of the side front edge line laser is aligned with the edge of the field of view of the first sensor; The side rear edge line laser is located at the rear of the side of the cleaning robot body, and the edge of the field of view of the side rear edge line laser is in contact with the edge of the cleaning component; The position height of the laser along the side rear edge is higher than the position height of the laser along the side front edge.

10. The cleaning robot according to claim 9, characterized in that: The cleaning robot further comprises a laser radar, which is arranged at the middle position of the bottom front side of the cleaning robot body and above the first sensor, and is used to detect environmental characteristics of the area in front of the cleaning robot; wherein the maximum detection height of the laser radar is lower than that of the first sensor, and the detection range of the laser radar in the vertical direction is smaller than that of the first sensor; the height of the laser radar above the ground is 170 mm to 180 mm, and the field of view angle of the laser radar is between 210° and 240°; The collecting end of the first sensor is placed tilted upwards; A three-dimensional coordinate system is established with the symmetry center of the driving wheel on the cleaning robot body as the coordinate origin, and the first sensor rotates -30° to -45° around the Y axis; the offset of the first sensor on the Y axis is 268mm to 275mm, and the offset on the Z axis is 130mm to 135mm; The side front edge laser rotates 36° to 41° around the Y axis, 31° to 35° around the Z axis, and 8° to 11° around the X axis; the offset of the side front edge laser on the X axis is 175mm to 190mm, the offset on the Y axis is 230mm to 245mm, and the offset on the Z axis is 120mm to 132mm; The side and rear side edge line laser rotates 21° to 25° around the Y axis, 30° to 32° around the Z axis, and 6° to 9° around the X axis; the side and rear side edge line laser has an offset of 195mm to 205mm on the X axis, an offset of -165mm to -175mm on the Y axis, and an offset of 130mm to 145mm on the Z axis; The detection range of the first sensor and the detection range of the laser radar have an overlapping area.

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