Cleaning robot bypass control method and cleaning robot

Abstract

The invention relates to a cleaning robot bypassing control method and a cleaning robot, in the process that the cleaning robot bypasses an obstacle, whether the cleaning robot meets a turn-back condition or not is detected, and under the condition that the turn-back condition is met, whether the current obstacle has a shielding part or not is further verified. If the shielded part exists, the cleaning robot is controlled to rotate in the direction consistent with the detouring direction and then retreat back to supplement obstacle information; and if the shielded part does not exist, the cleaning robot is controlled to rotate in the direction consistent with the bypassing direction and retreat to supplement obstacle information at the same time, and finally the cleaning robot is controlled to continue bypassing the obstacle according to the supplemented obstacle information. Through the scheme, accurate obstacle information supplementation can be carried out in the process that the cleaning robot bypasses the obstacle, the accuracy of the obstacle information is improved, and therefore the possibility that the cleaning robot collides with the obstacle in the bypassing process is effectively reduced.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and particularly to a method for controlling a cleaning robot to bypass an obstacle and a cleaning robot. Background Art

[0002] With the development of science and technology, cleaning robots are increasingly widely used in daily production and life, bringing great convenience to people. Generally, a sensing sensor is installed on the cleaning robot to detect obstacles in the traveling direction of the cleaning robot and avoid the obstacles by bypassing them.

[0003] However, in the related art, it is difficult for the cleaning robot to obtain accurate obstacle information during bypassing, and it is easy to cause a collision with the obstacle during the bypassing process. Summary of the Invention

[0004] Based on this, it is necessary to provide a method for controlling a cleaning robot to bypass an obstacle and a cleaning robot, so as to improve the accuracy of the obstacle information obtained by the cleaning robot when bypassing an obstacle and reduce the possibility of a collision with the obstacle during the bypassing process.

[0005] In a first aspect, the present application provides a method for controlling a cleaning robot to bypass an obstacle, including: when the cleaning robot bypassing an obstacle meets the turning-back condition, verifying whether there is an occluded part on the current obstacle; if there is an occluded part, controlling the cleaning robot to turn back to supplement the obstacle information in a manner of first rotating and then retreating; if there is no occluded part, controlling the cleaning robot to turn back to supplement the obstacle information in a manner of rotating while retreating; wherein, the rotation direction of the cleaning robot during rotation is the same as the bypassing direction, the rotation direction is clockwise or counterclockwise, and the supplemented obstacle information is used for the cleaning robot to continue to control bypassing the obstacle.

[0006] In a second aspect, the present application further provides a cleaning robot, including a cleaning robot body and a detection device, the detection device is arranged at the front end of the traveling direction of the cleaning robot body, the cleaning robot body includes a memory and a processor, the detection device is connected to the processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned method for controlling a cleaning robot to bypass an obstacle are implemented.

[0007] The above-mentioned cleaning robot detour control method and cleaning robot detect whether the cleaning robot meets the turning-back condition during the process of the cleaning robot detouring around an obstacle. If the turning-back condition is met, it further verifies whether there is an occluded part on the current obstacle. If there is an occluded part, it controls the cleaning robot to rotate first and then retreat in the direction consistent with the detouring direction to supplement the obstacle information when turning back; if there is no occluded part, it controls the cleaning robot to retreat while rotating in the direction consistent with the detouring direction to supplement the obstacle information when turning back, and finally controls the cleaning robot to continue detouring around the obstacle with the supplemented obstacle information. In the above solution, when there is an occluded part, the obstacle information is supplemented by rotating first and then retreating, avoiding the situation where the cleaning robot's perspective cannot collect the obstacle information when retreating while rotating; when there is no occluded part, the obstacle information is supplemented by retreating while rotating, ensuring the acquisition efficiency of the obstacle information. Through this solution, accurate obstacle information supplementation can be carried out during the process of the cleaning robot detouring around an obstacle, improving the accuracy of the obstacle information, and thus effectively reducing the possibility of collision with the obstacle during the detouring process. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a schematic flow chart of the cleaning robot detour control method according to an embodiment of the present application;

[0009] Figure 2 It is a schematic flow chart of the cleaning robot detour control method according to another embodiment of the present application;

[0010] Figure 3 It is a schematic diagram of the cleaning robot moving according to an embodiment of the present application;

[0011] Figure 4 It is a schematic diagram of the cleaning robot detouring according to an embodiment of the present application;

[0012] Figure 5 It is a schematic flow chart of the cleaning robot detour control method according to still another embodiment of the present application;

[0013] Figure 6 It is a schematic flow chart of the detouring process according to an embodiment of the present application;

[0014] Figure 7 It is a schematic diagram of the cleaning robot turning back according to an embodiment of the present application;

[0015] Figure 8 It is a schematic diagram of the cleaning robot turning back according to another embodiment of the present application;

[0016] Figure 9 It is a schematic flow chart of the cleaning robot detour control method according to yet another embodiment of the present application;

[0017] Figure 10Schematic diagram of a cleaning robot returning in an embodiment of the present application;

[0018] Figure 11 Schematic flow diagram of a method for controlling a cleaning robot to bypass obstacles in another embodiment of the present application;

[0019] Figure 12 Schematic diagram of a cleaning robot returning in another embodiment of the present application;

[0020] Figure 13 Schematic diagram of a cleaning robot bypassing an obstacle in an embodiment of the present application. Detailed implementation manners

[0021] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0022] The method for controlling a cleaning robot to bypass obstacles according to an embodiment of the present application is applied to a cleaning robot, specifically to a type of cleaning robot with an autonomous movement function. The specific type of the cleaning robot is not limited, such as a floor sweeper, a mopping machine, a sweeping and mopping integrated machine, etc., which will not be elaborated here.

[0023] The cleaning robot provided by the present application is provided with a detection device at the head. The detection device can detect obstacles and collect obstacle information within a certain transceiver viewing angle, so as to realize functions such as obstacle avoidance and map construction of the cleaning robot. Its specific type is not unique. It can be a camera or other image sensors, or an infrared detector, a TOF (Time-Of-Flight) sensor, a laser sensor, a vision sensor, or at least two of a camera, an infrared detector, a TOF sensor, a laser sensor, and a vision sensor, which are not limited here. Specifically, the detection device can be arranged at the front end of the cleaning robot, or protrude from the top of the upper cover of the cleaning robot, or be embedded in the body of the cleaning robot, and a window is opened on the body to enable the detection device to work smoothly.

[0024] In one embodiment, the detection device at least includes a camera and a laser sensor. Among them, the camera is used to collect obstacle information at a certain field of view angle, and the laser sensor detects obstacles at a certain field of view angle. Finally, the processor performs multi-sensor fusion algorithm analysis based on the obstacle information collected by the camera and the detection result of the laser sensor to detect whether there is an occluded part of the obstacle at this time.

[0025] Please refer to Figure 1 , the present application provides a method for controlling a cleaning robot to bypass obstacles, including step 102, step 104, and step 106.

[0026] Step 102: When the cleaning robot circumvents an obstacle and satisfies the turning-back condition, it is checked whether the current obstacle has any blocking parts.

[0027] Specifically, the cleaning robot bypasses the obstacle, that is, the cleaning robot runs around the obstacle, and its bypass direction includes clockwise and counterclockwise directions. The specific selection can be made based on actual needs. Normally, when the cleaning robot is along the right side of the edge, the direction of bypassing the obstacle is clockwise, and when the cleaning robot is along the left side of the edge, the direction of bypassing the obstacle is counterclockwise. Turning back means that the cleaning robot retreats a certain distance so that the cleaning robot can collect obstacle information for the obstacle to complete the obstacle information. The blocked part is the part where the obstacle is blocked by other parts of itself or by other obstacles in the current detection direction, and the obstacle information cannot be collected by the detection device at present. Normally, the cleaning robot performs the turning back action mostly at the turning part of the obstacle, that is, the position where the circumferential outer contour line of the obstacle is bent.

[0028] The head of the cleaning robot is equipped with a detection device, which senses obstacles in the direction of travel with a certain field of view (the specific size is not unique and varies according to the different detection devices, for example, 110 degrees). Since the detection device cannot penetrate obstacles, the specific shape of the side and back areas of the obstacle is not clear. When the cleaning robot bypasses an obstacle, in order to avoid a collision between the cleaning robot and the obstacle, it is often necessary to collect obstacle information multiple times by looking back to complete the obstacle information.

[0029] Moreover, when the cleaning robot is circumventing an obstacle, the obstacle is on the side of the cleaning robot, such as the right or left side (depending on the circumventing direction). At this time, due to the limitation of the field of view angle, the detection device of the cleaning robot cannot recognize the full picture of the obstacle. That is, it can be understood that part of the obstacle is in the blind spot of the cleaning robot's field of vision. Therefore, in the process of turning back, it is necessary not only to control the cleaning robot to retreat, but also to control the cleaning robot to rotate in the same direction as the circumventing direction to ensure that the cleaning robot can accurately identify other parts of the obstacle.

[0030] There is not only one way to block the blocked part, which can be high and low blocking, wide and narrow blocking or other obstacles blocking. High and low blocking means that the higher part of the obstacle blocks the lower part, wide and narrow blocking means that the wider part of the obstacle blocks the narrower part, and other obstacles blocking means that when the obstacle that needs to be bypassed is close to the cleaning robot, there are other obstacles.

[0031] For ease of understanding, the case of high and low occlusion is taken as an example for explanation. For low obstacles (such as books, weighing scales, flat clothes and socks, etc.), since their top surfaces are generally relatively flat and the heights at various positions vary little, there is no occluded part. During the process of the cleaning robot rotating and retreating, obstacle information is collected, and the situation where the obstacle information collection at the position to be supplemented is affected by occlusion will not occur. For obstacles of different heights, such as knee-high boots, stools with backs, etc., there are lower parts occluded by higher parts. If the method of rotating and retreating is used to collect obstacle information, it is very easy for the cleaning robot to retreat before the field of view angle of the detection device rotates and covers the position to be supplemented. Even if the field of view angle subsequently rotates and covers the position to be supplemented, at this time, due to the occlusion of the high part, the detection device has missed the best collection opportunity, resulting in inaccurate collected obstacle information.

[0032] Therefore, in the solution of the embodiment of the present application, different turning-back methods are configured for the cleaning robot. When the cleaning robot meets the turning-back condition during the process of detecting an obstacle to be bypassed, it is necessary to check whether there is an occluded part of the current obstacle, that is, to detect whether the obstacle will affect the supplement of obstacle information due to occlusion at the current position. Finally, according to the verification result, the cleaning robot is controlled to turn back in different ways to complete the supplement of obstacle information.

[0033] Step 104, if there is an occluded part, control the cleaning robot to turn back to supplement obstacle information in the way of rotating first and then retreating.

[0034] Among them, the rotation direction of the cleaning robot during rotation is the same as the bypassing direction, and the rotation direction is clockwise or counterclockwise. The supplemented obstacle information is used for the cleaning robot to continue to control bypassing the obstacle.

[0035] Specifically, when the cleaning robot detects that there is an occluded part of the obstacle at the current position, to ensure that the obstacle information at the position to be supplemented can be accurately obtained, the cleaning robot will implement the turning-back function in the way of rotating first and then retreating, so as to collect obstacle information and supplement the obstacle information.

[0036] It should be noted that when there is an occluded part, the rotation mode of the cleaning robot is to rotate in place. The specific implementation method is not unique, and the rotation implementation method will also be different according to the different bypassing directions of the cleaning robot. In one embodiment, taking the clockwise bypassing direction as an example, to realize the in-place rotation of the cleaning robot, the left wheel of the cleaning robot needs to rotate forward (that is, the traveling direction), and the right wheel of the cleaning robot needs to rotate backward (the direction opposite to the traveling direction) at the same wheel speed. If the cleaning robot needs to perform a retreat action, it only needs the left wheel and the right wheel of the cleaning robot to rotate backward at the same wheel speed.

[0037] Step 106, if there is no occluded part, control the cleaning robot to turn back to supplement obstacle information in a way of rotating while retreating.

[0038] Similarly, when the cleaning robot rotates, the rotation direction is the same as the detouring direction, and the rotation direction is clockwise or counterclockwise. The supplemented obstacle information is used for the cleaning robot to continue to detour around the obstacle for control.

[0039] Specifically, when the cleaning robot detects the current position and there is no occluded part of the obstacle, there is no need to consider that the acquisition of obstacle information will be blocked at this time. Therefore, in this case, the cleaning robot realizes the turning-back function in a way of rotating while retreating, collects obstacle information, and supplements the obstacle information. Compared with the way of rotating first and then retreating, this way does not require rotation waiting time and has a higher turning-back efficiency.

[0040] It should be noted that the implementation method of the cleaning robot rotating while retreating is not the only one, and the implementation method will also be different according to the different detouring directions of the cleaning robot. In one embodiment, taking the cleaning robot detouring around the obstacle in the counterclockwise direction as an example, when rotating while retreating, it is necessary to control the left wheel of the cleaning robot to rotate backward at the first wheel speed, and the right wheel of the cleaning robot to rotate backward at the second wheel speed, where the first wheel speed is greater than the second wheel speed.

[0041] In the above cleaning robot detouring control method, during the process of the cleaning robot detouring around the obstacle, it is detected whether the cleaning robot meets the turning-back condition. When the turning-back condition is met, it is further verified whether there is an occluded part of the current obstacle. If there is an occluded part, control the cleaning robot to turn back to supplement obstacle information by rotating first and then retreating in the same direction as the detouring direction; if there is no occluded part, control the cleaning robot to turn back to supplement obstacle information by rotating while retreating in the same direction as the detouring direction, and finally control the cleaning robot to continue to detour around the obstacle with the supplemented obstacle information. In the above solution, when there is an occluded part, the obstacle information is supplemented in the way of rotating first and then retreating to avoid that the perspective of the cleaning robot cannot collect obstacle information when rotating while retreating; when there is no occluded part, the obstacle information is supplemented in the way of rotating while retreating to ensure the acquisition efficiency of the obstacle information. Through this solution, accurate obstacle information can be supplemented during the process of the cleaning robot detouring around the obstacle, improving the accuracy of the obstacle information, thereby effectively reducing the possibility of collision with the obstacle during the detouring process.

[0042] Please refer to Figure 2 , in one embodiment, before step 102, the method further includes step 202 and step 204.

[0043] Step 202, if an obstacle is detected during the operation of the cleaning robot, determine the initial obstacle information.

[0044] Step 204, based on the initial obstacle information and the real-time position information of the cleaning robot, control the cleaning robot to bypass the obstacle.

[0045] Specifically, the initial obstacle information is the initial position information of the obstacle determined when the cleaning robot first identifies the obstacle. The specific form of the initial position information is not unique. In one embodiment, it can be expressed as the coordinate parameters of the local part of the obstacle corresponding to the initial obstacle information in the map coordinate system. For reference, Figure 3 , during the movement of the cleaning robot, the detection device is turned on to detect obstacles in real time. If an obstacle is detected, partial information of the obstacle is identified, that is, the initial obstacle information is obtained.

[0046] Through the map information and the collected surrounding environment information, the cleaning robot can obtain its position information in the current map, that is, the real-time position information of the cleaning robot. For reference, Figure 4 , taking the clockwise bypass as an example in the figure, after determining the initial obstacle information and the real-time position information, the cleaning robot will start to bypass the obstacle based on the initial obstacle information and the real-time position information of the cleaning robot.

[0047] With this solution, obstacles can be detected in real time during the movement of the cleaning robot, and bypassing can be started in a timely manner when an obstacle is found, avoiding collisions between the cleaning robot and the obstacle and improving the operation reliability of the cleaning robot.

[0048] It should be noted that in one embodiment, after the cleaning robot detects an obstacle during operation, since the distance from the obstacle is generally far at this time, it can first keep the running direction unchanged and approach the obstacle, and start to bypass when the distance from the obstacle reaches a certain range, that is, perform the operation of controlling the cleaning robot to bypass the obstacle based on the initial obstacle information and the real-time position information of the cleaning robot. In other embodiments, it can also be that after the cleaning robot detects an obstacle during operation, it directly bypasses the obstacle based on the initial obstacle information and the real-time position information of the cleaning robot, and the specific selection can be made according to the actual needs.

[0049] Please refer to Figure 5 , in one of the embodiments, step 204 includes step 502 and step 504.

[0050] Step 502, based on the initial obstacle information and the real-time position information of the cleaning robot, determine the real-time distance between the obstacle and the cleaning robot.

[0051] Step 504: Control the cleaning robot to bypass the obstacle according to the real-time distance and the preset bypass interval distance.

[0052] Specifically, both the real-time position information and the initial obstacle information of the cleaning robot can be represented by coordinate parameters in the map coordinate system. In this way, the cleaning robot can perform coordinate calculations based on the acquired real-time position information and initial obstacle information to obtain the real-time distance between the obstacle and the cleaning robot.

[0053] The preset bypass interval distance is the preset interval distance that the cleaning robot needs to maintain from the obstacle when bypassing the obstacle. The cleaning robot can perform real-time bypass adjustment according to the real-time distance and the preset bypass interval distance, so that the cleaning robot operates in a state of maintaining the preset bypass interval distance from the obstacle.

[0054] In this way, by combining the preset bypass interval distance and the real-time distance for bypass control, it can ensure that the cleaning robot maintains a certain distance from the obstacle, avoid collisions with the obstacle, and improve the bypass accuracy. It can also ensure that the distance between the cleaning robot and the obstacle is not too large, so as to avoid large-scale missed cleaning, and ensure the cleaning effect of the cleaning robot on the edge area of the obstacle.

[0055] It should be noted that the size of the preset bypass interval distance is not unique, and specific settings can be made according to actual needs. For example, in one embodiment, the preset bypass interval distance can be set to 4 cm, etc., and specific settings are not limited. Different preset bypass interval distances can also be set according to the type of obstacle. For example, the preset bypass interval distance set for fragile obstacles can be greater than that set for non-fragile obstacles.

[0056] Please refer to Figure 6 , in one of the embodiments, step 504 includes step 602, step 604, step 606, and step 608.

[0057] Step 602: Determine the distance difference according to the real-time distance and the preset bypass interval distance.

[0058] Step 604: Determine the real-time angular velocity of the cleaning robot according to the distance difference.

[0059] Step 606: Determine the real-time linear velocity of the cleaning robot according to the real-time angular velocity.

[0060] Step 608: Control the cleaning robot to bypass the obstacle according to the real-time angular velocity and the real-time linear velocity.

[0061] Specifically, in step 604, the proportional integral derivative (PID) method can be used to determine the real-time angular velocity. PID is a control method that controls according to the proportional, integral, and differential of the error generated by comparing the real-time data acquisition information of the controlled object with the given value. In the solution of this embodiment, after the cleaning robot detects an obstacle, it first travels in the direction close to the obstacle until it is close to the obstacle (that is, after the distance from the obstacle reaches a certain range), and then controls the cleaning robot to rotate in place so that the traveling direction of the cleaning robot is parallel to the edge of the obstacle (or parallel to the tangent of the edge of the obstacle), and then performs a circumvention action using the PID algorithm.

[0062] Specifically, the cleaning robot subtracts the preset circumvention interval distance from the real-time distance to obtain a distance difference, substitutes the distance difference into the PID algorithm for analysis, and calculates the real-time angular velocity required for the current operation of the cleaning robot, that is, the rotation speed. According to the real-time angular velocity, a negative feedback calculation is performed to determine the real-time linear velocity of the cleaning robot. The linear velocity of the cleaning robot is configured as a negative feedback function of the angular velocity and stored inside the cleaning robot. When the cleaning robot analyzes the real-time angular velocity through the PID algorithm and substitutes it into the negative feedback function for calculation, the real-time linear velocity, that is, the forward speed, can be obtained. Finally, the cleaning robot resolves the real-time linear velocity and the real-time angular velocity into the steering and rotation speed of the left and right wheels to control the left and right wheels, so that the cleaning robot maintains a preset circumvention interval distance from the obstacle and realizes circumvention.

[0063] In the above solution, the PID algorithm is used to control the circumvention of the cleaning robot, ensuring that the cleaning robot maintains a preset circumvention interval distance from the obstacle and performs circumvention, with high circumvention control accuracy.

[0064] It should be noted that the specific type of the negative feedback function is not unique, as long as it can characterize the relationship between the angular velocity and the linear velocity of the cleaning robot when the cleaning robot maintains a preset circumvention interval distance from the obstacle. For example, in a more detailed embodiment, the negative feedback function is: v = 0.2 - w^2, where v represents the linear velocity and w represents the angular velocity.

[0065] In one of the embodiments, step 102 includes: checking whether there is an occluded part on the current obstacle when the circumvention distance of the cleaning robot is greater than or equal to the preset distance.

[0066] Alternatively, in one of the embodiments, step 102 includes: checking whether there is an occluded part on the current obstacle when the circumvention angle of the cleaning robot is greater than or equal to the preset angle.

[0067] Or, in one embodiment, step 102 includes: when the cleaning robot walks to the position corresponding to the end point of the initial obstacle information, verifying whether there is an occluded part of the current obstacle.

[0068] Specifically, during the process of the cleaning robot bypassing the obstacle, it is necessary to detect in real time whether the turning-back condition is met. When the turning-back condition is met, the cleaning robot is timely controlled to turn back to supplement the obstacle information. The way for the cleaning robot to detect whether the turning-back condition is met is not unique. It can be achieved by detecting the rotation angle or the traveling distance of the cleaning robot, or it can be determined according to the obstacle information collected in the current time. There is no specific limitation.

[0069] In one embodiment, taking the detection of the traveling distance as an example, the cleaning robot pre-stores a preset distance. The size of the preset distance is not unique and can be selected differently according to the size of the obstacle. There is no specific limitation. For example, in one embodiment, the preset distance can be set to 8 cm. During the bypassing process, the cleaning robot analyzes based on the real-time position information and the initial position at the start of the bypassing, and accumulates to obtain the cumulative traveling distance of the cleaning robot. When the traveling distance in a single bypassing is greater than or equal to the preset distance, it is considered that the turning-back condition is met, and at this time, it is necessary to turn back to supplement the obstacle information.

[0070] In another embodiment, taking the detection of the rotation angle as an example, the cleaning robot pre-stores a preset angle. The size of the preset angle is not unique. There is no specific limitation. For example, in one embodiment, the preset angle can be set to 70 degrees. During the bypassing process, the cleaning robot can collect in real time the angle rotated in a single bypassing, that is, the bypassing angle of the cleaning robot. When the bypassing angle in a single bypassing is greater than or equal to the preset angle, it is considered that the turning-back condition is met, and at this time, it is necessary to turn back to supplement the obstacle information.

[0071] In yet another embodiment, the position of the cleaning robot relative to the obstacle is determined in real time. When the cleaning robot moves to the position corresponding to the end point of the initial obstacle information, it means that the cleaning robot has completed the bypassing of the known part of the obstacle. At this time, it is considered that the turning-back condition is met, and at this time, it is necessary to turn back to supplement the obstacle information to confirm whether there is still an unexplored part of the obstacle.

[0072] In one embodiment, step 102 includes: when the cleaning robot bypasses the obstacle and the turning-back condition is met, verifying whether there is an occluded part of the current obstacle according to multi-sensor fusion.

[0073] Specifically, in the solution of this embodiment, the cleaning robot is provided with a detection device, and the detection device includes at least two of a camera, an infrared detector, a TOF sensor, a laser sensor, and a vision sensor. Sensors such as the infrared detector, TOF sensor, and laser sensor can emit detection signals along the traveling direction of the cleaning robot, while the camera, vision sensor, etc. can acquire images in the traveling direction of the cleaning robot. Fusion analysis is performed based on the detection reflection signals of each detection signal reflected by the obstacle and / or the images to finally determine whether there is an occluded part on the obstacle.

[0074] For example, in one embodiment, the detection device includes at least a camera and a laser sensor. In an actual scenario, the camera acquires obstacle information at a certain field of view angle, and the laser sensor detects obstacles at a certain field of view angle. Finally, the processor performs multi-sensor fusion algorithm analysis based on the obstacle information acquired by the camera and the detection result of the laser sensor to detect whether there is an occluded part on the obstacle at this time.

[0075] The above solution uses the method of multi-sensor fusion analysis to detect whether there is an occluded part on the obstacle, and has high detection accuracy.

[0076] In one of the embodiments, step 102 includes: when the cleaning robot satisfies the turning-back condition while bypassing the obstacle, verifying whether there is a higher part of the current obstacle occluding a lower part.

[0077] Specifically, the higher part occluding the lower part is called high-low occlusion. In this embodiment, it is specifically detected whether there is a higher part of the current obstacle occluding a lower part, so that the obstacle information of the lower part cannot be recognized in the current detection direction.

[0078] Through this solution, the high-low occlusion of the obstacle can be detected, so that when there is high-low occlusion of the obstacle, the obstacle information can be supplemented in the way of first rotating and then retreating, improving the accuracy of obstacle information supplementation in the case of high-low occlusion.

[0079] It can be understood that the method of verifying whether there is an occluded part on the current obstacle is not unique. In the solution of the above embodiment, it can be in the way of multi-sensor fusion verification, obtaining the detection results of different sensors for the obstacle and performing algorithm analysis to determine whether the obstacle is occluded. In the solutions of other embodiments, it can also be in the way of a single sensor for occlusion detection. For example, by actually collecting the obstacle image data in the direction of the obstacle through the vision sensor and analyzing the obstacle image data to verify whether there is an occluded part on the current obstacle, etc., which will not be elaborated here.

[0080] In one embodiment, controlling the cleaning robot to turn back to supplement obstacle information in a way of rotating first and then retreating includes: controlling the cleaning robot to rotate to collect obstacle information; if the cleaning robot rotates to a preset rotation angle, controlling the cleaning robot to retreat and collect obstacle information; if the cleaning robot retreats to a preset retreat distance, controlling the cleaning robot to stop retreating, and completing the supplement of obstacle information.

[0081] Specifically, with reference to Figure 7 , when the cleaning robot meets the condition to turn back, if it turns back in a way of rotating while retreating (the turning-back path is a curve), when the field of view angle of the detection device rotates to cover the position 701 to be supplemented, the position 701 to be supplemented will be blocked by the upper part of the obstacle. At this time, when collecting the obstacle position information, accurate and complete obstacle information cannot be obtained.

[0082] Therefore, the solution of this embodiment uses the method of rotating first and then retreating to supplement obstacle information. Specifically, with reference to Figure 8 . First, when the cleaning robot bypasses the position point that meets the condition to turn back, the cleaning robot rotates in place by a preset rotation angle, and collects obstacle information in real time during the rotation. After rotation, the field of view angle of the detection device covers the position 701 to be supplemented, and the position 701 to be supplemented is not blocked by the upper part of the obstacle in the current state. After that, the cleaning robot retreats a preset retreat distance along a straight path, and collects obstacle information in real time during the retreat. Finally, the cleaning robot uses the collected obstacle information to complete the supplement of obstacle information.

[0083] In this way, by rotating first and then retreating, obstacle information is collected in real time to complete the supplement of obstacle information, further improving the accuracy of obstacle information supplement.

[0084] Please refer to Figure 9 , in one embodiment, after step 104, the method further includes step 902 and step 904.

[0085] Step 902, controlling the cleaning robot to move forward first and then rotate, and return to the initial position corresponding to when starting to supplement obstacle information.

[0086] Step 904, controlling the cleaning robot to continue to bypass the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

[0087] Specifically, with reference to Figure 10, corresponding to the cleaning robot first rotating and then retreating, after the obstacle information of the cleaning robot is supplemented, it will return to the position where the turning-back action starts in the way of first advancing and then rotating. After the cleaning robot returns to the initial position, it will start the next circumambulation action. During the next circumambulation, the cleaning robot will use the supplemented obstacle information as the new initial obstacle information and control the cleaning robot to continue circumambulating at an interval of the preset circumambulation distance from the obstacle in the same way as above. If it continues to circumambulate until it meets the turning-back condition, it is necessary to judge again whether there is an occluded part of the obstacle, and perform circumambulation again according to the judgment result until it finally circumambulates around the obstacle for one week (that is, the circumambulation angle of the cleaning robot accumulates to 360 degrees) or reaches the end of the circumambulable part of the obstacle to complete the circumambulation operation. It should be noted that some obstacles do not support the cleaning robot to circumambulate for one week, and only some parts of these obstacles allow the cleaning robot to circumambulate. For example, for some obstacles placed against the wall, the cleaning robot cannot circumambulate on the side close to the wall. For these obstacles placed against the wall, the circumambulable part refers to the other sides except the side close to the wall. Of course, the premise for the cleaning robot to circumambulate the obstacle is that the range of the drivable area around the obstacle is at least larger than the body width of the cleaning robot.

[0088] More specifically, in the solution of this embodiment, the rotation direction of the cleaning robot should be opposite to the circumambulation direction, the advancing distance should be the same as the retreating distance when performing the turning-back action, and the rotation angle should be the same as the rotation angle when performing the turning-back action before. In this way, after the cleaning robot completes the obstacle information supplement during turning back, it can return to the position before turning back and continue to perform the circumambulation action in the same state as before turning back. Through this method, the circumambulation reliability can be further improved.

[0089] In one embodiment, controlling the cleaning robot to turn back and supplement the obstacle information in the way of rotating while retreating includes: controlling the cleaning robot to collect the obstacle information while rotating and retreating; if the cleaning robot rotates to the preset rotation angle and retreats to the preset retreat distance, controlling the cleaning robot to stop rotating and retreating to complete the obstacle information supplement.

[0090] Specifically, when it is detected that there is no occluded part, the cleaning robot only needs to collect the obstacle information during the process of rotating while retreating. Correspondingly, the cleaning robot pre-stores the preset rotation angle and the preset retreat distance. In the actual scenario, only by controlling the cleaning robot to rotate the preset rotation angle and retreat the preset retreat distance can the obstacle information supplement be completed. Through this method, the obstacle information is supplemented by collecting the obstacle information in real time while rotating and retreating, further improving the accuracy of obstacle information supplement.

[0091] Please refer to Figure 11, in one embodiment, after step 106, the method further includes step 112 and step 114.

[0092] Step 112, controlling the cleaning robot to move forward and rotate at the same time, and returning to the initial position corresponding to when the obstacle information starts to be supplemented.

[0093] Step 114, controlling the cleaning robot to continue to bypass the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

[0094] Specifically, with reference to Figure 12 , corresponding to the cleaning robot rotating and retreating at the same time, after the obstacle information of the cleaning robot is supplemented, it will return to the position where the turning-back action starts in the way of moving forward and rotating at the same time. After the cleaning robot returns to the initial position, it will start the next bypassing action. During the next bypassing process, the cleaning robot will use the supplemented obstacle information as the new initial obstacle information, and in the same way as above, control the cleaning robot to continue to bypass at an interval of the preset bypassing interval distance from the obstacle. If it continues to bypass until the turning-back condition is met, it is necessary to judge again whether there is an occluded part of the obstacle, and perform the bypassing again according to the judgment result until the obstacle is finally bypassed for one week (that is, the cumulative bypassing angle of the cleaning robot reaches 360 degrees) or until the end of the bypassable part of the obstacle, and the bypassing operation is completed.

[0095] More specifically, in the solution of this embodiment, the rotating direction of the cleaning robot should be opposite to the bypassing direction, the forward distance is the same as the backward distance when performing the turning-back action, and the rotating angle is the same as the rotating angle when performing the turning-back action before. In this way, after the cleaning robot completes the obstacle information supplement during the turning-back, it can return to the position before the turning-back and continue to perform the bypassing action in the same state as before the turning-back. Through this method, the bypassing reliability can be further improved.

[0096] To facilitate understanding of the technical solution of this application, with reference to Figure 13 , the following will explain this application in combination with more detailed embodiments.

[0097] During the operation of the cleaning robot, the detection device is turned on to detect in real time whether there is an obstacle in the traveling direction. If an obstacle is detected, the obstacle information of the current obstacle part is identified, and the initial obstacle information is obtained by matching in the map coordinate system. At this time, the cleaning robot first moves in the direction close to the obstacle. After approaching a certain area of the obstacle (for example, at an interval of the preset bypassing interval distance from the obstacle), it rotates so that the traveling direction of the cleaning robot is parallel to the edge of the obstacle (or parallel to the tangent of the edge of the obstacle), and starts the bypassing operation.

[0098] When performing a bypass operation, the cleaning robot real-time collects and obtains its own real-time position information, analyzes it in combination with the initial obstacle information to determine the real-time distance between the obstacle and the cleaning robot, subtracts this distance from the preset bypass interval distance to obtain a distance difference. Perform PID algorithm analysis based on the distance difference to determine the real-time angular velocity during the bypass process of the cleaning robot, calculate it in combination with the negative feedback function v = 0.2 - w^2 to obtain the real-time linear velocity during the bypass process of the cleaning robot, and finally resolve the real-time linear velocity and real-time angular velocity into the steering and rotational speed of the left and right wheels to control the left and right wheels and achieve bypassing.

[0099] During the bypass process, real-time detect whether the bypass distance reaches the preset distance, or detect whether the bypass angle reaches the preset angle, or detect the real-time position of the cleaning robot. When the bypass distance is greater than or equal to the preset distance, or the bypass angle is greater than or equal to the preset angle, or when the cleaning robot walks to the position corresponding to the end point of the initial obstacle information, complete the current bypass and start executing the turning-back operation.

[0100] During the turning-back operation, the cleaning robot detects according to the camera, laser sensor, etc. in the detection device, and performs sensor fusion algorithm analysis based on the detection results to judge whether there is an occluded part of the obstacle at this time, that is, whether there is high occlusion, width occlusion or other obstacle occlusions.

[0101] If there is an occluded part, it is necessary to control the cleaning robot to first rotate a preset rotation angle, and collect obstacle information in real time during the rotation. After that, the cleaning robot retreats a preset retreat distance along a straight path, and collects obstacle information in real time during the retreat. Finally, the cleaning robot uses the collected obstacle information to complete the obstacle information supplement. After the obstacle information supplement of the cleaning robot is completed, it will return to the position where the turning-back action started in the way of moving forward first and then rotating. Start the next bypass action. During the next bypass process, the cleaning robot uses the supplemented obstacle information as the new initial obstacle information, and controls the cleaning robot to continue to bypass at an interval of the preset bypass interval distance from the obstacle in the same way as above. If it continues to bypass until it meets the turning-back condition, it is necessary to judge again whether there is an occluded part of the obstacle, and execute the bypass again according to the judgment result until the bypass is completed.

[0102] If there is no occluded part, the cleaning robot is controlled to collect obstacle information while rotating and retreating. When the cleaning robot rotates a preset rotation angle and retreats a preset retreat distance, the obstacle information is supplemented. After the obstacle information of the cleaning robot is supplemented, it will return to the position where the turning-back action started in the way of advancing and rotating at the same time. Start the next circumvention action. During the next circumvention, the supplemented obstacle information of the cleaning robot is used as the new initial obstacle information. In the same way as above, the cleaning robot is controlled to continue circumvention at an interval of a preset circumvention interval distance from the obstacle. If it continues to circumvene until the turning-back condition is met, it is necessary to judge again whether there is an occluded part of the obstacle, and perform circumvention again according to the judgment result until the circumvention is completed.

[0103] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0104] The embodiment of the present application also provides a cleaning robot, including a cleaning robot body and a detection device. The detection device is arranged at the front end of the traveling direction of the cleaning robot body. The cleaning robot body includes a memory and a processor. The detection device is connected to the processor. The memory stores a computer program. When the processor executes the computer program, the steps of the following cleaning robot circumvention control method are implemented:

[0105] When the cleaning robot circumvents an obstacle and meets the turning-back condition, check whether there is an occluded part of the current obstacle; if there is an occluded part, control the cleaning robot to turn back and supplement the obstacle information in the way of rotating first and then retreating; if there is no occluded part, control the cleaning robot to turn back and supplement the obstacle information in the way of rotating and retreating at the same time.

[0106] In one embodiment, when the processor executes the computer program, the following steps are also implemented: if the cleaning robot detects an obstacle during operation, determine the initial obstacle information; according to the initial obstacle information and the real-time position information of the cleaning robot, control the cleaning robot to circumvent the obstacle.

[0107] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining a real-time distance between an obstacle and the cleaning robot according to initial obstacle information and real-time position information of the cleaning robot; controlling the cleaning robot to bypass the obstacle according to the real-time distance and a preset bypass interval distance.

[0108] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining a distance difference according to the real-time distance and the preset bypass interval distance; determining a real-time angular velocity of the cleaning robot according to the distance difference; determining a real-time linear velocity of the cleaning robot according to the real-time angular velocity; controlling the cleaning robot to bypass the obstacle according to the real-time angular velocity and the real-time linear velocity.

[0109] In one embodiment, when the processor executes the computer program, the following steps are further implemented: checking whether there is an occluding part of the current obstacle when the bypassing distance of the cleaning robot is greater than or equal to a preset distance; or, checking whether there is an occluding part of the current obstacle when the bypassing angle of the cleaning robot is greater than or equal to a preset angle; or, checking whether there is an occluding part of the current obstacle when the cleaning robot walks to a position corresponding to the end point of the initial obstacle information.

[0110] In one embodiment, when the processor executes the computer program, the following steps are further implemented: checking whether there is an occluding part of the current obstacle according to multi-sensor fusion when the cleaning robot bypasses the obstacle and meets the turning-back condition.

[0111] In one embodiment, when the processor executes the computer program, the following steps are further implemented: checking whether there is a higher part occluding a lower part of the current obstacle when the cleaning robot bypasses the obstacle and meets the turning-back condition.

[0112] In one embodiment, when the processor executes the computer program, the following steps are further implemented: controlling the cleaning robot to rotate to collect obstacle information; if the cleaning robot rotates to a preset rotation angle, controlling the cleaning robot to retreat and collect obstacle information; if the cleaning robot retreats to a preset retreat distance, controlling the cleaning robot to stop retreating and complete the supplement of obstacle information.

[0113] In one embodiment, when the processor executes the computer program, the following steps are further implemented: controlling the cleaning robot to move forward first and then rotate to return to the initial position corresponding to when starting to supplement the obstacle information; controlling the cleaning robot to continue to bypass the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

[0114] In one embodiment, when the processor executes the computer program, the following steps are further implemented: controlling the cleaning robot to rotate and retreat simultaneously to collect obstacle information; if the cleaning robot rotates to a preset rotation angle and retreats to a preset retreat distance, controlling the cleaning robot to stop rotating and retreating to complete the supplement of obstacle information.

[0115] In one embodiment, when the processor executes the computer program, the following steps are further implemented: controlling the cleaning robot to move forward and rotate simultaneously to return to the initial position corresponding to when starting to supplement the obstacle information; controlling the cleaning robot to continue to bypass the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

[0116] It should be noted that the specific implementation manners of the various steps of the obstacle bypassing control method of the cleaning robot implemented when the above processor executes the computer program are as described in the various embodiments of the above obstacle bypassing control method of the cleaning robot, and will not be elaborated here.

[0117] For the above cleaning robot, during the process of the cleaning robot bypassing the obstacle, it is detected whether the cleaning robot meets the turning-back condition. In the case of meeting the turning-back condition, it is further verified whether the current obstacle has an occluded part. If there is an occluded part, controlling the cleaning robot to turn back to supplement the obstacle information by first rotating and then retreating in the direction consistent with the bypassing direction; if there is no occluded part, controlling the cleaning robot to turn back to supplement the obstacle information by rotating and retreating simultaneously in the direction consistent with the bypassing direction, and finally controlling the cleaning robot to continue to bypass the obstacle based on the supplemented obstacle information. In the above solution, when there is an occluded part, the obstacle information is supplemented in the way of first rotating and then retreating, avoiding that the perspective of the cleaning robot cannot collect the obstacle information when rotating and retreating simultaneously; when there is no occluded part, the obstacle information is supplemented in the way of rotating and retreating simultaneously, ensuring the acquisition efficiency of the obstacle information. Through this solution, accurate obstacle information supplement can be performed during the process of the cleaning robot bypassing the obstacle, improving the accuracy of the obstacle information, and thus effectively reducing the possibility of collision with the obstacle during the bypassing process.

[0118] In one embodiment, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0119] When the cleaning robot bypassing the obstacle meets the turning-back condition, verifying whether the current obstacle has an occluded part; if there is an occluded part, controlling the cleaning robot to turn back to supplement the obstacle information in the way of first rotating and then retreating; if there is no occluded part, controlling the cleaning robot to turn back to supplement the obstacle information in the way of rotating and retreating simultaneously.

[0120] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: If an obstacle is detected during the operation of the cleaning robot, determine the initial obstacle information; according to the initial obstacle information and the real-time position information of the cleaning robot, control the cleaning robot to bypass the obstacle.

[0121] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: According to the initial obstacle information and the real-time position information of the cleaning robot, determine the real-time distance between the obstacle and the cleaning robot; according to the real-time distance and the preset bypass interval distance, control the cleaning robot to bypass the obstacle.

[0122] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: According to the real-time distance and the preset bypass interval distance, determine the distance difference; according to the distance difference, determine the real-time angular velocity of the cleaning robot; according to the real-time angular velocity, determine the real-time linear velocity of the cleaning robot; according to the real-time angular velocity and the real-time linear velocity, control the cleaning robot to bypass the obstacle.

[0123] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: When the bypassing distance of the cleaning robot is greater than or equal to the preset distance, check whether the current obstacle has an occluding part; or, when the bypassing angle of the cleaning robot is greater than or equal to the preset angle, check whether the current obstacle has an occluding part; or, when the cleaning robot walks to the position corresponding to the end point of the initial obstacle information, check whether the current obstacle has an occluding part.

[0124] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: When the cleaning robot bypasses the obstacle and meets the turning-back condition, check whether the current obstacle has an occluding part according to multi-sensor fusion.

[0125] In one embodiment, when the processor executes the computer program, the following steps are further implemented: When the cleaning robot bypasses the obstacle and meets the turning-back condition, check whether the current obstacle has a higher part occluding a lower part.

[0126] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: Control the cleaning robot to rotate for obstacle information acquisition; if the cleaning robot rotates to the preset rotation angle, control the cleaning robot to retreat and perform obstacle information acquisition; if the cleaning robot retreats to the preset retreat distance, control the cleaning robot to stop retreating and complete the supplement of obstacle information.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: controlling the cleaning robot to move forward first and then rotate, and returning to the initial position corresponding to when the obstacle information starts to be supplemented; controlling the cleaning robot to continue to bypass the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

[0128] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: controlling the cleaning robot to collect obstacle information while rotating and moving backward; if the cleaning robot rotates to a preset rotation angle and moves backward to a preset backward distance, controlling the cleaning robot to stop rotating and moving backward to complete the supplement of obstacle information.

[0129] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: controlling the cleaning robot to move forward and rotate at the same time, and returning to the initial position corresponding to when the obstacle information starts to be supplemented; controlling the cleaning robot to continue to bypass the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

[0130] In one embodiment, the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0131] When the cleaning robot bypasses the obstacle and meets the turning-back condition, checking whether the current obstacle has an occluded part; if there is an occluded part, controlling the cleaning robot to turn back to supplement the obstacle information in the way of rotating first and then moving backward; if there is no occluded part, controlling the cleaning robot to turn back to supplement the obstacle information in the way of rotating and moving backward at the same time.

[0132] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: if the cleaning robot detects an obstacle during operation, determining the initial obstacle information; controlling the cleaning robot to bypass the obstacle according to the initial obstacle information and the real-time position information of the cleaning robot.

[0133] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: determining the real-time distance between the obstacle and the cleaning robot according to the initial obstacle information and the real-time position information of the cleaning robot; controlling the cleaning robot to bypass the obstacle according to the real-time distance and the preset bypass interval distance.

[0134] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: determining the distance difference according to the real-time distance and the preset bypass interval distance; determining the real-time angular velocity of the cleaning robot according to the distance difference; determining the real-time linear velocity of the cleaning robot according to the real-time angular velocity; controlling the cleaning robot to bypass the obstacle according to the real-time angular velocity and the real-time linear velocity.

[0135] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: when the circumambulation distance of the cleaning robot is greater than or equal to a preset distance, check whether the current obstacle has an occluded part; or, when the circumambulation angle of the cleaning robot is greater than or equal to a preset angle, check whether the current obstacle has an occluded part; or, when the cleaning robot walks to a position corresponding to the end point of the initial obstacle information, check whether the current obstacle has an occluded part.

[0136] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: when the circumambulation of the cleaning robot around an obstacle meets the turning-back condition, check whether the current obstacle has an occluded part according to multi-sensor fusion.

[0137] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the circumambulation of the cleaning robot around an obstacle meets the turning-back condition, check whether the current obstacle has a higher part occluding a lower part.

[0138] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: control the cleaning robot to rotate for obstacle information collection; if the cleaning robot rotates to a preset rotation angle, control the cleaning robot to retreat and perform obstacle information collection; if the cleaning robot retreats to a preset retreat distance, control the cleaning robot to stop retreating and complete the supplement of obstacle information.

[0139] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: control the cleaning robot to move forward first and then rotate to return to the initial position corresponding to when the obstacle information supplement starts; control the cleaning robot to continue to circumambulate the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

[0140] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: control the cleaning robot to rotate and retreat simultaneously for obstacle information collection; if the cleaning robot rotates to a preset rotation angle and retreats to a preset retreat distance, control the cleaning robot to stop rotating and retreating and complete the supplement of obstacle information.

[0141] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: control the cleaning robot to move forward and rotate simultaneously to return to the initial position corresponding to when the obstacle information supplement starts; control the cleaning robot to continue to circumambulate the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

[0142] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0143] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for controlling a cleaning robot to bypass obstacles, characterized in that, Including: When the cleaning robot bypasses an obstacle and meets the turning-back condition, verify whether there is an occluded part on the current obstacle; If there is an occluded part, control the cleaning robot to turn back to supplement the obstacle information in a way of rotating first and then retreating; If there is no occluded part, control the cleaning robot to turn back to supplement the obstacle information in a way of rotating while retreating; Wherein, the rotation direction of the cleaning robot during rotation is the same as the bypassing direction, the rotation direction is clockwise or counterclockwise, and the supplemented obstacle information is used for the cleaning robot to continue to control bypassing the obstacle.

2. The cleaning robot detouring control method according to claim 1, wherein Before verifying whether there is an occluded part on the current obstacle when the cleaning robot bypasses an obstacle and meets the turning-back condition, it further includes: If the cleaning robot detects an obstacle during operation, determine the initial obstacle information; According to the initial obstacle information and the real-time position information of the cleaning robot, control the cleaning robot to bypass the obstacle.

3. The cleaning robot detouring control method according to claim 2, wherein The controlling the cleaning robot to bypass the obstacle according to the initial obstacle information and the real-time position information of the cleaning robot includes: According to the initial obstacle information and the real-time position information of the cleaning robot, determine the real-time distance between the obstacle and the cleaning robot; According to the real-time distance and the preset bypassing interval distance, control the cleaning robot to bypass the obstacle.

4. The cleaning robot detour control method according to claim 3, characterized in that, The controlling the cleaning robot to bypass the obstacle according to the real-time distance and the preset bypassing interval distance includes: According to the real-time distance and the preset bypassing interval distance, determine the distance difference; According to the distance difference, determine the real-time angular velocity of the cleaning robot; According to the real-time angular velocity, determine the real-time linear velocity of the cleaning robot; According to the real-time angular velocity and the real-time linear velocity, control the cleaning robot to bypass the obstacle.

5. The cleaning robot detouring control method according to claim 1, characterized in that, The verifying whether there is an occluded part on the current obstacle when the cleaning robot bypasses an obstacle and meets the turning-back condition includes: When the bypassing distance of the cleaning robot is greater than or equal to the preset distance, verify whether there is an occluded part on the current obstacle; or, When the bypassing angle of the cleaning robot is greater than or equal to the preset angle, verify whether there is an occluded part on the current obstacle.

6. The cleaning robot detour control method according to claim 1, characterized in that, The verifying whether there is an occluded part on the current obstacle when the cleaning robot bypasses an obstacle and meets the turning-back condition includes: When the cleaning robot bypasses an obstacle and meets the turning-back condition, verify whether there is an occluded part on the current obstacle according to multi-sensor fusion.

7. The detour control method according to claim 1, wherein The verifying whether there is an occluded part on the current obstacle when the cleaning robot bypasses an obstacle and meets the turning-back condition includes: When the cleaning robot bypasses an obstacle and meets the turning-back condition, verify whether there is a higher part occluding a lower part on the current obstacle.

8. The cleaning robot detouring control method according to claim 1, characterized in that, The controlling the cleaning robot to turn back to supplement the obstacle information in a way of rotating first and then retreating includes: Control the cleaning robot to rotate for obstacle information acquisition; If the cleaning robot rotates to a preset rotation angle, control the cleaning robot to retreat and collect obstacle information; If the cleaning robot retreats to a preset retreat distance, control the cleaning robot to stop retreating and complete the supplement of obstacle information.

9. The cleaning robot detouring control method according to any one of claims 1-8, characterized in that, After controlling the cleaning robot to turn back to supplement obstacle information in the way of rotating first and then retreating if there is an occlusion part, it further includes: Control the cleaning robot to move forward first and then rotate, and return to the initial position corresponding to when starting to supplement obstacle information; Control the cleaning robot to continue to bypass the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

10. The cleaning robot detour control method according to claims 1-8, characterized in that, Controlling the cleaning robot to turn back to supplement obstacle information in the way of rotating while retreating includes: Control the cleaning robot to collect obstacle information while rotating and retreating; If the cleaning robot rotates to a preset rotation angle and retreats to a preset retreat distance, control the cleaning robot to stop rotating and retreating and complete the supplement of obstacle information.

11. The cleaning robot detour control method according to any one of claims 1-8, characterized in that, After controlling the cleaning robot to turn back to supplement obstacle information in the way of rotating while retreating if there is no occlusion part, it further includes: Control the cleaning robot to move forward while rotating and return to the initial position corresponding to when starting to supplement obstacle information; Control the cleaning robot to continue to bypass the obstacle according to the supplemented obstacle information and the real-time position information of the cleaning robot.

12. A cleaning robot, characterized in that, It includes a cleaning robot body and a detection device. The detection device is arranged at the front end of the traveling direction of the cleaning robot body. The cleaning robot body includes a memory and a processor. The detection device is connected to the processor. The memory stores a computer program. When the processor executes the computer program, it realizes the steps of the cleaning robot bypassing control method according to any one of claims 1 to 11.

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