Cleaning robot control method and device and cleaning robot

Abstract

The invention discloses a control method and device of a cleaning robot and the cleaning robot. The method comprises the steps that when the cleaning robot conducts inspection in a to-be-cleaned area according to a target coverage path, if a to-be-cleaned target exists in the target detection range of the cleaning robot, the to-be-cleaned target is detected; if yes, controlling the cleaning robot to run to a target detection position corresponding to the to-be-cleaned target according to the target running path based on the relative position information of the to-be-cleaned target and the cleaning robot; controlling the cleaning robot to clean the to-be-cleaned target according to the target cleaning path based on the target width of the to-be-cleaned target detected at the target detection position; and after the to-be-cleaned target in the target detection range is cleaned, the cleaning robot is controlled to return to the target coverage path for continuous inspection until the to-be-cleaned area is inspected by the cleaning robot, and the cleaning work of the to-be-cleaned area is ended, so that it is ensured that the cleaning process of the to-be-cleaned area is comprehensive and efficient, repeated cleaning and omission are avoided, and the cleaning efficiency of the to-be-cleaned area is improved. And the cleaning efficiency and quality are improved.

Description

Technical Field

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

[0002] With the development of computer technology, robot technology has also developed rapidly. For example, users use floor cleaning robots to clean the floors of houses, window cleaning robots to clean the windows of houses, and cleaning robots to clean pools, etc.

[0003] In related technologies, when a cleaning robot performs cleaning, it usually cleans the area to be cleaned according to a fixed preset path.

[0004] However, the cleaning robot cannot autonomously identify garbage or dirt, and cannot perform targeted cleaning work guided by the garbage. It can only perform simple cyclic cleaning and fixed-path cleaning, which not only has low cleaning efficiency, but also easily causes problems such as missed cleaning in some places. Summary of the Invention

[0005] Embodiments of this application provide a control method, device, and cleaning robot for a cleaning robot. Based on the target detection position of the target to be cleaned and by accurately detecting the target width of the target to be cleaned, the cleaning robot can clean the target to be cleaned according to the corresponding target cleaning path according to the actual situation (the target width of the target to be cleaned), ensuring that the cleaning process is both comprehensive and efficient and accurate, avoiding the problems of repeated cleaning or omission caused by the inability to accurately judge the size of the target to be cleaned in the traditional cleaning method, and improving the cleaning quality and efficiency. The technical solutions are as follows:

[0006] In a first aspect, embodiments of this application provide a control method for a cleaning robot. The method includes: when the cleaning robot performs a patrol in the area to be cleaned according to the target coverage path, if there is a target to be cleaned within the target detection range of the cleaning robot, controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the target travel path based on the relative position information between the target to be cleaned and the cleaning robot; controlling the cleaning robot to clean the target to be cleaned according to the target cleaning path based on the target width of the target to be cleaned detected at the target detection position; after the cleaning of the target to be cleaned within the target detection range is completed, controlling the cleaning robot to return to the target coverage path to continue the patrol until the cleaning robot has patrolled the area to be cleaned, and then ending the cleaning work on the area to be cleaned.

[0007] In a possible implementation, the above method further includes: when the cleaning robot performs a patrol inspection in the to-be-cleaned area according to the above target coverage path, obtaining an identification result of the to-be-cleaned targets within the target detection range of the cleaning robot; when there are multiple to-be-cleaned targets within the target detection range, the identification result of the to-be-cleaned targets includes the area of each to-be-cleaned target and the relative position information between each to-be-cleaned target and the cleaning robot; based on the area of each to-be-cleaned target and the relative position information, screening out a target to-be-cleaned target from the multiple to-be-cleaned targets; the cleaning priority of the target to-be-cleaned target is higher than that of other to-be-cleaned targets among the multiple to-be-cleaned targets.

[0008] In a possible implementation, the above screening out a target to-be-cleaned target from the multiple to-be-cleaned targets based on the area of each to-be-cleaned target and the relative position information includes: determining the cleaning cost corresponding to each to-be-cleaned target based on the area of each to-be-cleaned target and the relative position information; screening out a target to-be-cleaned target from the multiple to-be-cleaned targets based on the cleaning costs respectively corresponding to the multiple to-be-cleaned targets.

[0009] In a possible implementation, the above relative position information includes a horizontal relative distance and a vertical relative distance; the above determining the cleaning cost corresponding to each to-be-cleaned target based on the area of each to-be-cleaned target and the relative position information includes: calculating the cleaning cost corresponding to each to-be-cleaned target based on the area of each to-be-cleaned target and a target area weight, the horizontal relative distance and a target horizontal distance weight, and the vertical relative distance and a target vertical distance weight.

[0010] In a possible implementation, the above controlling the cleaning robot to travel to the target detection position corresponding to the to-be-cleaned target according to the target travel path based on the relative position information between the to-be-cleaned target and the cleaning robot includes: generating a target travel path according to a target curve generation method based on the relative position information between the to-be-cleaned target and the cleaning robot; controlling the cleaning robot to travel to the target detection position corresponding to the to-be-cleaned target according to the target travel path.

[0011] In a possible implementation, the above target travel path is a curved path; the above generating a target travel path according to a target curve generation method based on the relative position information between the to-be-cleaned target and the cleaning robot includes: determining the target detection position corresponding to the to-be-cleaned target based on the relative position information between the to-be-cleaned target and the cleaning robot; generating a target travel curve for the cleaning robot to travel from the current coverage position to the target detection position based on the target detection position and the current coverage position of the cleaning robot on the target coverage path.

[0012] In a possible implementation, controlling the cleaning robot to clean the target to be cleaned along a target cleaning path based on the target width of the target to be cleaned detected at the target detection position includes: planning a target cleaning path corresponding to the target to be cleaned based on the target width of the target to be cleaned detected at the target detection position and the cleaning width of the cleaning robot; and controlling the cleaning robot to clean the target to be cleaned along the target cleaning path.

[0013] In a possible implementation, when the target width is less than or equal to the cleaning width, the target cleaning path is a straight-line path passing through the center of the target to be cleaned; when the target width is greater than the cleaning width, the target cleaning path is a non-straight-line path that completely covers the target to be cleaned.

[0014] In a possible implementation, planning the target cleaning path corresponding to the target to be cleaned based on the target width of the target to be cleaned detected at the target detection position and the cleaning width of the cleaning robot includes: determining a starting cleaning position of the target to be cleaned based on the lateral distances between the left and right boundaries of the target to be cleaned and the center of the cleaning robot respectively; using the direction of the line connecting the target detection position and the starting cleaning position as the scanning direction of the cleaning path, and generating the target cleaning path corresponding to the target to be cleaned based on the projection heights of the vertices of the target to be cleaned onto the line where the target detection position and the starting cleaning position are located and the cleaning width of the cleaning robot.

[0015] In a possible implementation, before controlling the cleaning robot to travel to the target detection position corresponding to the to-be-cleaned target along the target travel path based on the relative position information between the to-be-cleaned target and the cleaning robot, the method further includes: if there is a to-be-cleaned target within the target detection range of the cleaning robot, recording the current coverage position of the cleaning robot on the target coverage path; after the to-be-cleaned target within the target detection range is cleaned, controlling the cleaning robot to return to the target coverage path to continue the patrol inspection, including: after the to-be-cleaned target is cleaned, controlling the cleaning robot to return to the current coverage position along the target return path; when there is no to-be-cleaned target within the target detection range of the cleaning robot at the current coverage position, controlling the cleaning robot to continue the patrol inspection along the target coverage path; when there is still a to-be-cleaned target within the target detection range of the cleaning robot at the current coverage position, executing again the step of controlling the cleaning robot to travel to the target detection position corresponding to the to-be-cleaned target along the target travel path based on the relative position information between the to-be-cleaned target and the cleaning robot.

[0016] In a possible implementation, the method further includes: when the cleaning robot patrols in the to-be-cleaned area along the target coverage path, if there is no to-be-cleaned target within the target detection range of the cleaning robot, or all the to-be-cleaned targets within the target detection range of the cleaning robot have been cleaned, marking the target detection area corresponding to the target detection range at the current coverage position of the cleaning robot as the covered area; based on the contour information or map information of the to-be-cleaned area, and the covered area, determining the current coverage rate of the to-be-cleaned area; if the current coverage rate is greater than or equal to the target coverage rate threshold, determining that the cleaning robot has completed the patrol inspection of the to-be-cleaned area.

[0017] In a possible implementation, after determining the current coverage rate of the to-be-cleaned area based on the contour information or map information of the to-be-cleaned area, and the covered area, the method further includes: after the patrol inspection along the target coverage path is completed, if the current coverage rate is less than the target coverage rate threshold, determining the uncovered area of the to-be-cleaned area based on the contour information or map information of the to-be-cleaned area, and the covered area; controlling the cleaning robot to travel to the uncovered area based on the end coverage position of the target coverage path and the area position information corresponding to the uncovered area, and updating the to-be-cleaned area to the uncovered area.

[0018] In a possible implementation, the above method further includes: sparsifying the basic coverage path of the cleaning robot based on the target detection width corresponding to the target detection range to obtain a target coverage path.

[0019] In a second aspect, an embodiment of the present application provides a control device for a cleaning robot. The control device for the cleaning robot includes:

[0020] A first control module, configured to, when the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, if there is a target to be cleaned within the target detection range of the cleaning robot, control the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the target travel path based on the relative position information between the target to be cleaned and the cleaning robot;

[0021] A second control module, configured to control the cleaning robot to clean the target to be cleaned according to the target cleaning path based on the target width of the target to be cleaned detected at the target detection position;

[0022] A third control module, configured to, after the target to be cleaned within the target detection range is cleaned, control the cleaning robot to return to the target coverage path to continue the patrol inspection until the cleaning of the area to be cleaned by the cleaning robot is completed, and then end the cleaning work on the area to be cleaned.

[0023] In a third aspect, an embodiment of the present application provides a cleaning robot, including: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the method steps provided in the first aspect or any possible implementation manner of the first aspect of the embodiments of the present application.

[0024] In a fourth aspect, an embodiment of the present application provides a computer storage medium. The computer storage medium stores multiple instructions, and the instructions are adapted to be loaded and executed by the processor to perform the method steps provided in the first aspect or any possible implementation manner of the first aspect of the embodiments of the present application.

[0025] Through the technical solution provided by the embodiments of the present application, on the one hand, when the cleaning robot performs patrol inspection in the area to be cleaned according to the target coverage path, it can quickly and accurately drive to the target detection position corresponding to the target to be cleaned based on the relative position information between the target to be cleaned within its target detection range and itself, reducing the ineffective patrol inspection time, providing accurate width detection for the subsequent efficient cleaning of the target to be cleaned, and improving the cleaning efficiency; on the other hand, based on the target detection position of the target to be cleaned, by accurately detecting the target width of the target to be cleaned, the cleaning robot can clean the target to be cleaned according to the corresponding target cleaning path according to the actual situation (the target width of the target to be cleaned), ensuring that the cleaning process is both comprehensive and efficient and accurate, avoiding the problems of repeated cleaning or omission caused by the inability to accurately judge the size of the target to be cleaned in the traditional cleaning method, and further improving the cleaning quality and efficiency; on the other hand, after controlling the cleaning robot to complete the cleaning of the target to be cleaned within the target detection range, the cleaning robot is controlled to automatically return to the target coverage path to continue the patrol inspection until the cleaning robot completes the cleaning work of the area to be cleaned, ensuring the full coverage and efficient cleaning of the entire area to be cleaned, and greatly reducing the burden of manual operation through this automated control method, improving the intelligence and automation level of the cleaning operation.

[0026] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically given below. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 It is a schematic diagram of the application scenario of a control method for a cleaning robot provided by an exemplary embodiment of the present application;

[0029] Figure 2 It is a schematic flowchart of a control method for a cleaning robot provided by an exemplary embodiment of the present application;

[0030] Figures 3A - 3C It is a schematic diagram of the target coverage path provided by an exemplary embodiment of the present application;

[0031] Figure 4Schematic diagram of the implementation process for a cleaning robot provided by an exemplary embodiment of the present application to travel to a target detection position;

[0032] Figure 5 Schematic diagram of a target travel path provided by an exemplary embodiment of the present application;

[0033] Figure 6 Schematic diagram of the implementation process for a cleaning robot provided by an exemplary embodiment of the present application to clean a target to be cleaned;

[0034] Figure 7 Schematic diagram of the cost calculation for a target to be cleaned provided by an exemplary embodiment of the present application;

[0035] Figure 8 Schematic diagram of the process for another control method of a cleaning robot provided by an exemplary embodiment of the present application;

[0036] Figures 9A - 9B Schematic diagram of a target cleaning path provided by an exemplary embodiment of the present application;

[0037] Figure 10 Schematic diagram of a return path of a cleaning robot provided by an exemplary embodiment of the present application;

[0038] Figure 11 Schematic diagram of the process for another control method of a cleaning robot provided by an exemplary embodiment of the present application;

[0039] Figure 12 Schematic diagram of a marked covered area provided by an exemplary embodiment of the present application;

[0040] Figure 13 Schematic diagram of an uncovered area provided by an exemplary embodiment of the present application;

[0041] Figure 14 Schematic diagram of the structure of a control device of a cleaning robot provided by an exemplary embodiment of the present application;

[0042] Figure 15 Schematic diagram of the structure of a cleaning robot provided by an exemplary embodiment of the present application. Detailed implementation manners

[0043] To make the features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0044] In the description and claims of this application and the above-mentioned drawings, the terms "first", "second", "third", etc. are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include unlisted steps or units, or may optionally further include other steps or units inherent to these processes, methods, products or devices.

[0045] First, the nouns related to the embodiments of this application are introduced.

[0046] Cleaning robot: A robot that can automatically clean any area to be detected. For example, but not limited to, the cleaning robot can be placed in a pool, and the cleaning robot can clean the bottom and / or wall of the pool or the water surface and / or in the water; the cleaning robot can also be placed indoors, and the cleaning robot can clean the floor and / or walls and other areas to be cleaned indoors.

[0047] Visual inspection: Using a machine vision system, a machine is used instead of the human eye for measurement and judgment. It uses image processing technology and computer vision technology to perform various processes on the images captured by the robot to achieve the function of automatically detecting and identifying target objects.

[0048] Target recognition: Refers to the process of distinguishing one or more special targets (or one or more types of targets) from other targets (or other types of targets). It includes both the recognition of two very similar targets and the recognition of one type of target from other types of targets. In the embodiments of this application, target recognition refers to recognizing the target to be cleaned, such as, but not limited to, garbage, oil stains, etc.

[0049] Path planning: Refers to generating one or more paths from the starting point to the target point according to a certain algorithm. These paths need to meet certain constraint conditions, such as path length, safety and efficiency, etc.

[0050] After introducing the nouns related to the embodiments of this application, the application scenarios of the embodiments of this application are described below.

[0051] The technical solution provided by the embodiments of this application can be applied to the scenario of controlling a cleaning robot for cleaning. Refer to Figure 1 , the cleaning robot 110 can, but is not limited to, move in the area to be cleaned 120, so as to clean the area to be cleaned 120. The above-mentioned area to be cleaned 120 can, but is not limited to, include areas such as the bottom of the pool to be cleaned, the pool wall, the water surface, in the water, etc., and can also include areas such as the floor and walls of the room to be cleaned.

[0052] Optionally, when the area to be cleaned is an underwater area such as a pool or a swimming pool, during the inspection process of the cleaning robot 110 in the area to be cleaned 120, the water pump of the cleaning robot 110 is started, and the liquid in the area to be cleaned 120 is sucked into the filter box of the cleaning robot 110 through the water inlet at the bottom of the cleaning robot 110. The liquid is filtered by the filter box, and the dirt in the liquid is left in the filter box. The filtered liquid is discharged through the drain outlet of the cleaning robot 110, thereby realizing the cleaning of the area to be cleaned 120. Of course, in addition to cleaning the area to be cleaned 120 by the cooperation of the water pump and the filter box, the cleaning robot 110 can also clean the area to be cleaned 120 through other types of cleaning units. For example, the area to be cleaned 120 can be cleaned by a rotary brush.

[0053] Optionally, when the area to be cleaned is a non-underwater area such as the ground or a wall, during the inspection process of the cleaning robot 110 in the area to be cleaned 120, the motor of the cleaning robot 110 is started to drive the cleaning robot 110 to move. And the cleaning component of the cleaning robot 110 can be used to clean the target to be cleaned in the area to be cleaned 120. The cleaning component can include, but is not limited to, a rotary brush, a side brush, a dust suction component, a mopping component, etc.

[0054] When the cleaning robot performs inspection in the area to be cleaned according to the target coverage path by adopting the technical solution provided by the embodiment of the present application, if there is a target to be cleaned within the target detection range of the cleaning robot, the cleaning robot is controlled to travel to the target detection position corresponding to the target to be cleaned according to the target travel path based on the relative position information between the target to be cleaned and the cleaning robot; the cleaning robot is controlled to clean the target to be cleaned according to the target cleaning path based on the target width of the target to be cleaned detected at the target detection position; after the target to be cleaned within the target detection range is cleaned, the cleaning robot is controlled to return to the target coverage path to continue the inspection until the cleaning of the area to be cleaned is completed after the cleaning robot has inspected the area to be cleaned.

[0055] The terminal can interact with the server through the network to receive messages from the server or the cleaning robot 110 or send messages to the server or the cleaning robot 110. The terminal can be hardware or software. When the terminal is hardware, it can be various electronic devices, including but not limited to smart watches, smart phones, tablet computers, laptop portable computers, and desktop computers, etc. When the terminal is software, it can be installed in the above-listed electronic devices, and it can be implemented as multiple software or software modules (for example, used to provide distributed services), or it can be implemented as a single software or software module, which is not specifically limited here.

[0056] The server can be a server that provides control services for various cleaning robots. It should be noted that the server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster composed of multiple servers or as a single server. When the server is software, it can be implemented as multiple software or software modules (such as those used to provide distributed services) or as a single software or software module, and no specific limitation is made here. The server can be, but is not limited to, a hardware server, a virtual server, a cloud server, etc.

[0057] It can be understood that the control method of the cleaning robot provided in the embodiments of the present application can be executed independently by the cleaning robot 110, or can be executed by a terminal or a server connected to the cleaning robot 110 through a network. The embodiments of the present application do not make any limitation in this regard. The network can be a medium that provides a communication link between the cleaning robot 110 and the terminal or the server, or can be the Internet including network devices and transmission media, and is not limited thereto. The transmission medium can be a wired link, such as, but not limited to, coaxial cable, optical fiber, and digital subscriber line (DSL), etc., or a wireless link, such as, but not limited to, wireless fidelity (WIFI), Hypertext Transfer Protocol (HTTP), Bluetooth, and mobile device network, etc.

[0058] It can be understood that Figure 1 The number of cleaning robots in the application scenario shown is only an example. In specific implementation, any number of cleaning robots 110 can be used, but is not limited to, to perform full-coverage cleaning on the area to be cleaned 120.

[0059] Next, taking the cleaning robot executing the control of the cleaning robot as an example, a control method of the cleaning robot provided in an exemplary embodiment of the present application will be introduced. Specifically, please refer to Figure 2 , which is a schematic flowchart of a control method of a cleaning robot provided in an exemplary embodiment of the present application. As Figure 2 shown, the control method of the cleaning robot includes the following steps:

[0060] S201, when the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, if there is a target to be cleaned within the target detection range of the cleaning robot, the cleaning robot is controlled to travel to the target detection position corresponding to the target to be cleaned according to the relative position information between the target to be cleaned and the cleaning robot along the target travel path.

[0061] Specifically, a walking unit is configured at the bottom of the cleaning robot. By driving the walking unit, the movement of the cleaning robot in the area to be cleaned can be controlled. The walking unit may include, but is not limited to, walking wheels or thrusters. Driving the walking unit means driving the walking wheels to rotate or driving the thrusters to generate thrust, thereby driving the cleaning robot to move. When the cleaning robot is located in the area to be cleaned and receives a cleaning instruction corresponding to the area to be cleaned, the cleaning robot can respond to the cleaning instruction and perform a patrol inspection in the area to be cleaned according to the target coverage path. That is, while the cleaning robot moves in the area to be cleaned according to the target coverage path, it will also use sensors to identify and detect the targets to be cleaned within its target detection range.

[0062] The above sensors may include, but are not limited to, image acquisition sensors and / or other sensing sensors such as lidar and ultrasonic sensors. When the sensor includes an image acquisition sensor, the above target detection range may be the visual detection range corresponding to the image acquisition sensor. While the cleaning robot moves in the area to be cleaned according to the target coverage path, it can also obtain the environmental image within the visual detection range of the cleaning robot through the image acquisition sensor to detect whether there are targets to be cleaned within the visual detection range of the cleaning robot. The above visual detection range may be determined by, but is not limited to, the number and attributes of the image acquisition sensors installed on the cleaning robot, and it can be updated as the working status of each image acquisition sensor is updated. For example, during the patrol inspection of the cleaning robot, if one of the two installed cameras suddenly malfunctions or is damaged, its visual detection range will also become smaller accordingly. When the sensor includes other sensing sensors such as lidar and ultrasonic sensors, the above target detection range may be the detection ranges corresponding to the lidar, ultrasonic sensors, etc. When the sensor includes both an image acquisition sensor and other sensing sensors such as lidar and ultrasonic sensors, the above target detection range may be the sum of the visual detection range of the image acquisition sensor and the detection ranges corresponding to the lidar, ultrasonic sensors, etc., that is, combining the environmental information obtained by other sensing devices with the images collected by the image acquisition sensor to form a more comprehensive environmental perception to achieve more accurate identification of the targets to be cleaned.

[0063] Specifically, when the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, if it detects a target to be cleaned (such as but not limited to garbage, dirt, etc.) within its target detection range, it can first generate a target driving path based on the relative position information between the target to be cleaned and the cleaning robot. For example, but not limited to, first determine the target detection position corresponding to the target to be cleaned based on the relative position information between the target to be cleaned detected by the sensor and the cleaning robot, and then perform path planning according to the target detection position corresponding to the target to be cleaned and the current coverage position of the cleaning robot when the target to be cleaned is detected on the target coverage path to generate the corresponding target driving path, and then control the cleaning robot to drive from the current coverage position of the cleaning robot when the target to be cleaned is detected on the target coverage path to the target detection position corresponding to the target to be cleaned according to the corresponding target driving path. The above target detection position can be, but not limited to, a position between the target to be cleaned and the cleaning robot and at a preset distance facing the center of the target to be cleaned. When located at the target detection position, the cleaning robot can more comprehensively and accurately detect the target width of the target to be cleaned.

[0064] In some possible embodiments, before the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, it can also first sparsify the basic coverage path of the cleaning robot according to the target detection width corresponding to the target detection range of the cleaning robot to obtain the corresponding target coverage path. The above sparsification process can include, but not be limited to: first determining the target path interval when the cleaning robot performs a patrol inspection in the area to be cleaned based on the target detection width, and then performing path planning based on the path interval and the boundary of the area to be cleaned to obtain the target coverage path when the cleaning robot performs a patrol inspection in the area to be cleaned.

[0065] The above basic coverage path can include, but not be limited to: a bow-shaped path, a square path, a cross path, a snake-shaped path, a Z-shaped path, or other regular paths, etc. The type of the above basic coverage path can be preset by the user or developer, or can be automatically matched and selected by the cleaning robot from a variety of preset basic paths based on information such as the type and / or size of the area to be cleaned corresponding to the current cleaning task. The embodiments of the present application do not limit this. The above target coverage path can be, but not limited to, a coverage path obtained by sparsifying the above basic coverage path, so as to ensure that the cleaning robot can efficiently clean the area to be cleaned according to the target coverage path with a more sparse path arrangement and a shorter total distance to a certain extent, and can also cover all areas of the area to be cleaned when patrolling the area to be cleaned according to the target coverage path, realizing full-coverage cleaning. That is, the sum of the visual detection ranges of the underwater cleaning robots on the entire target coverage path completely covers the area to be cleaned, that is, is greater than or equal to the range where the area to be cleaned is located.

[0066] Exemplarily, as Figure 3AAs shown, if the basic coverage path of the cleaning robot 110 is a bow-shaped path, the target path interval 320 of the cleaning robot 110 during patrol in the area to be cleaned 120 can be determined first according to the target detection width 310 corresponding to the target detection range of the cleaning robot 110, and then the target coverage path 330a in the shape of a bow during patrol of the cleaning robot 110 in the area to be cleaned 120 can be obtained through path planning based on the path interval 320; As Figure 3B As shown, if the basic coverage path of the cleaning robot 110 is a square path, the target path interval 320 of the cleaning robot 110 during patrol in the area to be cleaned 120 can be determined first according to the target detection width 310 corresponding to the target detection range of the cleaning robot 110, and then the target coverage path 330b in the shape of a square during patrol of the cleaning robot 110 in the area to be cleaned 120 can be obtained through path planning based on the path interval 320; As Figure 3C As shown, if the basic coverage path of the cleaning robot 110 is a cross-shaped path, the target path interval 320 of the cleaning robot 110 during patrol in the area to be cleaned 120 can be determined first according to the target detection width 310 corresponding to the target detection range of the cleaning robot 110, and then the target coverage path 330c in the shape of a cross during patrol of the cleaning robot 110 in the area to be cleaned 120 can be obtained through path planning based on the path interval 320.

[0067] In some possible embodiments, as Figure 4 shown, the implementation process of controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned along the target travel path based on the relative position information between the target to be cleaned and the cleaning robot may include but is not limited to:

[0068] S401, Generate a target travel path based on the relative position information between the target to be cleaned and the cleaning robot according to the target curve generation method.

[0069] Specifically, the above target curve generation method may include but is not limited to polynomial curve generation method, Bezier curve generation method, Dubins curve generation method, Reeds-Shepp curve generation method, etc.

[0070] Optionally, the above-mentioned target travel path is a curved path. In the above S401, the implementation process of generating the target travel path based on the relative position information between the target to be cleaned and the cleaning robot according to the target curve generation method may include, but is not limited to: first determining the target detection position corresponding to the target to be cleaned based on the relative position information between the target to be cleaned and the cleaning robot; then, based on the target detection position and the current coverage position of the cleaning robot on the target coverage path, generating a target travel curve for the cleaning robot to travel from the current coverage position to the target detection position. The above-mentioned target detection position can be determined according to the relative position information and a preset distance (i.e., the distance between the preset target detection position and the center of the target to be cleaned), or can be determined according to the relative position information and the area of the target to be cleaned. For example, but not limited to, first determining the distance (preset distance) between the target detection position that can completely detect the width of the target to be cleaned and the center of the target to be cleaned according to the area size of the target to be cleaned, and then determining the target detection position according to the preset distance and the relative position information, etc. The embodiments of the present application do not make any limitations in this regard.

[0071] Exemplarily, when the above-mentioned target curve generation method is the Bezier curve generation method, the implementation process of generating the target travel path is as follows: first determining the target detection position P3 that faces the center of the target to be cleaned 510, is at a preset distance, and is located between the target to be cleaned 510 and the cleaning robot 110 as shown in Figure 5 Figure; then, calculating the longitudinal distance 520 between the target detection position P3 and the cleaning robot 110, and determining the first target position P1 located at half of the longitudinal distance 530 in front of the front point position P0 of the center of the cleaning robot 110 and the second target position P2 located at half of the longitudinal distance 530 directly behind the target detection position P3; finally, generating a third-order Bezier curve according to the front point position P0 of the center of the cleaning robot 110, the first target position P1, the second target position P2, and the target detection position P3, and thus generating the target travel path 540 for the cleaning robot 110 to travel from the current coverage position (front point position P0 of the center) to the target detection position P3.

[0072] Optionally, after determining the target detection position corresponding to the target to be cleaned, it is also possible to generate a target travel curve for the cleaning robot to travel from the current coverage position to the target detection position based on the target detection position and the target detection direction corresponding to the target width of the target to be cleaned at the target detection position and the current coverage position of the cleaning robot on the target coverage path, so that when the cleaning robot travels along the target travel path to the target detection position, the detection direction of the cleaning robot sensor can exactly face the center of the target to be cleaned, that is, the cleaning robot can efficiently detect the target width corresponding to the target to be cleaned without rotating at the target detection position and can smoothly clean the target to be cleaned without pausing, thereby improving the cleaning efficiency of the target to be cleaned.

[0073] Optionally, if there is a target to be cleaned within the target detection range of the cleaning robot, when the relative position information between the target to be cleaned and the cleaning robot satisfies a preset position relationship, for example, but not limited to, when the difference between the respective horizontal positions and / or vertical positions corresponding to the center of the target to be cleaned and the center of the cleaning robot is within a preset range, the above-mentioned target driving path is a straight-line path, that is, the cleaning robot can be controlled to directly drive in a straight line to the target detection position; when the relative position information between the target to be cleaned and the cleaning robot does not satisfy the preset position relationship, for example, but not limited to, when the difference between the respective horizontal positions and / or vertical positions corresponding to the center of the target to be cleaned and the center of the cleaning robot is not within the preset range, the above-mentioned target driving path is a curved path, that is, the target driving path can be generated based on the relative position information between the target to be cleaned and the cleaning robot according to the target curve generation method.

[0074] Next, please continue to refer to Figure 4 , such as Figure 4 shown, after the above S401, generating the target driving path based on the relative position information between the target to be cleaned and the cleaning robot according to the target curve generation method, the implementation process of controlling the cleaning robot to drive to the target detection position corresponding to the target to be cleaned according to the target driving path may further include, but is not limited to:

[0075] S402, controlling the cleaning robot to drive to the target detection position corresponding to the target to be cleaned according to the target driving path.

[0076] Optionally, in order to improve the battery life of the cleaning robot and avoid the cleaning robot from performing ineffective cleaning, during the process of controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the target driving path, both the cleaning mode and the sensor of the cleaning robot can be in the off state, that is, the cleaning robot only travels and does not perform detection and cleaning, saving the energy consumption during the travel of the cleaning robot; in order to improve the cleaning effect of the cleaning robot, during the process of controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the target driving path, both the cleaning mode and the sensor of the cleaning robot can also be in the on state, which can be specifically set according to the cleaning requirements of the area to be cleaned, and the embodiments of the present application do not limit this.

[0077] In some possible embodiments, as Figure 6 shown, the control method of the cleaning robot may further include, but is not limited to, the following steps:

[0078] S601. When the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, it obtains the recognition results of the targets to be cleaned within the target detection range of the cleaning robot. When there are multiple targets to be cleaned within the target detection range, the recognition results of the targets to be cleaned include the area of each target to be cleaned and the relative position information between each target to be cleaned and the cleaning robot.

[0079] Specifically, when the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, it can use sensors to obtain the recognition results of the targets to be cleaned within the target detection range of the cleaning robot.

[0080] Optionally, when there are targets to be cleaned within the target detection range of the cleaning robot, the recognition results of the targets to be cleaned may also but are not limited to include characteristic information such as the type, color, and size of the recognized targets to be cleaned, so that the cleaning robot can subsequently select a corresponding cleaning mode based on the characteristic information of the targets to be cleaned to perform targeted cleaning on the targets to be cleaned.

[0081] Optionally, after obtaining the recognition results of the targets to be cleaned within the target detection range of the cleaning robot, if the recognition results of the targets to be cleaned indicate that there are no targets to be cleaned within the target detection range, the cleaning robot is continued to be controlled to perform a patrol inspection in the area to be cleaned according to the target coverage path.

[0082] S602. Based on the area and relative position information of each target to be cleaned, a target to be cleaned is selected from multiple targets to be cleaned.

[0083] Specifically, the cleaning priority of the target to be cleaned is higher than that of other targets to be cleaned among the multiple targets to be cleaned. That is, the cleaning priorities of each target to be cleaned can be determined first based on the area and relative position information of each target to be cleaned, and then the multiple targets to be cleaned are cleaned in sequence according to the cleaning priorities.

[0084] Optionally, the implementation process of selecting a target to be cleaned from multiple targets to be cleaned based on the area and relative position information of each target to be cleaned may also but is not limited to include: first determining the cleaning cost corresponding to each target to be cleaned based on the area and relative position information of each target to be cleaned; then, based on the cleaning costs corresponding to the multiple targets to be cleaned respectively, a target to be cleaned is selected from the multiple targets to be cleaned. The above cleaning cost is used to represent the cost that the cleaning robot needs to spend to clean the target to be cleaned. The above target to be cleaned can be the target to be cleaned with the highest or lowest corresponding cleaning cost among the multiple targets to be cleaned, which can be specifically set according to the actual cleaning requirements, and the embodiments of the present application do not limit this. The above target to be cleaned is the target to be cleaned that needs to be cleaned first among the multiple targets to be cleaned within the target detection range.

[0085] Further, the above relative position information may, but is not limited to, include a horizontal relative distance and a vertical relative distance. The implementation process of determining the cleaning cost corresponding to each target to be cleaned based on the area and relative position information of each target to be cleaned may, but is not limited to, include: calculating the cleaning cost corresponding to each target to be cleaned based on the area of each target to be cleaned and the target area weight, the horizontal relative distance and the target horizontal distance weight, and the vertical relative distance and the target vertical distance weight. For example, but not limited to, the cleaning cost corresponding to each target to be cleaned may be calculated according to the target cleaning cost calculation formula.

[0086] Exemplarily, as Figure 7 shown, the cleaning cost cost corresponding to the target to be cleaned 710 is ω lat *lat_dis + ω lon *lon_dis - ω area *area, where ω lat is the target horizontal distance weight of the center of the target to be cleaned 710 relative to the cleaning robot 110, lat_dis is the horizontal relative distance 730 of the center of the target to be cleaned 710 relative to the cleaning robot 110, ω lon is the target vertical distance weight of the center of the target to be cleaned 710 relative to the cleaning robot 110, lon_dis is the vertical relative distance 740 of the center of the target to be cleaned 710 relative to the cleaning robot 110, ω area is the target area weight corresponding to the target to be cleaned 710, and area is the area 720 of the target to be cleaned 710.

[0087] It can be understood that, for different types of targets to be cleaned, the corresponding target horizontal distance weight and / or target vertical distance weight and / or target area weight are different, and / or, for different types and / or cleaning modes of the cleaning robot, the corresponding target horizontal distance weight and / or target vertical distance weight and / or target area weight are different, and / or, for different cleaning scenarios corresponding to the area to be cleaned, the corresponding target horizontal distance weight and / or target vertical distance weight and / or target area weight are different. The above target horizontal distance weight and / or target vertical distance weight and / or target area weight may be preset fixed values, or may be manually set and adjusted by the user, and the embodiments of the present application do not limit this.

[0088] Next, please continue to refer to Figure 2 , as Figure 2As shown above, in S201, when the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, if there is a target to be cleaned within the target detection range of the cleaning robot, the control method of the cleaning robot may further include, but is not limited to, the following steps after controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the relative position information between the target to be cleaned and the cleaning robot and the target travel path:

[0089] S202, based on the target width of the target to be cleaned detected at the target detection position, control the cleaning robot to clean the target to be cleaned according to the target cleaning path.

[0090] Specifically, after the cleaning robot travels to the target detection position, it may, but is not limited to, first use a sensor to detect the target width of the target to be cleaned, and then, based on the target width, determine the corresponding target cleaning path according to the preset mapping relationship between the width and the cleaning path, and finally, control the cleaning robot to clean the target to be cleaned according to the target cleaning path. The above preset mapping relationship may be the corresponding relationship between different widths and cleaning paths, or the corresponding relationship between different width ranges and cleaning paths, and the embodiments of the present application do not limit this.

[0091] Optionally, as Figure 8 shown above, the implementation process of S202, controlling the cleaning robot to clean the target to be cleaned according to the target width of the target to be cleaned detected at the target detection position, may include, but is not limited to:

[0092] S801, based on the target width of the target to be cleaned detected at the target detection position and the cleaning width of the cleaning robot, plan the target cleaning path corresponding to the target to be cleaned.

[0093] Specifically, it may, but is not limited to, first compare the target width of the target to be cleaned with the cleaning width of the cleaning robot, and then plan a targeted target cleaning path for the target to be cleaned according to the comparison result and the cleaning width.

[0094] Optionally, when the target width is less than or equal to the cleaning width, for example Figure 9A shown, it shows that the cleaning width of the cleaning robot 110 is sufficient to cover the target to be cleaned 910, and the above target cleaning path may be a straight line path 920a passing through the center of the target to be cleaned. When the target width is greater than the cleaning width, it means that the cleaning width of the cleaning robot cannot cover the target to be cleaned, and the above target cleaning path may be a non-straight line path that completely covers the target to be cleaned. The above non-straight line path may be, but is not limited to, an N-shaped path, a zigzag path, a bow-shaped path, etc.

[0095] Optionally, in the above S801, the implementation process of planning the target cleaning path corresponding to the target to be cleaned based on the target width of the target to be cleaned detected at the target detection position and the cleaning width of the cleaning robot may include, but is not limited to: first, determining the starting cleaning position of the target to be cleaned based on the horizontal distances between the left and right boundaries of the target to be cleaned and the center of the cleaning robot. The starting cleaning position may include, but is not limited to, the boundary vertex position with a shorter horizontal distance between the left boundary vertex and the right boundary vertex of the target to be cleaned and the center of the cleaning robot. Then, using the direction of the line connecting the target detection position and the starting cleaning position as the cleaning path scanning direction, based on the projection heights of the vertices of the target to be cleaned onto the line where the target detection position and the starting cleaning position are located and the cleaning width of the cleaning robot, a target cleaning path corresponding to the target to be cleaned is generated. The above projection height is the difference between the maximum distance and the minimum distance between the vertex of the target to be cleaned and its projection point.

[0096] Further, the above target cleaning path may be an N-shaped path. The implementation process of generating the target cleaning path corresponding to the target to be cleaned may include, but is not limited to: first, determining the number of N-shaped coverage scans based on the projection heights of the vertices of the target to be cleaned onto the line where the target detection position and the starting cleaning position are located and the cleaning width of the cleaning robot, and then determining the N-shaped coverage scan length based on the projection lengths of the vertices of the target to be cleaned onto the line where the target detection position and the starting cleaning position are located. For example, but not limited to, extending the projection length by a target distance to obtain the N-shaped coverage scan length. Finally, using the direction of the line connecting the target detection position and the starting cleaning position as the cleaning path scanning direction, a target cleaning path corresponding to the target to be cleaned is generated based on the above number of N-shaped coverage scans and the N-shaped coverage scan length.

[0097] Exemplarily, as Figure 9B shown, after determining the starting cleaning position C of the target to be cleaned 910 based on the horizontal distances between the left and right boundaries of the target to be cleaned 910 and the center of the cleaning robot 110 respectively, a target cleaning path 920b corresponding to the target to be cleaned 910 can be generated based on the projection height 930 and the projection length 940 of the vertices of the target to be cleaned 910 onto the line where the target detection position and the starting cleaning position C are located.

[0098] S802. Control the cleaning robot to clean the target to be cleaned according to the target cleaning path.

[0099] Specifically, after determining the target cleaning path corresponding to the target to be cleaned, the cleaning robot can be controlled to drive along the target cleaning path and turn on the cleaning mode during the driving process along the target cleaning path to complete the cleaning of the target to be cleaned.

[0100] Optionally, when there are multiple targets to be cleaned within the target detection range of the cleaning robot, after cleaning the target to be cleaned among the multiple targets to be cleaned, the cleaning robot can return to the current coverage position on the target coverage path and then go to the target detection position corresponding to the next target to be cleaned within the target detection range to clean the next target to be cleaned according to the above process.

[0101] Next, please continue to refer to Figure 2 , as Figure 2 shown, after the above 202, based on the target width of the target to be cleaned detected at the target detection position, the cleaning robot is controlled to clean the target to be cleaned along the target cleaning path, the control method of the cleaning robot can also but is not limited to include the following steps:

[0102] S203, after the targets to be cleaned within the target detection range are cleaned, control the cleaning robot to return to the target coverage path to continue the patrol inspection until the cleaning robot has patrolled the area to be cleaned, and then end the cleaning work on the area to be cleaned.

[0103] Specifically, after the targets to be cleaned within the target detection range are cleaned, the cleaning robot can be controlled to return to the target coverage path to continue the patrol inspection, and then execute the above S201 again until the cleaning robot has patrolled the area to be cleaned according to the target coverage path, so as to achieve full-coverage cleaning of the area to be cleaned.

[0104] It can be understood that after the targets to be cleaned are cleaned, the target return path for controlling the underwater cleaning robot to return to the target coverage path and the target driving path for the cleaning robot to go to the targets to be cleaned for cleaning can be the same or different, and can be obtained by using the same path planning algorithm for path planning or by using different path planning algorithms for path planning. This application embodiment does not make any limitation in this regard.

[0105] In the embodiments of the present application, on the one hand, when the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, it can quickly and accurately travel to the target detection position corresponding to the target to be cleaned based on the relative position information between the target to be cleaned within its target detection range and itself, reducing the ineffective patrol inspection time, providing accurate width detection for the subsequent efficient cleaning of the target to be cleaned, and improving the cleaning efficiency. On the other hand, based on the target detection position of the target to be cleaned and by precisely detecting the target width of the target to be cleaned, the cleaning robot can clean the target to be cleaned according to the corresponding target cleaning path according to the actual situation (the target width of the target to be cleaned), ensuring that the cleaning process is both comprehensive and efficient and accurate, avoiding the problems of repeated cleaning or omission caused by the inability to accurately judge the size of the target to be cleaned in the traditional cleaning method, and further improving the cleaning quality and efficiency. On the other hand, after controlling the cleaning robot to complete the cleaning of the target to be cleaned within the target detection range, the cleaning robot is controlled to automatically return to the target coverage path to continue the patrol inspection until the cleaning robot has completed the cleaning of the area to be cleaned, ending the cleaning work on the area to be cleaned, ensuring the full coverage and efficient cleaning of the entire area to be cleaned, and greatly reducing the burden of manual operation through this automated control method, improving the intelligence and automation level of the cleaning operation.

[0106] In some possible embodiments, before controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the target travel path based on the relative position information between the target to be cleaned and the cleaning robot, if there is a target to be cleaned within the target detection range of the cleaning robot, record the current coverage position of the cleaning robot on the target coverage path. After the target to be cleaned is cleaned, first control the cleaning robot to return to the current coverage position according to the target return path; then, in the case where there is no target to be cleaned within the target detection range of the cleaning robot at the current coverage position, control the cleaning robot to continue the patrol inspection according to the target coverage path; in the case where there is still a target to be cleaned within the target detection range of the cleaning robot at the current coverage position, perform again the step of controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the target travel path based on the relative position information between the target to be cleaned and the cleaning robot.

[0107] Optionally, before controlling the cleaning robot to travel along the target travel path to the target detection position corresponding to the target to be cleaned, in addition to recording the current covered position of the cleaning robot, the current covered orientation corresponding to the current covered position can also be recorded. After the target to be cleaned is cleaned, a target return path can be planned first based on the current covered position, the current covered orientation, and the end cleaning position corresponding to the target to be cleaned, and then the cleaning robot can be controlled to return to the current covered position along the target return path, so that after the cleaning robot returns to the target coverage path, it can continue to perform patrol inspection according to the current covered orientation without pausing and rotating, improving the patrol inspection efficiency of the cleaning robot.

[0108] Exemplarily, as Figure 10 shown, after the target to be cleaned is cleaned, a target return path 1040 can be planned first based on the current covered position B, the current covered orientation 1010, and the end cleaning position corresponding to the target to be cleaned (i.e., the center position P0 of the cleaning robot 110 corresponding to the end point of the target cleaning path of the target to be cleaned) according to the above-mentioned target travel path generation method. For example but not limited to, the longitudinal distance 1020 between the current covered position B and the cleaning robot 110 can be calculated first, and the first target position P1 located at half of the longitudinal distance 1030 in front of the center front point position P0 of the cleaning robot 110 and the second target position P2 located at half of the longitudinal distance 1030 directly behind the current covered position B can be determined; finally, a third-order Bezier curve can be generated according to the center front point position P0 of the cleaning robot 110, the first target position P1, the second target position P2, the current covered position B, and the current covered orientation 1010, and thus the target return path 1040 for the cleaning robot 110 to travel from the end cleaning position (center front point position P0) to the current covered position B can be generated.

[0109] In some possible embodiments, as Figure 11 shown, the flow of another control method for a cleaning robot provided by an exemplary embodiment of the present application can also but not limited to include:

[0110] S1101, when the cleaning robot performs patrol inspection in the area to be cleaned along the target coverage path, if there is no target to be cleaned within the target detection range of the cleaning robot, or all the targets to be cleaned within the target detection range of the cleaning robot have been cleaned, the target detection area corresponding to the target detection range at the current covered position of the cleaning robot is marked as the covered area.

[0111] Exemplarily, as Figure 12As shown, if there is no target to be cleaned within the target detection range of the cleaning robot 110, or if all the targets to be cleaned within the target detection range of the cleaning robot 110 have been cleaned, then the target detection area corresponding to the target detection range at the current coverage position of the cleaning robot 110 can be marked as the covered area 1210 by means such as highlighting or solid color filling, etc.

[0112] S1102. Based on the contour information or map information of the area to be cleaned, and the covered area, determine the current coverage rate corresponding to the area to be cleaned.

[0113] Specifically, the current coverage rate corresponding to the area to be cleaned can be, but is not limited to, the ratio of the covered area of the area to be cleaned to the area of the area to be cleaned, and the area of the area to be cleaned is determined by the contour information or map information of the area to be cleaned.

[0114] S1103. If the current coverage rate is greater than or equal to the target coverage rate threshold, it is determined that the cleaning robot has completed the inspection of the area to be cleaned.

[0115] Specifically, if the current coverage rate is greater than or equal to the target coverage rate threshold (such as, but not limited to, 99%, 95%, 100%, etc.), it means that the cleaning coverage rate of the area to be cleaned has reached the standard, then it can be determined that the cleaning robot has completed the inspection of the area to be cleaned.

[0116] Next, please continue to refer to Figure 11 , such as Figure 11 As shown, after S1102, based on the contour information or map information of the area to be cleaned, and the covered area, determine the current coverage rate corresponding to the area to be cleaned, the control method of the cleaning robot can also, but is not limited to, include:

[0117] S1104. After completing the inspection according to the target coverage path, if the current coverage rate is less than the target coverage rate threshold, based on the contour information or map information of the area to be cleaned, and the covered area, determine the uncovered area corresponding to the area to be cleaned.

[0118] Specifically, after completing the inspection according to the target coverage path, if the current coverage rate is less than the target coverage rate threshold, it means that the cleaning coverage rate of the area to be cleaned has not reached the standard, then the uncovered area corresponding to the area to be cleaned can be determined based on the contour information or map information of the area to be cleaned, and the covered area.

[0119] Exemplarily, as Figure 13 shown, after completing the inspection according to the target coverage path, if the current coverage rate is less than the target coverage rate threshold, then the uncovered area 1320 corresponding to the area to be cleaned 120 can be directly determined based on the contour information or map information of the area to be cleaned 120, and the marked covered area 1310.

[0120] S1105. Control the cleaning robot to travel to the uncovered area based on the end coverage position of the target coverage path and the area position information corresponding to the uncovered area, and update the area to be cleaned as the uncovered area.

[0121] Specifically, after determining the uncovered area, it is possible but not limited to use a pathfinding algorithm (such as but not limited to the A* algorithm) to plan a target path to the uncovered area based on the end coverage position of the target coverage path and the area position information corresponding to the uncovered area. After controlling the cleaning robot to travel to the uncovered area according to the target path, update the area to be cleaned as the uncovered area, and then control the cleaning robot to clean it according to the Figure 2 method steps shown, so as to supplement and clean the uncovered area of the area to be cleaned according to the contour information or map information of the area to be cleaned, greatly improving the working efficiency and coverage rate of the cleaning robot's coverage cleaning, and avoiding the problem of missed cleaning in the area to be cleaned.

[0122] Next, please refer to Figure 14 , which is a schematic structural diagram of a control device for a cleaning robot provided by an exemplary embodiment of the present application. As Figure 14 shown, the control device 1400 of the cleaning robot includes:

[0123] A first control module 1410, configured to, when the cleaning robot performs a patrol in the area to be cleaned according to the target coverage path, if there is a target to be cleaned within the target detection range of the cleaning robot, control the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the relative position information between the target to be cleaned and the cleaning robot;

[0124] A second control module 1420, configured to control the cleaning robot to clean the target to be cleaned according to the target cleaning path based on the target width of the target to be cleaned detected at the target detection position;

[0125] A third control module 1430, configured to, after the target to be cleaned within the target detection range is cleaned, control the cleaning robot to return to the target coverage path to continue the patrol until the cleaning robot completes the cleaning work on the area to be cleaned after patrolling the area to be cleaned.

[0126] In a possible implementation manner, the control device 1400 of the cleaning robot further includes:

[0127] An acquisition module, configured to obtain the recognition result of the target to be cleaned within the target detection range of the cleaning robot when the cleaning robot performs a patrol inspection in the area to be cleaned according to the above-mentioned target coverage path; when there are multiple targets to be cleaned within the target detection range, the recognition result of the target to be cleaned includes the area of each target to be cleaned and the relative position information between each target to be cleaned and the cleaning robot;

[0128] A screening module, configured to screen out a target to be cleaned from the multiple targets to be cleaned based on the area of each target to be cleaned and the relative position information; the cleaning priority of the target to be cleaned is higher than that of other targets to be cleaned among the multiple targets to be cleaned.

[0129] In a possible implementation manner, the screening module includes:

[0130] A cleaning cost determination unit, configured to determine the cleaning cost corresponding to each target to be cleaned based on the area of each target to be cleaned and the relative position information;

[0131] A screening unit, configured to screen out a target to be cleaned from the multiple targets to be cleaned based on the cleaning cost corresponding to each of the multiple targets to be cleaned.

[0132] In a possible implementation manner, the relative position information includes a horizontal relative distance and a vertical relative distance; the cleaning cost determination unit is specifically configured to: calculate the cleaning cost corresponding to each target to be cleaned based on the area of each target to be cleaned and the target area weight, the horizontal relative distance and the target horizontal distance weight, and the vertical relative distance and the target vertical distance weight.

[0133] In a possible implementation manner, the first control module 1410 includes:

[0134] A driving path generation unit, configured to generate a target driving path based on the relative position information between the target to be cleaned and the cleaning robot according to a target curve generation method;

[0135] A first control unit, configured to control the cleaning robot to drive to the target detection position corresponding to the target to be cleaned according to the target driving path.

[0136] In a possible implementation manner, the driving path generation unit is specifically configured to: determine the target detection position corresponding to the target to be cleaned based on the relative position information between the target to be cleaned and the cleaning robot; generate a target driving curve for the cleaning robot to travel from the current coverage position to the target detection position based on the target detection position and the current coverage position of the cleaning robot on the target coverage path.

[0137] In a possible implementation, the above-mentioned second control module 1420 includes:

[0138] A cleaning path planning unit, configured to plan a target cleaning path corresponding to the to-be-cleaned target based on the target width of the to-be-cleaned target detected at the above-mentioned target detection position and the cleaning width of the cleaning robot;

[0139] A second control unit, configured to control the cleaning robot to clean the to-be-cleaned target along the above-mentioned target cleaning path.

[0140] In a possible implementation, when the above-mentioned target width is less than or equal to the cleaning width, the above-mentioned target cleaning path is a straight line path passing through the center of the to-be-cleaned target; when the above-mentioned target width is greater than the cleaning width, the above-mentioned target cleaning path is a non-straight line path that completely covers the to-be-cleaned target.

[0141] In a possible implementation, the above-mentioned cleaning path planning unit is specifically configured to: determine the starting cleaning position of the to-be-cleaned target based on the lateral distances between the left and right boundaries of the to-be-cleaned target and the center of the cleaning robot respectively; use the connection direction between the above-mentioned target detection position and the starting cleaning position as the cleaning path scanning direction, and generate a target cleaning path corresponding to the to-be-cleaned target based on the projection heights of the vertices of the to-be-cleaned target onto the straight line where the above-mentioned target detection position and the starting cleaning position are located and the cleaning width of the cleaning robot.

[0142] In a possible implementation, the control device 1400 of the above-mentioned cleaning robot further includes:

[0143] A recording module, configured to record the current coverage position of the cleaning robot on the above-mentioned target coverage path if there is a to-be-cleaned target within the target detection range of the cleaning robot;

[0144] The above-mentioned third control module 1430 is specifically configured to: after the to-be-cleaned target is cleaned, control the cleaning robot to return to the above-mentioned current coverage position along the target return path; when there is no to-be-cleaned target within the target detection range of the cleaning robot at the above-mentioned current coverage position, control the cleaning robot to continue the patrol along the above-mentioned target coverage path; when there is still a to-be-cleaned target within the target detection range of the cleaning robot at the above-mentioned current coverage position, execute again the step of controlling the cleaning robot to travel to the target detection position corresponding to the to-be-cleaned target along the target travel path based on the relative position information between the to-be-cleaned target and the cleaning robot.

[0145] In a possible implementation, the control device 1400 of the above-mentioned cleaning robot further includes:

[0146] A marking module is configured to mark the target detection area corresponding to the target detection range at the current coverage position of the cleaning robot as a covered area when the cleaning robot performs a patrol inspection in the area to be cleaned along the target coverage path, if there is no target to be cleaned within the target detection range of the cleaning robot, or if all the targets to be cleaned within the target detection range of the cleaning robot have been cleaned up;

[0147] A first determination module is configured to determine the current coverage rate corresponding to the area to be cleaned based on the contour information or map information of the area to be cleaned and the covered area;

[0148] A second determination module is configured to determine that the cleaning robot has completed the patrol inspection of the area to be cleaned if the current coverage rate is greater than or equal to the target coverage rate threshold.

[0149] In a possible implementation, the control device 1400 of the cleaning robot further includes:

[0150] A third determination module is configured to determine the uncovered area corresponding to the area to be cleaned based on the contour information or map information of the area to be cleaned and the covered area if the current coverage rate is less than the target coverage rate threshold after the patrol inspection along the target coverage path is completed;

[0151] A fourth control module is configured to control the cleaning robot to travel to the uncovered area based on the end coverage position of the target coverage path and the area position information corresponding to the uncovered area;

[0152] An update module is configured to update the area to be cleaned as the uncovered area.

[0153] In a possible implementation, the control device 1400 of the cleaning robot further includes:

[0154] A coverage path planning module is configured to sparsify the basic coverage path of the cleaning robot based on the target detection width corresponding to the target detection range to obtain the target coverage path.

[0155] The division of each module in the control device of the above cleaning robot is only for illustrative purposes. In other embodiments, the control device of the cleaning robot may be divided into different modules as needed to complete all or part of the functions of the control device of the above cleaning robot. In the embodiments of the present application, the implementation of each module in the control device of the cleaning robot may be in the form of a computer program. The computer program may run on the cleaning robot, or the terminal, or the server. The program module constituted by the computer program may be stored in the memory of the cleaning robot, or the terminal, or the server. When the computer program is executed by the processor, all or part of the steps of the cleaning method of the cleaning robot described in the embodiments of the present application are implemented.

[0156] Next, please refer to Figure 15 , which is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application. As Figure 15 shown, the cleaning robot 1500 includes: at least one processor 1510, at least one communication bus 1520, a user interface 1530, at least one network interface 1540, a memory 1550, and a sensor 1560.

[0157] Among them, the communication bus 1520 can be used to realize the connection and communication of the above-mentioned various components.

[0158] Among them, the user interface 1530 may include a display screen and a camera. Optionally, the user interface 1530 may further include a standard wired interface and a wireless interface.

[0159] Among them, the network interface 1540 may include a Bluetooth module, a Near Field Communication (NFC) module, a Wireless Fidelity (Wi-Fi) module, etc.

[0160] Among them, the sensor 1560 may include, but is not limited to, a camera, a radar, etc., for obtaining the recognition result of the target to be cleaned within its corresponding target detection range.

[0161] Among them, the processor 1510 may include one or more processing cores. The processor 1510 connects various parts within the entire cleaning robot 1500 through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 1550, and by calling the data stored in the memory 1550, it executes various functions of the routing cleaning robot 1500 and processes data. Optionally, the processor 1510 may be implemented in at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 1510 may integrate a combination of one or several of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 1510 and may be implemented separately through a single chip.

[0162] Among them, the memory 1550 may include Random Access Memory (RAM) and may also include Read-Only Memory (ROM). Optionally, the memory 1550 includes a non-transitory computer-readable medium. The memory 1550 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1550 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as object recognition function, control function of the cleaning robot, cleaning function, path planning function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store the data involved in the above-mentioned various method embodiments. The memory 1550 may also be at least one storage device located far from the aforementioned processor 1510. As Figure 15 shown, the memory 1550, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and program instructions.

[0163] Specifically, the processor 1510 may be used to call the program instructions stored in the memory 1550 and specifically execute any operation in the control method of the cleaning robot provided in the above method embodiments of the present application.

[0164] The embodiments of the present application further provide a computer storage medium, in which instructions are stored. When the instructions run on a computer or a processor, the computer or the processor is enabled to execute one or more steps in any of the above methods. If each component module of the control device of the above cleaning robot is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in the storage medium.

[0165] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0166] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it may include the processes of the embodiments of the above methods. The foregoing storage medium includes various media that can store program codes, such as ROM, RAM, magnetic disks, or optical discs. Without conflict, the technical features in this embodiment and the implementation solutions can be combined arbitrarily.

[0167] The above-described embodiments are merely descriptions of the preferred embodiments of the present application and do not limit the scope of the present application. Without departing from the design spirit of the present application, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present application shall fall within the protection scope determined by the claims of the present application.

Claims

1. A control method for a cleaning robot, characterized in that, The method includes: When the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, if there is a target to be cleaned within the target detection range of the cleaning robot, the cleaning robot is controlled to travel to the target detection position corresponding to the target to be cleaned according to the target travel path based on the relative position information between the target to be cleaned and the cleaning robot; Based on the target width of the target to be cleaned detected at the target detection position, the cleaning robot is controlled to clean the target to be cleaned according to the target cleaning path; After the target to be cleaned within the target detection range is cleaned, the cleaning robot is controlled to return to the target coverage path to continue the patrol inspection until the cleaning robot finishes patrolling the area to be cleaned, and then the cleaning work on the area to be cleaned ends.

2. The method according to claim 1, wherein The method further includes: When the cleaning robot performs a patrol inspection in the area to be cleaned according to the target coverage path, it obtains the recognition result of the target to be cleaned within the target detection range of the cleaning robot; when there are multiple targets to be cleaned within the target detection range, the recognition result of the target to be cleaned includes the area of each target to be cleaned and the relative position information between each target to be cleaned and the cleaning robot; Based on the area of each target to be cleaned and the relative position information, a target to be cleaned is selected from the multiple targets to be cleaned; the cleaning priority of the target to be cleaned is higher than that of other targets to be cleaned among the multiple targets to be cleaned.

3. The method according to claim 2, characterized in that, The selecting a target to be cleaned from the multiple targets to be cleaned based on the area of each target to be cleaned and the relative position information includes: Determining the cleaning cost corresponding to each target to be cleaned based on the area of each target to be cleaned and the relative position information; Selecting a target to be cleaned from the multiple targets to be cleaned based on the cleaning cost corresponding to each of the multiple targets to be cleaned.

4. The method according to claim 3, wherein The relative position information includes a horizontal relative distance and a vertical relative distance; The determining the cleaning cost corresponding to each target to be cleaned based on the area of each target to be cleaned and the relative position information includes: Calculating the cleaning cost corresponding to each target to be cleaned based on the area of each target to be cleaned and the target area weight, the horizontal relative distance and the target horizontal distance weight, and the vertical relative distance and the target vertical distance weight.

5. The method according to claim 1, characterized in that The controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the target travel path based on the relative position information between the target to be cleaned and the cleaning robot includes: Generating a target travel path based on the relative position information between the target to be cleaned and the cleaning robot according to the target curve generation method; Controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned according to the target travel path.

6. The method according to claim 5, wherein The target travel path is a curved path; The generating a target travel path based on the relative position information between the target to be cleaned and the cleaning robot according to the target curve generation method includes: Determine a target detection position corresponding to the target to be cleaned based on the relative position information between the target to be cleaned and the cleaning robot; Generate a target travel curve for the cleaning robot to travel from the current covered position to the target detection position based on the target detection position and the current covered position of the cleaning robot on the target coverage path.

7. The method according to claim 1, characterized in that, The controlling the cleaning robot to clean the target to be cleaned along a target cleaning path based on the target width of the target to be cleaned detected at the target detection position includes: Plan a target cleaning path corresponding to the target to be cleaned based on the target width of the target to be cleaned detected at the target detection position and the cleaning width of the cleaning robot; Control the cleaning robot to clean the target to be cleaned along the target cleaning path.

8. The method according to claim 7, wherein When the target width is less than or equal to the cleaning width, the target cleaning path is a straight line passing through the center of the target to be cleaned; When the target width is greater than the cleaning width, the target cleaning path is a non - straight line that completely covers the target to be cleaned.

9. The method according to claim 7, wherein The planning the target cleaning path corresponding to the target to be cleaned based on the target width of the target to be cleaned detected at the target detection position and the cleaning width of the cleaning robot includes: Determine a starting cleaning position of the target to be cleaned based on the lateral distances between the left and right boundaries of the target to be cleaned and the center of the cleaning robot respectively; Using the direction of the line connecting the target detection position and the starting cleaning position as the cleaning path scanning direction, generate a target cleaning path corresponding to the target to be cleaned based on the projected heights of the vertices of the target to be cleaned onto the line where the target detection position and the starting cleaning position are located and the cleaning width of the cleaning robot.

10. The method according to claim 1, characterized in that Before the controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned along a target travel path based on the relative position information between the target to be cleaned and the cleaning robot, the method further includes: If there is a target to be cleaned within the target detection range of the cleaning robot, record the current covered position of the cleaning robot on the target coverage path; After the target to be cleaned within the target detection range is cleaned, control the cleaning robot to return to continue patrol on the target coverage path, including: After the target to be cleaned is cleaned, control the cleaning robot to return to the current covered position along a target return path; When there is no target to be cleaned within the target detection range of the cleaning robot at the current covered position, control the cleaning robot to continue patrol along the target coverage path; When there is still a target to be cleaned within the target detection range of the cleaning robot at the current covered position, execute again the step of controlling the cleaning robot to travel to the target detection position corresponding to the target to be cleaned along a target travel path based on the relative position information between the target to be cleaned and the cleaning robot.

11. The method according to claim 1, wherein The method further includes: When the cleaning robot conducts a patrol inspection in the area to be cleaned according to the target coverage path, if there is no target to be cleaned within the target detection range of the cleaning robot, or if all the targets to be cleaned within the target detection range of the cleaning robot have been cleaned, the target detection area corresponding to the target detection range at the current coverage position of the cleaning robot is marked as the covered area; Based on the contour information or map information of the area to be cleaned, and the covered area, determine the current coverage rate corresponding to the area to be cleaned; If the current coverage rate is greater than or equal to the target coverage rate threshold, it is determined that the cleaning robot has completed the patrol inspection of the area to be cleaned.

12. The method according to claim 11, wherein After determining the current coverage rate corresponding to the area to be cleaned based on the contour information or map information of the area to be cleaned, and the covered area, the method further includes: After completing the patrol inspection according to the target coverage path, if the current coverage rate is less than the target coverage rate threshold, based on the contour information or map information of the area to be cleaned, and the covered area, determine the uncovered area corresponding to the area to be cleaned; Control the cleaning robot to drive to the uncovered area based on the end coverage position of the target coverage path and the area position information corresponding to the uncovered area, and update the area to be cleaned as the uncovered area.

13. The method according to claim 1, characterized in that, The method further includes: Sparsify the basic coverage path of the cleaning robot based on the target detection width corresponding to the target detection range to obtain the target coverage path.

14. A control device for a cleaning robot, characterized in that, The control device of the cleaning robot includes: A first control module, when the cleaning robot conducts a patrol inspection in the area to be cleaned according to the target coverage path, if there is a target to be cleaned within the target detection range of the cleaning robot, control the cleaning robot to drive to the target detection position corresponding to the target to be cleaned according to the target driving path based on the relative position information between the target to be cleaned and the cleaning robot; A second control module, used to control the cleaning robot to clean the target to be cleaned according to the target cleaning path based on the target width of the target to be cleaned detected at the target detection position; A third control module, after the targets to be cleaned within the target detection range are cleaned, control the cleaning robot to return to the target coverage path to continue the patrol inspection until the cleaning robot completes the cleaning work of the area to be cleaned.

15. A cleaning robot, characterized in that, The cleaning robot includes a robot controller, and the robot controller includes a processor and a memory; wherein, the memory stores a computer program, and the computer program is suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-13.

16. A computer storage medium, characterized in that, The computer storage medium stores multiple instructions, and the instructions are suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-13.

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