Cleaning robot, path planning method of cleaning robot and readable storage medium

Abstract

The invention discloses a cleaning robot, a path planning method of the cleaning robot and a computer readable storage medium. The cleaning robot comprises a host; the sensor module is used for acquiring information of the edge of the to-be-cleaned object and the first obstacle; the control module is configured to respond to the information, obtained by the sensor module, of the edge of the to-be-cleaned object and the first obstacle, determine the target distance between the edge of the to-be-cleaned object and the first obstacle, compare the target distance with a first preset distance, and send the first preset distance to the to-be-cleaned object; the first preset distance is determined according to the distance required by collision-free steering of the cleaning robot, and the chassis danger area is located on the rear portion of a chassis of the cleaning robot. Therefore, the cleaning robot can be prevented from being trapped between the to-be-cleaned object and the obstacle, the working efficiency is improved, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a cleaning robot, a path planning method for the cleaning robot, and a computer-readable storage medium. Background Art

[0002] With the development of science and technology, cleaning robots such as mopping robots and sweeping robots have brought many conveniences to people's lives. However, when the floor of a room or other area is carpeted and there are obstacles near the edge of the carpet, if the cleaning robot approaches the obstacle from the carpet, there is a probability that the chassis of the cleaning robot will fall on the ground between the obstacle and the carpet, so that when turning or moving backward, the rear side of the chassis may need to go over the carpet, such as Figure 1 and Figure 2 As shown, in this case, it is difficult for the cleaning robot to climb over the carpet, which may cause the cleaning robot to be trapped between the obstacle and the carpet. Summary of the Invention

[0003] Based on this, it is necessary to provide a cleaning robot, a path planning method for the cleaning robot, and a computer-readable storage medium that can prevent the cleaning robot from being trapped between the object to be cleaned and the obstacle in order to address the above technical problems.

[0004] To achieve the above objectives:

[0005] In a first aspect, an embodiment of the present application provides a cleaning robot, the cleaning robot comprising:

[0006] A host computer, including a cleaning component, for performing cleaning work;

[0007] A walking module, connected to the main machine, drives the main machine to move in the working area;

[0008] a sensor module, connected to the host, for acquiring information about the edge of the object to be cleaned and the first obstacle; and

[0009] A control module connected to the walking module and the sensor module;

[0010] The control module is configured to determine a target distance between the edge of the object to be cleaned and the first obstacle in response to information about the edge of the object to be cleaned and the first obstacle acquired by the sensor module, and compare the target distance with a first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned, wherein the first preset distance is determined based on the distance required for the cleaning robot to turn without collision; and the chassis danger zone is located at the rear of the chassis of the cleaning robot.

[0011] In a possible implementation, determining a target distance between the edge of the object to be cleaned and the first obstacle in response to the information of the edge of the object to be cleaned and the first obstacle acquired by the sensor module includes:

[0012] Acquire a first distance between the cleaning robot and the edge of the object to be cleaned, and a second distance between the cleaning robot and the first obstacle;

[0013] The target distance is determined based on the second distance and the first distance.

[0014] In a possible implementation, determining a target distance between the edge of the object to be cleaned and the first obstacle in response to the information of the edge of the object to be cleaned and the first obstacle acquired by the sensor module includes:

[0015] Acquire a third distance between the cleaning robot and the first obstacle when the cleaning robot moves to the edge of the object to be cleaned;

[0016] The target distance is determined according to the third distance.

[0017] In a possible implementation, the cleaning robot includes multiple driving wheels, and the first preset distance is greater than or equal to a minimum distance required for the cleaning robot to turn without collision when the center of the driving wheel is used as the rotation point.

[0018] In a possible implementation, comparing the target distance with a first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned includes:

[0019] When the target distance is less than the first preset distance and greater than or equal to a preset threshold, the chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned; wherein, the preset threshold is set based on the chassis length of the cleaning robot.

[0020] In a possible implementation, the chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned, including:

[0021] When the cleaning robot approaches the first obstacle, the distance between the cleaning robot and the first obstacle is determined according to the target distance and the preset threshold value to ensure that the chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned.

[0022] In a possible implementation, comparing the target distance with a first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned includes:

[0023] When the target distance is greater than or equal to the first preset distance, the chassis danger zone of the cleaning robot may pass over the edge of the object to be cleaned.

[0024] In a possible implementation, when the target distance is less than a preset threshold, the cleaning robot moves along a preset path; the preset threshold is set based on the chassis length of the cleaning robot.

[0025] In a possible implementation, the sensor module is further configured to obtain a fourth distance between the cleaning robot and the first obstacle when the cleaning robot performs cleaning work on the surface to be cleaned;

[0026] The control module is configured to control the cleaning robot to turn according to a preset steering strategy in response to the fourth distance being equal to a preset limit distance; the preset limit distance is used to indicate the minimum distance that needs to be maintained between the cleaning robot and the first obstacle when the dangerous area of the chassis of the cleaning robot does not cross the edge of the object to be cleaned.

[0027] In a possible implementation, controlling the cleaning robot to turn according to a preset turning strategy includes:

[0028] After controlling the cleaning robot to retreat at least a second preset distance, controlling the cleaning robot to turn with the driving wheel as a rotation point;

[0029] The second preset distance is the minimum distance required for the cleaning robot to turn without collision when the driving wheel is used as the rotation point.

[0030] In a possible implementation, the control module is further configured to control the cleaning robot to execute a preset cleaning strategy to clean an uncleaned area resulting from the turning of the cleaning robot.

[0031] In a possible implementation, controlling the cleaning robot to execute a preset cleaning strategy to clean an uncleaned area caused by the turning of the cleaning robot includes:

[0032] controlling the cleaning robot to approach the first obstacle;

[0033] The cleaning robot is controlled to retreat and perform cleaning work until the cleaning robot contacts a second obstacle.

[0034] In a possible implementation, controlling the cleaning robot to approach the first obstacle includes:

[0035] The cleaning robot is controlled to move obliquely toward the first obstacle, and after approaching the first obstacle, the body of the cleaning robot is controlled to be parallel to the first obstacle.

[0036] In a second aspect, an embodiment of the present application provides a path planning method for a cleaning robot, comprising:

[0037] In cleaning mode, the cleaning robot is controlled to move on the object to be cleaned;

[0038] Acquire information about the edge of the object to be cleaned and the first obstacle from a sensor module provided on the cleaning robot;

[0039] In response to the information of the edge of the object to be cleaned and the first obstacle obtained by the sensor module, a target distance between the edge of the object to be cleaned and the first obstacle is determined, and the target distance is compared with a first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned, wherein the first preset distance is determined based on the distance required for the cleaning robot to turn without collision.

[0040] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0041] The cleaning robot, the path planning method of the cleaning robot and the computer-readable storage medium provided by the embodiments of the present application, the cleaning robot includes: a main body, including a cleaning component, for performing cleaning work; a walking module, connected to the main body, driving the main body to move in the working area; a sensor module, connected to the main body, for obtaining information about the edge of the object to be cleaned and the first obstacle; and a control module, connecting the walking module and the sensor module; the control module is configured to determine the target distance between the edge of the object to be cleaned and the first obstacle in response to the information about the edge of the object to be cleaned and the first obstacle obtained by the sensor module, and compare the target distance with a first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned, wherein the first preset distance is determined according to the distance required for the cleaning robot to turn without collision; the chassis danger zone is located at the rear of the chassis of the cleaning robot. In this way, based on the minimum distance required for the cleaning robot to turn without collision, the distance between the edge of the object to be cleaned and the first obstacle is compared, and according to the comparison result, it is determined whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned, that is, the operation path of the cleaning robot is planned, which can effectively prevent the chassis danger zone of the cleaning robot from falling between the edge of the object to be cleaned and the first obstacle, that is, prevent the cleaning robot from being trapped between the object to be cleaned and the obstacle, thereby improving the working efficiency of the cleaning robot and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Illustration of the positions between the cleaning robot, carpet, and obstacles Figure 1 ;

[0043] Figure 2 Schematic diagram of the cleaning robot's steering;

[0044] Figure 3 Illustration of the positions between the cleaning robot, carpet, and obstacles Figure 2 ;

[0045] Figure 4 Schematic diagram of the structure of the cleaning robot provided by the embodiment of the present invention Figure 1 ;

[0046] Figure 5 Schematic diagram of the outline of the cleaning robot in an embodiment of the present invention;

[0047] Figure 6 Schematic diagram of the rotation profile of the cleaning robot in an embodiment of the present invention Figure 1 ;

[0048] Figure 7 Schematic diagram of the rotation profile of the cleaning robot in an embodiment of the present invention Figure 2 ;

[0049] Figure 8 Schematic diagram of the position of the cleaning robot and the first obstacle in an embodiment of the present invention Figure 1 ;

[0050] Figure 9 Schematic diagram of the position of the cleaning robot and the first obstacle in an embodiment of the present invention Figure 2 ;

[0051] Figure 10 Schematic diagram of the steering process of the cleaning robot in an embodiment of the present invention;

[0052] Figure 11 A schematic flow chart of a path planning method for a cleaning robot provided in an embodiment of the present invention;

[0053] Figure 12 A schematic diagram of a specific flow chart of a path planning method for a cleaning robot provided in an embodiment of the present invention;

[0054] Figure 13 Schematic diagram of the position of the cleaning robot and the wall in an embodiment of the present invention;

[0055] Figure 14 This is a schematic diagram of the cleaning robot moving backwards in an embodiment of the present invention;

[0056] Figure 15 This is a schematic diagram of the steering of the cleaning robot in an embodiment of the present invention;

[0057] Figure 16 This is a schematic diagram of a cleaning robot approaching a wall in an embodiment of the present invention;

[0058] Figure 17 This is a schematic diagram of the cleaning robot moving backwards in an embodiment of the present invention;

[0059] Figure 18 Schematic diagram of the structure of the cleaning robot provided by the embodiment of the present invention Figure 2 . DETAILED DESCRIPTION

[0060] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0061] It should be noted that, in this document, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0062] It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the term "if" as used herein may be interpreted as "at the time of," "when," or "in response to a determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprising" and "including" indicate the presence of the described features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, meaning any one or any combination. Thus, “A, B, or C” or “A, B, and / or C” means “any of: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition occurs only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0063] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and they can be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0064] It should be noted that in this article, step codes such as S101 and S102 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the order. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0065] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0066] In the subsequent description, the use of suffixes such as "module", "component" or "unit" to represent elements is only for the purpose of facilitating the description of the present application and has no specific meaning. Therefore, "module", "component" or "unit" can be used interchangeably.

[0067] like Figure 3 As shown, when there are obstacles such as walls, closets, and table legs near the carpet, the cleaning robot has a probability of its chassis falling onto the ground between the obstacle and the carpet after approaching the obstacle from the carpet. This may require the rear side of the chassis to go over the carpet when turning or backing up. In this case, it is difficult for the cleaning robot to go over the carpet, and eventually the cleaning robot may be trapped between the obstacle and the carpet due to obstructions from the front and back.

[0068] Therefore, there is a need in the prior art to solve the problem of how to prevent the cleaning robot from being trapped between the object to be cleaned and the obstacle, so as to improve the working efficiency of the cleaning robot and enhance the user experience. Figure 4 As shown, an embodiment of the present application proposes a cleaning robot, including a main body 10, a walking module 11 connected to the main body 10 and driving the main body 10 to move in a working area, a sensor module 12 connected to the main body 10 and used to obtain information about the edge of the object to be cleaned and the first obstacle, and a control module 13 connecting the walking module 11 and the sensor module 12.

[0069] The host 10 includes a cleaning component for performing cleaning work, which may be a roller brush component capable of performing a sweeping function, or a mopping component capable of performing a mopping function, or both a roller brush component and a mopping component.

[0070] The control module 13 is configured to determine the target distance between the edge of the object to be cleaned and the first obstacle in response to the information of the edge of the object to be cleaned and the first obstacle obtained by the sensor module 12, and compare the target distance with the first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned, wherein the first preset distance is determined based on the distance required for the cleaning robot to turn without collision.

[0071] The chassis danger zone is located at the rear of the cleaning robot's chassis. When the cleaning robot needs to climb over a high object to be cleaned while backing up, the presence of the chassis danger zone increases the difficulty of the cleaning robot climbing over the object. The chassis danger zone can specifically include the drive wheels, the mop board at the rear of the chassis, or steps.

[0072] The object to be cleaned is an object that requires the cleaning robot to perform cleaning operations, including but not limited to carpets, floor mats, etc. The first obstacle is an object located around the object to be cleaned that affects the cleaning robot's normal cleaning operations on the edge of the object to be cleaned, such as Figure 3 The edges of the objects to be cleaned can be considered to have certain regular shapes, such as Figure 3 The edge of the carpet shown in FIG is approximately a straight line. The target distance is the distance between the edge of the object to be cleaned and the first obstacle. Figure 3 Taking the wall shown in as an example, the target distance is Figure 3 L shown in FIG. It should be noted that, when the positions of the object to be cleaned and the first obstacle remain relatively fixed, the target distance between the edge of the object to be cleaned and the first obstacle can be regarded as a fixed value; and when the positions of the object to be cleaned and / or the first obstacle are movable, the target distance between the edge of the object to be cleaned and the first obstacle can be regarded as a dynamic value.

[0073] In one possible implementation, in response to the information of the edge of the object to be cleaned and the first obstacle acquired by the sensor module 12 , determining the target distance between the edge of the object to be cleaned and the first obstacle includes:

[0074] Acquire a first distance between the cleaning robot and an edge of the object to be cleaned, and a second distance between the cleaning robot and a first obstacle;

[0075] The target distance is determined based on the second distance and the first distance.

[0076] Among them, the cleaning robot can obtain the first distance and the second distance through the ranging sensor, visual sensor and other devices in the sensor module 12. For example, the cleaning robot can use the visual sensor to capture an image containing the edge of the object to be cleaned and the first obstacle, and analyze the image to obtain the first distance between the cleaning robot and the edge of the object to be cleaned, and the second distance between the cleaning robot and the first obstacle. When the first distance between the cleaning robot and the edge of the object to be cleaned and the second distance between the cleaning robot and the first obstacle are known, the target distance can be determined based on the second distance and the first distance. For example, the difference between the second distance and the first distance can be determined as the target distance between the edge of the object to be cleaned and the first obstacle. The first distance and the second distance can be measured by the same sensor. In this case, the difference between the second distance and the first distance is determined as the target distance. The first distance and the second distance can also be obtained by two different sensors set on the host. In this case, the target distance is obtained based on the first distance, the second distance and the distance between the two sensors.

[0077] It should be noted that the cleaning robot can use ultrasonic sensors to detect changes in the surface material of the area it is traveling in to determine whether it is entering or exiting the object to be cleaned, and can use downward-looking infrared sensors to detect changes in the height of the area it is traveling in to determine the thickness of the object to be cleaned, etc. In this way, the distance between the edge of the object to be cleaned and the first obstacle can be quickly and accurately determined, further preventing the cleaning robot from being trapped between the object to be cleaned and the obstacle.

[0078] In one embodiment, in response to the information of the edge of the object to be cleaned and the first obstacle acquired by the sensor module 12, determining the target distance between the edge of the object to be cleaned and the first obstacle includes:

[0079] Obtaining a third distance between the cleaning robot and the first obstacle when the cleaning robot moves to the edge of the object to be cleaned;

[0080] The target distance is determined based on the third distance.

[0081] It can be understood that when the cleaning robot moves toward the edge of the object to be cleaned, the visual sensor and other devices in the sensor module 12 can be used to detect whether the cleaning robot has moved to the edge of the object to be cleaned. When the cleaning robot moves to the edge of the object to be cleaned, the third distance between the cleaning robot and the first obstacle can be obtained through the ranging sensor and other devices in the sensor module 12. Since the visual sensor and the ranging sensor are usually located inside or on the outer shell of the cleaning robot, and there is a certain distance between the visual sensor and the ranging sensor in the horizontal direction, and this distance is a fixed value, that is, the distance is known, therefore, the target distance is determined based on the third distance, and specifically the difference between the third distance and the distance can be used as the target distance between the edge of the object to be cleaned and the first obstacle. In this way, the distance between the edge of the object to be cleaned and the first obstacle can be detected quickly and accurately, further preventing the cleaning robot from being trapped between the object to be cleaned and the obstacle.

[0082] The first preset distance can be obtained in advance based on parameters such as the shape, size, and structure of the cleaning robot. In one possible implementation, the cleaning robot includes multiple drive wheels, and the first preset distance is greater than or equal to the minimum distance required for the cleaning robot to turn without collision when the center of the drive wheel is used as the rotation point. Figure 5 Assuming that the chassis length of the cleaning robot (i.e., the length from the head of the cleaning robot to the rear side of the chassis) is A, and the cleaning robot rotates with the center of the driving wheel as the rotation point, the obtained rotation profile diagram of the cleaning robot is as follows: Figure 6 As shown, the rotation profile of the cleaning robot is obtained by rotating the driving wheel as the rotation point, as shown in Figure 7 As shown. Figure 6 and Figure 7 It can be seen that the rotation profiles of the front impact plate and the rear chassis are different. Calculation shows that the rotation profile corresponding to the center of the drive wheel as the rotation point is the smallest. Therefore, the minimum distance required for steering at this time, that is, the sum of R1 and R2, can be determined as the minimum distance required for collision-free steering. In this case, the first preset distance can be equal to the sum of R1 and R2. It should be noted that the first preset distance can also be slightly larger than the minimum distance required for collision-free steering when the cleaning robot rotates with the center of the drive wheel as the rotation point.

[0083] Among them, according to the size relationship between the target distance and the first preset distance, it can be determined whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned, that is, after the chassis danger zone of the cleaning robot falls between the edge of the object to be cleaned and the first obstacle, whether it does not need to cross the object to be cleaned when turning and retreating, and then the operation path of the cleaning robot can be planned according to the comparison results to avoid the cleaning robot being trapped between the object to be cleaned and the first obstacle.

[0084] In one possible implementation, comparing the target distance with the first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned includes:

[0085] When the target distance is less than the first preset distance and greater than or equal to a preset threshold, the chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned; the preset threshold is set based on the chassis length of the cleaning robot.

[0086] When the target distance is less than a first preset distance and greater than or equal to a preset threshold, it indicates that the cleaning robot's chassis danger zone has fallen between the edge of the object to be cleaned and the first obstacle, causing the chassis danger zone to cross the object to be cleaned when turning or reversing. In order to prevent the cleaning robot from being trapped between the object to be cleaned and the first obstacle, the cleaning robot's chassis danger zone can be controlled so as not to cross the edge of the object to be cleaned. In this way, by controlling the cleaning robot's chassis danger zone to not cross the edge of the object to be cleaned, the cleaning robot can be effectively prevented from being trapped between the object to be cleaned and the obstacle, thereby improving work efficiency and enhancing the user experience.

[0087] In one possible implementation, the chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned, including:

[0088] When the cleaning robot approaches the first obstacle, the distance between the cleaning robot and the first obstacle is determined according to the target distance and the preset threshold value to ensure that the chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned.

[0089] In the process of the cleaning robot approaching the first obstacle, the distance between the cleaning robot and the first obstacle can be controlled to be greater than the difference between the target distance and the preset threshold value, so as to avoid the chassis danger zone of the cleaning robot from crossing the edge of the object to be cleaned, that is, the chassis danger zone of the cleaning robot does not fall between the edge of the object to be cleaned and the first obstacle. It should be noted that, in this embodiment, the extent of the cleaning robot's travel can be determined based on the target distance and the preset threshold value, that is, the distance between the cleaning robot and the first obstacle is determined. Of course, in order to ensure that the chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned, the distance between the cleaning robot and the first obstacle does not necessarily need to be set based on the difference between the target distance and the preset threshold value.

[0090] For example, if the first obstacle is a wall, the object to be cleaned is a carpet, and the chassis danger zone is the rear side of the chassis, refer to Figure 8 and Figure 9Assuming the target distance is L, the first preset distance is T, the chassis length of the cleaning robot, i.e. the preset threshold, is A, and the distance between the cleaning robot and the first obstacle is D, when T>L≥A is satisfied, after the front side of the cleaning robot approaches the wall, the rear side of the chassis of the cleaning robot will fall on the ground between the carpet and the wall, so that the rear side of the chassis needs to go over the carpet when turning and moving backward. Therefore, when T>L≥A is satisfied, the cleaning robot needs to ensure that D>LA when approaching the wall, i.e. LD <A。

[0091] In one possible implementation, comparing the target distance with the first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned includes:

[0092] When the target distance is greater than or equal to the first preset distance, the chassis danger zone of the cleaning robot can pass over the edge of the object to be cleaned.

[0093] Among them, when the target distance between the edge of the object to be cleaned and the first obstacle is greater than or equal to the first preset distance, it means that after the chassis danger zone of the cleaning robot falls between the edge of the object to be cleaned and the first obstacle, the chassis danger zone does not need to cross the object to be cleaned when turning and retreating, and the turning and retreating can be completed. Therefore, at this time, the chassis danger zone of the cleaning robot can be planned to cross the edge of the object to be cleaned, that is, the chassis danger zone of the cleaning robot can be planned to fall into the running path between the edge of the object to be cleaned and the first obstacle, so as to enable the cleaning robot to clean the area between the edge of the object to be cleaned and the first obstacle as much as possible.

[0094] In summary, in the cleaning robot provided by the above embodiments, based on the minimum distance required for the cleaning robot to turn without collision, the distance between the edge of the object to be cleaned and the first obstacle is compared, and according to the comparison result, it is determined whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned. This can effectively prevent the chassis danger zone of the cleaning robot from falling between the edge of the object to be cleaned and the first obstacle, that is, prevent the cleaning robot from being trapped between the object to be cleaned and the obstacle, thereby improving the working efficiency of the cleaning robot and improving the user experience.

[0095] In a possible implementation, the method further includes: when the target distance is less than a preset threshold, the cleaning robot moves along a preset path; and the preset threshold is set based on the chassis length of the cleaning robot.

[0096] It can be understood that when the target distance is less than the preset threshold, the cleaning robot's chassis danger zone cannot cross the edge of the object to be cleaned in the process of approaching the first obstacle, that is, the cleaning robot's chassis danger zone will not fall between the edge of the object to be cleaned and the first obstacle. At this time, the cleaning robot moves according to the preset path to clean the object to be cleaned as much as possible.

[0097] In one possible implementation, the sensor module 12 is further configured to obtain a fourth distance between the cleaning robot and the first obstacle when the cleaning robot performs a cleaning operation on the object to be cleaned;

[0098] The control module 13 is configured to control the cleaning robot to turn according to a preset steering strategy in response to the fourth distance being equal to a preset limit distance; the preset limit distance is used to indicate the minimum distance that needs to be maintained between the cleaning robot and the first obstacle when the dangerous area of the cleaning robot's chassis does not cross the edge of the object to be cleaned.

[0099] Among them, when the cleaning robot moves according to the operation path and performs cleaning work, if the fourth distance between the cleaning robot and the first obstacle is detected by the sensor module 12 to be equal to the preset limit distance, it means that if the cleaning robot continues to approach the first obstacle at this time, the cleaning robot's chassis danger zone will cross the edge of the object to be cleaned and fall between the edge of the object to be cleaned and the first obstacle. Therefore, at this time, it is necessary to control the cleaning robot to turn according to the preset steering strategy to avoid the cleaning robot's chassis danger zone crossing the edge of the object to be cleaned and falling between the edge of the object to be cleaned and the first obstacle, causing the cleaning robot to be trapped between the object to be cleaned and the first obstacle. Among them, the preset limit distance can be set according to actual needs. For example, when ensuring that the width of the overlapping area between the cleaning robot's chassis danger zone and the object to be cleaned is X, the sum of the target distance and X, minus the difference in the length of the cleaning robot's chassis danger zone, can be used as the preset limit distance. Continue to refer Figure 9 The robot will continue to approach the wall to its limit to ensure sufficient cleaning coverage, and will stop when the rear of the chassis overlaps the carpet by 20 mm, i.e., LD = A - 20. This ensures that the robot's chassis danger zone does not cross the edge of the object being cleaned, while ensuring that the object is cleaned as much as possible, further improving cleaning coverage.

[0100] In one possible implementation, controlling the cleaning robot to turn according to a preset turning strategy includes:

[0101] After controlling the cleaning robot to retreat at least a second preset distance, the cleaning robot is controlled to turn with the driving wheel as a rotation point;

[0102] The second preset distance is the minimum distance required for the cleaning robot to turn without collision when the driving wheel is used as the rotation point.

[0103] When the cleaning robot needs to be controlled to turn according to the preset turning strategy, the cleaning robot can be controlled to retreat at least a second preset distance, which is the minimum distance required for collision-free turning when the cleaning robot uses the driving wheel as the rotation point. Then, the cleaning robot is controlled to turn with the driving wheel as the rotation point, thereby avoiding collision with the first obstacle during the turning process and improving the safety of the cleaning robot. For example, assuming that the target distance is L, the first preset distance is T, and the chassis length of the cleaning robot, i.e., the preset threshold value, is A, refer to Figure 10 , respectively represent schematic diagrams of the corresponding steering process when different conditions are met between the target distance, the first preset distance and the preset threshold.

[0104] In a possible implementation, the control module 13 is further configured to control the cleaning robot to execute a preset cleaning strategy to clean uncleaned areas resulting from the turning of the cleaning robot.

[0105] It can be understood that when the cleaning robot is controlled to retreat at least a second preset distance in sequence and the cleaning robot is controlled to turn with the driving wheel as the rotation point, uncleaned areas or cleaning omission areas may be generated between the object to be cleaned and / or the object to be cleaned and the first obstacle. In order to clean the uncleaned areas or cleaning omission areas generated by the turning of the cleaning robot, the cleaning robot can be controlled to execute a preset cleaning strategy, thereby improving the cleaning coverage rate.

[0106] In one possible implementation, controlling the cleaning robot to execute a preset cleaning strategy to clean an uncleaned area caused by the turning of the cleaning robot includes:

[0107] Controlling the cleaning robot to approach the first obstacle;

[0108] The cleaning robot is controlled to move backward and perform cleaning work until the cleaning robot contacts a second obstacle.

[0109] Specifically, the cleaning robot may be controlled to approach the first obstacle first, and after the cleaning robot approaches the first obstacle, the cleaning robot may be controlled to retreat and perform cleaning work until the cleaning robot contacts the second obstacle.

[0110] The first obstacle and the second obstacle may be obstacles of the same type, such as both being walls; the first obstacle and the second obstacle may also be obstacles of different types, such as the first obstacle being a wall and the second obstacle being a table corner.

[0111] It should be noted that by controlling the cleaning robot to retreat and perform cleaning work until the cleaning robot contacts the second obstacle, the cleaning area covered is more comprehensive than the cleaning area covered without performing the retreat action, that is, the cleaning coverage rate is better, which further improves the user experience.

[0112] It should be noted that after controlling the cleaning robot to move backward, the cleaning robot may continue to move forward, stop cleaning, or jump onto the object to be cleaned, etc., which is not specifically limited here.

[0113] In one possible implementation, controlling the cleaning robot to approach the first obstacle includes:

[0114] The cleaning robot is controlled to move obliquely toward the first obstacle, and after approaching the first obstacle, the body of the cleaning robot is controlled to be parallel to the first obstacle.

[0115] Among them, controlling the cleaning robot to move obliquely toward the first obstacle can be achieved by controlling the driving wheels of the cleaning robot to move in the direction of the first obstacle. Here, the distance between the cleaning robot and the first obstacle can be detected to determine whether the cleaning robot is close to the first obstacle. For example, when it is detected that the distance between the cleaning robot and the first obstacle is less than or equal to a preset distance threshold, it can be determined that the cleaning robot has approached the first obstacle. Then, after the cleaning robot approaches the first obstacle, the body of the cleaning robot is controlled to be parallel to the first obstacle, so that when the cleaning robot is controlled to perform cleaning work and retreat, it is ensured that the cleaning robot does not collide with the first obstacle, thereby improving the safety of the cleaning robot, while making it more convenient for the cleaning robot to perform cleaning work, and further improving the working efficiency of the cleaning robot.

[0116] In one possible implementation, the control module is further configured to, in response to completing cleaning of the object to be cleaned or the area where the object to be cleaned is located, execute a step of controlling the cleaning robot to execute a preset cleaning strategy to clean the uncleaned area caused by the turning of the cleaning robot.

[0117] Among them, the cleaning robot may first complete cleaning of the object to be cleaned or the area where the object to be cleaned is located, and then control the cleaning robot to execute a preset cleaning strategy to clean the uncleaned area caused by the turning of the cleaning robot, thereby avoiding the problem of prolonged working time and reduced work efficiency due to frequent execution of the preset cleaning strategy. It can be understood that since the cleaning robot may make multiple turns according to the preset turning strategy, thereby generating multiple uncleaned areas, and some or all of the multiple uncleaned areas may be close to the first obstacle, at this time, after completing cleaning of the object to be cleaned or the area where the object to be cleaned is located, the cleaning robot is controlled to execute the preset cleaning strategy to clean the uncleaned area caused by the turning of the cleaning robot, which can reduce the number of executions of the preset cleaning strategy, thereby improving work efficiency.

[0118] Based on the same inventive concept as the above embodiments, refer to Figure 11 , is a path planning method for a cleaning robot provided in an embodiment of the present application. This method can be executed by a path planning device provided in an embodiment of the present application. The device can be implemented in software and / or hardware. In this embodiment, the execution subject of the method is a cleaning robot as an example. The method provided in this embodiment includes:

[0119] Step S101 : controlling the cleaning robot to move on the object to be cleaned in a cleaning mode.

[0120] The objects to be cleaned are objects that require a cleaning robot to perform cleaning operations, including but not limited to carpets, floor mats, etc.

[0121] Step S102: Acquire information about the edge of the object to be cleaned and the first obstacle from a sensor module provided on the cleaning robot.

[0122] The first obstacle is an object located around the object to be cleaned and affecting the cleaning robot's normal cleaning operation on the edge of the object to be cleaned, such as a wall, a closet, a table leg, etc. The sensor module may specifically include a distance sensor, a visual sensor, and other devices.

[0123] Step S103: In response to the information of the edge of the object to be cleaned and the first obstacle obtained by the sensor module, determine the target distance between the edge of the object to be cleaned and the first obstacle, and compare the target distance with the first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned, wherein the first preset distance is determined based on the distance required for the cleaning robot to turn without collision.

[0124] The first preset distance can be obtained in advance based on parameters such as the shape, size, and structure of the cleaning robot. Based on the size relationship between the target distance and the first preset distance, it can be determined whether the cleaning robot's chassis danger zone can cross the edge of the object to be cleaned. In other words, after the cleaning robot's chassis danger zone falls between the edge of the object to be cleaned and the first obstacle, whether the cleaning robot can complete the turning and retreating without having to cross the object to be cleaned when turning and retreating. The operation path of the cleaning robot can then be planned based on the comparison result to prevent the cleaning robot from being trapped between the object to be cleaned and the first obstacle.

[0125] It should be noted that the specific implementation process of the path planning method for the cleaning robot provided in this embodiment can refer to the description of the cleaning robot in the aforementioned embodiment, and will not be repeated here.

[0126] In summary, in the path planning method of the cleaning robot provided in the above embodiment, based on the minimum distance required for the cleaning robot to turn without collision, the distance between the edge of the object to be cleaned and the first obstacle is compared, and according to the comparison result, it is determined whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned. This can effectively prevent the chassis danger zone of the cleaning robot from falling between the edge of the object to be cleaned and the first obstacle, that is, prevent the cleaning robot from being trapped between the object to be cleaned and the obstacle, thereby improving the working efficiency of the cleaning robot and improving the user experience.

[0127] Based on the same inventive concept as the above embodiments, the above embodiments are described in detail below through a specific example. In this example, the object to be cleaned is a carpet and the first obstacle is a wall.

[0128] See Figure 12 , which is a specific flow chart of the path planning method for the cleaning robot provided in this embodiment, includes the following steps:

[0129] Step S201: The cleaning robot moves forward on the carpet until it approaches the edge of the carpet.

[0130] Step S202: Determine whether T>L≥A is satisfied. If so, execute step S203; otherwise, execute step S208.

[0131] Step S203: Continue to move forward until LD=A-20 and stop.

[0132] Step S204: Turn on the spot and continue walking in a bow shape.

[0133] Step S205: After the bow shape is completed, walk along the edge of the carpet.

[0134] Step S206: Determine whether there is any missed area after walking along the edge of the carpet. If so, execute step S207; otherwise, execute step S209.

[0135] Step S207: Supplement cleaning of the missed areas.

[0136] It's understandable that after cleaning the carpeted area using the above path planning method, some areas along the wall edges will remain uncleaned. Furthermore, when cleaning along the edges, turning at corners can also result in areas being missed. Therefore, the cleaning robot can be controlled to clean these missed areas.

[0137] The process of supplementing the missed areas for cleaning mainly includes the following steps:

[0138] Step 1: Get close to the maximum distance from the wall.

[0139] See Figure 13 ,When the cleaning robot moves towards the wall, it can detect in real time whether the distance between itself and the wall is equal to the ,limited distance from the wall D1.

[0140] Step 2: Back off to a position where you can turn around the drive wheel, such as Figure 14 shown.

[0141] Step 3: Turn the steering wheel with the driving wheel as the rotation point, such as Figure 15 shown.

[0142] Step 4. Move forward close to the wall.

[0143] The specific process of approaching the wall forward is: walk tilted toward one side of the wall, straighten the fuselage after approaching, and then move back to complete the cleaning. Figure 16 shown.

[0144] Step 5: Back off until the tail touches the wall and stop. Figure 17 shown.

[0145] As can be seen from the above, the cleaning coverage area after retreating and touching the wall is more comprehensive than the cleaning coverage area without retreating action.

[0146] Step S208: proceed to approach the obstacle.

[0147] Step S209: Cleaning is completed.

[0148] In summary, the path planning method provided in the above embodiment identifies the distance between the cleaning robot and obstacles and carpet edges, and compares the identification result with the minimum turning distance. Based on the comparison result, the cleaning robot's path is planned, thereby determining whether the cleaning robot needs to disembark from the carpet. This implements path planning and prevents the cleaning robot from becoming trapped. Furthermore, by addressing areas that are missed during cleaning, cleaning coverage is improved.

[0149] Based on the same inventive concept as the above embodiments, the embodiments of the present invention provide a cleaning robot such as Figure 18 As shown, the cleaning robot includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 18 The processor 310 shown in the figure is not used to indicate that the number of processors 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of processors 310 may be one or more; similarly, Figure 18 The memory 311 shown in FIG has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In actual applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the path planning method of the cleaning robot described above is implemented.

[0150] The cleaning robot may also include: at least one network interface 312. The various components in the cleaning robot are coupled together via a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 18 Various buses are labeled as bus system 313.

[0151] Memory 311 may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface memory may include magnetic disk memory or magnetic tape memory. Volatile memory may include random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memory 311 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memories.

[0152] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the cleaning robot. Examples of these data include: any computer program for operating on the cleaning robot, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program can include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention can be included in the application program.

[0153] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium may be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a read-only optical disc (CD-ROM) or other memory; or it may be various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the above-mentioned path planning method is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 4 The description of the illustrated embodiment will not be repeated here.

[0154] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0155] As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0156] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: A host computer, including a cleaning component, for performing cleaning work; A walking module, connected to the main machine, drives the main machine to move in the working area; a sensor module, connected to the host, for acquiring information about the edge of the object to be cleaned and the first obstacle; and A control module connected to the walking module and the sensor module; The control module is configured to determine a target distance between the edge of the object to be cleaned and the first obstacle in response to information about the edge of the object to be cleaned and the first obstacle acquired by the sensor module, and compare the target distance with a first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned, wherein the first preset distance is determined based on the distance required for the cleaning robot to turn without collision; and the chassis danger zone is located at the rear of the chassis of the cleaning robot.

2. The cleaning robot according to claim 1, characterized in that: The step of determining a target distance between the edge of the object to be cleaned and the first obstacle in response to the information of the edge of the object to be cleaned and the first obstacle acquired by the sensor module includes: Acquire a first distance between the cleaning robot and the edge of the object to be cleaned, and a second distance between the cleaning robot and the first obstacle; The target distance is determined based on the second distance and the first distance.

3. The cleaning robot according to claim 1, characterized in that: The step of determining a target distance between the edge of the object to be cleaned and the first obstacle in response to the information of the edge of the object to be cleaned and the first obstacle acquired by the sensor module includes: Acquire a third distance between the cleaning robot and the first obstacle when the cleaning robot moves to the edge of the object to be cleaned; The target distance is determined according to the third distance.

4. The cleaning robot according to claim 1, characterized in that: The cleaning robot includes a plurality of driving wheels, and the first preset distance is greater than or equal to a minimum distance required for the cleaning robot to turn without collision when the center of the driving wheel is used as the rotation point.

5. The cleaning robot according to claim 1, characterized in that: The step of comparing the target distance with a first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned includes: When the target distance is less than the first preset distance and greater than or equal to a preset threshold, the chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned; wherein, the preset threshold is set based on the chassis length of the cleaning robot.

6. The cleaning robot according to claim 5, characterized in that: The chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned, including: When the cleaning robot approaches the first obstacle, the distance between the cleaning robot and the first obstacle is determined according to the target distance and the preset threshold value to ensure that the chassis danger zone of the cleaning robot does not cross the edge of the object to be cleaned.

7. The cleaning robot according to claim 1, characterized in that: The step of comparing the target distance with a first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned includes: When the target distance is greater than or equal to the first preset distance, the chassis danger zone of the cleaning robot may pass over the edge of the object to be cleaned.

8. The cleaning robot according to claim 1, characterized in that: Also includes: When the target distance is less than a preset threshold, the cleaning robot moves along a preset path; The preset threshold is set based on the chassis length of the cleaning robot.

9. The cleaning robot according to claim 6, characterized in that: The sensor module is further configured to obtain a fourth distance between the cleaning robot and the first obstacle when the cleaning robot performs a cleaning operation on the object to be cleaned; The control module is configured to control the cleaning robot to turn according to a preset steering strategy in response to the fourth distance being equal to a preset limit distance; the preset limit distance is used to indicate the minimum distance that needs to be maintained between the cleaning robot and the first obstacle when the dangerous area of the chassis of the cleaning robot does not cross the edge of the object to be cleaned.

10. The cleaning robot according to claim 9, characterized in that: The controlling the cleaning robot to turn according to a preset turning strategy includes: After controlling the cleaning robot to retreat at least a second preset distance, controlling the cleaning robot to turn with the driving wheel as a rotation point; The second preset distance is the minimum distance required for the cleaning robot to turn without collision when the driving wheel is used as the rotation point.

11. The cleaning robot according to claim 9, characterized in that: The control module is further configured to control the cleaning robot to execute a preset cleaning strategy to clean an uncleaned area caused by the turning of the cleaning robot.

12. The cleaning robot according to claim 11, characterized in that: The controlling the cleaning robot to execute a preset cleaning strategy to clean an uncleaned area caused by the turning of the cleaning robot includes: controlling the cleaning robot to approach the first obstacle; The cleaning robot is controlled to retreat and perform cleaning work until the cleaning robot contacts a second obstacle.

13. The method according to claim 12, characterized in that The controlling the cleaning robot to approach the first obstacle includes: The cleaning robot is controlled to move obliquely toward the first obstacle, and after approaching the first obstacle, the body of the cleaning robot is controlled to be parallel to the first obstacle.

14. A path planning method for a cleaning robot, characterized in that: include: In cleaning mode, the cleaning robot is controlled to move on the object to be cleaned; Acquire information about the edge of the object to be cleaned and the first obstacle from a sensor module provided on the cleaning robot; In response to the information of the edge of the object to be cleaned and the first obstacle obtained by the sensor module, a target distance between the edge of the object to be cleaned and the first obstacle is determined, and the target distance is compared with a first preset distance to determine whether the chassis danger zone of the cleaning robot can cross the edge of the object to be cleaned, wherein the first preset distance is determined based on the distance required for the cleaning robot to turn without collision.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which is loaded and executed by the processor to implement the path planning method for the cleaning robot as claimed in claim 14.

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