Cleaning robot control method and device, cleaning robot and storage medium

Abstract

The invention provides a control method and device of a cleaning robot, the cleaning robot and a storage medium, and relates to the technical field of intelligent cleaning. According to the method, under the cooperation of chassis movement of the cleaning robot, the mechanical arm can accurately and efficiently judge whether the suspected wall surface is a real wall surface or a flexible obstacle, then ground cleaning is conducted through the map of the area marked with the flexible obstacle, the area marked with the flexible obstacle can be cleaned, and the cleaning efficiency is improved. The coverage rate of cleaning of the cleaning robot is increased, and the user satisfaction is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent cleaning technology, and in particular to a control method and device for a cleaning robot, a cleaning robot, and a storage medium. Background Art

[0002] Curtains and door curtains are common in homes. Traditional robot vacuums, relying solely on their visual recognition sensors, cannot accurately identify curtains and door curtains, resulting in the inability to clean the area beneath or behind them. For example, if there's a room behind a door curtain, a traditional robot vacuum might not even be able to clean it without human assistance. Consequently, when cleaning homes with a large number of curtains and door curtains, traditional robot vacuums often miss areas, impacting user satisfaction. This technical issue urgently needs to be addressed. Summary of the Invention

[0003] In view of the above problems, the present application is proposed to provide a control method and device for a cleaning robot, a cleaning robot, and a storage medium that overcome the above problems or at least partially solve the above problems. The technical solution is as follows:

[0004] In a first aspect, a control method for a cleaning robot is provided, wherein the cleaning robot includes a robotic arm module, and the robotic arm module includes a robotic arm end gripper; the method includes:

[0005] During the process of mapping the working environment of the cleaning robot, if a suspected wall in a first side direction is identified, the chassis of the cleaning robot is controlled to stop moving, and the gripper at the end of the robotic arm is controlled to extend a first preset distance in the first side direction to touch the suspected wall;

[0006] If an overcurrent occurs in the driving motor of the robotic arm while the gripper at the end of the robotic arm is extended into position, the suspected wall is determined to be a real wall, and the area of the real wall is marked on the map;

[0007] If the current of the driving motor of the robotic arm is stable and no overcurrent occurs when the gripper at the end of the robotic arm is extended into position, the suspected wall is determined to be a flexible obstacle, and the area of the flexible obstacle is marked on the map;

[0008] The floor is cleaned using a map of the area where the flexible obstacle is marked.

[0009] In one possible implementation, the robotic arm module is a multi-degree-of-freedom robotic arm module. The first joint and the second joint in the robotic arm module are responsible for the robotic arm's exit and return to the warehouse. After the robotic arm exits the warehouse, the first joint and the second joint maintain a fixed angle. The third joint and the fourth joint are responsible for the position of the robotic arm's end gripper in space. The fifth joint is the rotation joint of the robotic arm's end gripper, which is responsible for the posture of the robotic arm's end gripper.

[0010] In a possible implementation, using a map of an area marked with the flexible obstacle to clean the floor includes:

[0011] During the process of the cleaning robot cleaning the floor based on the map, if the cleaning robot moves to the area of the flexible obstacle, the mechanical arm of the cleaning robot is controlled to open the flexible obstacle;

[0012] The cleaning robot is controlled to continue cleaning the bottom ground of the flexible obstacle, or the cleaning robot is controlled to enter the space originally blocked by the flexible obstacle to continue completing the ground cleaning task.

[0013] In a possible implementation, if the cleaning robot moves to the area of the flexible obstacle, controlling the mechanical arm of the cleaning robot to open the flexible obstacle includes:

[0014] If the cleaning robot moves to the area of the flexible obstacle and the flexible obstacle is located on the first side of the cleaning robot, the chassis of the cleaning robot is controlled to stop moving, and the clamping claw at the end of the robotic arm is controlled to extend a second preset distance toward the first side, close the clamping claw to grasp the flexible obstacle, and control the chassis of the cleaning robot to move to the real wall area marked on the map that is adjacent to the area of the flexible obstacle, and release the clamping claw to release the flexible obstacle.

[0015] In one possible implementation, the cleaning robot constructs a map of the working environment based on a lidar ranging sensor, and the end of the robotic arm also includes an RGB camera; the method further includes:

[0016] The cleaning robot generates a two-dimensional plane or three-dimensional point cloud map of the working environment based on the lidar ranging sensor;

[0017] According to the point cloud image of the two-dimensional plane or the three-dimensional space, a preliminary wall surface to be determined in the first side direction is identified;

[0018] The RGB camera at the end of the robotic arm is used to identify the preliminary pending wall surface in the first side direction, and the suspected wall surface in the first side direction is identified.

[0019] In one possible implementation, the RGB camera at the end of the robotic arm is used to identify a preliminary wall in the first side direction. Identifying the suspected wall in the first side direction includes:

[0020] The RGB camera at the end of the robotic arm is used to identify the color and texture of the preliminary wall surface in the first side direction, and identify the real wall surface in the preliminary wall surface in the first side direction and the suspected wall surface in the first side direction.

[0021] In a possible implementation, the first preset distance takes a value in the range of 5 mm to 20 mm.

[0022] In a possible implementation, the first preset distance is 10 mm.

[0023] In a second aspect, a control device for a cleaning robot is provided, wherein the cleaning robot includes a robotic arm module, the robotic arm module includes a robotic arm end gripper; the device includes:

[0024] a control unit configured to, during the process of mapping the working environment of the cleaning robot, control the chassis of the cleaning robot to stop moving if a suspected wall in a first lateral direction is identified, and control the end gripper of the robotic arm to extend a first preset distance in the first lateral direction to touch the suspected wall;

[0025] a determination unit, configured to determine that the suspected wall is a real wall if an overcurrent occurs in the drive motor of the robotic arm while the gripper at the end of the robotic arm is extended into position, and mark the area of the real wall on the map; and to determine that the suspected wall is a flexible obstacle if the current of the drive motor of the robotic arm is stable and no overcurrent occurs during the process of the gripper at the end of the robotic arm being extended into position, and mark the area of the flexible obstacle on the map;

[0026] The cleaning unit is used to clean the floor using a map of an area marked with the flexible obstacle.

[0027] In one possible implementation, the robotic arm module is a multi-degree-of-freedom robotic arm module. The first joint and the second joint in the robotic arm module are responsible for the robotic arm's exit and return to the warehouse. After the robotic arm exits the warehouse, the first joint and the second joint maintain a fixed angle. The third joint and the fourth joint are responsible for the position of the robotic arm's end gripper in space. The fifth joint is the rotation joint of the robotic arm's end gripper, which is responsible for the posture of the robotic arm's end gripper.

[0028] In a possible implementation, the cleaning unit is further configured to:

[0029] During the process of the cleaning robot cleaning the floor based on the map, if the cleaning robot moves to the area of the flexible obstacle, the mechanical arm of the cleaning robot is controlled to open the flexible obstacle;

[0030] The cleaning robot is controlled to continue cleaning the bottom ground of the flexible obstacle, or the cleaning robot is controlled to enter the space originally blocked by the flexible obstacle to continue completing the ground cleaning task.

[0031] In a possible implementation, the cleaning unit is further configured to:

[0032] If the cleaning robot moves to the area of the flexible obstacle and the flexible obstacle is located on the first side of the cleaning robot, the chassis of the cleaning robot is controlled to stop moving, and the clamping claw at the end of the robotic arm is controlled to extend a second preset distance toward the first side, close the clamping claw to grasp the flexible obstacle, and control the chassis of the cleaning robot to move to the real wall area marked on the map that is adjacent to the area of the flexible obstacle, and release the clamping claw to release the flexible obstacle.

[0033] In one possible implementation, the cleaning robot constructs a map of the working environment based on a lidar ranging sensor, and the end of the robotic arm also includes an RGB camera; the control unit is further configured to:

[0034] The cleaning robot generates a two-dimensional plane or three-dimensional point cloud map of the working environment based on the lidar ranging sensor;

[0035] According to the point cloud image of the two-dimensional plane or the three-dimensional space, a preliminary wall surface to be determined in the first side direction is identified;

[0036] The RGB camera at the end of the robotic arm is used to identify the preliminary pending wall surface in the first side direction, and the suspected wall surface in the first side direction is identified.

[0037] In a possible implementation, the control unit is further configured to:

[0038] The RGB camera at the end of the robotic arm is used to identify the color and texture of the preliminary wall surface in the first side direction, and identify the real wall surface in the preliminary wall surface in the first side direction and the suspected wall surface in the first side direction.

[0039] In a possible implementation, the first preset distance takes a value in the range of 5 mm to 20 mm.

[0040] In a possible implementation, the first preset distance is 10 mm.

[0041] In a third aspect, a cleaning robot is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any one of the above-described control methods for the cleaning robot.

[0042] In a fourth aspect, a storage medium is provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute any of the above-mentioned control methods for the cleaning robot when running.

[0043] With the help of the above-mentioned technical solution, the control method and device of the cleaning robot, the cleaning robot and the storage medium provided in the embodiments of the present application can, in coordination with the chassis movement of the cleaning robot, enable the robotic arm to accurately and efficiently determine whether the suspected wall is a real wall or a flexible obstacle, and then use the map of the area marked with flexible obstacles to clean the floor, so that the area with flexible obstacles can be cleaned, thereby increasing the cleaning coverage of the cleaning robot and improving user satisfaction.

[0044] Furthermore, this embodiment uses a robotic arm to move the flexible obstacle, so that the cleaning robot can continue to clean the ground below the flexible obstacle, or enables the cleaning robot to enter the space originally blocked by the flexible obstacle to continue completing the ground cleaning task, thereby increasing the cleaning coverage of the cleaning robot and improving user satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application.

[0046] Figure 1 A flow chart showing a method for controlling a cleaning robot according to an embodiment of the present application is shown;

[0047] Figure 2 A schematic diagram of a multi-degree-of-freedom robotic arm module of a cleaning robot provided in an embodiment of the present application is shown;

[0048] Figure 3 A schematic diagram showing a cleaning robot according to an embodiment of the present application determining whether a suspected wall is a flexible obstacle is shown;

[0049] Figure 4 A schematic diagram of a cleaning robot moving a flexible obstacle provided by an embodiment of the present application is shown;

[0050] Figure 5 The figure shows a structural diagram of the control device of the cleaning robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0052] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that such usage is interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the term "including" and its variations are to be interpreted as open-ended terms meaning "including but not limited to."

[0053] In order to solve the above technical problems, the embodiment of the present application provides a control method for a cleaning robot, wherein the cleaning robot can be a sweeping robot, a mopping robot, a cleaning robot, etc. The cleaning robot includes a robotic arm module, and the robotic arm module includes a gripper at the end of the robotic arm, such as Figure 1 As shown, the control method of the cleaning robot may include the following steps S101 to S103:

[0054] In step S101, during the process of mapping the working environment of the cleaning robot, if a suspected wall in the first side direction is identified, the chassis of the cleaning robot is controlled to stop moving, and the end gripper of the robotic arm is controlled to extend a first preset distance in the first side direction to touch the suspected wall.

[0055] In this step, when the cleaning robot is constructing a map of its working environment, it may identify one or more suspected walls. Some of these one or more suspected walls may be located on the right side of the cleaning robot, some on the left side of the cleaning robot, and some in front of the cleaning robot. Therefore, the right side here can be regarded as the first side direction, the left side here can be regarded as the second side direction, and the front side here can be regarded as the third side direction; alternatively, the left side here can be regarded as the first side direction, the right side here can be regarded as the second side direction, and the front side here can be regarded as the third side direction; alternatively, the front side here can be regarded as the first side direction, the right side here can be regarded as the second side direction, and the left side here can be regarded as the third side direction.

[0056] In a specific embodiment, if Figure 2 As shown, the cleaning robot includes a chassis 21 and a multi-degree-of-freedom robotic arm module 22. The first joint M1 and the second joint M2 in the robotic arm module 22 are responsible for the robotic arm's exit and return to the warehouse. After the robotic arm exits the warehouse, the first joint M1 and the second joint M2 maintain a fixed angle. The third joint M3 and the fourth joint M4 are responsible for the position of the robotic arm's end gripper 23 in space. The fifth joint M5 is the spin joint of the robotic arm's end gripper 23, which is responsible for the posture of the robotic arm's end gripper 23.

[0057] Continue to see Figure 2The chassis 21 of the cleaning robot is a movable chassis, which can be wheeled or tracked. The chassis 21 can move linearly along the x-axis and y-axis directions of the plane, can also move linearly along the z-axis direction of the space with the walking wheels lifting and lowering, and can also rotate around the z-axis direction.

[0058] Take the first side direction as the right side direction as an example, Figure 3 As shown, assuming that the cleaning robot moves along the negative axis direction of the y-axis, Figure 3 This is a rear view of the cleaning robot. If a suspected wall 31 on the right is identified, the chassis 21 of the cleaning robot is controlled to stop moving, and the end gripper 23 of the robotic arm is controlled to extend to the right by a first preset distance to touch the suspected wall.

[0059] The first preset distance here can be set according to actual needs, and this embodiment does not limit this. In an optional embodiment, the first preset distance can take a value in the range of 5 mm to 20 mm, for example, the first preset distance is 10 mm.

[0060] Specifically, the distance along the wall between the end of the robotic arm and the end precision error of the robotic arm, and the overcurrent of the drive motor that can trigger the robotic arm can be used as the basis. For example, if the distance along the wall between the end of the robotic arm and the end precision error of the robotic arm is 5 mm, the maximum distance that can trigger the overcurrent of the drive motor of the robotic arm is 2 mm, then the first preset distance is 10 mm. Here, the distance along the wall between the end of the robotic arm and the end can be 5 mm, or it can be adjusted to 6 mm or 8 mm, etc. The distance along the wall between the end of the robotic arm before and after adjustment needs to be greater than the accuracy error of the robotic arm. If the distance along the wall between the end of the robotic arm and the end precision error of the robotic arm is less than the accuracy error of the robotic arm, the cleaning robot will scrape the right wall during walking.

[0061] In step S102, if an overcurrent occurs in the driving motor of the robotic arm when the gripper at the end of the robotic arm is extended into position, the suspected wall is determined to be a real wall, and the area of the real wall is marked on the map; if the current of the driving motor of the robotic arm is stable and no overcurrent occurs when the gripper at the end of the robotic arm is extended into position, the suspected wall is determined to be a flexible obstacle, and the area of the flexible obstacle is marked on the map.

[0062] In this step, the process of extending the gripper at the end of the robot arm to the position is that the gripper at the end of the robot arm is extended to the first side direction by a first preset distance to the position.

[0063] In robotic arm applications, the control system must precisely control the motors to perform delicate movements. When the gripper at the end of the robotic arm extends and encounters unexpected resistance (such as hitting a hard wall), the motor driving the robotic arm joint needs to provide greater torque to overcome this resistance, resulting in increased current. If the motor current exceeds a predetermined safety value, the control system will interpret this as an abnormality, perhaps due to the robotic arm encountering an obstacle, and will trigger overcurrent protection.

[0064] Based on the above principle, if the drive motor of the robotic arm joint experiences an overcurrent while the gripper at the end of the robotic arm is fully extended, indicating that the suspected wall has no deformable distance, the suspected wall is determined to be a real wall. If the current of the drive motor of the robotic arm joint is stable and does not experience an overcurrent while the gripper at the end of the robotic arm is fully extended, indicating that the suspected wall has a deformable distance, the suspected wall is determined to be a flexible obstacle. The flexible obstacle here can be soft fabrics such as curtains, door curtains, or bed curtains, and this embodiment is not limited to this.

[0065] Step S103 : Cleaning the ground using the map of the area marked with flexible obstacles.

[0066] In this embodiment, with the cooperation of the chassis movement of the cleaning robot, the robotic arm can accurately and efficiently determine whether the suspected wall is a real wall or a flexible obstacle, and then use the map of the area marked with flexible obstacles to clean the floor. It can clean the area with flexible obstacles, thereby increasing the cleaning coverage of the cleaning robot and improving user satisfaction.

[0067] The present application provides a possible implementation method. In the above step S103, the floor is cleaned using a map of areas marked with flexible obstacles. Specifically, the following steps A1 and A2 may be included:

[0068] Step A1: During the process of the cleaning robot cleaning the floor based on the map, if the cleaning robot moves to an area with a flexible obstacle, the cleaning robot's mechanical arm is controlled to open the flexible obstacle;

[0069] Step A2: Control the cleaning robot to continue cleaning the ground below the flexible obstacle, or control the cleaning robot to enter the space originally blocked by the flexible obstacle to continue completing the ground cleaning task.

[0070] In an optional embodiment, if the cleaning robot moves to an area with a flexible obstacle, and the flexible obstacle is located on a first side of the cleaning robot, step A1 controls the cleaning robot's robotic arm to open the flexible obstacle. Specifically, the cleaning robot's chassis can be controlled to stop moving, and the gripper at the end of the robotic arm can be controlled to extend a second preset distance toward the first side, closing the gripper to grasp the flexible obstacle. The cleaning robot's chassis can be controlled to move to a real wall area adjacent to the area with the flexible obstacle marked on the map, and the gripper can be released to release the flexible obstacle. In this way, the flexible obstacle, such as a curtain, is opened, thereby revealing the obscured area or the blocked area to be cleaned, facilitating the cleaning robot's subsequent cleaning.

[0071] Take the first side direction as the right side direction as an example, Figure 4 As shown, assuming that the cleaning robot moves along the negative axis direction of the y-axis, Figure 4 This is the rear view of the cleaning robot. If the cleaning robot moves to the area of flexible obstacles, Figure 4 The flexible obstacle shown is a curtain 41, so the chassis 21 of the cleaning robot is controlled to stop moving, and the gripper 23 at the end of the robotic arm is controlled to extend to the right by a second preset distance, the gripper 23 is closed to grab the curtain 41, and the chassis 21 of the cleaning robot is controlled to move to the real wall area adjacent to the area of the curtain marked on the map, and the gripper 23 is released to release the curtain 41.

[0072] The second preset distance here can be set according to actual needs. For example, the second preset distance is 15 mm or 200 mm, etc. This embodiment does not limit this.

[0073] Specifically, the distance between the end of the robotic arm and the wall can be used as the standard, for example, the distance between the end of the robotic arm and the wall is 5 mm, and the second preset distance can be set to be greater than 5 mm, for example, the second preset distance is 100 mm.

[0074] In an embodiment of the present application, a possible implementation method is provided. The cleaning robot can construct a map of the working environment based on a lidar ranging sensor. The end of the robotic arm also includes an RGB (red, green, and blue) camera. The following steps B1 to B3 may also be included:

[0075] In step B1, the cleaning robot generates a two-dimensional plane or three-dimensional point cloud map of the working environment based on a laser radar ranging sensor.

[0076] In this step, an LDS (Laser Distance Sensor) laser ranging sensor can be used to generate a two-dimensional point cloud map of the working environment; a 3D TOF (Time Of Flight) laser ranging sensor can be used to generate a three-dimensional point cloud map of the working environment.

[0077] Step B2: Identify a preliminary pending wall surface in the first side direction based on the point cloud image in the two-dimensional plane or three-dimensional space.

[0078] In this step, the wall surface to be initially determined may contain a real wall surface or a flexible obstacle, and then further determination is made in step B3.

[0079] In step B3, the RGB camera at the end of the robotic arm is used to identify the preliminary wall surface in the first side direction, and the suspected wall surface in the first side direction is identified.

[0080] In an optional embodiment, this step can use the RGB camera at the end of the robotic arm to identify the color and texture of the preliminary pending wall in the first side direction, and identify the real wall in the preliminary pending wall in the first side direction, as well as the suspected wall in the first side direction.

[0081] In this embodiment, the cleaning robot uses a lidar ranging sensor to generate a two-dimensional plane or three-dimensional point cloud map of the working environment. A point cloud map is a type of data collected by a lidar sensor that can represent the shape and structure of the environment in detail. On a two-dimensional plane, a point cloud map can represent the contours of the ground and the location of obstacles; in three-dimensional space, a point cloud map can provide richer information, including height and depth, to more accurately simulate the environment. After generating the point cloud map, the cleaning robot will use this data to identify suspected walls in the first side direction of the environment. This means that the cleaning robot can determine which areas may be suspected walls by analyzing the point cloud map, which is very important for the cleaning robot to plan cleaning paths and avoid collisions.

[0082] In this embodiment, an RGB camera is installed at the end of the cleaning robot's robotic arm. This camera can capture color images and provide richer visual information than a monochrome camera. During the process of building a work environment map, the cleaning robot identifies a preliminary wall in the first direction based on a two-dimensional plane or a three-dimensional point cloud map. The robotic arm and the RGB camera on it work together to identify the color and texture of the preliminary wall in the first direction, identifying the actual wall in the preliminary wall in the first direction and the suspected wall in the first direction. This is very important for the cleaning robot to plan the cleaning path and avoid collisions.

[0083] It should be noted that the order of execution of the steps in the above embodiments does not necessarily imply a specific order of execution. The order of execution of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. In practical applications, all possible implementation methods described above can be combined in any manner to form possible embodiments of the present application, and will not be described in detail here.

[0084] Based on the control methods of the cleaning robot provided in the above embodiments and based on the same inventive concept, an embodiment of the present application also provides a control device for a cleaning robot.

[0085] Figure 5 This is a structural diagram of the control device of the cleaning robot provided in the embodiment of the present application. Figure 5 As shown, the control device of the cleaning robot may specifically include a control unit 510 , a determination unit 520 and a cleaning unit 530 .

[0086] The cleaning robot includes a robotic arm module, and the robotic arm module includes a gripper at the end of the robotic arm;

[0087] The control unit 510 is configured to, during the process of mapping the working environment of the cleaning robot, control the chassis of the cleaning robot to stop moving if a suspected wall is identified in a first lateral direction, and control the gripper at the end of the robotic arm to extend a first preset distance in the first lateral direction to touch the suspected wall;

[0088] The determination unit 520 is configured to determine that the suspected wall is a real wall if an overcurrent occurs in the drive motor of the manipulator while the manipulator's end gripper is extended into position, and mark the area of the real wall on the map; and to determine that the suspected wall is a flexible obstacle if the current of the drive motor of the manipulator is stable and no overcurrent occurs during the process of extending the manipulator's end gripper into position, and mark the area of the flexible obstacle on the map;

[0089] The cleaning unit 530 is configured to clean the floor using the map of the area marked with the flexible obstacle.

[0090] A possible implementation method is provided in an embodiment of the present application, wherein the robotic arm module is a multi-degree-of-freedom robotic arm module, wherein the first joint and the second joint in the robotic arm module are responsible for the robotic arm exiting and returning to the warehouse, and the first joint and the second joint maintain a fixed angle after the robotic arm exits the warehouse, the third joint and the fourth joint are responsible for the position of the end gripper of the robotic arm in space, and the fifth joint is the rotation joint of the end gripper of the robotic arm, and is responsible for the posture of the end gripper of the robotic arm.

[0091] An embodiment of the present application provides a possible implementation method, wherein the cleaning unit 530 is further configured to:

[0092] During the process of the cleaning robot cleaning the floor based on the map, if the cleaning robot moves to the area of the flexible obstacle, the mechanical arm of the cleaning robot is controlled to open the flexible obstacle;

[0093] The cleaning robot is controlled to continue cleaning the bottom ground of the flexible obstacle, or the cleaning robot is controlled to enter the space originally blocked by the flexible obstacle to continue completing the ground cleaning task.

[0094] An embodiment of the present application provides a possible implementation method, wherein the cleaning unit 530 is further configured to:

[0095] If the cleaning robot moves to the area of the flexible obstacle and the flexible obstacle is located on the first side of the cleaning robot, the chassis of the cleaning robot is controlled to stop moving, and the clamping claw at the end of the robotic arm is controlled to extend a second preset distance toward the first side, close the clamping claw to grasp the flexible obstacle, and control the chassis of the cleaning robot to move to the real wall area marked on the map that is adjacent to the area of the flexible obstacle, and release the clamping claw to release the flexible obstacle.

[0096] In an embodiment of the present application, a possible implementation is provided. The cleaning robot constructs a map of the working environment based on a laser radar ranging sensor, and the end of the robotic arm also includes an RGB camera. The control unit 510 is further configured to:

[0097] The cleaning robot generates a two-dimensional plane or three-dimensional point cloud map of the working environment based on the lidar ranging sensor;

[0098] According to the point cloud image of the two-dimensional plane or the three-dimensional space, a preliminary wall surface to be determined in the first side direction is identified;

[0099] The RGB camera at the end of the robotic arm is used to identify the preliminary pending wall surface in the first side direction, and the suspected wall surface in the first side direction is identified.

[0100] A possible implementation is provided in an embodiment of the present application, wherein the control unit 510 is further configured to:

[0101] The RGB camera at the end of the robotic arm is used to identify the color and texture of the preliminary wall surface in the first side direction, and identify the real wall surface in the preliminary wall surface in the first side direction and the suspected wall surface in the first side direction.

[0102] A possible implementation method is provided in an embodiment of the present application, where the first preset distance takes a value in the range of 5 mm to 20 mm.

[0103] A possible implementation method is provided in an embodiment of the present application, where the first preset distance is 10 mm.

[0104] Based on the same inventive concept, an embodiment of the present application also provides a cleaning robot, including a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the control method of the cleaning robot of any one of the above embodiments.

[0105] Based on the same inventive concept, an embodiment of the present application further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the control method of the cleaning robot of any of the above embodiments when running.

[0106] Those skilled in the art will clearly understand that the specific working processes of the systems, devices, and modules described above can refer to the corresponding processes in the aforementioned method embodiments, and for the sake of brevity, they will not be further described here.

[0107] Those skilled in the art will appreciate that the technical solution of the present application, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes a number of program instructions for causing an electronic device (e.g., a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application when the program instructions are executed. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0108] Alternatively, all or part of the steps of implementing the aforementioned method embodiments may be accomplished by hardware related to program instructions (such as electronic devices such as personal computers, servers, or network devices), and the program instructions may be stored in a computer-readable storage medium. When the program instructions are executed by a processor of an electronic device, the electronic device executes all or part of the steps of the methods described in the various embodiments of the present application.

[0109] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that, within the spirit and principles of the present application, they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate from the protection scope of the present application.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot includes a robotic arm module, and the robotic arm module includes a robotic arm end gripper; the method includes: During the process of mapping the working environment of the cleaning robot, if a suspected wall in a first side direction is identified, the chassis of the cleaning robot is controlled to stop moving, and the gripper at the end of the robotic arm is controlled to extend a first preset distance in the first side direction to touch the suspected wall; If an overcurrent occurs in the driving motor of the robotic arm while the gripper at the end of the robotic arm is extended into position, the suspected wall is determined to be a real wall, and the area of the real wall is marked on the map; If the current of the driving motor of the robotic arm is stable and no overcurrent occurs when the gripper at the end of the robotic arm is extended into position, the suspected wall is determined to be a flexible obstacle, and the area of the flexible obstacle is marked on the map; The floor is cleaned using a map of the area where the flexible obstacle is marked.

2. The method according to claim 1, characterized in that The robotic arm module is a multi-degree-of-freedom robotic arm module. The first joint and the second joint in the robotic arm module are responsible for the robotic arm's exit and return to the warehouse. After the robotic arm exits the warehouse, the first joint and the second joint maintain a fixed angle. The third joint and the fourth joint are responsible for the position of the robotic arm's end gripper in space. The fifth joint is the rotation joint of the robotic arm's end gripper, which is responsible for the posture of the robotic arm's end gripper.

3. The method according to claim 1, characterized in that Using a map of the area marked with the flexible obstacle, floor cleaning is performed, including: During the process of the cleaning robot cleaning the floor based on the map, if the cleaning robot moves to the area of the flexible obstacle, the mechanical arm of the cleaning robot is controlled to open the flexible obstacle; The cleaning robot is controlled to continue cleaning the bottom ground of the flexible obstacle, or the cleaning robot is controlled to enter the space originally blocked by the flexible obstacle to continue completing the ground cleaning task.

4. The method according to claim 3, characterized in that If the cleaning robot moves to the area of the flexible obstacle, controlling the mechanical arm of the cleaning robot to open the flexible obstacle includes: If the cleaning robot moves to the area of the flexible obstacle and the flexible obstacle is located on the first side of the cleaning robot, the chassis of the cleaning robot is controlled to stop moving, and the clamping claw at the end of the robotic arm is controlled to extend a second preset distance toward the first side, close the clamping claw to grasp the flexible obstacle, and control the chassis of the cleaning robot to move to the real wall area marked on the map that is adjacent to the area of the flexible obstacle, and release the clamping claw to release the flexible obstacle.

5. The method according to any one of claims 1 to 4, characterized in that The cleaning robot constructs a map of the working environment based on a lidar ranging sensor, and the end of the robotic arm also includes an RGB camera; the method further includes: The cleaning robot generates a two-dimensional plane or three-dimensional point cloud map of the working environment based on the lidar ranging sensor; According to the point cloud image of the two-dimensional plane or the three-dimensional space, a preliminary wall surface to be determined in the first side direction is identified; The RGB camera at the end of the robotic arm is used to identify the preliminary pending wall surface in the first side direction, and the suspected wall surface in the first side direction is identified.

6. The method according to claim 5, characterized in that The RGB camera at the end of the robotic arm is used to identify the preliminary wall in the first direction. The suspected wall in the first direction is identified, including: The RGB camera at the end of the robotic arm is used to identify the color and texture of the preliminary wall surface in the first side direction, and identify the real wall surface in the preliminary wall surface in the first side direction and the suspected wall surface in the first side direction.

7. The method according to any one of claims 1 to 4, characterized in that The first preset distance is a value in the range of 5 mm to 20 mm.

8. The method according to claim 7, characterized in that The first preset distance is 10 mm.

9. A control device for a cleaning robot, characterized in that: The cleaning robot includes a robotic arm module, which includes a gripper at the end of the robotic arm; the device includes: a control unit configured to, during the process of mapping the working environment of the cleaning robot, control the chassis of the cleaning robot to stop moving if a suspected wall in a first lateral direction is identified, and control the end gripper of the robotic arm to extend a first preset distance in the first lateral direction to touch the suspected wall; a determination unit, configured to determine that the suspected wall is a real wall if an overcurrent occurs in the drive motor of the robotic arm while the gripper at the end of the robotic arm is extended into position, and mark the area of the real wall on the map; and to determine that the suspected wall is a flexible obstacle if the current of the drive motor of the robotic arm is stable and no overcurrent occurs during the process of the gripper at the end of the robotic arm being extended into position, and mark the area of the flexible obstacle on the map; The cleaning unit is used to clean the floor using a map of an area marked with the flexible obstacle.

10. A cleaning robot, characterized in that: The cleaning robot comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the control method of the cleaning robot according to any one of claims 1 to 8.

11. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the control method of the cleaning robot according to any one of claims 1 to 8 when running.

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