Cleaning robot control method and device, equipment, storage medium, program product and cleaning robot

Abstract

The embodiment of the invention provides a cleaning robot control method and device, equipment, a storage medium, a program product and a cleaning robot. The method comprises the steps that in the process that the cleaning robot executes a cleaning task, when a sensor system detects that an obstacle exists, the cleaning robot is controlled to process the obstacle; in the obstacle processing process of the cleaning robot, the processing state of the cleaning robot is continuously obtained according to the preset frequency; according to the processing state, the cleaning robot is controlled to execute a corresponding state adjustment action, so that the cleaning robot returns to an original area where the obstacle is located after processing the obstacle; and controlling the cleaning robot to continue the cleaning task. The method is used for achieving the effects that full-link sensing in the obstacle processing process is achieved, the self-adaptive capacity of the cleaning robot for removing the obstacles in the complex environment is improved, and the intelligence of the cleaning robot in the cleaning task executing process is improved.

Description

Technical Field

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

[0002] As the functions of intelligent cleaning robots continue to expand, more and more robots not only take on cleaning tasks, but also have obstacle clearance and sorting functions, such as using robotic arms to pick up debris or toys on the ground and sort them or place them in designated containers.

[0003] This type of cleaning robot equipped with a robotic arm has broad application prospects in smart home scenarios, and is particularly suitable for comprehensive ground environment management in homes, kindergartens, and other environments. However, cleaning robots equipped with robotic arms often experience interruptions in their tasks due to various emergencies, which seriously affects the cleaning efficiency of the cleaning robot and ruins the user experience. Moreover, common cleaning robots equipped with robotic arms can usually only achieve simple displacement of single obstacles. A control method is still needed to optimize the robotic arm's grasping behavior and movement path planning for faster and more efficient automatic cleaning. Summary of the Invention

[0004] The embodiments of the present application provide a control method, device, equipment, storage medium, program product and cleaning robot for a cleaning robot, so as to improve the autonomous adaptability of the cleaning robot in performing cleaning tasks and removing obstacles in a complex environment.

[0005] In a first aspect, an embodiment of the present application provides a control method for a cleaning robot, which is applied to a cleaning robot, wherein a sensor system and a drive module are provided on the cleaning robot body;

[0006] The method comprises:

[0007] When the cleaning robot performs a cleaning task, when the sensor system detects the presence of an obstacle, the cleaning robot is controlled to handle the obstacle;

[0008] During the process of the cleaning robot processing the obstacle, continuously obtaining the processing status of the cleaning robot according to a preset frequency;

[0009] According to the processing state, controlling the cleaning robot to perform a corresponding state adjustment action so that the cleaning robot returns to the area where the obstacle was originally located after processing the obstacle;

[0010] The cleaning robot is controlled to continue the cleaning task.

[0011] In a possible implementation, when the sensor system detects the presence of an obstacle, controlling the cleaning robot to handle the obstacle includes:

[0012] When the sensor system detects that the distance between the cleaning robot and the obstacle is less than a clamping distance threshold, the robot arm on the body is controlled to clamp the obstacle.

[0013] In a possible implementation, after controlling the robotic arm to clamp the obstacle, the method further includes:

[0014] Taking the current position of the cleaning robot as the starting point and the preset target placement area as the end point, path planning is performed to obtain a moving path;

[0015] Using the driving module to drive the body to move along the moving path until the distance between the cleaning robot and the target placement area is less than a clamping distance threshold;

[0016] The robotic arm is controlled to place the grabbed obstacle in the target placement area.

[0017] In a possible implementation, using the driving module to drive the body to move along the movement path includes:

[0018] When obstacles need to be overcome during movement, identify the height of the object to be crossed;

[0019] When the height of the object to be crossed is less than a preset height threshold, the driving module is used to perform the obstacle crossing action;

[0020] When the height of the object to be crossed reaches the preset height threshold, the moving path of the cleaning robot is adjusted to obtain a new moving path, and the driving module is used to drive the body to move along the new moving path until the distance between the cleaning robot and the target placement area is less than the clamping distance threshold;

[0021] The robotic arm is controlled to place the grabbed obstacle in the target placement area.

[0022] In a possible implementation, controlling the cleaning robot to perform a corresponding state adjustment action according to the processing state includes:

[0023] When the processing status indicates that the driving module fails to execute the obstacle surmounting action, controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed;

[0024] When the processing status indicates that the robot arm has not placed the grasped obstacle in the target placement area, controlling the robot arm to re-grip the obstacle and place it in the target placement area;

[0025] When the processing status indicates that the cleaning robot has not returned to the area where the obstacle was originally located to continue the cleaning task, the moving path of the cleaning robot is adjusted to obtain a reset path, and the driving module is used to drive the body to move along the reset path to control the cleaning robot to return to the area where the obstacle was originally located to continue the cleaning task.

[0026] In a possible implementation, the obstacle includes clothing, and the target placement area includes a washing machine or a storage basket.

[0027] In a possible implementation, controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed includes:

[0028] Collecting obstacle crossing data corresponding to the cleaning robot;

[0029] When the obstacle crossing data indicates that the obstacle crossing position adjustment is to be performed, the driving module is used to drive the fuselage to adjust the obstacle crossing position, and the driving module is controlled to repeatedly perform the obstacle crossing action until the action is successfully performed;

[0030] When the obstacle crossing data indicates that the obstacle crossing position adjustment is not to be performed, the driving module is controlled to repeatedly execute the obstacle crossing action until the action is successfully executed.

[0031] In a possible implementation manner, the obstacle crossing data includes status information of the object to be crossed;

[0032] After collecting the obstacle crossing data corresponding to the cleaning robot, the method further includes:

[0033] When the status information of the object to be crossed indicates that the object to be crossed is a detour obstacle, and / or the status information of the object to be crossed indicates that the position of the object to be crossed has changed, determining that the obstacle crossing data indicates that an obstacle crossing position adjustment is to be performed;

[0034] When the status information of the object to be crossed indicates that the object to be crossed is not a detour obstacle, and / or the status information of the object to be crossed indicates that the position of the object to be crossed has not changed, it is determined that the obstacle crossing data indicates that no obstacle crossing position adjustment is performed.

[0035] In a possible implementation, after collecting the obstacle crossing data corresponding to the cleaning robot, the method further includes:

[0036] When the status information of the object to be crossed indicates that the object to be crossed is a soft obstacle, it is determined that the obstacle crossing data indicates that an obstacle crossing position adjustment is to be performed.

[0037] In a possible implementation, controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed includes:

[0038] When the number of times the driving module repeatedly performs the obstacle-crossing action does not reach a preset number threshold, controlling the driving module to perform an escape action, and controlling the driving module to repeatedly perform the obstacle-crossing action;

[0039] When the number of times the driving module repeatedly performs the obstacle-crossing action reaches a preset number threshold, the driving module is controlled to drive the body of the cleaning robot to move, so as to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

[0040] In a possible implementation, controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed further includes:

[0041] Obtaining obstacle crossing energy consumption information corresponding to the cleaning robot;

[0042] When the obstacle crossing energy consumption information indicates that the power consumed by the driving module to perform the obstacle crossing action reaches a preset energy consumption threshold, the driving module is used to drive the body of the cleaning robot to move, so as to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

[0043] In a possible implementation, controlling the cleaning robot to handle the obstacle includes:

[0044] The cleaning robot is controlled to perform an obstacle removal task; the obstacle removal task is used to instruct the robot to move the obstacle outside the path of the cleaning task.

[0045] In a second aspect, an embodiment of the present application provides a control device for a cleaning robot, which is applied to the cleaning robot, wherein a sensor system and a drive module are provided on the body of the cleaning robot;

[0046] The device comprises:

[0047] a first control module, configured to control the cleaning robot to handle an obstacle when the sensor system detects the presence of an obstacle during the cleaning robot's performance of a cleaning task;

[0048] an acquisition module, configured to continuously acquire a processing status of the cleaning robot at a preset frequency during the process of the cleaning robot processing the obstacle;

[0049] a second control module, configured to control the cleaning robot to perform a corresponding state adjustment action according to the processing state, so that the cleaning robot returns to the area where the obstacle originally existed after processing the obstacle;

[0050] The third control module is used to control the cleaning robot to continue the cleaning task.

[0051] In a third aspect, an embodiment of the present application provides a cleaning robot, wherein a controller, a robotic arm, a sensor system, and a drive module are provided on the body of the cleaning robot, wherein the controller is connected to the robotic arm, the sensor system, and the drive module respectively;

[0052] The driving module is used to drive the body to move;

[0053] The sensor system is used to detect obstacles;

[0054] The robotic arm is used to clamp the obstacle; the controller is used to execute the method in the first aspect and / or various possible implementations of the first aspect.

[0055] In a fourth aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0056] The memory stores computer-executable instructions;

[0057] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the method in the first aspect and / or various possible implementations of the first aspect.

[0058] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method in the first aspect and / or various possible implementations of the first aspect.

[0059] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method in the first aspect and / or various possible implementations of the first aspect.

[0060] The control method, device, equipment, storage medium, program product and cleaning robot of the cleaning robot provided in the embodiments of the present application perform obstacle removal actions by using a cleaning robot equipped with a robotic arm, and can realize automatic removal of obstacles that appear during the cleaning process without the need for human intervention to move obstacles, thereby ensuring the smooth flow of the cleaning path and improving the efficiency of completing the cleaning task; and, through real-time monitoring and autonomous decision-making, each control action performed by the cleaning robot after clamping the obstacle can be monitored, thereby realizing full-link perception in the process of handling obstacles, and when problems arise in any control action, corresponding state adjustment actions can be taken in time to solve the corresponding problems, thereby improving the autonomous adaptability of the cleaning robot to remove obstacles in complex environments, ensuring the smooth completion of the obstacle handling process, and improving the reliability and intelligence of the cleaning robot in the process of performing cleaning tasks, further improving the product competitiveness of the cleaning robot and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0062] Figure 1 A schematic diagram of the structure of the cleaning robot provided in this application;

[0063] Figure 2 for Figure 1 Schematic diagram of the enlarged structure of part A;

[0064] Figure 3 A flow chart of the control method of the cleaning robot provided in this application;

[0065] Figure 4 A schematic diagram of the structure of the control device of the cleaning robot provided in this application;

[0066] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application.

[0067] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0068] 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.

[0069] The control method of the cleaning robot provided in the embodiment of the present application can be applied to Figure 1 The cleaning robot 100 is shown.

[0070] The cleaning robot 100 is capable of autonomously moving within a work area and completing cleaning tasks without external human input or control. The work area may include indoor and outdoor areas. Indoor areas may include homes, offices, shopping malls, factory floors, etc. Outdoor areas may include lawns, gardens, roads, etc. Cleaning tasks may include sweeping (e.g., washing, mopping, sweeping, etc.), lawn mowing, snow removal, etc.

[0071] The cleaning robot 100 includes, but is not limited to, sweeping robots, floor scrubbers, sweeping and mopping robots, lawn mowers, and snow sweepers. The cleaning robot 100 can clean using a sweep-and-mop system or a separate sweep-and-mop system. The sweep-and-mop system allows for simultaneous sweeping and mopping, improving cleaning efficiency. The separate sweep-and-mop system allows for sweeping first and mopping later, improving cleaning effectiveness.

[0072] Specifically, the cleaning robot 100 includes at least a body 10, a controller (not shown), one or more cleaning components (not shown), a drive module 20, and a sensor system. The drive module 20 is located on one side of the body 10 and is used to drive the body 10 to move for cleaning operations.

[0073] Specifically, the above-mentioned cleaning components may include one or more of the following: a side brush, a main brush (or roller brush), a rag plate (or mop plate), etc. The shape of the above-mentioned cleaning components may be circular, square or other shapes (such as semicircular, arc-shaped, triangular and other special shapes). The above-mentioned circular shape facilitates the cleaning components to perform rotational cleaning. The above-mentioned special shape facilitates the cleaning components to clean corner areas. Specifically, the above-mentioned side brush can gather foreign matter and move the foreign matter toward the center of the bottom of the cleaning robot 100. The main brush can sweep up foreign matter at the bottom of the cleaning robot 100 and allow the foreign matter to enter the dust collection box through the suction port. The rag plate is used for wiping or mopping the floor.

[0074] Specifically, a rag is placed on the rag tray. The cleaning robot is provided with a water tank. Water in the water tank flows through a hole to the rag, wetting the rag. The wetted rag is used for mopping the floor.

[0075] The above-mentioned main brush is arranged in the main brush cavity at the bottom of the body 10 of the cleaning robot 100. The main brush cavity is connected to the dust suction channel of the cleaning robot. Smaller garbage such as dust and hair swept up by the main brush and / or side brush will be sucked into the cleaning robot through the main brush cavity.

[0076] Specifically, the shape of the body 10 may be circular, square or other shapes. For example, a portion of the body may be circular and another portion may be square.

[0077] The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices that can have control functions.

[0078] The sensor systems can be respectively provided on the body 10 of the cleaning robot 100. For example, the sensor systems can be ultrasonic sensors, monocular vision sensors, binocular vision sensors, line laser sensors, surface laser sensors, LDS sensors, Dtof sensors, Itof sensors, etc. The sensor systems are used to detect the distance between obstacles and the cleaning robot 100.

[0079] Further, if Figure 1 As shown, the cleaning robot 100 may further include a robotic arm 30. Accordingly, a robotic arm storage slot 31 may be provided on the body 10 to accommodate the robotic arm 30. The robotic arm 30 is provided on a side of the body 10 facing away from the drive module 20 so as to extend out of the body 10 for operation. A rotating shaft may be fixedly provided in the robotic arm storage slot 31, and the robotic arm 30 may be connected to the rotating shaft.

[0080] Specifically, when the robot arm 30 is not in use, it can be retracted and placed in the robot arm storage slot 31 .

[0081] When the robotic arm 30 is started and used, the robotic arm 30 can rotate and unfold with the rotation axis as the fulcrum, and then the robotic arm 30 can be used to complete specific actions, such as grasping actions, pushing actions, etc.

[0082] Specifically, the robotic arm 30 is provided with at least a gripping portion, such as a gripping claw, etc. Accordingly, the cleaning robot 100 can use the gripping portion provided on the robotic arm 30 to grip specific objects.

[0083] The sensor system may be arranged on the robot arm 30 , for example.

[0084] It should be noted that the robotic arms and robotic arm storage slots listed above are merely schematic illustrations. In specific implementations, other types of robotic arms and other types of robotic arm storage slots may also be included, depending on specific application scenarios and processing requirements. This specification does not limit this.

[0085] Further, if Figure 1 and Figure 2 As shown, in another embodiment, the body 10 is further provided with an ejection assembly 11, a locking assembly 12, and an obstacle crossing assembly 40. The ejection assembly 11 is connected to the drive module 20 and is used to eject the drive module 20 from the body 10. The locking assembly 12 is used to lock the drive module 20 when the robotic arm 30 is in operation, thereby preventing the drive module 20 from being ejected.

[0086] That is, when the cleaning robot 100 is performing a cleaning operation, the locking assembly 12 does not operate, allowing the pop-up assembly 11 to provide suspension, shock absorption, maintain the pressure of the drive wheels, or automatically adjust the height of the drive module 20 when needed, such as when walking on uneven ground, walking on inclined ground, crossing small obstacles, or transitioning from ground of different thicknesses or materials, so as to pop the drive module 20 out of the body 10 and enable the cleaning robot 100 to travel normally. When the robotic arm 30 is working, the locking assembly 12 operates to lock the drive module 20, preventing the pop-up assembly 11 from popping out the drive module 20, thereby offsetting the reaction force generated by the setting of the pop-up assembly 11, making full use of the weight of the drive module 20 itself, and solving the problem of the cleaning robot 100 tilting and lifting its tail.

[0087] By providing a locking assembly 12 on the body 10, when the robotic arm 30 is grasping an object, the locking assembly 12 locks the drive module 20, locking the drive wheel in a raised state and preventing it from popping out, thereby offsetting the reaction force generated by the pop-up assembly 11, keeping the body 10 stable, and preventing the occurrence of sideways tilt or tail lift, thereby increasing the reliability of the entire machine operation and improving the user experience. The coordinated cooperation of the pop-up assembly 11 and the locking assembly 12 allows the drive module 20 to pop out when needed, and the cleaning robot 100 can maintain efficient and stable performance in different operating modes, thereby enhancing the adaptability of the machine. The locking assembly 12 has a simple structure and low manufacturing cost, which not only reduces production costs, but also reduces the complexity of the equipment and improves the maintainability of the equipment. By making full use of the weight of the drive module 20 itself to improve the stability of the machine, rather than relying on adding additional counterweights, the problem of affecting the endurance and mobility of the entire machine due to the increase in the weight of the entire machine is avoided.

[0088] Furthermore, the obstacle module 40 is rotatably mounted on the driving module 20. The locking assembly 12 is configured to engage with the obstacle module 40 when the obstacle module 40 rotates, thereby locking the obstacle module 40 and preventing the driving module 20 connected to the obstacle module 40 from popping out.

[0089] The design of the obstacle crossing module 40 enables the cleaning robot 100 to cross obstacles more effectively, thereby improving the adaptability of the cleaning robot 100 , for example, when encountering thresholds, carpet edges or other small obstacles in a home environment.

[0090] By locking the obstacle module 40 when it rotates, the locking assembly 12 can effectively limit the popping out of the driving module 20, which helps the locking assembly 12 to lock the driving module 20 when the robotic arm 30 is working, maintain the stability of the equipment, and prevent the reaction force generated by the pop-up assembly 11 from causing the equipment to tilt or lift its tail.

[0091] The combination of the locking assembly 12 and the obstacle crossing module 40 allows for more precise control over the locking of the drive module 20. By limiting the pop-up action of the drive module 20, the device can maintain higher reliability when performing complex tasks (such as using a robotic arm to grab objects), reducing the risk of operational failure due to instability.

[0092] The combined design of the locking assembly 12 and the obstacle-crossing module 40 utilizes the existing obstacle-crossing module 40 to lock the driving module 20 , avoiding additional complex structures or components, thereby maintaining the simplicity and cost-effectiveness of the device.

[0093] like Figure 2 As shown, in one possible implementation, the locking assembly 12 includes a locking bracket 121 and a locking roller 122. The locking bracket 121 is mounted on the main unit 10, and the locking roller 122 is rotatably mounted on the locking bracket 121. The obstacle crossing module 40 is provided with wheel leg grooves. When the obstacle crossing module 40 rotates, the locking roller 122 can slide into the wheel leg grooves to engage with the wheel leg grooves.

[0094] The locking roller 122 automatically slides into the wheel leg slot when the obstacle crossing module 40 rotates, achieving an automated locking process. The locking roller 122's engagement with the wheel leg slot provides a secure locking mechanism, ensuring that the drive wheel module 20 is securely locked during device operation, particularly when the robotic arm is operating, to prevent unwanted ejection. Furthermore, the design of the locking roller 122 allows for smooth rotation and engagement, reducing wear on components during the locking and unlocking process, thereby extending the device's service life.

[0095] The design of locking roller 122 and providing wheel leg groove on obstacle crossing module 40 utilizes simple mechanical structure, roller and groove to realize locking function, thus maintaining simplicity and easy maintenance of the equipment.

[0096] It should be noted that the cleaning robot 100 as described above is used to provide a structure of a cleaning robot that can implement the following control method. The control method of the cleaning robot in this application does not limit the specific structure of the cleaning robot. It only requires that the cleaning robot can overcome obstacles and lock and release the drive module.

[0097] In one embodiment, a control method for a cleaning robot is provided. This embodiment is illustrated by applying the control method for the cleaning robot to the controller of the cleaning robot. Figure 3 As shown, the control method includes:

[0098] Step 302: When the sensor system detects the presence of an obstacle during the cleaning robot's execution of the cleaning task, the cleaning robot is controlled to handle the obstacle.

[0099] Obstacle handling by a cleaning robot refers to the process in which the cleaning robot moves obstacles encountered while performing cleaning tasks to a specific location, puts the obstacles down, and then returns to its original position.

[0100] The process of handling obstacles can be divided into three stages. The first stage is the process of the cleaning robot moving the obstacle to a specific location, the second stage is the process of the cleaning robot placing the obstacle at a specific location, and the third stage is the process of the cleaning robot returning to the original location of the obstacle to continue performing the cleaning task.

[0101] When the cleaning robot is performing a cleaning task, if the sensor system on the cleaning robot detects an obstacle during its movement and the distance between the obstacle and the body is less than the clamping distance threshold, the controller can control the obstacle crossing module on the cleaning robot to rotate from the initial position to the locking position. When the obstacle crossing module rotates, the locking component on the cleaning robot engages with the obstacle crossing module, thereby locking the obstacle crossing module and limiting the pop-up of the drive module connected to the obstacle crossing module, thereby offsetting the reaction force generated by the setting of the pop-up component in the cleaning robot, making full use of the weight of the drive module itself, and solving the problem of the cleaning robot tilting and tail lifting.

[0102] Furthermore, the controller can control the robotic arm storage slot to rotate and open the hatch, so that the robotic arm can extend out of the fuselage to grab the obstacle. After the robotic arm grabs the obstacle, the controller can control the robotic arm to reset to a stable center of gravity position. At this time, the robotic arm moves the clamped obstacle above the fuselage, so that the center of gravity of the robotic arm and the obstacle can be on the same vertical line as the center of gravity of the fuselage, thereby allowing the fuselage to remain stable.

[0103] The stable center of gravity position can be, for example, the position where the robotic arm is retracted to the maximum extent. When the robotic arm is in the stable center of gravity position, the center of gravity of the robotic arm can be on the same vertical line as the center of gravity of the fuselage after moving back, so that the center of gravity of the cleaning robot remains in the center position, thereby allowing the fuselage to remain stable and avoiding the cleaning robot from tilting or lifting its tail.

[0104] Specifically, the above-mentioned moving process of the cleaning robot can be a process in which the cleaning robot moves while cleaning, or a process in which the cleaning robot only moves without cleaning, etc. Moreover, the above-mentioned moving process can be a process in which the cleaning robot moves along a straight path, a process in which the cleaning robot moves along an arc path, or a process in which the cleaning robot moves along an irregular path, etc.

[0105] During the moving process, the cleaning robot in this embodiment will detect in real time or periodically whether there are obstacles in the area ahead through the sensor system.

[0106] Alternatively, the controller may also use a distance sensor additionally provided on the cleaning robot to accurately locate the obstacle, wherein the distance sensor may be, for example, an infrared sensor, and the distance sensor may be provided on one side of the forward direction of the body.

[0107] The clamping distance threshold may be pre-set based on the maximum extension distance of the robotic arm on the cleaning robot, and the clamping distance threshold may be less than or equal to the maximum extension distance of the robotic arm.

[0108] In one embodiment, controlling the cleaning robot to handle obstacles may include controlling the cleaning robot to perform an obstacle removal task. The obstacle removal task is used to instruct the cleaning robot to move the obstacle outside the path of the cleaning task, so as to remove the obstacle from the path of the cleaning robot during the cleaning task.

[0109] During obstacle removal tasks, the cleaning robot can remain stationary and use its robotic arm to clamp the obstacle. It can then rotate the robotic arm to any angle and then drop the obstacle to ensure that the obstacle is removed from the cleaning robot's path after being moved and does not collide with the cleaning robot.

[0110] Step 304: Control the cleaning robot to handle the obstacle. During the process of the cleaning robot handling the obstacle, continuously obtain the processing status of the cleaning robot according to a preset frequency.

[0111] The processing status is used to indicate the body status that may be involved in the process of the cleaning robot handling obstacles. The body status is used to indicate the execution result of any control action that may be involved in the above three stages of the cleaning robot. As an example, if the cleaning robot involves obstacle crossing actions on objects that need to be crossed during the execution of the first stage or the third stage, the processing status can be used to indicate whether the cleaning robot successfully crosses the obstacle, or the processing status can be used to indicate whether the cleaning robot maintains its grip on the obstacle in the first stage, or the processing status can be used to indicate whether the cleaning robot successfully places the obstacle in a specific position in the second stage.

[0112] Step 306: According to the processing status, the cleaning robot is controlled to perform a corresponding state adjustment action, so that the cleaning robot returns to the original area where the obstacle is located after processing the obstacle.

[0113] The state adjustment action is used to instruct the cleaning robot to adjust its body state so that the cleaning robot can continue to handle obstacles. As an example, if the cleaning robot involves an obstacle-crossing action on an object that needs to be crossed during the execution of the first or third stage, the processing state is used to indicate whether the cleaning robot successfully crosses the obstacle. Accordingly, the state adjustment action can be used to instruct the cleaning robot to escape and try to cross the obstacle again after failing to cross the obstacle, return directly to continue the cleaning task, or issue an alarm. Alternatively, the processing state is used to indicate whether the cleaning robot maintains the grip of the obstacle in the first stage. Accordingly, the state adjustment action can be used to instruct the cleaning robot to re-grip the obstacle or issue an alarm after loosening the obstacle. Alternatively, the processing state is used to indicate whether the cleaning robot successfully places the obstacle in a specific position in the second stage. The state adjustment action can be used to instruct the cleaning robot to re-grip the obstacle and place the obstacle in a specific position when placing the obstacle in other positions, or issue an alarm.

[0114] The state adjustment action is used to adjust the body state of the cleaning robot so that the cleaning robot can successfully execute the control actions involved in each stage of the obstacle handling process in sequence.

[0115] Step 308: Control the cleaning robot to continue the cleaning task.

[0116] The above-mentioned control method of the cleaning robot uses a cleaning robot equipped with a robotic arm to handle obstacles, and can realize the automatic removal of obstacles that appear during the cleaning process without human intervention to move the obstacles, thereby ensuring the smooth flow of the cleaning path and improving the efficiency of completing the cleaning task; and, through real-time monitoring and autonomous decision-making, every control action performed by the cleaning robot after clamping the obstacle can be monitored, thereby realizing full-link perception in the obstacle handling process, and when any problem occurs in any control action, the corresponding state adjustment action can be taken in time to solve the corresponding problem, thereby improving the autonomous adaptability of the cleaning robot to remove obstacles in complex environments, ensuring the smooth completion of the obstacle handling process, and improving the reliability and intelligence of the cleaning robot in the process of performing cleaning tasks, further improving the product competitiveness of the cleaning robot and improving the user experience.

[0117] In one possible implementation, step 302 includes:

[0118] When the sensor system detects that the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the robotic arm on the body is controlled to clamp the obstacle.

[0119] For example, when the sensor system is mounted on a robotic arm, the controller can control the robotic arm to expand, retract, rotate, and perform other operations, flexibly adjusting the robotic arm's position relative to the obstacle. This allows for flexible and precise adjustment of the sensor system's position relative to the obstacle over a wide range. For example, the sensor system can be positioned higher than the obstacle. This allows the robotic arm to be adjusted so that the sensor system covers as many areas as possible, such as those above and behind the obstacle, that were previously easily obscured or overlooked. Consequently, the sensor system mounted on the robotic arm can accurately acquire relatively complete and detailed data related to the obstacle.

[0120] Specifically, a sensor system is used to obtain three-dimensional information of the obstacle to determine information such as the height, width, and depth of the obstacle.

[0121] In this embodiment, the controller can, for example, first compare the height of the obstacle with a preset grasping height threshold, and compare the width of the obstacle with a preset grasping width threshold, wherein the grasping height threshold is used to indicate the minimum height that can be grasped by the grasping part of the robotic arm, and the grasping width threshold is used to indicate the maximum width that can be grasped by the grasping part of the robotic arm.

[0122] If the obstacle's height does not reach the grasping height threshold and its width exceeds the grasping width threshold, the controller can identify the obstacle as an avoidance obstacle. In this case, the robot does not need to clear the obstacle with the robotic arm, and the cleaning robot performs an avoidance maneuver. An avoidance maneuver instructs the cleaning robot to avoid colliding with the avoidance obstacle and to continue cleaning. Examples of avoidance maneuvers include backing off or circumventing the obstacle.

[0123] When the height of the obstacle reaches the grasping height threshold and the width of the obstacle is not greater than the grasping width threshold, the controller can consider that the size of the obstacle is suitable for being grasped by the robotic arm. At this time, the controller can lock the drive module to limit the pop-up of the drive module and use the robotic arm to grasp the obstacle.

[0124] The control method of the above-mentioned cleaning robot uses a sensor system to monitor the position and size of obstacles in real time, thereby realizing rapid and accurate identification of obstacles on the cleaning path of the cleaning robot. When faced with an obstacle type that cannot be grasped, the cleaning robot can directly perform a detour action to avoid wasting time trying to clear the obstacle, thereby saving the obstacle processing response time.

[0125] In a possible implementation, step 302 further includes:

[0126] The path is planned with the original obstacle location as the starting point and the preset target placement area as the end point to obtain the moving path;

[0127] The driving module is used to drive the body to move along the moving path until the distance between the cleaning robot and the target placement area is less than the clamping distance threshold;

[0128] Control the robotic arm to place the grasped obstacle in the target placement area.

[0129] Before planning a mobile path, the controller can pre-store an environmental map of the cleaning robot's environment. The environmental map may include the layout of the house and environmental information of the cleaning robot's environment. Environmental information refers to the internal layout of the cleaning robot's environment, including the size and location of walls, furniture, carpets, and floor materials. Furniture may include various floor-standing furniture, such as tables and chairs, wardrobes, and potted plants.

[0130] In one embodiment, the location information of the target placement area can be pre-set by the user or acquired through autonomous sensing by the cleaning robot. When the user pre-sets the location information of the target placement area, the controller can pre-store the location information of the target placement area; when the cleaning robot autonomously senses and acquires the location information of the target placement area, the cleaning robot can acquire the three-dimensional information of all obstacles encountered by the cleaning robot during its movement through the sensor module. When the three-dimensional information of an obstacle matches the three-dimensional information of a specific storage item such as a pre-stored storage basket or storage basket, the cleaning robot can use the location of the obstacle as the target placement area; alternatively, the cleaning robot can be provided with an image acquisition module, which is used to scan QR codes, barcodes, etc. affixed to obstacles encountered by the cleaning robot during its movement. The QR codes and barcodes are used to store the item information of the corresponding obstacles. When the scanned item information indicates that the obstacle with the QR code or barcode is a pre-stored specific storage item such as a storage basket or storage basket, the cleaning robot can use the location of the obstacle as the target placement area.

[0131] It should be noted that the obstacle may be clothing, and the target placement area may be a washing machine or a storage basket, a storage basket, etc.

[0132] Furthermore, the controller can control the drive module to release and use the drive module to drive the body to move along the moving path. When the sensor system senses that the distance between the cleaning robot and the target placement area is less than the clamping distance threshold, the drive module is locked and the robotic arm is controlled to place the grasped obstacle in the target placement area. The robotic arm is then controlled to reset and the drive module is released.

[0133] In this embodiment, the driving module can be locked before the obstacle is placed in the target placement area to offset the reaction force generated by the driving module, so that the body of the cleaning robot remains stable and prevents the phenomenon of tilting or lifting the tail; and after the obstacle is placed in the target placement area, the robotic arm can be retracted into the robotic arm storage slot to keep the center of gravity of the cleaning robot in the center position, so that the body can remain stable and avoid the phenomenon of tilting or lifting the tail of the cleaning robot.

[0134] The control method of the above-mentioned cleaning robot automatically determines the placement of obstacles through the target placement area pre-set by the user or acquired by the cleaning robot's autonomous perception, and further avoids the cleaning robot's repeated ineffective movement or collision with other objects in the environment by planning a precise movement path, thereby improving the overall efficiency of obstacle removal.

[0135] In one possible implementation, the step of using the driving module to drive the body to move along the movement path includes:

[0136] When obstacles need to be overcome during movement, identify the height of the object to be crossed;

[0137] When the height of the object to be crossed is less than the preset height threshold, the driving module is used to perform the obstacle crossing action;

[0138] When the height of the object to be crossed reaches a preset height threshold, the moving path of the cleaning robot is adjusted to obtain a new moving path, and the driving module is used to drive the body to move along the new moving path until the distance between the cleaning robot and the target placement area is less than the clamping distance threshold;

[0139] Control the robotic arm to place the grasped obstacle in the target placement area.

[0140] During the movement of the cleaning robot, when the sensor system on the cleaning robot detects an object to be crossed, it can further obtain three-dimensional information of the object to be crossed to obtain the height of the object to be crossed.

[0141] It should be noted that the controller also needs to use the driving module to cross the object to be crossed when the three-dimensional information collected by the sensor system indicates that the object to be crossed meets the obstacle crossing conditions.

[0142] Obstacle crossing conditions are conditions that must be met for a cleaning robot to cross, and are specifically related to the obstacle crossing conditions set on the cleaning robot. For example, the obstacle must be such that the cleaning robot can pass through it without affecting the robot's normal movement. For example, the obstacle crossing condition may be that the height of the space above the obstacle is greater than or equal to a preset height, and the height difference between the upper surface behind the obstacle and the upper surface height of the obstacle is less than a preset height difference. The preset height may be the sum of the cleaning robot's body height and the height of the fixed distance from the body.

[0143] For example, the area above the obstacle can be an open area with no other obstacles, or there can be other obstacles, but these obstacles do not affect the robot's ability to navigate normally. This means the robot will not be stuck by any obstacles above it. Furthermore, the height difference between the area behind the obstacle and the obstacle itself should not be too large, so that after the robot passes over the obstacle and reaches behind it, it can land behind it and continue cleaning normally.

[0144] In this embodiment, if the height of the object to be crossed does not reach the preset height threshold, it can be understood that the cleaning robot needs to go up a lower step or down a lower step. At this time, if the robotic arm clamps an obstacle, the controller can keep the robotic arm in a preset position and perform an obstacle-crossing action; if the height of the object to be crossed reaches the preset height threshold, it can be understood that the cleaning robot goes up a higher step or down a higher step. At this time, it can be considered that the robotic arm cannot cross the object to be crossed. The controller can re-plan the path according to the current position of the cleaning robot and the target placement area to obtain a new moving path, and control the cleaning robot to move along the new moving path to a position where the distance between it and the target placement area is less than the clamping distance threshold to place the obstacle.

[0145] It should be noted that this embodiment does not limit how to determine whether the cleaning robot needs to ascend or descend stairs. For example, the controller may determine that a descent is required when it determines based on a map of the cleaning task that it needs to move from one area to another. Alternatively, the controller may identify whether a descent is required based on a configured sensor system or other sensors. The sensor in this context may be carried by the cleaning robot itself or located in the same space as the cleaning robot.

[0146] The control method of the above-mentioned cleaning robot can realize intelligent judgment of whether the obstacle crossing action is possible by identifying the height of the object to be crossed, thereby avoiding the waste of time caused by blindly trying to cross impossible obstacles; when faced with the situation where the object to be crossed is too high, the moving path can be replanned in time to avoid obstacles that cannot be crossed, ensuring that the cleaning robot can handle obstacles safely and efficiently.

[0147] In one possible implementation, the step of controlling the cleaning robot to perform a corresponding state adjustment action according to the processing state includes:

[0148] When the processing status indicates that the driving module fails to execute the obstacle surmounting action, the driving module is controlled to repeatedly execute the obstacle surmounting action until the execution is successful;

[0149] When the processing status indicates that the robot arm has not placed the grasped obstacle in the target placement area, the robot arm is controlled to re-grip the obstacle and place it in the target placement area;

[0150] When the processing status indicates that the cleaning robot has not returned to the original area where the obstacle was located to continue the cleaning task, the moving path of the cleaning robot is adjusted to obtain a reset path, and the driving module is used to drive the body to move along the reset path to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

[0151] Specifically, the steps of controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed include:

[0152] Collect obstacle crossing data corresponding to the cleaning robot;

[0153] When the obstacle crossing data indicates that the obstacle crossing position adjustment is to be performed, the driving module is used to drive the fuselage to adjust the obstacle crossing position, and the driving module is used to repeatedly perform the obstacle crossing action until the execution is successful;

[0154] When the obstacle crossing data indicates that the obstacle crossing position adjustment is not to be performed, the driving module is used to repeatedly execute the obstacle crossing action until the execution is successful.

[0155] Among them, the obstacle crossing data includes the status information of the object to be crossed;

[0156] After collecting the obstacle crossing data corresponding to the cleaning robot, it also includes:

[0157] When the status information of the object to be crossed indicates that the object to be crossed is a detour obstacle, and / or the status information of the object to be crossed indicates that the position of the object to be crossed has not changed, determining that the obstacle crossing data indicates that the obstacle crossing position adjustment is to be performed;

[0158] When the status information of the object to be crossed indicates that the object to be crossed is not a detour obstacle, and / or the status information of the object to be crossed indicates that the position of the object to be crossed has changed, it is determined that the obstacle crossing data indicates that no obstacle crossing position adjustment is performed.

[0159] It should be noted that the status information of the object to be crossed may include three-dimensional information of the obstacle, such as the height, width, and depth of the obstacle. As an example, when the information such as the height, width, and depth of the obstacle indicates that the obstacle meets the status information of at least one item corresponding to the bypass-type obstacle, the controller can determine that the status information of the object to be crossed indicates that the object to be crossed belongs to the bypass-type obstacle. At this time, the controller can deem that the cleaning robot cannot cross the object to be crossed, and the controller needs to control the cleaning robot to change its position and try to cross the obstacle again. Alternatively, when the information such as the height, width, and depth of the obstacle indicates that the obstacle does not meet the status information of any item corresponding to the bypass-type obstacle, the controller can determine that the status information of the object to be crossed indicates that the object to be crossed does not belong to the bypass-type obstacle. At this time, the controller can control the cleaning robot to directly try to cross the obstacle again.

[0160] The status information of the object to be crossed may also include the position information of the object to be crossed before and after the cleaning robot performs the obstacle crossing action. If the position of the object to be crossed does not change before and after the cleaning robot performs the obstacle crossing action, it can be considered that the object to be crossed is fixed and immovable. In this case, the controller needs to control the cleaning robot to change its position and attempt to cross the obstacle again. Alternatively, if the position of the object to be crossed changes before and after the cleaning robot performs the obstacle crossing action, the controller can determine that the object to be crossed is temporary and movable. In this case, the controller can control the cleaning robot to directly attempt to cross the obstacle again.

[0161] In one embodiment, after collecting obstacle crossing data corresponding to the cleaning robot, the method further includes:

[0162] When the status information of the object to be crossed indicates that the object to be crossed is a soft obstacle, the obstacle crossing data is determined to indicate that an obstacle crossing position adjustment is to be performed.

[0163] Soft obstacles refer to objects made of flexible and deformable materials, whose physical properties are easily changed by external forces. Soft obstacles are likely to curl or fold due to the cleaning robot's obstacle-crossing action, thereby interfering with the movement of the cleaning robot. In this case, the cleaning robot needs to change the obstacle-crossing position and try to cross the obstacle again from a position where it is determined that there is no curling or folding.

[0164] Soft obstacles can be, for example, carpets, towels, clothes, etc.

[0165] As an example, when information such as the height, width, and depth of an obstacle indicates that the obstacle meets the status information of at least one item corresponding to a soft obstacle, the controller can determine that the status information of the object to be crossed indicates that the object to be crossed is a soft obstacle. At this time, the controller can assume that the cleaning robot needs to adjust its obstacle crossing position before trying to cross the obstacle again.

[0166] Furthermore, the steps of controlling the driving module to repeatedly execute the obstacle-crossing action until the action is successfully executed include:

[0167] When the number of times the driving module repeatedly performs the obstacle-crossing action does not reach a preset number threshold, the driving module is controlled to perform an escape action, and the driving module is controlled to repeatedly perform the obstacle-crossing action;

[0168] When the number of times the driving module repeatedly performs the obstacle-crossing action reaches a preset threshold, the driving module is controlled to drive the body of the cleaning robot to move, so as to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

[0169] When the cleaning robot fails to perform an obstacle-crossing action, the body of the cleaning robot may be stuck diagonally on the object to be crossed. At this time, the cleaning robot can try to reverse to escape. By performing the escape action, the cleaning robot can reverse along the moving path to the position before performing the obstacle-crossing action.

[0170] It should be noted that after executing the escape maneuver, the controller can also determine whether the escape maneuver was successful. If successful, it will continue to control the drive module to repeat the obstacle-crossing maneuver. If it fails, the controller will issue an alarm to inform the user that the cleaning robot is stuck on the object it needs to cross. The failure of the escape maneuver may be caused by insufficient driving force from the drive module.

[0171] When the cleaning robot returns to the area where the obstacle was originally located, the controller can control the robotic arm to put the obstacle back to its original position and perform a detour action to avoid wasting time trying to clear the obstacle, saving the obstacle processing response time.

[0172] The control method of the above-mentioned cleaning robot determines whether the object to be crossed is insurmountable based on the status information of the object to be crossed, so as to reasonably choose whether it is necessary to adjust the position of the cleaning robot before continuing to try to cross the obstacle. It can change the position in time when encountering an insurmountable object, reduce the repeated obstacle crossing operations of the robotic arm or drive module, and reduce the risk of mechanical wear or damage; and when the number of obstacle crossing failures reaches a preset threshold, it can give up processing the obstacle and return to the original area where the obstacle is located to continue the cleaning task, thereby avoiding blindly repeating invalid actions, avoiding wasting the time and power of the cleaning robot, ensuring that the cleaning robot can return to normal cleaning status as soon as possible, and ensuring that the cleaning task is not interrupted.

[0173] In a possible implementation, controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed further includes:

[0174] Obtain the energy consumption information of the cleaning robot corresponding to the obstacle crossing;

[0175] When the obstacle crossing energy consumption information indicates that the power consumed by the driving module to perform the obstacle crossing action reaches a preset energy consumption threshold, the driving module is used to drive the body of the cleaning robot to move, so as to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

[0176] The obstacle crossing energy consumption information is used to indicate the energy consumed by the cleaning robot when performing an obstacle crossing action.

[0177] As an example, the preset energy consumption threshold may include a power threshold. When the energy consumed by the cleaning robot in performing an obstacle surmounting action exceeds the power threshold, or the total energy consumed by the cleaning robot in failing to perform obstacle surmounting actions multiple times exceeds the power threshold, the controller may give up processing the obstacle and control the driving module to drive the cleaning robot's body to move and return to the original area where the obstacle was located to continue the cleaning task.

[0178] Alternatively, the preset energy consumption threshold includes a percentage threshold of the cleaning robot's battery power. When the energy consumed by the cleaning robot in performing an obstacle surmounting action exceeds the percentage threshold of the cleaning robot's current battery power, or the total energy consumed by the cleaning robot in failing to perform obstacle surmounting actions multiple times exceeds the percentage threshold of the cleaning robot's current battery power, the controller may give up processing the obstacle and control the drive module to drive the cleaning robot's body to move and return to the original area where the obstacle was located to continue the cleaning task.

[0179] The above-mentioned control method of the cleaning robot can promptly abandon the energy-consuming obstacle crossing task, avoid exhausting the battery, and use the limited electrical energy of the cleaning robot more mainly for cleaning tasks. It can improve the efficiency and effectiveness of the cleaning robot's cleaning work, and help extend the overall working time and endurance of the cleaning robot.

[0180] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0181] Based on the same inventive concept, the embodiments of the present application also provide a control device for implementing the aforementioned control method for a cleaning robot. The solution to the problem provided by the control device for the cleaning robot is similar to the solution described in the aforementioned control method for the cleaning robot. Therefore, the specific limitations in one or more device embodiments provided below can be found in the above-mentioned limitations on the control method for the cleaning robot, and will not be repeated here.

[0182] In one embodiment, Figure 4 As shown, a control device 400 of a cleaning robot is provided, which is applied to the cleaning robot. A sensor system and a drive module are set on the body of the cleaning robot;

[0183] The control device 400 includes:

[0184] The first control module 402 is configured to control the cleaning robot to handle the obstacle when the sensor system detects the presence of an obstacle during the cleaning robot's execution of the cleaning task;

[0185] The acquisition module 404 is used to continuously acquire the processing status of the cleaning robot according to a preset frequency during the process of the cleaning robot processing obstacles;

[0186] The second control module 406 is used to control the cleaning robot to perform a corresponding state adjustment action according to the processing state, so that the cleaning robot returns to the area where the obstacle was originally located after processing the obstacle;

[0187] The third control module 408 is used to control the cleaning robot to continue the cleaning task.

[0188] In a possible implementation, the first control module 402 is further configured to:

[0189] When the sensor system detects that the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the robotic arm on the body is controlled to clamp the obstacle.

[0190] In a possible implementation, the first control module 402 is further configured to:

[0191] The cleaning robot's current position is used as the starting point, and the preset target placement area is used as the end point to perform path planning and obtain the moving path;

[0192] The driving module is used to drive the body to move along the moving path until the distance between the cleaning robot and the target placement area is less than the clamping distance threshold;

[0193] Control the robotic arm to place the grasped obstacle in the target placement area.

[0194] In a possible implementation, the acquisition module 404 is further configured to:

[0195] When obstacles need to be overcome during movement, identify the height of the object to be crossed;

[0196] When the height of the object to be crossed is less than the preset height threshold, the driving module is used to perform the obstacle crossing action;

[0197] When the height of the object to be crossed reaches a preset height threshold, the moving path of the cleaning robot is adjusted to obtain a new moving path, and the driving module is used to drive the body to move along the new moving path until the distance between the cleaning robot and the target placement area is less than the clamping distance threshold;

[0198] Control the robotic arm to place the grasped obstacle in the target placement area.

[0199] In a possible implementation, the second control module 406 is further configured to:

[0200] When the processing status indicates that the driving module fails to execute the obstacle surmounting action, the driving module is controlled to repeatedly execute the obstacle surmounting action until the execution is successful;

[0201] When the processing status indicates that the robot arm has not placed the grasped obstacle in the target placement area, the robot arm is controlled to re-grip the obstacle and place it in the target placement area;

[0202] When the processing status indicates that the cleaning robot has not returned to the original area where the obstacle was located to continue the cleaning task, the moving path of the cleaning robot is adjusted to obtain a reset path, and the driving module is used to drive the body to move along the reset path to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

[0203] In a possible implementation, the obstacle includes clothes, and the target placement area includes a washing machine or a storage basket.

[0204] In a possible implementation, the second control module 406 is further configured to:

[0205] Collect obstacle crossing data corresponding to the cleaning robot;

[0206] When the obstacle crossing data indicates that the obstacle crossing position adjustment is to be performed, the driving module is used to drive the fuselage to adjust the obstacle crossing position, and the driving module is controlled to repeatedly perform the obstacle crossing action until the execution is successful;

[0207] When the obstacle crossing data indicates that the obstacle crossing position adjustment is not to be performed, the control driving module is controlled to repeatedly perform the obstacle crossing action until the execution is successful.

[0208] In one possible implementation, the obstacle crossing data includes status information of an object to be crossed;

[0209] The second control module 406 is further configured to:

[0210] When the status information of the object to be crossed indicates that the object to be crossed is a detour obstacle, and / or the status information of the object to be crossed indicates that the position of the object to be crossed has changed, determining that the obstacle crossing data indicates that the obstacle crossing position adjustment is to be performed;

[0211] When the status information of the object to be crossed indicates that the object to be crossed is not a detour obstacle, and / or the status information of the object to be crossed indicates that the position of the object to be crossed has not changed, it is determined that the obstacle crossing data indicates that no obstacle crossing position adjustment is performed.

[0212] In a possible implementation, the second control module 406 is further configured to:

[0213] When the status information of the object to be crossed indicates that the object to be crossed is a soft obstacle, the obstacle crossing data is determined to indicate that an obstacle crossing position adjustment is to be performed.

[0214] In a possible implementation, the second control module 406 is further configured to:

[0215] When the number of times the driving module repeatedly performs the obstacle-crossing action does not reach a preset number threshold, the driving module is controlled to perform an escape action, and the driving module is controlled to repeatedly perform the obstacle-crossing action;

[0216] When the number of times the driving module repeatedly performs the obstacle-crossing action reaches a preset threshold, the driving module is controlled to drive the body of the cleaning robot to move, so as to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

[0217] In a possible implementation, the second control module 406 is further configured to:

[0218] Obtain the energy consumption information of the cleaning robot corresponding to the obstacle crossing;

[0219] When the obstacle crossing energy consumption information indicates that the power consumed by the driving module to perform the obstacle crossing action reaches a preset energy consumption threshold, the driving module is used to drive the body of the cleaning robot to move, so as to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

[0220] In a possible implementation, the acquisition module 404 is further configured to:

[0221] Control the cleaning robot to perform obstacle removal tasks; obstacle removal tasks are used to instruct the robot to move obstacles outside the cleaning path.

[0222] Each module in the above-mentioned apparatus may be implemented in whole or in part by software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0223] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 5 As shown, the electronic device 500 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502, and the communication component 503 are connected via a bus 504. In a specific implementation, the at least one processor 501 executes computer-executable instructions stored in the memory 502, so that the at least one processor 501 performs the above-described method.

[0224] The specific implementation process of the processor 501 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0225] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0226] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0227] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0228] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0229] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0230] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0231] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0232] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0233] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0234] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0235] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0236] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0237] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A control method for a cleaning robot, characterized in that: Applied to a cleaning robot, the cleaning robot is provided with a sensor system and a drive module on its body; The method comprises: When the cleaning robot performs a cleaning task, when the sensor system detects the presence of an obstacle, the cleaning robot is controlled to handle the obstacle; During the process of the cleaning robot processing the obstacle, continuously obtaining the processing status of the cleaning robot according to a preset frequency; According to the processing state, controlling the cleaning robot to perform a corresponding state adjustment action so that the cleaning robot returns to the area where the obstacle was originally located after processing the obstacle; The cleaning robot is controlled to continue the cleaning task.

2. The method according to claim 1, characterized in that When the sensor system detects the presence of an obstacle, controlling the cleaning robot to handle the obstacle includes: When the sensor system detects that the distance between the cleaning robot and the obstacle is less than a clamping distance threshold, the robot arm on the body is controlled to clamp the obstacle.

3. The method according to claim 2, characterized in that After controlling the robotic arm to clamp the obstacle, the method further includes: Taking the current position of the cleaning robot as the starting point and the preset target placement area as the end point, path planning is performed to obtain a moving path; Using the driving module to drive the body to move along the moving path until the distance between the cleaning robot and the target placement area is less than a clamping distance threshold; The robotic arm is controlled to place the grabbed obstacle in the target placement area.

4. The method according to claim 3, characterized in that The step of using the driving module to drive the body to move along the moving path includes: When obstacles need to be overcome during movement, identify the height of the object to be crossed; When the height of the object to be crossed is less than a preset height threshold, the driving module is used to perform the obstacle crossing action; When the height of the object to be crossed reaches the preset height threshold, the moving path of the cleaning robot is adjusted to obtain a new moving path, and the driving module is used to drive the body to move along the new moving path until the distance between the cleaning robot and the target placement area is less than the clamping distance threshold; The robotic arm is controlled to place the grabbed obstacle in the target placement area.

5. The method according to claim 4, characterized in that According to the processing state, controlling the cleaning robot to perform a corresponding state adjustment action includes: When the processing status indicates that the driving module fails to execute the obstacle surmounting action, controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed; When the processing status indicates that the robot arm has not placed the grasped obstacle in the target placement area, controlling the robot arm to re-grip the obstacle and place it in the target placement area; When the processing status indicates that the cleaning robot has not returned to the area where the obstacle was originally located to continue the cleaning task, the moving path of the cleaning robot is adjusted to obtain a reset path, and the driving module is used to drive the body to move along the reset path to control the cleaning robot to return to the area where the obstacle was originally located to continue the cleaning task.

6. The method according to any one of claims 3 to 5, characterized in that The obstacle includes clothes, and the target placement area includes a washing machine or a storage basket.

7. The method according to claim 5, characterized in that The controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed includes: Collecting obstacle crossing data corresponding to the cleaning robot; When the obstacle crossing data indicates that the obstacle crossing position adjustment is to be performed, the driving module is used to drive the fuselage to adjust the obstacle crossing position, and the driving module is controlled to repeatedly perform the obstacle crossing action until the action is successfully performed; When the obstacle crossing data indicates that the obstacle crossing position adjustment is not to be performed, the driving module is controlled to repeatedly execute the obstacle crossing action until the action is successfully executed.

8. The method according to claim 7, characterized in that The obstacle crossing data includes status information of the object to be crossed; After collecting the obstacle crossing data corresponding to the cleaning robot, the method further includes: When the status information of the object to be crossed indicates that the object to be crossed is a detour obstacle, and / or the status information of the object to be crossed indicates that the position of the object to be crossed has changed, determining that the obstacle crossing data indicates that an obstacle crossing position adjustment is to be performed; When the status information of the object to be crossed indicates that the object to be crossed is not a detour obstacle, and / or the status information of the object to be crossed indicates that the position of the object to be crossed has not changed, it is determined that the obstacle crossing data indicates that no obstacle crossing position adjustment is performed.

9. The method according to claim 8, characterized in that After collecting the obstacle crossing data corresponding to the cleaning robot, the method further includes: When the status information of the object to be crossed indicates that the object to be crossed is a soft obstacle, it is determined that the obstacle crossing data indicates that an obstacle crossing position adjustment is to be performed.

10. The method according to claim 7, characterized in that The controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed includes: When the number of times the driving module repeatedly performs the obstacle-crossing action does not reach a preset number threshold, controlling the driving module to perform an escape action, and controlling the driving module to repeatedly perform the obstacle-crossing action; When the number of times the driving module repeatedly performs the obstacle-crossing action reaches a preset number threshold, the driving module is controlled to drive the body of the cleaning robot to move, so as to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

11. The method according to claim 5, characterized in that The controlling the driving module to repeatedly execute the obstacle surmounting action until the action is successfully executed further includes: Obtaining obstacle crossing energy consumption information corresponding to the cleaning robot; When the obstacle crossing energy consumption information indicates that the power consumed by the driving module to perform the obstacle crossing action reaches a preset energy consumption threshold, the driving module is used to drive the body of the cleaning robot to move, so as to control the cleaning robot to return to the original area where the obstacle was located to continue the cleaning task.

12. The method according to claim 1, characterized in that The controlling the cleaning robot to handle the obstacle comprises: The cleaning robot is controlled to perform an obstacle removal task; the obstacle removal task is used to instruct the robot to move the obstacle outside the path of the cleaning task.

13. A control device for a cleaning robot, characterized in that: Applied to a cleaning robot, the cleaning robot is provided with a sensor system and a drive module on its body; The device comprises: a first control module, configured to control the cleaning robot to handle an obstacle when the sensor system detects the presence of an obstacle during the cleaning robot's performance of a cleaning task; an acquisition module, configured to continuously acquire a processing status of the cleaning robot at a preset frequency during the process of the cleaning robot processing the obstacle; a second control module, configured to control the cleaning robot to perform a corresponding state adjustment action according to the processing state, so that the cleaning robot returns to the area where the obstacle originally existed after processing the obstacle; The third control module is used to control the cleaning robot to continue the cleaning task.

14. A cleaning robot, characterized in that: The cleaning robot is provided with a controller, a mechanical arm, a sensor system and a driving module on its body, wherein the controller is connected to the mechanical arm, the sensor system and the driving module respectively; The driving module is used to drive the body to move; The sensor system is used to detect obstacles; The robotic arm is used to clamp the obstacle; The controller is configured to execute the method according to any one of claims 1 to 12.

15. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 12.

16. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 12 when executed by a processor.

17. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 12 when executed by a processor.

Images