Cleaning method of cleaning robot and related equipment thereof

Abstract

The invention relates to a cleaning method of a cleaning robot and related equipment thereof. The method comprises the steps that the distance between the cleaning robot and an obstacle is controlled to be smaller than a first preset distance threshold value; and the cleaning robot is controlled to do circumferential rotation around the rotation center of the cleaning robot so that a cleaning piece of the cleaning robot can pass through the edge of the obstacle. Through the cleaning robot control method and device, the problem that the cleaning coverage rate of a cleaning robot in the related technology is low is solved, cleaning blind areas are reduced, and therefore the cleaning coverage rate of the cleaning robot is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning robots, in particular to a cleaning method of a cleaning robot and a related device thereof. BACKGROUND

[0002] The cleaning robot of the related art cannot completely clean the edge of an obstacle such as a corner of a wall or a side of a wall, thereby causing a cleaning blind area and leading to a low cleaning coverage. SUMMARY

[0003] The control method of the cleaning robot and the related device thereof according to the embodiments of the present application at least solve the problem of low cleaning coverage of the cleaning robot in the related art.

[0004] A cleaning method of a cleaning robot, the method comprising: controlling the cleaning robot to perform the following operations: controlling a distance between the cleaning robot and an obstacle to be less than a first preset distance threshold; and controlling the cleaning robot to rotate around a rotation center of the cleaning robot to make a cleaning member of the cleaning robot pass an edge of the obstacle.

[0005] In some embodiments, the cleaning member comprises a dry cleaning member distributed at a front end of the cleaning robot and / or a wet cleaning member distributed at a rear end of the cleaning robot.

[0006] In some embodiments, the cleaning robot further comprises a distance sensor located at a side of the cleaning robot, and the controlling the distance between the cleaning robot and the obstacle to be less than the first preset distance threshold comprises: detecting a distance of the obstacle by using the distance sensor while controlling the cleaning robot to rotate around the rotation center of the cleaning robot; and controlling a movement of the cleaning robot in a direction towards the obstacle based on the detected distance of the obstacle, so that the distance between the cleaning robot and the obstacle is less than the first preset distance.

[0007] In some embodiments, the cleaning robot remains stationary while rotating around the rotation center of the cleaning robot, or moves simultaneously along a driving direction which is parallel to the edge of the obstacle.

[0008] In some embodiments, the cleaning elements include dry cleaning elements and wet cleaning elements, the dry cleaning elements are distributed at the front end of the cleaning robot, and the wet cleaning elements are distributed at the rear end of the cleaning robot; and the control of the cleaning robot to rotate around the rotation center of the cleaning robot to pass the edge of the obstacle by the cleaning elements of the cleaning robot includes: when the cleaning robot is moving in the driving direction and the obstacle is on the right side of the cleaning robot, controlling the cleaning robot to rotate clockwise around the rotation center of the cleaning robot for one or more rounds; and when the cleaning robot is moving in the driving direction and the obstacle is on the left side of the cleaning robot, controlling the cleaning robot to rotate counterclockwise around the rotation center of the cleaning robot for one or more rounds.

[0009] In some embodiments, the cleaning elements include dry cleaning elements and wet cleaning elements, the dry cleaning elements are distributed at the front end of the cleaning robot, and the wet cleaning elements are distributed at the rear end of the cleaning robot; and the control of the cleaning robot to rotate around the rotation center of the cleaning robot to pass the edge of the obstacle by the cleaning elements of the cleaning robot includes: when the cleaning robot is moving in the driving direction and the obstacle is on the right side of the cleaning robot, controlling the cleaning robot to rotate clockwise around the rotation center of the cleaning robot for one or more rounds; and when the cleaning robot is moving in the driving direction and the obstacle is on the left side of the cleaning robot, controlling the cleaning robot to rotate counterclockwise around the rotation center of the cleaning robot for one or more rounds.

[0010] In some embodiments, the cleaning robot moves in the driving direction by a distance not greater than a second preset distance threshold after or during each round of rotation.

[0011] In some embodiments, the cleaning areas of the cleaning elements before and after the movement at least partially overlap, and the surrounding area formed by the two cleaning areas of the cleaning elements before and after the movement and the obstacle does not exist or has an area smaller than a preset area.

[0012] A cleaning robot, comprising: a body, cleaning elements and a driving device arranged on the bottom plate of the body, and a processing device, the processing device comprising a processor and a non-transient machine readable medium storing computer instructions, wherein the computer instructions are used to make the processor execute the method as described above.

[0013] A non-transient machine readable medium storing computer instructions, the computer instructions being used to make a computer execute the method as described above.

[0014] The cleaning method of the cleaning robot and the related device of the embodiment of the application adopt the mode of controlling the distance between the cleaning robot and the obstacle to be less than a first preset distance threshold, and controlling the cleaning robot to rotate around the rotation center of the cleaning robot so that the cleaning part of the cleaning robot passes the edge of the obstacle, thereby solving the problem of low cleaning coverage of the cleaning robot in the related art, reducing the cleaning blind area, and improving the cleaning coverage of the cleaning robot. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other embodiments can also be obtained from these drawings without creative labor.

[0016] Figure 1 is a bottom structure schematic diagram of the cleaning robot of the embodiment of the application.

[0017] Figure 2 is a top structure schematic diagram of the cleaning robot of the embodiment of the application.

[0018] Figure 3 is a schematic diagram of the cleaning blind area of the embodiment of the application.

[0019] Figure 4 is a flowchart of the cleaning method of the cleaning robot of the embodiment of the application.

[0020] Figure 5a and Figure 5b is a schematic diagram of the rotation angle of the cleaning robot of the embodiment of the application.

[0021] Figure 6 is a preferred flowchart of the cleaning method of the cleaning robot of the embodiment of the application.

[0022] Figure 7 is a schematic diagram of the cleaning area before and after the cleaning robot of the embodiment of the application moves.

[0023] Figure 8 is a schematic diagram of the cleaning process of the cleaning robot of the embodiment of the application.

[0024] Figure 9 is a structure schematic diagram of the processing device of the cleaning robot of the embodiment of the application. DETAILED DESCRIPTION

[0025] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the application are shown in the drawings, it is understood that the application can be practiced by many forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art. It should be understood that the drawings and detailed description thereto are illustrative only and are not intended to limit the scope of the present application.

[0026] Figure 1 is a bottom view of a cleaning robot according to an embodiment of the present application. As shown in the figure, the cleaning robot includes a body 10, cleaning elements and driving devices arranged on the bottom of the body. The cleaning elements can be any form of components capable of cleaning, for example, the cleaning elements can include dry cleaning elements 21 and / or wet cleaning elements 22. The dry cleaning elements 21 can include multiple components, for example, the dry cleaning elements 21 can include multiple side brushes and a middle brush. The wet cleaning elements 22 can be, for example, a mop. Figure 1

[0027] Figure 1 As shown in the figure, the dry cleaning elements 21 of the cleaning robot are arranged at the front end of the bottom, and the wet cleaning elements 22 are arranged at the rear end of the bottom. The dry cleaning elements 21 and the wet cleaning elements 22 are distributed around the bottom of the cleaning robot. In this embodiment, the end of the body in the forward direction is defined as the front end, and the opposite end is defined as the rear end.

[0028] The driving devices include at least two driving wheels 31, and can also include steering wheels 32. The driving wheels 31 can be controlled to steer separately, and can be controlled to rotate at the same speed or at different speeds, so as to drive the cleaning robot to move in the direction of the front end or the rear end, or in the direction of any angle between the front end and the rear end, and to turn in place or along any arc.

[0029] The cleaning robot can also include an environment detection device for detecting environmental information. The environment detection device can include, but is not limited to, a distance sensor, a collision sensor, etc. The distance sensor can be one or more of a ToF laser radar sensor based on time-of-flight distance measurement, a laser radar sensor based on triangulation distance measurement, an infrared distance measurement sensor, an ultrasonic distance measurement sensor, a binocular camera or a depth camera, a structured light sensor, or other distance measurement sensor devices.

[0030] Figure 1 ​The shown cleaning robot comprises a distance sensor 41 located on the surface of the front end of the cleaning robot (i.e. the end where the dry cleaning element is arranged), a distance sensor 42 located on the surface of the rear end of the cleaning robot (i.e. the end where the wet cleaning element is arranged), a distance sensor 43 located on the surface of one side of the cleaning robot, and a distance sensor 44 located on the surface of the other side of the cleaning robot. The distance sensor 41 is arranged horizontally facing the edge-sweeping direction, where the edge-sweeping direction refers to the direction of the symmetry center line of the edge-sweeping pointing to the front of the cleaning robot. The distance sensor 42 is arranged horizontally facing the mop direction, where the mop direction refers to the direction of the symmetry center line of the mop pointing to the rear of the cleaning robot. The direction of the distance sensor 43 is perpendicular to the direction of the distance sensor 41 or the distance sensor 42, and the direction of the distance sensor 44 is perpendicular to the direction of the distance sensor 41 or the distance sensor 42.

[0031] Figure 2 is a schematic diagram of the top structure of the cleaning robot of an embodiment of the present application, Figure 2 As shown, the cleaning robot further comprises a laser radar sensor 50 arranged protruding on the top of the cleaning robot. The laser radar sensor 50 can be a mechanical TOF laser radar sensor or a LDS laser radar sensor that can scan 360 degrees. The laser radar sensor 50 is preferably located at the center of the spot rotation of the cleaning robot. The laser radar sensor 50 is used to detect the distance and position of the objects around the cleaning robot.

[0032] The cleaning robot can further comprise an inertial navigation sensor, which is used to detect the attitude changes of the cleaning robot, such as moving speed, turning or rotation angle, pitch angle, etc. The inertial navigation sensor comprises but is not limited to one or a combination of gyroscopes, accelerometers, magnetometers, etc. The cleaning robot can achieve a certain precision of steering control with the assistance of the inertial navigation sensor.

[0033] It should be noted that the above Figure 1 and Figure 2 The cleaning robot shown can be applied to the cleaning method of an embodiment of the present application, but it can be understood that part of the configuration of the above cleaning robot can be unnecessary in some embodiments. The above Figure 1 and Figure 2 The cleaning robot shown is only used to exemplarily describe one of the scenarios in which an embodiment of the present application can be applied, and is not used to limit the application scenarios of the embodiments of the present application. For example, in the cleaning robot of another embodiment, the cleaning elements can all be dry cleaning elements, or all be wet cleaning elements.

[0034] Figure 3 is a schematic diagram of the cleaning blind area of an embodiment of the present application, Figure 3The middle rectangular frame represents a wet cleaning element, and the circle represents a dry cleaning element. Since the cleaning element cannot completely cover the area between the side of the robot and the edge of the obstacle, a cleaning blind area will be formed when the cleaning robot moves in a direction parallel to the edge of the obstacle. Figure 3 The cleaning blind area is indicated by the middle dashed line.

[0035] In order to reduce the cleaning blind area and improve the cleaning coverage of the cleaning robot, embodiments of the present application provide a cleaning method of a cleaning robot. Figure 4 The flowchart of the cleaning method of the cleaning robot according to embodiments of the present application is shown in FIG. 4, which includes the following steps: Figure 4 Step S401: Control the distance between the cleaning robot and the obstacle to be less than a first preset distance threshold.

[0036] Step S402: Control the cleaning robot to rotate around its rotation center to make the cleaning element of the cleaning robot pass through the edge of the obstacle.

[0037] Through the above steps, after the cleaning robot is controlled to closely adhere to the edge of the obstacle, the cleaning robot is controlled to rotate around its rotation center to make the cleaning element of the cleaning robot pass through the edge of the obstacle, i.e., to make the cleaning area of the cleaning element cover the cleaning blind area between the obstacle and the cleaning robot, thereby improving the cleaning coverage of the edge of the obstacle.

[0038] In some embodiments, the cleaning robot first moves in a direction substantially parallel to the edge of the obstacle, detects the distance of the obstacle through the distance sensor arranged on the side close to the obstacle, and controls the moving direction of the cleaning robot when the distance is greater than the first preset distance threshold, so that the cleaning robot continues to approach the obstacle to reduce the distance of the obstacle detected by the distance sensor on the side until the distance is less than the first preset distance threshold, indicating that the cleaning robot has approached the surface of the obstacle. The first preset distance threshold can be set to 0.1 cm, 0.2 cm, 0.5 cm, etc.

[0039] When the cleaning robot has approached the surface of the obstacle, the cleaning robot can be controlled to continue to move, and the moving direction of the cleaning robot is guaranteed to be parallel to the surface of the obstacle by keeping the distance of the obstacle detected by the distance sensor, i.e., to make the cleaning robot move along the edge of the obstacle when the cleaning robot moves towards the front end or the rear end.

[0040] ​When the cleaning robot rotates in a circle, the cleaning robot can utilize the distance sensors to keep close to the edge of the obstacle within a first preset distance. For example, when the cleaning robot rotates in a circle around its rotation center, one or more distance sensors arranged on the side of the cleaning robot detect the distance of the obstacle respectively, and based on the detected distance of the obstacle, the movement of the cleaning robot in the direction towards the obstacle is controlled so that the distance between the cleaning robot and the obstacle is less than the first preset distance.

[0041] In some embodiments, the cleaning robot comprises the above-mentioned distance sensors 41, 42, 43, 44, the connecting lines of the distance sensors 41 and 42 are perpendicular to the connecting lines of the distance sensors 43 and 44, and the detection direction of each distance sensor is on the reverse extension line of the respective connecting line. In this case, to keep the cleaning robot close to the edge of the obstacle as much as possible during rotation, on the one hand, precise control of the driving device is implemented, and on the other hand, when the cleaning robot rotates to be parallel or perpendicular to the obstacle, the distance of the obstacle detected by the above-mentioned four distance sensors can be used to determine whether the cleaning robot is close to the surface of the obstacle. If not, a displacement of the cleaning robot in the direction towards the obstacle is controlled so that the distance detected by the distance sensor closest to the obstacle can make the distance between the cleaning robot and the obstacle less than the first preset distance.

[0042] One of the ways to determine whether the orientation of the cleaning robot is parallel or perpendicular to the surface of the obstacle is to obtain the distance value detected by each distance sensor respectively. When the currently detected distance value in the four distance sensors is smaller, the corresponding distance sensor is closest to the obstacle. For the distance sensor closest to the obstacle, as it rotates to the point closest to the obstacle, the detected distance value presents a trend of first decreasing and then increasing, that is, there is a minimum value of the distance value detected by the distance sensor in the process, at which time the orientation of the surface cleaning robot is parallel or perpendicular to the surface of the obstacle.

[0043] In some embodiments, the cleaning robot moves in the driving direction while rotating in a circle around its rotation center during the process, and the driving direction is parallel to the edge of the obstacle to realize cleaning along the edge of the obstacle. That is, the cleaning robot moves along the edge of the obstacle while rotating in a circle so that the cleaning element continuously passes through the edge of the obstacle to continuously clean the cleaning blind area. Since the driving direction of the cleaning robot is always parallel to the edge of the obstacle during the edge cleaning process, the driving direction of the cleaning robot can be determined by detecting the rotation angle of the cleaning robot relative to the edge of the obstacle. The driving direction in this embodiment refers to the direction in which the cleaning robot moves along the edge, and the driving direction is consistent with the positive direction of the planned cleaning path.

[0044] In some embodiments, the rotation angle of the cleaning robot can be detected by using an inertial navigation sensor, and the driving direction of the cleaning robot can be controlled based on the rotation angle, so that the cleaning robot moves along one of the directions parallel to the edge of the obstacle, i.e. the driving direction. Since the inertial navigation sensor is a sensor that is usually configured in the cleaning robot, the cost of this solution is the lowest, but the control accuracy is not as good as that of the laser radar sensor or the distance sensor.

[0045] In some other embodiments, the driving direction of the cleaning robot can be determined by using a distance sensor. The distances to the obstacle are detected by using the distance sensor 41, the distance sensor 41, the distance sensor 43 and the distance sensor 44 respectively; based on the distance detected by one or more of the above distance sensors, the moving direction of the cleaning robot is controlled, so that the cleaning robot moves along one of the directions of the edge of the obstacle.

[0046] Figure 5a and Figure 5b is a schematic diagram of the rotation angle of the cleaning robot of the embodiments of the present application, wherein the center of rotation of the cleaning robot is O, the reverse extension lines of the measurement directions of the distance sensors 41, 42, 43 and 44 of the cleaning robot intersect at the point O, and the distances to the point O are all d0. When the orientation of the cleaning robot is the same as the driving direction, the distance detected by the distance sensor 43 is 0. In Figure 5a In the figure, the orientation of the cleaning robot is rotated clockwise by an angle α, at this time, the distance detected by the distance sensor 43 on the right side is increased to d3, and the distances detected by the other distance sensors are not detected because they are out of range. Then, according to the data detected by the distance sensors, it can be determined that the distance from the obstacle to the center of rotation O is d0+d3; the value of the rotation angle α of the cleaning robot can be calculated according to the cosine theorem and the inverse trigonometric function, and the driving direction of the cleaning robot (the angle between the front end of the cleaning robot and the moving direction of the cleaning robot) is -α. In Figure 5b In the figure, the cleaning robot continues to rotate in the clockwise direction until the distance sensor 43 cannot detect the obstacle because it is out of range, at this time, the distance detected by the distance sensor 41 is d1, then it can be determined that the distance from the obstacle to the center of rotation O is d0+d1; the value of the angle β between the detection direction of the distance sensor 41 and the direction towards the obstacle can be calculated according to the cosine theorem and the inverse trigonometric function, then the rotation angle α of the cleaning robot at this time is 90°-β, and the driving direction of the cleaning robot (the angle between the front end of the cleaning robot and the moving direction of the cleaning robot) is -(90°-β).

[0047] In some embodiments, the distance and orientation of the obstacle can be detected by a laser radar sensor; based on the distance and orientation detected by the laser radar sensor, the moving direction of the cleaning robot is controlled so that the cleaning robot moves in one direction along the edge of the obstacle and keeps the distance between the cleaning robot and the obstacle less than a first preset distance threshold during the movement.

[0048] In some embodiments, the cleaning robot keeps still during the circumferential rotation around the rotation center of the cleaning robot, and moves a distance in the driving direction after the rotation. Figure 6 A preferred flowchart of the cleaning method of the cleaning robot, which is an embodiment of the present application, is shown in FIG. 6, which includes the following steps: Figure 6 Step S601, the distance between the cleaning robot and the obstacle is controlled to be less than a first preset distance threshold.

[0049] Step S602, the cleaning robot is driven to move in a driving direction, and the driving direction is parallel to the edge of the obstacle.

[0050] Step S603, after the cleaning robot stops moving, the cleaning robot is controlled to rotate circumferentially around the rotation center of the cleaning robot.

[0051] In some embodiments, the cleaning robot includes a dry cleaning member and a wet cleaning member, the dry cleaning member is distributed at the front end of the cleaning robot, and the wet cleaning member is distributed at the rear end of the cleaning robot. When the cleaning robot rotates so that the dry cleaning member and the wet cleaning member of the cleaning robot pass the edge of the obstacle in sequence, the cleaning of the edge of the obstacle can be realized by sweeping first and mopping later, thereby improving the cleaning effect of the blind area.

[0052] Specifically, when the cleaning robot performs the cleaning operation in the forward posture, i.e., when the cleaning robot faces the driving direction and the obstacle is on the right side of the cleaning robot, the cleaning robot is controlled to rotate circumferentially around the rotation center of the cleaning robot clockwise for one or several turns; when the cleaning robot faces the driving direction and the obstacle is on the left side of the cleaning robot, the cleaning robot is controlled to rotate circumferentially around the rotation center of the cleaning robot counterclockwise for one or several turns. In this way, the dry cleaning member and the wet cleaning member of the cleaning robot pass the to-be-cleaned area of the edge of the obstacle in sequence for one or more times, and the cleaning of sweeping first and mopping later is realized.

[0053] ​Specifically, when the cleaning robot is performing cleaning operations in a reverse posture—that is, when the cleaning robot is facing the opposite direction of the driving direction and the obstacle is on the left side of the cleaning robot—it is controlled to rotate counterclockwise around its own center of rotation once or several times. When the cleaning robot is facing the opposite direction of the driving direction and the obstacle is on the right side of the cleaning robot, it is controlled to rotate clockwise around its own center of rotation once or several times. In this way, the dry cleaning component and the wet cleaning component of the cleaning robot pass over the area to be cleaned at the edge of the obstacle one or more times in sequence, achieving a sweeping followed by mopping cleaning process.

[0054] In the above embodiments, when the cleaning robot rotates while remaining stationary, the distance the cleaning robot moves in the driving direction after each rotation does not exceed a second preset distance threshold. When the cleaning robot rotates while moving in the driving direction, the distance the cleaning robot moves in the driving direction during each rotation does not exceed the second preset distance threshold.

[0055] Figure 7 This is a schematic diagram of the cleaning robot of an embodiment of the present invention before and after movement, as shown below. Figure 7 As shown, when the aforementioned second preset distance is set too large, the area of ​​the first cleaning range of the cleaning component before movement, the second cleaning range after movement, and the area surrounded by obstacles becomes too large, resulting in blind spots in cleaning. Therefore, the aforementioned preset distance is preferably set such that the first cleaning area of ​​the cleaning component before the cleaning robot moves and the second cleaning area of ​​the cleaning component after movement at least partially overlap, and the first cleaning area, the second cleaning area, and the area surrounded by obstacles are nonexistent or the area of ​​the surrounding area is smaller than the preset area. Furthermore, the aforementioned second preset distance is not greater than the length of the cleaning component. The length of the cleaning component refers to the length of the cleaning component extending along the front and rear ends of the cleaning robot.

[0056] Figure 8 This is a schematic diagram of the cleaning process of the cleaning robot according to an embodiment of the present invention, as shown below. Figure 8 As shown, the cleaning robot's driving direction is parallel to the edge of the obstacle, and after each circular rotation, its orientation points in the direction of movement. After the circular rotation, the cleaning robot moves forward a predetermined distance along the edge of the obstacle, and repeats the above process continuously to achieve cleaning of the blind spots on the edge of the obstacle.

[0057] An embodiment of the present invention also provides a cleaning robot. The cleaning robot includes: a body, a cleaning component and a drive unit disposed on the chassis of the body, and a processing unit. The processing unit includes a processor and a non-transitory machine-readable medium storing computer instructions, wherein the computer instructions are used to cause the processor to execute the cleaning method of the cleaning robot described above.

[0058] The embodiment of the present application also provides a non-transitory machine readable medium storing computer instructions for causing a computer to execute the cleaning method of the cleaning robot.

[0059] The processing device of the embodiment of the present application comprises at least one processor and a memory connected to the at least one processor in communication. The memory stores computer instructions executable by the at least one processor, and the computer instructions are used to cause the processing device to execute the method of the embodiment of the present application when executed by the at least one processor.

[0060] Reference Figure 9 The structure block diagram of the processing device which can be the server or the client of the embodiment of the present application will be described, which is an example of the hardware device that can be applied to each aspect of the present application. The processing device is intended to represent various forms of digital electronic computer devices such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The processing device can also represent various forms of mobile devices such as personal digital processing, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the present application described and / or claimed in this document.

[0061] As shown in Figure 9 , the processing device comprises a computing unit 901 which can perform various appropriate actions and processes according to computer instructions stored in a read-only memory (ROM) 902 or computer instructions loaded from a storage unit 908 into a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the processing device can also be stored. The computing unit 901, the ROM 902 and the RAM 903 are connected to each other through a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0062] A number of components in the processing device are connected to the I / O interface 905, including: an input unit 906, an output unit 907, a storage unit 908, and a communication unit 909. The input unit 906 can be any type of device capable of inputting information to the processing device, which can receive inputted digital or character information, and generate key signal inputs related to user settings and / or function controls of the processing device. The output unit 907 can be any type of device capable of presenting information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 908 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 909 allows the processing device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, and / or a wireless communication transceiver, such as a Bluetooth device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0063] The computing unit 901 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a CPU, a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 901 performs various methods and processes described above. For example, in some embodiments, the method embodiments of the present application can be implemented as computer instructions tangibly embodied in a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer instructions can be loaded and / or installed onto the processing device via the ROM 902 and / or the communication unit 909. In some embodiments, the computing unit 901 can be configured to perform the above-described methods by any other appropriate means, such as by means of firmware.

[0064] The computer instructions for implementing the method embodiments of the present application can be written in any combination of one or more programming languages. The computer instructions can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer instructions, when executed by the processor or controller, cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer instructions can be entirely on a machine, partially on a machine, partially on a machine as part of an independent software package, and partially on a remote machine or server, or entirely on a remote machine or server.

[0065] In the context of embodiments of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0066] It should be noted that the term "comprising" and its variations used in the embodiments of this invention are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "a plurality" mentioned in the embodiments of this invention are illustrative and not restrictive, and those skilled in the art should understand that unless explicitly indicated otherwise in the context, they should be understood as "one or more".

[0067] The steps described in the method embodiments provided by the present invention can be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of protection of the present invention is not limited in this respect.

[0068] The term "embodiment" in this specification refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily imply the same embodiment, nor does it imply independence or alternativeity from other embodiments. The various embodiments in this specification are described in a related manner, with reference to each other for similar or identical parts. In particular, for apparatus, device, and system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, and relevant details are referred to in the description of the method embodiments.

[0069] The above embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it cannot be understood as the limitation of the protection scope. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A cleaning method for a cleaning robot, characterized in that, The method includes controlling the cleaning robot to perform the following operations: The distance between the cleaning robot and the obstacle is controlled to be less than a first preset distance threshold; The cleaning robot is controlled to rotate in a circle around its own center of rotation so that the cleaning component of the cleaning robot passes over the edge of the obstacle.

2. The method according to claim 1, characterized in that, The cleaning components include dry cleaning components and / or wet cleaning components, with the dry cleaning components distributed at the front end of the cleaning robot and the wet cleaning components distributed at the rear end of the cleaning robot.

3. The method according to claim 1, characterized in that, The cleaning robot also includes a distance sensor located on the side of the cleaning robot; controlling the distance between the cleaning robot and the obstacle to be less than a first preset distance threshold includes: When controlling the cleaning robot to rotate in a circle around its own rotation center, the distance sensor is used to detect the distance to the obstacle; Based on the detected distance to the obstacle, the cleaning robot is controlled to move toward the obstacle so that the distance between the cleaning robot and the obstacle is less than the first preset distance.

4. The method according to claim 1, characterized in that, The cleaning robot remains stationary while rotating in a circle around its own center of rotation, or moves along a driving direction parallel to the edge of the obstacle.

5. The method according to claim 1, characterized in that, The cleaning components include dry cleaning components and wet cleaning components. The dry cleaning components are distributed at the front end of the cleaning robot, and the wet cleaning components are distributed at the rear end of the cleaning robot. Controlling the cleaning robot to rotate in a circle around its own rotation center so that the cleaning components of the cleaning robot pass through the edge of the obstacle includes: When the cleaning robot is facing the driving direction and the obstacle is on the right side of the cleaning robot, control the cleaning robot to rotate clockwise around its own rotation center one or several times. When the cleaning robot is facing the driving direction and the obstacle is to the left of the cleaning robot, control the cleaning robot to rotate counterclockwise around its own rotation center one or several times.

6. The method according to claim 1, characterized in that, The cleaning components include dry cleaning components and wet cleaning components. The dry cleaning components are distributed at the front end of the cleaning robot, and the wet cleaning components are distributed at the rear end of the cleaning robot. Controlling the cleaning robot to rotate in a circle around its own center of rotation, so that the cleaning component of the cleaning robot passes the edge of the obstacle, includes: When the cleaning robot is facing the opposite direction of the driving direction and the obstacle is to the left of the cleaning robot, control the cleaning robot to rotate counterclockwise around its own rotation center one or several times. When the cleaning robot is facing the opposite direction of the driving direction and the obstacle is on the right side of the cleaning robot, the cleaning robot is controlled to rotate clockwise around its own rotation center one or several times.

7. The method according to claim 4, characterized in that, After each rotation of the cleaning robot, or during each rotation, the distance the cleaning robot moves in the driving direction does not exceed a second preset distance threshold.

8. The method according to claim 6, characterized in that, The cleaning areas of the cleaning robot before and after movement at least partially overlap, and the two cleaning areas of the cleaning robot before and after movement, as well as the surrounding area formed by the obstacle, do not exist or the area of ​​the surrounding area is smaller than a preset area.

9. A cleaning robot, characterized in that... include: The device includes a housing, a cleaning component and a drive unit disposed on the housing chassis, and a processing device, the processing device comprising a processor and a non-transitory machine-readable medium storing computer instructions, wherein the computer instructions are configured to cause the processor to perform the method as described in any one of claims 1 to 8.

10. A non-transitory machine-readable medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method as described in any one of claims 1 to 8.

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