Cleaning robot, control method and system thereof and storage medium

Abstract

The invention provides a cleaning robot, a control method and system thereof and a storage medium, the method is applied to the cleaning robot with the top surface provided with a detection sensor with a lifting function, and the method comprises the steps that the space type of the current cleaning space of the cleaning robot in the advancing direction is obtained; when it is detected that the current cleaning space type is a low space, according to a first height value of a robot body of the cleaning robot and a second height value of a detection sensor, a descending height value of the detection sensor is determined; according to the descending height value, the detection sensor is controlled to descend according to a preset rule, and the cleaning robot is controlled to smoothly enter the low space; and controlling the cleaning robot to clean the low space, then controlling the cleaning robot to move out of the low space, and recovering the height of the detection sensor. The problem that in the prior art, when a cleaning robot enters a low space below a part of suspended objects, a detection sensor protruding on the top face of the cleaning robot can prevent the robot from entering the low space to conduct cleaning can be solved.

Description

[0001] The present application belongs to the divisional application of the Chinese patent application with the application date of July 4, 2022, the application number of 202210777008.3, and the invention creation name of robot control method, system, cleaning robot and storage medium. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning equipment, in particular to a cleaning robot, a control method, a system and a storage medium thereof. BACKGROUND

[0003] With the continuous development of automation technology and artificial intelligence technology, cleaning robots such as scrubbers and sweepers are being used more and more widely. In traditional technology, some sweepers are provided with protruding detection sensors such as laser radars at the top, which are used for scanning and mapping the cleaning area and navigation. However, the cleaning robot with protruding detection sensors at the top will collide with the suspended object when entering the low space under the suspended object (such as a coffee table), which prevents the robot from entering the space under the suspended object for cleaning. SUMMARY

[0004] Therefore, the present application aims to solve the problem that the cleaning robot with protruding detection sensors at the top in the traditional technology will collide with the suspended object when entering the low space under the suspended object, which prevents the robot from entering the space under the suspended object for cleaning.

[0005] To solve the above technical problems, the present application provides a robot control method applied to a cleaning robot provided with a detection sensor with lifting function on the top surface. The control method comprises the following steps: obtaining the space type of the current cleaning space of the cleaning robot in the forward direction, the space type including: low space, regular cleaning space and irregular space; when it is detected that the current cleaning space type is low space, determining the lowering height value of the detection sensor according to the first height value of the body of the cleaning robot and the second height value of the detection sensor; controlling the detection sensor to lower according to the preset rule according to the lowering height value, and controlling the cleaning robot to smoothly enter the inside of the low space; controlling the cleaning robot to clean the low space, and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.

[0006] Optionally, the acquiring the space type of the current cleaning space in the advancing direction of the cleaning robot can comprise: acquiring a space height value of the current cleaning space in the advancing direction of the cleaning robot; determining that the current cleaning space is a low space when it is detected that the space height value of the current cleaning space is greater than a first height value of a body of the cleaning robot and less than a second height value of a detection sensor on a top surface of the cleaning robot; determining that the current cleaning space is a regular cleaning space when it is detected that the space height value of the current cleaning space is greater than the second height value of the detection sensor on the top surface of the cleaning robot; and determining that the current cleaning space is an irregular cleaning space when it is detected that the space height value of the current cleaning space is less than or equal to the first height value of the body of the cleaning robot.

[0007] Optionally, the acquiring the space height value of the current cleaning space in the advancing direction of the cleaning robot can comprise: acquiring detection information of an obstacle in the advancing direction of the cleaning robot; determining a type of the obstacle according to the detection information of the obstacle; determining a space feature of the space obstacle when the obstacle is a space obstacle; the space feature at least comprising a space bottom surface and a space top surface; and determining a space height value of the space obstacle according to the space feature.

[0008] Optionally, the first height value of the body of the cleaning robot can be a height value of a top surface of the body; the second height value of the detection sensor can be a height value of a top end of the detection sensor when the detection sensor normally protrudes from the top surface of the cleaning robot; and the lowered height value of the detection sensor can be a second difference value between the second height value of the detection sensor and the first height value of the body.

[0009] Optionally, the controlling the detection sensor to lower according to the lowered height value and according to a preset rule can comprise: controlling the detection sensor to lower its height value at a preset fixed lifting and lowering speed according to the lowered height value; or obtaining a temporary lifting and lowering speed of the detection sensor according to the lowered height value, according to a current distance between the cleaning robot and the low space, and according to a current moving speed of the cleaning robot, and controlling the detection sensor to lower its height value at the temporary lifting and lowering speed.

[0010] Optionally, the controlling the detection sensor to lower according to the lowered height value and according to a preset rule can comprise: controlling the detection sensor to lower its height value at a preset fixed lifting and lowering speed according to the lowered height value; or obtaining a temporary lifting and lowering speed of the detection sensor according to the lowered height value, according to a current distance between the cleaning robot and the low space, and according to a current moving speed of the cleaning robot, and controlling the detection sensor to lower its height value at the temporary lifting and lowering speed.

[0011] Optionally, the control of the cleaning robot to clean the low space can include: after the cleaning robot enters the low space, adjusting the angle of the detection sensor to detect the low space; at the same time, controlling the cleaning robot to clean the low space.

[0012] Optionally, the adjustment of the angle of the detection sensor to detect the low space can include: adjusting the angle of the detection sensor to make the detection direction of the detection sensor be adjusted to an inclined vertical upward direction or a vertical upward direction; controlling the detection sensor to detect the upper part of the low space to obtain the internal space information of the low space.

[0013] Optionally, the control of the cleaning robot to move out of the low space and restore the height of the detection sensor can include: controlling the cleaning robot to move from the inside of the low space to the outside of the low space; during the movement of the cleaning robot, obtaining a real-time distance value between the detection sensor and the inner top surface of the low space in real time; when a plurality of real-time distance values obtained within a preset time period are all greater than a preset distance value, then controlling the detection sensor to rise to a specified height value, and adjusting the detection direction of the detection sensor to be consistent with the movement direction of the cleaning robot. In addition, the application also proposes a robot control system applied to a cleaning robot with a detection sensor with a lifting function on the top surface, the control system comprising: a space detection module for obtaining the space type of the current cleaning space of the cleaning robot in the forward direction, the space type including: a low space, a regular cleaning space and an irregular space; a sensor lowering control module in communication connection with the space detection module, for determining the lowering height value of the detection sensor according to the first height value of the body of the cleaning robot and the second height value of the detection sensor when detecting that the current cleaning space is a low space; and according to the lowering height value, controlling the detection sensor to lower according to a preset rule, and controlling the cleaning robot to smoothly enter the inside of the low space; a sensor raising control module in communication connection with the sensor lowering control module, for controlling the cleaning robot to clean the low space, and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.

[0014] Further, the application further provides a cleaning robot, comprising: a robot body; a detection sensor arranged on a top surface of the robot body; a lifting mechanism arranged on the robot body and connected with the detection sensor; and a controller arranged on the robot body and connected with the detection sensor and the lifting mechanism; wherein the controller is configured to: acquire a space type of a current cleaning space in a forward direction of the cleaning robot, the space type comprising: a low space, a regular cleaning space and an irregular space; when detecting that the current cleaning space type is the low space, determine a descending height value of the detection sensor according to a first height value of a body of the cleaning robot and a second height value of the detection sensor; control the detection sensor to descend according to a preset rule and control the cleaning robot to smoothly enter an inside of the low space according to the descending height value; control the cleaning robot to clean the low space, and then control the cleaning robot to move out of the low space and restore the height of the detection sensor.

[0015] Further, the application further provides a computer readable storage medium, wherein computer execution instructions are stored in the computer readable storage medium, and the computer execution instructions are used to implement all method steps or part of method steps of the robot control method when executed by a processor.

[0016] By the technical solution provided by the application, the application has at least the following technical effects: The robot control method provided by the application is applied to a cleaning robot with a detection sensor arranged on a top surface and capable of being lifted. When the cleaning robot cleans a to-be-cleaned area, the robot can detect and analyze a space type of a current cleaning space in a forward direction of the robot, so as to determine whether there is a low space in the forward direction. If there is a low space, the detection sensor arranged on the top surface of the robot is controlled to descend, so that the robot can enter the low space and clean the area where the low space is located. After cleaning, the robot is controlled to move out of the low space, and the detection sensor arranged on the top surface of the robot is controlled to ascend and reset. In this way, the cleaning robot with the detection sensor arranged on the top surface and capable of being lifted can normally enter a low space below a suspended object (obstacle) to clean the low space when the robot cleans the to-be-cleaned area, so that the robot will not collide with the suspended object and be damaged, and the low space below the suspended object can be cleaned, so that the safety of the equipment is ensured and the cleaning efficiency is improved.

[0017] Other features and advantages of the application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of embodiments of the application, and are incorporated in and constitute a part of the specification, illustrate embodiments of the application, and together with the description serve to explain embodiments of the application, but are not intended to limit the present application in any manner. In the drawings: Figure 1 A schematic diagram of a step flow of a robot control method provided by an embodiment of the present application is shown in the figure; Figure 2 A schematic diagram of a structure of a robot control system provided by an embodiment of the present application is shown in the figure; Figure 3 A schematic diagram of a structure of a cleaning robot provided by an embodiment of the present application is shown in the figure; Figure 4 A schematic diagram of a structure of a cleaning robot provided by an embodiment of the present application is shown in the figure.

[0019] Explanation of reference signs 100 - robot control system, 102 - space detection module, 104 - sensor lowering control module, 106 - sensor raising control module, 10 - cleaning robot, 12 - robot body, 14 - controller, 16 - detection sensor, 18 - lifting mechanism. DETAILED DESCRIPTION

[0020] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all. The present application will be described in detail below with reference to the drawings and embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0021] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0022] In the present application, the orientation words such as "up", "down", "top", "bottom" are generally directed to the directions shown in the drawings, or to the vertical, perpendicular or gravity directions of the components themselves. Similarly, for the convenience of understanding and description, "inner" and "outer" refer to the inner and outer relative to the contour of the components themselves, but the above-mentioned orientation words are not used to limit the present application.

[0023] In the conventional technology, the cleaning robot with the detection sensor provided with a protrusion will collide with the suspended object when entering the low space under the suspended object (such as a coffee table), resulting in the robot being unable to enter the space under the suspended object for cleaning. In order to solve the above technical problem, the present application proposes a robot control method, system and cleaning robot.

[0024] Embodiment 1 The embodiment provides a robot control method applied to a cleaning robot, and a detection sensor with a lifting function is arranged on the top surface of the cleaning robot. Figure 1 As shown in the figure, the robot control method can include the following steps: S100, acquiring a space type of a current cleaning space in a forward direction of the cleaning robot; S200, when it is detected that the current cleaning space is a low space, controlling the detection sensor to lower its height and enter the low space; S300, controlling the cleaning robot to clean the low space, and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.

[0025] The robot control method provided by the embodiment is applied to a cleaning robot with a detection sensor that can be lifted on the top surface. When the cleaning robot cleans a to-be-cleaned area, the space type of a current cleaning space in the forward direction of the cleaning robot can be detected and analyzed to determine whether there is a low space in the forward direction; if there is a low space, the detection sensor on the top surface of the cleaning robot is controlled to lower, so that the cleaning robot can enter the low space and facilitate cleaning of the area where the low space is located; after cleaning is completed, the cleaning robot can be controlled to come out of the low space, and the detection sensor on the top surface of the cleaning robot can be controlled to rise and reset. In this way, the cleaning robot with the detection sensor with a protrusion on the top end can enter the low space below a part of the suspended object (obstacle) and clean it normally by lifting the detection sensor, so that the cleaning robot will not collide with the suspended object and be damaged, and the low space below the suspended object can be cleaned, so that the safety of the equipment can be ensured and the cleaning efficiency can be improved.

[0026] Further, in step S100, the space type of the current cleaning space in the forward direction of the cleaning robot is acquired, and specifically can include the following steps: S110, acquiring a space height value of the current cleaning space in the forward direction of the cleaning robot.

[0027] By detecting the space height value of the current cleaning space in the forward direction of the cleaning robot, it can be determined whether the current cleaning space belongs to a low space according to the space height value, so as to determine whether the detection sensor on the top surface of the cleaning robot needs to be lifted, so that the cleaning robot can enter the current cleaning space normally.

[0028] S120, when it is detected that the space height value of the current cleaning space is greater than the first height value of the body of the cleaning robot and less than the second height value of the detection sensor on the top surface of the cleaning robot, determining that the current cleaning space is a low space. The second height value of the detection sensor is the height value of the top end of the detection sensor when the detection sensor normally protrudes from the top surface of the cleaning robot (i.e., the distance value between the top end of the detection sensor and the ground); the first height value of the body of the cleaning robot is the height value of the top surface of the body (i.e., the distance value between the top surface of the body and the ground).

[0029] That is, when it is detected that the current cleaning space is sufficient to accommodate the body of the cleaning robot, but cannot accommodate the normally extended detection sensor, it is determined that the cleaning robot cannot normally enter the current cleaning space, but the cleaning robot can smoothly enter the current cleaning space by lowering the height of the detection sensor, so the current cleaning space can be determined to be a low space.

[0030] S130, when it is detected that the space height value of the current cleaning space is greater than the second height value of the detection sensor on the top surface of the cleaning robot, determining that the current cleaning space is a regular cleaning space.

[0031] That is, when it is detected that the current cleaning space can not only accommodate the body of the cleaning robot, but also accommodate the normally extended detection sensor, it is determined that the cleaning robot can smoothly enter the current cleaning space under normal circumstances, without the need to lower the detection sensor protruding from the top surface of the cleaning robot. The current cleaning space can be determined to be a regular cleaning space.

[0032] S140, when it is detected that the space height value of the current cleaning space is less than or equal to the first height value of the body of the cleaning robot, determining that the current cleaning space is an irregular space.

[0033] That is, when it is detected that the current cleaning space cannot accommodate the body of the cleaning robot, it is proved that the cleaning robot cannot normally enter the current cleaning space under normal circumstances, and even if the height of the detection sensor is lowered, it cannot smoothly enter the current cleaning space, so the current cleaning space can be determined to be an irregular space that cannot be cleaned by the cleaning robot.

[0034] Generally, low space is formed by the space below various obstacles, such as the space below low tables, stools, coffee tables, sofas and other low obstacles. Therefore, to obtain the space height value of the current cleaning space in the forward direction of the cleaning robot, the obstacle information in the forward direction of the cleaning robot is obtained first, so as to determine whether the obstacle is an obstacle forming a low space according to the obstacle information. In this embodiment, such an obstacle forming a low space can be referred to as a space obstacle. Therefore, in step S110, the space height value of the current cleaning space in the forward direction of the cleaning robot is obtained, which can specifically include the following steps: S112, obtaining detection information of the obstacle in the forward direction of the cleaning robot.

[0035] The obstacle in the forward direction of the cleaning robot can be detected by the detection sensor arranged on the top surface of the cleaning robot, or / and the detection sensor arranged on the side surface of the cleaning robot, so as to obtain image information or laser point cloud information of the obstacle.

[0036] S114, determining the type of the obstacle according to the detection information of the obstacle.

[0037] According to the image information or laser point cloud information of the obstacle, the type of the obstacle is determined to be a common solid obstacle or a space obstacle with a space below by machine learning (for example, intelligent learning by using a neural network system) or / and manual annotation.

[0038] S116, when the obstacle is a space obstacle, determining the space feature of the space obstacle; the space feature at least includes a space bottom surface and a space top surface.

[0039] When the obstacle in the forward direction of the cleaning robot is determined to be a space obstacle with a space below, the space bottom surface, the space top surface and other information of the space below the space obstacle need to be further determined. In addition, the space side surface of the space below the space obstacle can also be determined.

[0040] S118, determining the space height value of the space obstacle according to the space feature.

[0041] According to the space bottom surface and the space top surface of the space below the space obstacle, the distance between the two can be determined, that is, the space height value of the space obstacle can be obtained. In addition, according to the space side surface of the space below the space obstacle, the space width value of the space obstacle can also be determined.

[0042] In step S200, the detection sensor is controlled to lower its height and enter the low space, which can specifically include the following steps: S210, determining a lowering height value of the detection sensor according to the space height value of the low space and the second height value of the detection sensor.

[0043] In order to make the cleaning robot enter the low space smoothly, the lowering height value of the detection sensor protruding on the top surface of the cleaning robot can be determined. Moreover, the lowering height value of the detection sensor can be a first difference value between the second height value of the detection sensor and the space height value of the low space, so that the cleaning robot can be lowered to the space height value of the low space, which facilitates the quick lowering and entering of the cleaning robot into the low space and reduces power consumption. In addition, the lowering height value of the detection sensor can also be a second difference value between the second height value of the detection sensor and the first height value of the body, so that the cleaning robot can be lowered to the first height value of the body, which makes the cleaning robot enter the low space more safely and move therein. In addition, the lowering height value of the detection sensor can also be any value between the first difference value and the second difference value, which can take into account the advantages of the above two cases.

[0044] S220, controlling the detection sensor to lower according to a preset rule according to the lowering height value, and controlling the cleaning robot to enter the low space smoothly.

[0045] After the lowering height value of the detection sensor is determined, the detection sensor can be controlled to lower according to the lowering height value, so that the cleaning robot can enter the interior of the low space smoothly.

[0046] Further, in step S220, the detection sensor is controlled to lower according to a preset rule according to the lowering height value, which can specifically include the following steps: S222, controlling the detection sensor to lower its height value at a preset fixed lifting speed according to the lowering height value. That is, when the detection sensor is controlled to lower, it can be lowered at a preset fixed lifting speed, so that the height value of the cleaning robot before entering the low space is lower than the space height value.

[0047] Alternatively, S224, obtaining a temporary lifting speed of the detection sensor according to the lowering height value, and according to the current distance between the cleaning robot and the low space, and the current moving speed of the cleaning robot, and controlling the detection sensor to lower its height value at the temporary lifting speed.

[0048] At this time, the cleaning robot can be caused to move while lowering the height of the detection sensor, so that the height of the cleaning robot before entering the low space is lower than the height of the space. Moreover, the lowering speed of the detection sensor can be determined according to the lowering height value and a temporary lowering time, which is the real-time moving time of the cleaning robot from the current position to the edge position of the low space. Moreover, the real-time moving time of the cleaning robot is the time of the cleaning robot moving the current distance at the current moving speed, and the current distance is the distance between the current position of the cleaning robot and the edge position of the low space.

[0049] Moreover, before the detection sensor is controlled to lower according to the preset rule in step S220, the following step can also be included: The cleaning robot is controlled to move at a reduced speed or to stop moving. That is, before the detection sensor is controlled to lower, the cleaning robot is caused to stop moving or move at a reduced speed, so that the detection sensor has enough time to lower the lowering height value, and the height of the detection sensor is still greater than the height of the space when the cleaning robot moves to the edge of the low space, so that the detection sensor collides with the space obstacle of the low space.

[0050] In addition, in step S300, the cleaning robot is controlled to clean the low space, which can include the following steps: S310, after the cleaning robot enters the low space, the angle of the detection sensor is adjusted to detect the low space.

[0051] After the cleaning robot enters the low space, it is necessary to detect in real time whether the cleaning robot has left the low space, at which time the detection angle of the detection sensor needs to be adjusted to facilitate detection of the inner top surface of the low space to confirm whether the cleaning robot is in the low space.

[0052] S320, the cleaning robot is controlled to clean the low space. Moreover, while detecting the interior of the low space, the area where the low space is located is also cleaned. Moreover, this step can be performed simultaneously with step S310.

[0053] Further, in step S310, the angle of the detection sensor is adjusted to detect the low space, which can include the following steps: S312, the angle of the detection sensor is adjusted so that the detection direction of the detection sensor is adjusted to be vertically upward. Since the inner top surface of the low space needs to be detected, the detection direction of the detection sensor needs to be adjusted from the moving direction of the cleaning robot (generally horizontal direction) to the vertically upward direction to detect the distance between the top of the cleaning robot and the inner top surface of the low space. In addition, the detection direction of the detection sensor can also be adjusted to be obliquely upward.

[0054] S314, control the detection sensor to detect the upper part of the low space, and obtain the internal space information of the low space. After adjusting the detection direction of the detection sensor, the internal space information of the low space can be detected to obtain the distance between the top of the cleaning robot and the inner top surface of the low space.

[0055] Moreover, in step S300, the control of moving the cleaning robot out of the low space and restoring the height of the detection sensor can include the following steps: S330, control the cleaning robot to move from the inside of the low space to the outside of the low space. That is, the cleaning robot can be controlled to clean the area where the low space is located while moving to the outside of the low space.

[0056] S340, during the movement of the cleaning robot, the real-time distance value between the detection sensor and the inner top surface of the low space is obtained in real time.

[0057] S350, when the plurality of real-time distance values obtained within the preset time period are all greater than the preset distance value, the detection sensor is controlled to rise to a specified height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot.

[0058] Within a certain time period, the real-time distance values between the detection sensor and the inner top surface of the low space obtained multiple times (since there may be a gap in the top surface of the low space, resulting in inaccurate detection results, so multiple detections are required) are all greater than the preset distance value (such as the descending height value of the detection sensor, or the first difference between the second height value of the detection sensor and the space height value of the low space), it is proved that the cleaning robot has moved out of the low space. At this time, the height of the detection sensor on the top surface of the cleaning robot can be restored to the original height (i.e. the first height value); in addition, the detection direction of the detection sensor can be adjusted to the original direction (i.e. the direction consistent with the movement direction of the cleaning robot).

[0059] In addition, it should be pointed out that in the present embodiment, the execution subject of the robot control method is the cleaning robot, and further the control unit (such as the controller) of the cleaning robot.

[0060] Moreover, in the present embodiment, the minimum width value of the low space is greater than the maximum width value of the cleaning robot by default, and only the space height value of the low space needs to be considered.

[0061] Embodiment 2 The present embodiment provides a robot control system 100 applied to a cleaning robot, and the top surface of the cleaning robot is provided with a detection sensor with lifting function. Moreover, as shown in Figure 2 The robot control system 100 can include: The space detection module 102 is configured to acquire a space type of a current cleaning space in a forward direction of the cleaning robot. The sensor lowering control module 104 is in communication connection with the space detection module 102, and is configured to control the detection sensor to lower its height and enter a low space when it is detected that the current cleaning space is a low space. The sensor lowering control module 104 is in communication connection with the space detection module 102, and is configured to control the detection sensor to lower its height and enter a low space when it is detected that the current cleaning space is a low space.

[0062] Further, the space detection module 102 can be configured to acquire a space type of a current cleaning space in a forward direction of the cleaning robot, and specifically can be configured to: acquire a space height value of the current cleaning space in the forward direction of the cleaning robot; determine that the current cleaning space is a low space when it is detected that the space height value of the current cleaning space is greater than a first height value of a body of the cleaning robot and less than a second height value of the detection sensor on a top surface of the cleaning robot; determine that the current cleaning space is a regular cleaning space when it is detected that the space height value of the current cleaning space is greater than the second height value of the detection sensor on the top surface of the cleaning robot; determine that the current cleaning space is an irregular space when it is detected that the space height value of the current cleaning space is less than or equal to the first height value of the body of the cleaning robot.

[0063] Further, the space detection module 102 can be configured to acquire a space height value of a current cleaning space in a forward direction of the cleaning robot, and specifically can be configured to: acquire detection information of an obstacle in the forward direction of the cleaning robot; determine a type of the obstacle according to the detection information of the obstacle; determine a space feature of the space obstacle when the obstacle is a space obstacle; the space feature at least includes a space bottom surface and a space top surface; determine a space height value of the space obstacle according to the space feature.

[0064] Moreover, the sensor lowering control module 104 can be configured to control the detection sensor to lower its height and enter a low space, and specifically can be configured to: determine a lowering height value of the detection sensor according to the space height value of the low space and the second height value of the detection sensor; control the detection sensor to lower according to a preset rule according to the lowering height value, and control the cleaning robot to smoothly enter inside the low space.

[0065] Further, the sensor lowering control module 104 is configured to control the detection sensor to lower its height value according to the lowering height value, in particular, can be used for: controlling the detection sensor to lower its height value at a preset fixed lifting and lowering speed according to the lowering height value; Alternatively, obtaining a temporary lifting and lowering speed of the detection sensor according to the lowering height value, and according to the current distance between the cleaning robot and the low space, and the current moving speed of the cleaning robot, and controlling the detection sensor to lower its height value at the temporary lifting and lowering speed.

[0066] Moreover, the sensor lowering control module 104 is configured to control the detection sensor to lower before being lowered, and can be used for: controlling the cleaning robot to slow down or stop moving.

[0067] In addition, the sensor lifting control module 106 is configured to control the cleaning robot to clean the low space, and can be used for: adjusting the angle of the detection sensor to detect the low space after the cleaning robot enters the low space; controlling the cleaning robot to clean the low space.

[0068] Further, the sensor lifting control module 106 is configured to adjust the angle of the detection sensor to detect the low space, and can be used for: adjusting the angle of the detection sensor to make the detection direction of the detection sensor adjusted to be a vertical upward direction; controlling the detection sensor to detect the upper part of the low space to obtain the internal space information of the low space.

[0069] Moreover, the sensor lifting control module 106 is configured to control the cleaning robot to move out of the low space and restore the height of the detection sensor, and can be used for: controlling the cleaning robot to move from the inside of the low space to the outside of the low space; obtaining a real-time distance value between the detection sensor and the inner top surface of the low space in real time during the movement of the cleaning robot; when the plurality of real-time distance values obtained within a preset time period are all greater than a preset distance value, then controlling the detection sensor to rise to a specified height value, and adjusting the detection direction of the detection sensor to be consistent with the moving direction of the cleaning robot.

[0070] The robot control system 100 described in the embodiment corresponds to the robot control method described above, and the functions of each module in the robot control system 100 are described in detail in the corresponding method embodiment, which will not be described here.

[0071] Embodiment 3 The embodiment provides a cleaning robot 10, such as Figure 3 As shown, the cleaning robot 10 comprises a robot body 12, a detection sensor 16 arranged on the top surface of the robot body 12, a lifting mechanism 18 arranged on the robot body 12 and connected with the detection sensor 16, and a controller 14 arranged on the robot body 12 and connected with the detection sensor 16 and the lifting mechanism 18.

[0072] The controller 14 can control the robot body 12 of the cleaning robot 10 to clean a to-be-cleaned area, and in the cleaning process, the detection sensor 16 can be controlled to detect obstacle information of the to-be-cleaned area, and the type of the obstacle of the to-be-cleaned area can be determined to determine whether there is a suspended obstacle (i.e., a space obstacle) with a low space. When the to-be-cleaned area has a space obstacle, it can be further determined whether the cleaning robot can normally enter and exit the low space of the space obstacle, and if the height of the detection sensor 16 needs to be lowered to smoothly enter the low space, the lifting mechanism 18 can be controlled by the controller 14 to lower the detection sensor to lower its height. When the cleaning of the low space below the space obstacle is completed, the cleaning robot 10 can be controlled to move out of the low space, and the lifting mechanism 18 can be controlled by the controller 14 to raise the detection sensor to restore its height. Moreover, in the embodiment, the detection sensor can be a laser radar.

[0073] Specifically, the controller 16 can be used for: obtaining a space type of a current cleaning space in a forward direction of the cleaning robot; when detecting that the current cleaning space is a low space, controlling the detection sensor to lower its height and enter the low space; controlling the cleaning robot to clean the low space, and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.

[0074] Further, when the controller 14 is configured to obtain the space type of the current cleaning space in the forward direction of the cleaning robot, it can be specifically used for: obtaining a space height value of the current cleaning space in the forward direction of the cleaning robot; when detecting that the space height value of the current cleaning space is greater than a first height value of a body of the cleaning robot and less than a second height value of the detection sensor on the top surface of the cleaning robot, determining that the current cleaning space is a low space; when detecting that the space height value of the current cleaning space is greater than the second height value of the detection sensor on the top surface of the cleaning robot, determining that the current cleaning space is a regular cleaning space; when detecting that the space height value of the current cleaning space is less than or equal to the first height value of the body of the cleaning robot, determining that the current cleaning space is an irregular space.

[0075] Further, the controller 14 is configured to obtain the space height value of the current cleaning space in the advancing direction of the cleaning robot, and specifically can be used for: obtaining detection information of the obstacle in the advancing direction of the cleaning robot; determining the type of the obstacle according to the detection information of the obstacle; when the obstacle is a space obstacle, determining the space feature of the space obstacle; the space feature at least includes a space bottom surface and a space top surface; determining the space height value of the space obstacle according to the space feature.

[0076] Moreover, the controller 14 is configured to control the detection sensor to lower its height and enter the low space, and specifically can be used for: determining the lowering height value of the detection sensor according to the space height value of the low space and the second height value of the detection sensor; controlling the detection sensor to lower according to the preset rule according to the lowering height value, and controlling the cleaning robot to smoothly enter the inside of the low space.

[0077] Further, the controller 14 is configured to control the detection sensor to lower according to the preset rule according to the lowering height value, and specifically can be used for: controlling the detection sensor to lower its height value at a preset fixed lifting speed according to the lowering height value; or, obtaining a temporary lifting speed of the detection sensor according to the lowering height value, and according to the current distance between the cleaning robot and the low space, and the current moving speed of the cleaning robot, and controlling the detection sensor to lower its height value at the temporary lifting speed.

[0078] Moreover, the controller 14 is configured to control the detection sensor to lower according to the preset rule, and can also be used for: controlling the cleaning robot to slow down or stop moving.

[0079] In addition, the controller 14 is configured to control the cleaning robot to clean the low space, and can be used for: adjusting the angle of the detection sensor to detect the low space after the cleaning robot enters the low space; controlling the cleaning robot to clean the low space.

[0080] Further, the controller 14 is configured to adjust the angle of the detection sensor to detect the low space, and can be used for: adjusting the angle of the detection sensor so that the detection direction of the detection sensor is adjusted to be vertically upward; The detection sensor is controlled to detect the upper part of the low space to obtain internal space information of the low space.

[0081] Further, the controller 14 is configured to control the cleaning robot to move out of the low space and restore the height of the detection sensor, and can be used for: controlling the cleaning robot to move from the inside of the low space to the outside of the low space; obtaining a real-time distance value between the detection sensor and the inner top surface of the low space in real time during the movement of the cleaning robot; when the plurality of real-time distance values obtained within the preset time period are all greater than the preset distance value, the detection sensor is controlled to rise to a specified height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot.

[0082] Similarly, in the embodiment, the controller 14 can be used for the cleaning robot to implement each step in the above-mentioned robot control method, and the specific implementation manner can be referred to the specific content of the above-mentioned robot control method, which will not be described here.

[0083] In addition, in the embodiment, the cleaning robot can be a sweeper with a protruding detection sensor on the top surface. In addition, the cleaning robot can also be a cleaning device such as a mop, a scrubber, etc. with a protruding detection sensor on the top surface.

[0084] In addition, the present application also proposes a computer readable storage medium, the computer readable storage medium stores computer execution instructions, the computer execution instructions are executed by the processor to implement all method steps or part of method steps of the robot control method as described above.

[0085] The present application implements all or part of the above-mentioned method, which can also be completed by a computer program to instruct related hardware. The computer program can be stored in a computer readable storage medium, and the computer program can implement the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0086] Based on the same inventive concept, the embodiments of the present application also provide an electronic device comprising a memory and a processor, the memory storing a computer program running on the processor, and the processor implements all the method steps or part of the method steps of the above method when executing the computer program.

[0087] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like, and the processor is a control center of the computer device, which connects all parts of the computer device through various interfaces and lines.

[0088] The memory can be used to store computer programs and / or models, and the processor realizes various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.); and the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0089] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, a server or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0090] The present application is described in reference to the appended drawings figures and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0091] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0092] The computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0093] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A robot control method applied to a cleaning robot having a detection sensor with a lifting function on a top surface, the method comprising: The control method comprises: ​ acquiring a space height value of a current cleaning space of the cleaning robot in a forward direction; determining a space type of the current cleaning space of the cleaning robot in the forward direction based on the space height value of the current cleaning space of the cleaning robot in the forward direction, the space type comprising: a low space, a regular cleaning space and an irregular space; when detecting that the current cleaning space type is a low space, determining a lowering height value of the detection sensor according to a first height value of a body of the cleaning robot and a second height value of the detection sensor; controlling the detection sensor to lower according to a preset rule and controlling the cleaning robot to enter inside the low space according to the lowering height value; controlling the cleaning robot to clean the low space and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.

2. The robot control method according to claim 1, characterized by, The determination of the space type of the current cleaning space of the cleaning robot in the forward direction based on the space height value of the current cleaning space of the cleaning robot in the forward direction comprises: when detecting that the space height value of the current cleaning space is greater than the first height value of the body of the cleaning robot and less than the second height value of the detection sensor on the top surface of the cleaning robot, judging that the current cleaning space type is a low space; when detecting that the space height value of the current cleaning space is greater than the second height value of the detection sensor on the top surface of the cleaning robot, judging that the current cleaning space is a regular cleaning space; when detecting that the space height value of the current cleaning space is less than or equal to the first height value of the body of the cleaning robot, judging that the current cleaning space is an irregular space.

3. The robot control method according to claim 2, wherein, The acquisition of the space height value of the current cleaning space of the cleaning robot in the forward direction comprises: acquiring detection information of an obstacle in the forward direction of the cleaning robot; determining a type of the obstacle according to the detection information of the obstacle; when the obstacle is a space obstacle, determining a space feature of the space obstacle, the space feature comprising at least a space bottom surface and a space top surface; determining a space height value of the space obstacle according to the space feature.

4. The robot control method according to claim 1, wherein, The first height value of the body of the cleaning robot is a height value of a top surface of the body; the second height value of the detection sensor is a height value of a top end of the detection sensor when the detection sensor normally protrudes from the top surface of the cleaning robot; and the lowering height value of the detection sensor is a second difference value between the second height value of the detection sensor and the first height value of the body.

5. The robot control method according to claim 1, wherein, The control of the detection sensor to lower according to the lowering height value comprises: controlling the detection sensor to lower its height value at a preset fixed lifting speed according to the lowering height value; or obtaining a temporary lifting speed of the detection sensor according to the lowering height value, a current distance between the cleaning robot and the low space and a current moving speed of the cleaning robot, and controlling the detection sensor to lower its height value at the temporary lifting speed.

6. The robot control method according to claim 1, wherein, The control of the cleaning robot to clean the low space includes: After the cleaning robot enters the low space, the angle of the detection sensor is adjusted to detect the low space; at the same time, 7. The robot control method according to any one of claims 1-6, wherein, The control of the cleaning robot to clean the low space includes: The adjustment of the angle of the detection sensor to detect the low space includes: The angle of the detection sensor is adjusted so that the detection direction of the detection sensor is adjusted to an upwardly inclined direction or a vertically upward direction; 8. The robot control method according to claim 7, wherein, The control of the detection sensor to detect the upper part of the low space to obtain the internal space information of the low space. The control of the cleaning robot to move out of the low space and restore the height of the detection sensor includes: The cleaning robot is controlled to move from the inside of the low space to the outside of the low space; 9. The robot control method according to any one of claims 1-6, wherein, During the movement of the cleaning robot, the real-time distance value between the detection sensor and the inner top surface of the low space is obtained in real time; When the plurality of real-time distance values obtained within the preset time period are all greater than the preset distance value, the detection sensor is controlled to rise to a specified height value, and the detection direction of the detection sensor is adjusted to be consistent with the movement direction of the cleaning robot. The control system includes: The space detection module is configured to obtain a space height value of a current cleaning space of the cleaning robot in a forward direction, and determine a space type of the current cleaning space of the cleaning robot in the forward direction based on the space height value of the current cleaning space of the cleaning robot in the forward direction, wherein the space type includes a low space, a regular cleaning space, and an irregular space.

10. A robot control system applied to a cleaning robot having a detection sensor with a lifting function on a top surface, characterized in that, The sensor lowering control module is in communication connection with the space detection module, and is configured to determine a lowering height value of the detection sensor according to a first height value of a body of the cleaning robot and a second height value of the detection sensor when it is detected that the current cleaning space is a low space, and control the detection sensor to lower according to a preset rule and control the cleaning robot to enter the inside of the low space according to the lowering height value. The sensor lowering control module is in communication connection with the space detection module, and is configured to determine a lowering height value of the detection sensor according to a first height value of a body of the cleaning robot and a second height value of the detection sensor when it is detected that the current cleaning space is a low space, and control the detection sensor to lower according to a preset rule and control the cleaning robot to enter the inside of the low space according to the lowering height value. It includes: A robot body; 11. A cleaning robot, characterized in that, A detection sensor arranged on a top surface of the robot body; A lifting mechanism arranged on the robot body and connected with the detection sensor; And A controller arranged on the robot body and connected with the detection sensor and the lifting mechanism; The controller is configured to obtain a space height value of a current cleaning space of the cleaning robot in a forward direction. ​ ​ determining a space type of a current cleaning space of the cleaning robot in a forward direction based on a space height value of the current cleaning space of the cleaning robot in the forward direction, the space type comprising: a low space, a regular cleaning space, and an irregular space; when detecting that the current cleaning space type is the low space, determining a lowering height value of the detection sensor according to a first height value of a body of the cleaning robot and a second height value of the detection sensor; controlling the detection sensor to lower according to a preset rule and controlling the cleaning robot to enter inside the low space according to the lowering height value; controlling the cleaning robot to clean the low space and then controlling the cleaning robot to move out of the low space and restore the height of the detection sensor.

12. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement all method steps or part of the method steps of the robot control method in claims 1-9.

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