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

Abstract

The invention discloses a control method and device of a cleaning robot, the cleaning robot and a storage medium, the cleaning robot comprises a machine body, the machine body is provided with an edge side, and the control method comprises the steps that in the advancing process of the cleaning robot, the inclination angle of the machine body is obtained; when the inclination angle is larger than a first threshold value and smaller than an inclination limit value of the robot body, the cleaning robot is controlled to move so that the edge side can be located at the highest point of inclination; the cleaning robot is controlled to advance, and the inclination angle of the robot body is maintained within the preset range, so that the cleaning robot can be controlled to ride on the slope after climbing the slope and maintain the fixed or approximately fixed inclination angle to advance, the actions of climbing up and down the slope are reduced, and the cleaning efficiency is improved.

Description

[0001] This application is a divisional application of application number "202310066790.2", filed on "January 18, 2023", entitled "Control method and apparatus for cleaning robot, cleaning robot, storage medium". Technical Field

[0002] This invention belongs to the field of cleaning device technology, specifically relating to a control method and device for a cleaning robot, a cleaning robot, and a storage medium. Background Technology

[0003] With the development of technology and the improvement of people's living standards, cleaning robots are increasingly being used in various places, such as homes, shopping malls, hospitals, and office environments. They free people from tedious cleaning work, keeping their homes and offices clean and giving them more free time, which is why they are so popular.

[0004] However, existing cleaning robots require the robot to first climb onto the slope to clean sloping areas, and then trigger a tilting event or a downward hovering event. At this point, the robot will back up and then rotate forward to test the slope, resulting in repeated up-and-down movements, which leads to a poor user experience and low cleaning efficiency. Summary of the Invention

[0005] This invention provides a control method and device for a cleaning robot, a cleaning robot, and a storage medium to solve the problem of poor user experience and low cleaning efficiency caused by the cleaning robot repeatedly going up and down slopes when climbing.

[0006] To achieve the above objectives, the present invention provides a control method for a cleaning robot, the cleaning robot including a body having an edge side, the control method comprising:

[0007] The tilt angle of the cleaning robot is obtained during its movement;

[0008] When the tilt angle is greater than the first threshold and less than the tilt limit of the body, the cleaning robot is controlled to move so that the side along the edge is at the highest point of the tilt.

[0009] The cleaning robot is controlled to move forward, and the tilt angle of the robot body is maintained within a preset range.

[0010] Preferably, in the control method for the cleaning robot, after the step of controlling the cleaning robot to move forward and maintaining the tilt angle of the robot body within a preset range, the control method further includes:

[0011] When the tilt angle of the fuselage is greater than the maximum value in the preset range, the fuselage is controlled to move away from the side edge.

[0012] When the tilt angle of the fuselage is less than the minimum value in the preset range, the fuselage is controlled to move in a direction closer to the edge side.

[0013] Preferably, in the control method of the cleaning robot, the step of controlling the cleaning robot to move forward and maintaining the tilt angle of the robot body within a preset range includes:

[0014] The cleaning robot is controlled to move forward, and the tilt angle of the robot body is maintained within a preset range until the tilt angle of the robot body is less than a second threshold for a preset time period.

[0015] Preferably, in the control method of the cleaning robot, before the step of controlling the cleaning robot to move forward and maintaining the tilt angle of the robot body within a preset range, until the tilt angle of the robot body remains less than a second threshold for a preset time period, the control method further includes:

[0016] Obtain the first tilt angle of the fuselage under normal ground conditions in the current working environment;

[0017] The second threshold is determined based on the first tilt angle.

[0018] Preferably, in the control method of the cleaning robot, before the step of controlling the cleaning robot to move forward and maintaining the tilt angle of the body within a preset range, the control method includes:

[0019] The preset range is determined based on the first threshold and the current working environment.

[0020] Preferably, in the control method of the cleaning robot, the step of determining the preset range based on a first threshold and the current working environment includes:

[0021] Based on the current working environment, determine the preset range centered on the first threshold.

[0022] Preferably, in the control method of the cleaning robot, the step of controlling the cleaning robot to move so that the side along the edge is at the highest point of the tilt when the tilt angle is greater than a first threshold and less than the tilt limit of the robot body includes:

[0023] When the tilt angle is greater than a first threshold but less than the tilt limit of the robot body, the cleaning robot is controlled to rotate in place, causing it to move along the side to the highest point of the tilt; or...

[0024] When the tilt angle is greater than the first threshold and less than the tilt limit of the body, the cleaning robot is controlled to move along the preset arc, so that the side moves to the highest point of the tilt.

[0025] Preferably, in the control method of the cleaning robot, before the step of controlling the cleaning robot to move so that the side along the edge is at the highest point of the tilt when the tilt angle is greater than a first threshold and less than the tilt limit of the robot body, the control method includes:

[0026] The first threshold is determined based on the current working environment and the tilt limit of the fuselage.

[0027] Preferably, in the control method for the cleaning robot, after the step of acquiring the tilt angle of the robot body during its movement, and before the step of controlling the cleaning robot to move so that the side along the edge is at the highest point of the tilt when the tilt angle is greater than a first threshold and less than the tilt limit of the robot body, the control method further includes:

[0028] When the tilt angle is less than the first threshold and the downward-facing sensor of the cleaning robot is triggered, the first threshold is corrected according to the tilt angle.

[0029] Preferably, in the control method of the cleaning robot, the step of correcting the first threshold according to the tilt angle when the tilt angle is less than a first threshold and the downward-facing sensor of the cleaning robot is triggered includes:

[0030] When the tilt angle is less than the first threshold and the downward-facing sensor of the cleaning robot is triggered, the first threshold is corrected according to the tilt angle so that the first threshold is less than the tilt angle.

[0031] Preferably, in the control method of the cleaning robot, the step of controlling the cleaning robot to move forward and maintaining the tilt angle of the robot body within a preset range includes:

[0032] Control the cleaning robot to move forward, and maintain the tilt angle of the robot body within a preset range until the preset exit condition is met.

[0033] Preferably, in the control method of the cleaning robot, the step of controlling the cleaning robot to move forward while maintaining the tilt angle of the body within a preset range until a preset exit condition is met includes:

[0034] The cleaning robot is controlled to move forward, and the tilt angle of the body is maintained within a preset range until an obstacle is detected.

[0035] Preferably, in the control method of the cleaning robot, the control method further includes:

[0036] Control the cleaning robot to move forward, while maintaining the tilt angle of the robot body within a preset range;

[0037] When the cleaning robot travels a preset distance, it rotates a preset angle toward the side of the edge, and it is determined whether the downward-looking sensor is triggered.

[0038] The current view sensor has not been triggered, confirming that the exit condition has been met.

[0039] Preferably, in the control method of the cleaning robot, the step of controlling the cleaning robot to move so that the side along the edge is at the highest point of the tilt when the tilt angle is greater than a first threshold and less than the tilt limit of the robot body includes:

[0040] When the tilt angle is greater than the first threshold and less than the tilt limit of the body, and the downward-looking sensor is triggered, the cleaning robot is controlled to move so that the side along the edge is at the highest point of the tilt.

[0041] To achieve the above objectives, the present invention also provides a control device for a cleaning robot, the cleaning robot including a body having an edge side, and the control device including:

[0042] The first acquisition unit is used to acquire the tilt angle of the robot body during the movement of the cleaning robot;

[0043] The first control unit is used to control the cleaning robot to move so that the side along the edge is at the highest point of the tilt when the tilt angle is greater than a first threshold and less than the tilt limit of the body.

[0044] The second control unit is used to control the forward movement of the cleaning robot, and the tilt angle of the robot body is maintained within a preset range.

[0045] To achieve the above objectives, the present invention also provides a cleaning robot, the cleaning robot comprising:

[0046] At least one processor; and,

[0047] A memory communicatively connected to the at least one processor; wherein,

[0048] The memory stores instructions that can be executed by the at least one processor, which enables the at least one processor to perform the control method for the cleaning robot described above.

[0049] To achieve the above objectives, the present invention also provides a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the above-described control method for a cleaning robot.

[0050] The technical solution provided by this invention has the following advantages:

[0051] This invention obtains the tilt angle of the cleaning robot during its movement. When the tilt angle is greater than a first threshold but less than the tilt limit of the robot body, the cleaning robot is controlled to move so that the side along the edge is at the highest point of the tilt. The cleaning robot is then controlled to move forward, and the tilt angle of the robot body is maintained within a preset range. In this way, the cleaning robot can be controlled to ride on the slope after going up the slope and maintain a fixed or approximately fixed tilt angle to move forward, reducing the uphill and downhill movements and improving cleaning efficiency and user experience. Attached Figure Description

[0052] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the first process of a cleaning robot climbing a slope in the existing technology;

[0054] Figure 2 This is a schematic diagram of the second process of a cleaning robot climbing a slope in the prior art;

[0055] Figure 3 This is a schematic diagram of the third process of a cleaning robot climbing a slope in the prior art;

[0056] Figure 4 This is a schematic diagram of the fourth process of a cleaning robot climbing a slope in the prior art;

[0057] Figure 5 This is a schematic diagram of the first process of the cleaning robot climbing a slope according to the present invention;

[0058] Figure 6 This is a schematic diagram of the second process of the cleaning robot climbing a slope according to the present invention;

[0059] Figure 7 This is a schematic diagram of the third process of the cleaning robot climbing a slope according to the present invention;

[0060] Figure 8 This is a schematic diagram of the fourth process of the cleaning robot climbing a slope according to the present invention;

[0061] Figure 9 This is a schematic diagram of an embodiment of the cleaning robot climbing a slope according to the present invention;

[0062] Figure 10This is a schematic diagram of the control method for the cleaning robot of the present invention in a first embodiment;

[0063] Figure 11 This is a schematic diagram of the control method for the cleaning robot of the present invention in a second embodiment;

[0064] Figure 12 This is a schematic diagram of the control method for the cleaning robot of the present invention in a third embodiment;

[0065] Figure 13 This is a schematic diagram of the control method for the cleaning robot of the present invention in the fourth embodiment;

[0066] Figure 14 This is a schematic diagram of the control method for the cleaning robot of the present invention in the fifth embodiment;

[0067] Figure 15 This is a schematic diagram of an embodiment of the control device for the cleaning robot of the present invention;

[0068] Figure 16 This is a schematic diagram of one embodiment of a cleaning robot.

[0069] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0070] In this embodiment of the invention, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0071] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0072] In this embodiment of the invention, the term "multiple" refers to two or more, and other quantifiers are similar.

[0073] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are presented in the embodiments of the present invention to facilitate a better understanding of the invention. However, the technical solutions claimed in the present invention can be implemented even without these technical details and various variations and modifications based on the following embodiments. The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with and referenced by each other without contradiction.

[0074] Figures 1 to 4 This illustrates the process of a cleaning robot climbing a slope in existing technology, such as... Figures 1 to 4 In existing technologies, cleaning robots must first climb onto the slope to clean sloping areas, and then trigger a tilting event or a downward hovering event. At this time, the cleaning robot will move backward and then rotate forward to test the slope, resulting in repeated up-and-down movements, which leads to a poor user experience and low cleaning efficiency.

[0075] To address the aforementioned problems, this embodiment relates to a control method for a cleaning robot. In this embodiment, the cleaning robot can be a self-moving robot used for automatic floor cleaning, such as a sweeping robot, a mopping robot, a sweeping and mopping robot, etc., which will not be listed here. Cleaning robots are typically used for indoor cleaning in homes, and can also be used for cleaning large venues, such as shopping malls, hospitals, etc. This embodiment does not impose specific limitations on this. The cleaning robot includes a body, on which a posture sensor is provided to obtain the tilt information of the cleaning robot's body. The cleaning robot's body also has an edge-adhering side. Typically, the right side of the body is designated as the edge-adhering side, meaning that when the cleaning robot is moving to the left, the right side is along the edge. In other embodiments, the left side of the body can also be designated as the edge-adhering side, meaning that when the cleaning robot is moving to the right, the left side is along the edge. No specific limitations are imposed here.

[0076] Figures 5 to 8 The illustration shows the cleaning robot of the present invention climbing a slope, as follows: Figures 5 to 8 As shown, after controlling the cleaning robot to go up a slope, it rides on the slope and moves forward at a fixed or roughly fixed tilt angle, reducing uphill and downhill movements and improving cleaning efficiency and user experience.

[0077] The implementation details of the control method for the cleaning robot according to the first embodiment of the present invention will be described below. The following implementation details are provided for ease of understanding only and are not necessary for implementing this solution.

[0078] The specific process of this implementation method is as follows: Figure 10 As shown, it specifically includes:

[0079] Step S100: During the movement of the cleaning robot, obtain the tilt angle of the robot body;

[0080] It should be understood that, in this embodiment, the tilt information of the cleaning robot can be obtained through a pose sensor.

[0081] Specifically, during the movement of the cleaning robot, the tilt angle of the robot body is obtained in real time through a pose sensor.

[0082] Step S200: When the tilt angle is greater than the first threshold and less than the tilt limit of the body, control the cleaning robot to move so that the edge side is located at the highest point of the tilt.

[0083] It should be understood that, for safety reasons, cleaning robots have tilt limits during the climbing process. The tilt limit is the maximum angle at which the cleaning robot can climb. When the cleaning robot reaches the tilt limit (i.e., the tilt angle of the cleaning robot body is greater than the tilt limit), the cleaning robot will make corresponding adjustments, such as turning around and returning immediately, and no longer climbing the slope.

[0084] When the tilt angle is greater than a first threshold (5° in this embodiment), the cleaning robot is considered to be on a slope. Taking the cleaning robot moving forward towards the slope as an example, with its head facing forward, the robot's head is at the highest point of the tilt, which can also be considered as the highest angle of the robot's head. Similarly, it should be understood that placing the edge side at the highest point of the tilt can be considered as placing the edge side at the highest point of the entire cleaning robot's tilt, or as placing the angle of the edge side at its highest point.

[0085] In specific implementation, step S200 includes:

[0086] When the tilt angle is greater than a first threshold but less than the tilt limit of the robot body, the cleaning robot is controlled to rotate in place, causing it to move along the side to the highest point of the tilt; or...

[0087] When the tilt angle is greater than the first threshold and less than the tilt limit of the body, the cleaning robot is controlled to move along the preset arc, so that the side moves to the highest point of the tilt.

[0088] It should be noted that when the tilt angle is greater than the first threshold and less than the tilt limit of the body, controlling the cleaning robot to move so that the edge side is at the highest point of the tilt can be achieved by the cleaning robot decelerating or even stopping and then rotating in place to bring the edge side to the highest point of the tilt, thus increasing the cleaning coverage area; alternatively, the cleaning robot can move and rotate simultaneously to bring the edge side to the highest point of the tilt, in which case the trajectory of the cleaning robot moving to bring the edge side to the highest point of the tilt is arc-shaped; or, when the tilt angle is greater than the first threshold and less than the tilt limit of the body, the cleaning robot can be controlled to move along a preset trajectory, thus bringing the edge side along the edge. The specific method used is not limited here. In other embodiments, the robot can also start moving and rotating simultaneously when the tilt angle is close to the first threshold (for example, if the first threshold is 5°, then at a tilt angle of 4.5° or other values ​​close to 5°) to bring the edge side to or approximately at the highest point of the tilt.

[0089] Alternatively, assuming the edge side of the cleaning robot is the right side, controlling the cleaning robot to move to the left so that the edge side is at the highest point of the inclination can also be controlling the cleaning robot to rotate to the left so that the edge side is at the highest point of the inclination.

[0090] Furthermore, after controlling the cleaning robot to move so that the side along the edge is at its highest point of inclination, the tilt angle of the entire robot body can be maintained at a first threshold A, or it can be within a certain allowable range (taking a first threshold of 5° as an example, the allowable range is 4.5° to 6°). The specific angle can also be determined based on factors such as the type of slope, and no specific restrictions are imposed here. Additionally, the first threshold can be set to 5°, or it can be determined based on the current working environment and the tilt limit of the robot body; it can also be determined based on the tilt limit of the robot body and other logical limits (such as escape mechanisms). The working environment can include the floor to be cleaned in a bathroom, the floor to be cleaned in a living room, etc., which will not be listed here.

[0091] Step S300: Control the cleaning robot to move forward, and maintain the tilt angle of the robot body within a preset range.

[0092] It should be understood that the cleaning robot is controlled to move forward after reaching the highest point of the slope along the side, that is, the cleaning robot continues to move forward while riding on the slope, which can reduce the movement of going up and down the slope.

[0093] It should be noted that controlling the forward movement of the cleaning robot is preferably achieved by maintaining the tilt angle of the robot body at a first threshold. Alternatively, a preset range can be determined based on the specific working environment. For example, in environments with textured tiles (which can cause bumps), soft carpets, or sloped surfaces (such as bathroom floors which are sloped for drainage), the tilt angle may change during movement. The preset range usually needs to take these environmental factors into account to avoid false triggering. Taking textured tiles as an example, tiles often have uneven structures, and these uneven structures can cause the cleaning robot to bump during movement, resulting in fluctuations in the tilt angle. By setting a preset range, even when the cleaning robot is bumpy, as long as the cleaning angle is within the preset range, it is considered to be moving normally, and the robot's tilt angle will not be considered too large or too small, thus avoiding misjudgment.

[0094] After the cleaning robot rides on the slope, by controlling the robot to move forward and maintaining the tilt angle of the body within a preset range, the cleaning robot can maintain a fixed or approximately fixed tilt angle to clean the slope, thus improving cleaning efficiency.

[0095] Furthermore, when the cleaning robot deviates from the preset range during its movement, for example, if the tilt angle of the robot body is too large, it will be controlled to move away from the slope; if the tilt angle of the robot body is too small, it will be controlled to move closer to the slope. Specifically, when the tilt angle of the robot body is greater than the maximum value in the preset range, the robot body will be controlled to move away from the edge side; when the tilt angle of the robot body is less than the minimum value in the preset range, the robot body will be controlled to move closer to the edge side. Taking the edge side as the right side as an example, when the tilt angle of the robot body is too large, the cleaning robot will be controlled to shift to the left to move away from the slope; when the tilt angle of the robot body is too small, the cleaning robot will be controlled to shift to the right to move closer to the slope.

[0096] This invention obtains the tilt angle of the cleaning robot during its movement. When the tilt angle is greater than a first threshold but less than the tilt limit of the robot body, the cleaning robot is controlled to move so that the side along the edge is at the highest point of the tilt. The cleaning robot is then controlled to move forward, and the tilt angle of the robot body is maintained within a preset range. In this way, the cleaning robot can be controlled to ride on the slope after going up the slope and maintain a fixed or approximately fixed tilt angle to move forward, reducing the uphill and downhill movements and improving cleaning efficiency.

[0097] like Figure 11 As shown, the control method for the cleaning robot according to the second embodiment includes step S300:

[0098] Step S310: Control the cleaning robot to move forward, and maintain the tilt angle of the robot body within a preset range until the tilt angle of the robot body is less than a second threshold for a preset time period.

[0099] It should be understood that if the tilt angle of the robot body is less than the second threshold within a preset time period, it is assumed that the cleaning robot may no longer be on the slope, and the mode will exit at this time.

[0100] For example, if the tilt angle of the cleaning robot is less than a second threshold (let's say 2°) within a preset time (e.g., 1 second), then the cleaning robot is considered to be no longer on the slope. Taking a bathroom as the working environment, since the bathroom floor itself has a certain tilt angle, when the robot's tilt angle approaches or equals the bathroom floor's tilt angle within the preset time, the cleaning robot may already be on the bathroom floor, not on the slope. In this case, it should exit this mode and continue cleaning according to a preset cleaning path or according to certain rules.

[0101] It should be noted that the second threshold can be preset by the user, or it can be used to select a corresponding second threshold based on a preset working environment. That is, different working environments may correspond to different second thresholds. For example:

[0102] Table 1 Examples of the second threshold

[0103] Work environment The corresponding second threshold bathroom 2.5° balcony 2° Ordinary tiles in the living room 1° Carpeted tiles 2.5°

[0104] Furthermore, prior to step S310, the control method may also include:

[0105] Step S311: Obtain the first tilt angle of the fuselage under normal ground conditions in the current working environment;

[0106] It should be understood that this could involve detecting the first tilt angle of the cleaning robot on a normal ground surface in the current working environment before it climbs the slope, or acquiring historical data of the first tilt angle in the current working environment; or receiving the first tilt angle sent by the user, etc., which will not be listed here.

[0107] Step S312: Determine the second threshold based on the first tilt angle.

[0108] It should be understood that the second threshold is determined based on the first tilt angle. The second threshold can be greater than the first tilt angle and close to the second tilt angle. In addition, since the cleaning robot itself may have a certain tilt angle a1, the second threshold can also be set to be greater than or close to the first tilt angle + a1, or it can be a second threshold defined by other means (such as user-defined or factory settings).

[0109] like Figure 12 As shown, in the third embodiment of the control method for the cleaning robot, before step S300, the control method includes:

[0110] Step S320: Determine the preset range based on the first threshold and the current working environment.

[0111] It should be understood that since the slope also needs to be cleaned, in order to ensure that the cleaning robot keeps moving on the slope, the tilt angle of the robot body needs to be maintained within a preset range when controlling the robot to move forward.

[0112] The preset range is preferably set at a first threshold. Taking a first threshold of 5° as an example, the preset range is preferably 5°, or it can be a range centered on the first threshold. Taking the working environment as a ground surface as an example, if the ground is very flat, the preset range can be set at the first threshold. However, if the ground is uneven, or the tiles on the ground are textured and have many bumps, or if the ground is covered with a soft carpet, the cleaning robot will experience bumps when moving on these surfaces, causing fluctuations in the robot's tilt angle. Therefore, the preset range needs to be determined based on different ground types and the first threshold. More specifically, the degree of bumps when the cleaning robot moves on different ground types can be determined; then, the preset range can be determined based on the determined degree of bumps and the first threshold.

[0113] More specifically, this can be achieved by selecting a preset range corresponding to the degree of bumpiness when the cleaning robot traverses surfaces with varying degrees of roughness. For example, when the cleaning robot traverses items such as carpets and mats on the ground, the corresponding preset range is [4°, 6°]. When the cleaning robot traverses a relatively flat surface, the corresponding preset range is [4.8°, 5.1°]. In other words, the greater the degree of bumpiness, the larger the corresponding preset range.

[0114] In practice, a preset range corresponding to the degree of bumps or vibrations can be stored in advance; then, a detection device can be used to detect in real time whether the cleaning robot is bumping or vibrating, and the degree of bumping or vibration, and then obtain the corresponding preset range. In this embodiment, the detection device can be a gyroscope, an accelerometer, etc., or other sensors or instruments that can detect the degree of bumps or vibrations.

[0115] More specifically, based on the current working environment, the preset range centered on the first threshold is determined.

[0116] like Figure 13 As shown, in the control method of the cleaning robot according to the fourth embodiment, before step S200,

[0117] Step S210: When the tilt angle is less than the first threshold and the downward-facing sensor of the cleaning robot is triggered, the first threshold is corrected according to the tilt angle.

[0118] It should be noted that when the tilt angle is less than the first threshold and the downward-facing sensor of the cleaning robot is triggered, there may be some special cases, such as a very short slope, or a depression below the upper edge of the slope instead of the ground. In this case, since the slope still needs to be cleaned (e.g., swept), the first threshold can be corrected based on the tilt angle. There are several ways to correct this. For example, the first threshold can be corrected based on the tilt angle to make it less than the tilt angle. Alternatively, the first threshold can be corrected by combining the slope length, the tilt angle, and the historical first threshold to make the current tilt angle of the robot greater than the first threshold. Combining the slope length can also prevent the first threshold from being corrected too early, which could lead to insufficient cleaning of the slope.

[0119] In some special scenarios, exit conditions can be manually set to control the cleaning robot's forward movement while maintaining its tilt angle within a preset range until the preset exit condition is met. This exit condition could be the detection of an obstacle and the use of an obstacle avoidance mechanism, such as exiting the ramp after generating a large rotation angle; or it could be an interval check to see if the exit mechanism is met, for example: controlling the cleaning robot to move forward while maintaining its tilt angle within a preset range; when the cleaning robot travels a preset distance, it rotates a preset angle towards the side, and checks whether the downward-looking sensor is triggered; if the downward-looking sensor is not triggered, the exit condition is determined to be met.

[0120] For example, when the cleaning robot is moving forward within a preset range, it turns to the right at an angle every 20cm (if the side along the edge is the left, it turns to the left). If the downward-facing sensor is still triggered at this time, it means that the cleaning robot is still on the slope; if the downward-facing sensor is not triggered, it means that it has left the slope.

[0121] There is another special case: currently used sliding doors typically have guide rails. For example, let's assume a sliding door between the kitchen and dining room has guide rails extending left and right. Taking a cleaning robot cleaning the kitchen as an example, after the robot moves from the kitchen onto the guide rail, its head tilts up, triggering the downward-looking sensor. Typically, when the robot reaches this guide rail, it might cross it to enter another area (in this case, the dining room). If it cannot cross, it retreats back into the kitchen to continue cleaning, possibly along the edge or following a specific trajectory. However, it cannot clean the dirt between the guide rails, which actually needs to be cleaned. In this case, after the robot moves from the kitchen onto the guide rail, and its head tilts up, triggering the downward-looking sensor, the first threshold is adjusted based on the tilt angle, ensuring that the first threshold is less than the tilt angle. At this point, the current tilt angle is greater than the corrected first threshold (normally the first threshold is 5°, but at this point it is 3°); control the cleaning robot to move so that the side along the edge is at the highest point of the tilt (for example, if the cleaning robot is moving forward facing the guide rail, it usually rotates about 90° to the left or right in place, which can make the side along the edge be at the highest point of the tilt). At this point, since the head of the cleaning robot is no longer suspended in the air, the downward sensor stops working, and the cleaning robot continues to move between the guide rails until it encounters an obstacle or meets other exit conditions.

[0122] like Figure 14 As shown, the control method for the cleaning robot according to the fifth embodiment includes step S200:

[0123] Step S220: When the tilt angle is greater than the first threshold and less than the tilt limit of the body, and the downward-looking sensor is triggered, control the cleaning robot to move so that the side along the edge is at the highest point of the tilt.

[0124] It should be understood that even when the cleaning robot's tilt angle is greater than a first threshold but less than the tilt limit of the robot body (i.e., at a specified tilt angle along the edge), there may still be areas along the edge of the slope that cannot be cleaned, thus reducing the coverage rate. In this embodiment, as... Figure 9 As shown, when the tilt angle is greater than the first threshold and less than the tilt limit of the body, and the downward-looking sensor is triggered, the downward-looking sensor is suspended in the air. At this time, the cleaning robot starts to move along the edge, which can improve the cleaning coverage. That is, when the tilt angle is greater than the first threshold and less than the tilt limit of the body, and the downward-looking sensor is triggered, the cleaning robot is controlled to maintain a fixed or approximately fixed tilt angle to move forward, which can improve the coverage of the cleaning robot, reduce uphill and downhill movements, and improve cleaning efficiency and user experience.

[0125] Alternatively, the cleaning robot can maintain a specified tilt angle that is at least a threshold tilt angle that triggers a body tilt event and causes the cleaning robot to retreat. By setting the first threshold at the tilt angle threshold that causes the cleaning robot to retreat on the slope, the cleaning coverage can be improved, and intermittent paths can be avoided.

[0126] To achieve the above objectives, the present invention also provides a control device for a cleaning robot, such as... Figure 15 As shown, the cleaning robot includes a body with an edge side, and the control device includes:

[0127] The first acquisition unit 401 is used to acquire the tilt angle of the robot body during the movement of the cleaning robot;

[0128] It should be understood that, in this embodiment, the tilt information of the cleaning robot can be obtained through a pose sensor.

[0129] Specifically, during the movement of the cleaning robot, the tilt angle of the robot body is obtained in real time through a pose sensor.

[0130] The first control unit 402 is used to control the cleaning robot to move so that the side along the edge is at the highest point of the tilt when the tilt angle is greater than the first threshold and less than the tilt limit of the body.

[0131] It should be understood that, for safety reasons, cleaning robots have tilt limits during the climbing process. The tilt limit is the maximum angle at which the cleaning robot can climb. When the cleaning robot reaches the tilt limit (i.e., the tilt angle of the cleaning robot body is greater than the tilt limit), the cleaning robot will make corresponding adjustments, such as turning around and returning immediately, and no longer climbing the slope.

[0132] When the tilt angle is greater than a first threshold (5° in this embodiment), the cleaning robot is considered to be on a slope. Taking the cleaning robot moving forward towards the slope as an example, with its head facing forward, the robot's head is at the highest point of the tilt, which can also be considered as the highest angle of the robot's head. Similarly, it should be understood that placing the edge side at the highest point of the tilt can be considered as placing the edge side at the highest point of the entire cleaning robot's tilt, or as placing the angle of the edge side at its highest point.

[0133] The first control unit 402 is specifically configured as follows:

[0134] When the tilt angle is greater than a first threshold but less than the tilt limit of the robot body, the cleaning robot is controlled to rotate in place, causing it to move along the side to the highest point of the tilt; or...

[0135] When the tilt angle is greater than the first threshold and less than the tilt limit of the body, the cleaning robot is controlled to move along the preset arc, so that the side moves to the highest point of the tilt.

[0136] It should be noted that when the tilt angle is greater than the first threshold and less than the tilt limit of the body, controlling the cleaning robot to move so that the edge side is at the highest point of the tilt can be achieved by the cleaning robot decelerating or even stopping and then rotating in place to bring the edge side to the highest point of the tilt, thus increasing the cleaning coverage area; alternatively, the cleaning robot can move and rotate simultaneously to bring the edge side to the highest point of the tilt, in which case the trajectory of the cleaning robot moving to bring the edge side to the highest point of the tilt is arc-shaped; or, when the tilt angle is greater than the first threshold and less than the tilt limit of the body, the cleaning robot can be controlled to move along a preset trajectory, thus bringing the edge side along the edge. The specific method used is not limited here. In other embodiments, the robot can also start moving and rotating simultaneously when the tilt angle is close to the first threshold (for example, if the first threshold is 5°, then at a tilt angle of 4.5° or other values ​​close to 5°) to bring the edge side to or approximately at the highest point of the tilt.

[0137] Alternatively, assuming the edge side of the cleaning robot is the right side, controlling the cleaning robot to move to the left so that the edge side is at the highest point of the inclination can also be controlling the cleaning robot to rotate to the left so that the edge side is at the highest point of the inclination.

[0138] Furthermore, after controlling the cleaning robot to move so that the side along the edge is at its highest point of inclination, the tilt angle of the entire robot body can be maintained at a first threshold A, or it can be within a certain allowable range (taking a first threshold of 5° as an example, the allowable range is 4.5° to 6°). The specific angle can also be determined based on factors such as the type of slope, and no specific restrictions are imposed here. Additionally, the first threshold can be set to 5°, or it can be determined based on the current working environment and the tilt limit of the robot body; it can also be determined based on the tilt limit of the robot body and other logical limits (such as escape mechanisms). The working environment can include the floor to be cleaned in a bathroom, the floor to be cleaned in a living room, etc., which will not be listed here.

[0139] The second control unit 403 is used to control the cleaning robot to move forward, and the tilt angle of the robot body is maintained within a preset range.

[0140] It should be understood that the cleaning robot is controlled to move forward after reaching the highest point of the slope along the side, that is, the cleaning robot continues to move forward while riding on the slope, which can reduce the movement of going up and down the slope.

[0141] It should be noted that controlling the forward movement of the cleaning robot is preferably achieved by maintaining the tilt angle of the robot body at a first threshold. Alternatively, a preset range can be determined based on the specific working environment. For example, in environments with textured tiles (which can cause bumps), soft carpets, or sloped surfaces (such as bathroom floors which are sloped for drainage), the tilt angle may change during movement. The preset range usually needs to take these environmental factors into account to avoid false triggering. Taking textured tiles as an example, tiles often have uneven structures, and these uneven structures can cause the cleaning robot to bump during movement, resulting in fluctuations in the tilt angle. By setting a preset range, even when the cleaning robot is bumpy, as long as the cleaning angle is within the preset range, it is considered to be moving normally, and the robot's tilt angle will not be considered too large or too small, thus avoiding misjudgment.

[0142] After the cleaning robot rides on the slope, by controlling the robot to move forward and maintaining the tilt angle of the body within a preset range, the cleaning robot can maintain a fixed or approximately fixed tilt angle to clean the slope, thus improving cleaning efficiency.

[0143] Furthermore, when the cleaning robot deviates from the preset range during its movement, for example, if the tilt angle of the robot body is too large, it will be controlled to move away from the slope; if the tilt angle of the robot body is too small, it will be controlled to move closer to the slope. Specifically, when the tilt angle of the robot body is greater than the maximum value in the preset range, the robot body will be controlled to move away from the edge side; when the tilt angle of the robot body is less than the minimum value in the preset range, the robot body will be controlled to move closer to the edge side. Taking the edge side as the right side as an example, when the tilt angle of the robot body is too large, the cleaning robot will be controlled to shift to the left to move away from the slope; when the tilt angle of the robot body is too small, the cleaning robot will be controlled to shift to the right to move closer to the slope.

[0144] This invention obtains the tilt angle of the cleaning robot during its movement. When the tilt angle is greater than a first threshold but less than the tilt limit of the robot body, the cleaning robot is controlled to move so that the side along the edge is at the highest point of the tilt. The cleaning robot is then controlled to move forward, and the tilt angle of the robot body is maintained within a preset range. In this way, the cleaning robot can be controlled to ride on the slope after going up the slope and maintain a fixed or approximately fixed tilt angle to move forward, reducing the uphill and downhill movements and improving cleaning efficiency.

[0145] To achieve the above objectives, the present invention also provides a cleaning robot, such as... Figure 16As shown, the self-moving robot includes at least one processor 501; and a memory 502 communicatively connected to the at least one processor 501; wherein the memory 502 stores instructions executable by the at least one processor 501, the instructions being executed by the at least one processor 501 to enable the at least one processor 501 to perform the control method of the cleaning robot described above.

[0146] The memory 502 and processor 501 are connected via a bus, which can include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 501 and memory 502 together. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 501 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 501.

[0147] Processor 501 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 502 can be used to store data used by processor 501 during operation.

[0148] To achieve the above objectives, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method for the cleaning robot described above.

[0149] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0150] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A control method of a cleaning robot including a main body having an edge side, characterized by, The control method comprises: During the travel of the cleaning robot, when the edge side of the body of the cleaning robot is located at the highest tilt point, a preset range of the tilt angle is determined according to a first threshold value and a current working environment; The cleaning robot is controlled to travel forward, and the tilt angle of the body is maintained within the preset range; if the tilt angle is greater than the maximum value of the preset range, the body is controlled to travel away from the edge side; if the tilt angle is less than the minimum value of the preset range, the body is controlled to travel towards the edge side; A first tilt angle of a normal ground in the current working environment is obtained, and a second threshold value is determined according to the first tilt angle; if the tilt angle of the body is less than the second threshold value for a preset time period, or an obstacle is detected, or the body is turned towards the edge side by a preset angle every preset distance of travel and a downward-looking sensor is not triggered, the tilt angle maintaining mode is exited. 2.The control method of the cleaning robot of claim 1, wherein, The preset range of the tilt angle is determined according to the first threshold value and the current working environment, which comprises: When the current working environment is a flat ground, the first threshold value is set as the preset range of the tilt angle of the body; When the current working environment is an uneven ground, or a ground paved with a textured tile, or a ground paved with a soft carpet, the preset range of the tilt angle of the body is determined according to different ground types and the first threshold value. 3.The control method of the cleaning robot of claim 2, wherein, The preset range of the tilt angle of the body is determined according to different ground types and the first threshold value, which comprises: The degree of jolt of the cleaning robot when traveling on different ground types is determined; The preset range of the tilt angle of the body is determined according to the determined degree of jolt and the first threshold value; The relationship between the degree of jolt and the preset range is that the greater the degree of jolt, the greater the preset range. 4.The control method of the cleaning robot of claim 3, wherein, The preset range of the tilt angle of the body is determined according to the determined degree of jolt and the first threshold value, which comprises: The preset range of the tilt angle corresponding to the degree of jolt or vibration is stored in advance; The degree of jolt or vibration of the cleaning robot is detected in real time, and the preset range of the tilt angle of the body corresponding to the degree of jolt or vibration is obtained as the first threshold value. 5.The control method of the cleaning robot of claim 1, wherein, The first tilt angle of a normal ground in the current working environment is obtained, and a second threshold value is determined according to the first tilt angle, which comprises: The first tilt angle of the body when the cleaning robot is on a normal ground in the current working environment is detected, or historical data of the first tilt angle in the current working environment is obtained, or the first tilt angle sent by a user is obtained; The second threshold value is determined according to the first tilt angle, and the second threshold value is greater than the first tilt angle and close to a second tilt angle. 6.The control method of the cleaning robot of claim 5, wherein, The cleaning robot itself has a certain tilt angle a1, and the second tilt angle is the sum of the first tilt angle and the tilt angle a1. 7.The control method of the cleaning robot of claim 1, wherein, If the tilt angle of the body is less than the second threshold value for a preset time period, or an obstacle is detected, or the body is turned towards the edge side by a preset angle every preset distance of travel and a downward-looking sensor is not triggered, the tilt angle maintaining mode is exited, which comprises: If an obstacle is detected, the tilt angle maintaining mode is exited; otherwise, the cleaning robot is controlled to travel forward. If the body inclination angle continues to be less than the second threshold value for a preset time period, the inclination angle maintaining mode is exited; otherwise, the cleaning robot is controlled to advance. If the cleaning robot rotates by a preset angle towards the edge side after advancing by a preset distance and the downward looking sensor does not trigger, the inclination angle maintaining mode is exited.

8. A control device of a cleaning robot including a main body having an edge side, characterized by, The control device comprises: The first acquisition unit is configured to, when the edge side of the body of the cleaning robot is at the highest inclination point during the advancement of the cleaning robot, determine a preset range of the inclination angle according to a first threshold value and a current working environment, and acquire a first inclination angle of a normal ground in the current working environment, and determine a second threshold value according to the first inclination angle. The first control unit is configured to control the cleaning robot to advance and maintain the inclination angle of the body within the preset range. If the inclination angle is greater than a maximum value of the preset range, the body is controlled to advance away from the edge side. If the inclination angle is less than a minimum value of the preset range, the body is controlled to advance towards the edge side. The second control unit is configured to exit the inclination angle maintaining mode if the body inclination angle continues to be less than the second threshold value for a preset time period, or an obstacle is detected, or the cleaning robot rotates by a preset angle towards the edge side after advancing by a preset distance and the downward looking sensor does not trigger.

9. A cleaning robot, characterized in that, The control device comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the control method of the cleaning robot according to any one of claims 1 to 7.

10. A computer readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to implement the control method of the cleaning robot according to any one of claims 1 to 7.

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