Cleaning robot and control method thereof, base station, cleaning system and computer storage medium

Abstract

The invention discloses a control method of a cleaning robot, the cleaning robot, a base station, a cleaning system and a storage medium. The control method comprises the steps that a first obstacle of the cleaning robot on an initial advancing path is detected; analyzing feature information of the first obstacle, wherein the feature information of the first obstacle comprises at least one of the following information: type information of the first obstacle, size information in a horizontal plane, contour information and arrangement density information in a preset range; and controlling the state of the cleaning piece and the state of the machine body according to the feature information of the first obstacle. According to the control method of the cleaning robot, different cleaning modes can be used according to scenes, and the cleaning effect of the cleaning robot is improved.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning technology, and in particular to a control method for a cleaning robot, a cleaning robot, a base station, a cleaning system, and a computer storage medium. Background Technology

[0002] With the increasing automation of home appliances, the application prospects of cleaning robots are becoming increasingly widespread. Cleaning robots such as sweeping robots and mopping robots are used in homes, large venues, and other settings. Currently, various cleaning robots clean according to planned paths. However, in actual application scenarios, the characteristics of obstacles are quite diverse, and various cleaning robots do not use different cleaning methods according to the characteristics of obstacles in different scenarios, resulting in poor cleaning effects. Summary of the Invention

[0003] This disclosure provides a control method for a cleaning robot, a cleaning robot, a base station, a cleaning system, and a storage medium, which are at least used to solve the problem of poor cleaning effect mentioned above.

[0004] This disclosure provides a control method for a cleaning robot. The cleaning robot includes a body and a cleaning component mounted at the rear end of the body. The cleaning component has an outward expansion state at a predetermined first position and a retracted state at a predetermined second position relative to the body. Compared to the retracted state, the cleaning component is further away from the centerline of the body's width direction when in the outward expansion state. The body has a swaying state and a non-swaying state relative to a first obstacle. The swaying state is a state in which the rear end of the body repeatedly sways towards the first obstacle and back away from the first obstacle. The control method includes: detecting a first obstacle on the initial travel path of the cleaning robot; analyzing the characteristic information of the first obstacle, the characteristic information of the first obstacle including at least one of the following: type information of the first obstacle, size information in a horizontal plane, contour information, and arrangement density information within a preset range; and controlling the state of the cleaning component and the state of the body according to the characteristic information of the first obstacle.

[0005] This disclosure provides a cleaning robot, comprising a body, drive wheels disposed on the body, cleaning components disposed on the body, and a controller. The drive wheels are used to move the body. The cleaning components are used to contact a surface to be cleaned to clean the surface. The controller is used to perform the following control methods: detecting a first obstacle on the initial travel path of the cleaning robot; analyzing the characteristic information of the first obstacle, the characteristic information of the first obstacle including at least one of the following: type information of the first obstacle, size information in a horizontal plane, contour information, and arrangement density information within a preset range; and controlling the state of the cleaning components and the state of the body according to the characteristic information of the first obstacle.

[0006] This disclosure provides a base station for use in conjunction with the aforementioned cleaning robot, the base station including a docking position for accommodating the cleaning robot.

[0007] This disclosure provides a cleaning system, which includes the aforementioned cleaning robot and the aforementioned base station. The base station is used in conjunction with the cleaning robot and includes a docking position for accommodating the cleaning robot.

[0008] This disclosure provides a computer storage medium storing a computer program that, when executed by one or more processors, implements the following control method: detecting a first obstacle on the initial travel path of the cleaning robot; analyzing the characteristic information of the first obstacle, wherein the characteristic information of the first obstacle includes at least one of the following: type information of the first obstacle, size information in a horizontal plane, contour information, and arrangement density information within a preset range; and controlling the state of the cleaning component and the state of the robot body based on the characteristic information of the first obstacle.

[0009] In the control method, cleaning robot, base station, cleaning system, and computer storage medium disclosed herein, the controller can obtain the feature information of the first obstacle on the initial travel path of the cleaning robot, and analyze the feature information of the first obstacle. Since the feature information of the first obstacle includes at least one of the following: the type information of the first obstacle, the size information in the horizontal plane, the contour information, and the arrangement density information within a preset range, these feature information constitute the actual application scenario of the cleaning robot. The controller controls the state of the cleaning component and the state of the robot body according to the feature information of the first obstacle, thereby achieving the purpose of using different cleaning methods according to the feature information of the obstacle in different scenarios, thereby improving the cleaning effect of the cleaning robot.

[0010] This disclosure provides a control method for a cleaning robot. The cleaning robot includes a body and a cleaning component installed at the rear end of the body. The cleaning component has an outward expansion state at a predetermined first position and a retracted state at a predetermined second position. Compared to the retracted state, the cleaning component is further away from the centerline of the body's width direction when it is in the outward expansion state. The control method further includes: when the cleaning robot performs edge cleaning and turns along a first obstacle and meets a second preset condition, the cleaning component is in the outward expansion state relative to the body, and the body is in a swaying state relative to the first obstacle. The swaying state is a state in which the rear end of the body repeatedly sways towards the first obstacle and back away from the first obstacle.

[0011] This disclosure provides a cleaning robot, comprising a body, drive wheels disposed on the body, a cleaning component disposed on the body, and a controller. The drive wheels are used to move the body. The cleaning component is used to contact the surface to be cleaned to clean the surface. The controller is used to execute the following control method: when the cleaning robot performs edge cleaning along a first obstacle and turns, and a second preset condition is met, the cleaning component is in an outward expansion state relative to the body, and the body is in a yaw state relative to the first obstacle, the yaw state being a state in which the rear end of the body repeatedly yaws toward the first obstacle and swings back away from the first obstacle.

[0012] This disclosure provides a base station for use in conjunction with the aforementioned cleaning robot, the base station including a docking position for accommodating the cleaning robot.

[0013] This disclosure provides a cleaning system, which includes the aforementioned cleaning robot and the aforementioned base station. The base station is used in conjunction with the cleaning robot and includes a docking position for accommodating the cleaning robot.

[0014] This disclosure provides a computer storage medium storing a computer program that, when executed by one or more processors, implements the following control method: when the cleaning robot performs edge cleaning and turns along a first obstacle and meets a second preset condition, the cleaning component is in the outward expansion state relative to the robot body, and the robot body is in the yaw state relative to the first obstacle. The yaw state is a state in which the rear end of the robot body repeatedly yaws toward the first obstacle and swings back away from the first obstacle.

[0015] In the control method, cleaning robot, base station, cleaning system, and computer storage medium of this disclosure, when the cleaning robot performs edge cleaning along a first obstacle and turns, and a second preset condition is met, the controller controls the cleaning component to be in an outward-expanding state relative to the robot body, and controls the robot body to be in a swaying state relative to the first obstacle, repeatedly deflecting towards the first obstacle and swinging back away from the first obstacle. This disclosure, by keeping the cleaning component in an outward-expanding state and controlling the robot body to sway back and forth, ensures that when the cleaning robot is cleaning along the edge and turning, there will not be a large cleaning oversight area at the corner, thereby improving the cleaning effect of edge cleaning.

[0016] Additional aspects and advantages of embodiments of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this disclosure. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a flowchart of a control method for a cleaning robot according to certain embodiments of the present disclosure;

[0019] Figure 2 This is a structural schematic diagram of a cleaning robot according to certain embodiments of the present disclosure;

[0020] Figure 3a This is a schematic diagram showing the cleaning component on the right side of the cleaning robot according to certain embodiments of the present disclosure in an expanded state;

[0021] Figure 3b This is a schematic diagram showing the cleaning component on the right side of the cleaning robot according to certain embodiments of the present disclosure in a retracted state.

[0022] Figure 3c This is a schematic diagram showing the body of a cleaning robot according to certain embodiments of the present disclosure in a tilted state;

[0023] Figures 4 to 6 This is a flowchart of a control method for a cleaning robot according to certain embodiments of the present disclosure;

[0024] Figure 7 This is a schematic diagram showing a first obstacle appearing on the travel path of a cleaning robot according to certain embodiments of this disclosure;

[0025] Figure 8 This is a schematic diagram of a cleaning robot turning around a circular obstacle according to certain embodiments of this disclosure;

[0026] Figure 9This is a schematic diagram of a cleaning robot turning around a square obstacle according to certain embodiments of this disclosure;

[0027] Figures 10 to 11 This is a flowchart of a control method for a cleaning robot according to certain embodiments of the present disclosure;

[0028] Figure 12 This is a schematic diagram of a cleaning robot according to certain embodiments of the present disclosure cleaning in low-ceilinged and narrow spaces.

[0029] Figures 13 to 14 This is a schematic diagram showing a second obstacle appearing on the travel path of a cleaning robot according to certain embodiments of this disclosure;

[0030] Figures 15 to 18 This is a flowchart of a control method for a cleaning robot according to certain embodiments of the present disclosure;

[0031] Figure 19 This is a schematic diagram of a cleaning robot cleaning along edges according to certain embodiments of this disclosure;

[0032] Figure 20 This is a flowchart of a control method for a cleaning robot according to certain embodiments of the present disclosure;

[0033] Figure 21 This is a schematic diagram of the structure of a base station according to certain embodiments of this disclosure;

[0034] Figure 22 This is a schematic diagram of the structure of a cleaning system according to certain embodiments of this disclosure;

[0035] Figure 23 This is a schematic diagram showing the connection between a computer storage medium and a processor according to certain embodiments of this disclosure.

[0036] Explanation of key component symbols:

[0037] Cleaning robot 11, body 111, cleaning components 112, drive wheel 113, controller 114, sensor 115; base station 21, docking station 22; cleaning system 100; computer storage medium 200, processor 20, computer program 202. Detailed Implementation

[0038] The embodiments of this disclosure will be further described below with reference to the accompanying drawings. The same or similar reference numerals in the drawings denote the same or similar elements or elements having the same or similar functions throughout. Furthermore, the embodiments of this disclosure described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this disclosure, and should not be construed as limiting this disclosure.

[0039] With the increasing automation of home appliances, the application prospects of cleaning robots are becoming increasingly widespread. Cleaning robots such as sweeping robots and mopping robots are used in homes, large venues, and other settings. Currently, various cleaning robots clean according to planned paths. However, in actual application scenarios, the characteristics of obstacles are quite diverse, and various cleaning robots do not use different cleaning methods according to the characteristics of obstacles in different scenarios. This results in poor cleaning effect and efficiency. To solve the problem of poor cleaning effect and efficiency caused by various cleaning robots not using different cleaning methods according to the characteristics of obstacles in different scenarios, this disclosure provides a control method for a cleaning robot, and a cleaning robot 11 (… Figure 2 As shown), base station 22 ( Figure 21 (as shown), Cleaning System 100 ( Figure 22 (as shown) and computer storage medium 200 ( Figure 23 (As shown).

[0040] Please see Figure 1 and Figure 2 This disclosure provides a control method for a cleaning robot. The cleaning robot 11 includes a rear end of a body 111 and a cleaning component 112 mounted on the body. Referring to Figure 3, the cleaning component 112 has an outwardly extended state at a predetermined first position and a retracted state at a predetermined second position relative to the body 11. Figure 3a The cleaning component 112 on the right is in an expanded state. Figure 3b The cleaning component 112 on the right is in the retracted state. Compared to the retracted state, the cleaning component 112 in the outward-expanded state is further away from the center line of the width direction of the body 111. Figure 3a and Figure 3b (The dotted line in the image) indicates that the fuselage 111 has a yaw state and a non-yaw state relative to the first obstacle. The yaw state is characterized by the rear end of the fuselage 111 repeatedly yawing towards the first obstacle and then yawing back away from the first obstacle. It is worth noting that... Figure 3c When the body 111 is in a tilted state, the cleaning component 112 on the right side is in an extended state. In some usage scenarios, when the body 111 is in a tilted state, the cleaning component 112 on the right side is in a retracted state. The control method includes:

[0041] 01: Detect the first obstacle on the initial travel path of the cleaning robot 11;

[0042] 02: Analyze the feature information of the first obstacle, which includes at least one of the following: the type information of the first obstacle, its size information in the horizontal plane, its outline information, and its arrangement density information within a preset range; and

[0043] 03: Control the state of cleaning component 112 and body 111 based on the characteristic information of the first obstacle.

[0044] The above control method can be applied to the cleaning robot 11, which also includes a controller 114. The controller 114 is used to: detect a first obstacle on the initial travel path of the cleaning robot 12; analyze the feature information of the first obstacle, the feature information of the first obstacle including at least one of the following: the type information of the first obstacle, the size information in the horizontal plane, the outline information and the arrangement density information within a preset range; and control the state of the cleaning component 112 and the state of the robot body 111 according to the feature information of the first obstacle.

[0045] Specifically, the cleaning robot 11 is an automated household appliance used for floor cleaning in indoor environments such as homes and offices. The cleaning robot 11 typically has multiple functions, including vacuuming, mopping, sweeping, and sweeping, aiming to reduce the burden of human housework and improve cleaning efficiency and quality. In this disclosure, the cleaning robot 11 includes a body 111, cleaning components 112, drive wheels 113, a controller 114, and sensors 115. The body 111 is the main component of the cleaning robot 11, used to house, integrate, and protect other components within the robot. Materials used to manufacture the body 111 include, but are not limited to, metallic and / or non-metallic materials. Metallic materials include, but are not limited to, aluminum, iron, steel, or aluminum alloys, while non-metallic materials include, but are not limited to, plastics. The body 111 prevents the cleaning robot 11 from being damaged by collisions during operation, thereby improving the stability and reliability of the cleaning robot 11's operation. The cleaning component 112 is mounted on the body 111 and is a part of the cleaning robot 11 used to perform functions such as vacuuming, mopping, sweeping, and sweeping. The cleaning component 112 includes, but is not limited to, a suction head, a roller brush, and a mop. The cleaning robot 11 cleans the area to be cleaned using the cleaning component 112. In this disclosure, the cleaning component 112 is capable of swinging relative to the body 111. The lower limit of the swing amplitude of the cleaning component 112 relative to the body 111 is when it is located at a predetermined second position, at which point the cleaning component 112 is in a retracted state. Figure 3b As shown in the cleaning component 112 on the right, all other positions that deviate from the center line of the width of the fuselage 111 relative to the second position can be called the second position. The state of the cleaning component 112 in these positions is called the "outward expansion state," as shown in the example. Figure 3a The cleaning component 112 is shown on the right. (By...) Figure 3aIt can be seen that when the cleaning component 112 is in the extended state, it is further away from the center line of the width of the body 111 than when it is in the retracted state. The drive wheel 113 is a key component for driving the cleaning robot 11 to move. The drive wheel 113 can drive the cleaning robot 11 to slide or roll on the ground, thereby allowing the cleaning robot 11 to move freely in the room to complete the cleaning task. The controller 114 is the component in the cleaning robot 11 responsible for receiving and processing various sensor inputs, executing cleaning tasks, and managing the overall operation of the cleaning robot 11. The controller 114 typically integrates key components such as a microprocessor, memory, communication module, and power management module. In this disclosure, the controller 114 is used to execute the control method of the cleaning robot of this disclosure. Sensor 115 is a component on the cleaning robot 11 used to perceive its surrounding environment. Sensor 115 includes, but is not limited to, lidar, ultrasonic sensors, infrared sensors, cameras, gyroscopes, accelerometers, magnetic sensors, sound sensors, tactile sensors, and ambient light sensors. In this disclosure, the cleaning robot 11 detects obstacles on its travel path through sensor 115, thereby helping the controller 114 obtain the characteristic information of the obstacles.

[0046] Specifically, in step 01, after the cleaning robot 11 receives the instruction to perform the cleaning task, the controller 114 can first control the drive wheel 113 and the cleaning component 112 to run, so that the cleaning robot 11 moves and cleans according to the initial travel path. At the same time, the controller 114 detects the first obstacle on the current initial travel path through the sensor 115. In step 02, after the controller 114 analyzes the characteristic information of the first obstacle, it analyzes the characteristic information of the first obstacle. Since the characteristic information of the first obstacle includes at least one of the following: the type information of the first obstacle, the size information in the horizontal plane, the outline information, and the arrangement density information within a preset range, the type of the first obstacle usually includes obstacles with high hardness such as table legs and chair legs, as well as obstacles with low hardness such as cotton pads and rubber. The type information can reflect the hardness of the first obstacle. When the cleaning robot 11 passes through first obstacles of different hardness, in order to achieve the best cleaning effect, the state of the cleaning component 112 and the body 111 should also change. Regarding size information, the range the cleaning robot needs to traverse around the first obstacle is determined by the size of the surface of the obstacle to be cleaned. The first obstacle can include a large pillar or a small chair leg. Different obstacle sizes affect the turning radius of the cleaning robot 11 when passing the first obstacle. Therefore, to achieve optimal cleaning effect and efficiency, the cleaning components 112 and the body 111 should undergo different state changes based on the size information when the cleaning robot 11 passes through first obstacles of different sizes. The outline information of the first obstacle reflects its smoothness. For example, to achieve optimal cleaning effect, the cleaning components 112 and the body 111 should also undergo different state changes when passing through square and round obstacles. The density information of the first obstacle within a preset range reflects the density of individual obstacles within that range. Here, the "preset range" is typically a cleaning area within a room. Figure 3a It is known that when the cleaning component 112 on the right is in the outward expansion state, during the movement of the cleaning robot 11, a section of uncleaned seam will be left between the two cleaning components 112 on the surface to be cleaned. If the first obstacle within the preset range is too dense, the shape of this uncleaned seam will be relatively irregular, which will increase the difficulty of supplementary cleaning. Furthermore, when the cleaning component 112 is in the outward expansion state, the cleaning robot 11 will frequently collide with the obstacles when moving among the dense first obstacles, affecting the service life of the cleaning component 112. Therefore, the arrangement density information of the first obstacle within the preset range is also one of the characteristic information of the first obstacle that needs to be considered during the cleaning process. The controller 114 needs to control the state of the cleaning component 112 and the state of the robot body 111 based on these characteristic information to improve the cleaning effect of the cleaning robot 11.

[0047] In the control method of the cleaning robot disclosed herein, the controller 114 can obtain the feature information of the first obstacle on the initial travel path of the cleaning robot 11, and analyze the feature information of the first obstacle. Since the feature information of the first obstacle includes at least one of the following: the type information of the first obstacle, the size information in the horizontal plane, the outline information, and the arrangement density information within a preset range, these feature information constitute the actual application scenario of the cleaning robot 11. The controller 114 controls the state of the cleaning component 112 and the state of the robot body 111 according to the feature information of the first obstacle, thereby achieving the purpose of using different cleaning methods according to the feature information of the obstacle in different scenarios, thereby improving the cleaning effect and cleaning efficiency of the cleaning robot 11.

[0048] Please see Figure 2 and Figure 4 In some implementations, step 01 includes:

[0049] 011: Obtain the edge contour of the target object;

[0050] 013: Based on the edge contour, update the initial travel path according to the width of the fuselage 111 to obtain the updated travel path;

[0051] 015: Cleaning robot 11 is moving along the updated path;

[0052] 017: Analyze whether interference will occur between the target object and the cleaning component 112 if the cleaning robot 111 travels along the updated path;

[0053] 019: If it is determined that interference will occur between the target object and the cleaning component 112, the target object is identified as the first obstacle.

[0054] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: acquire the edge contour of the target object; based on the edge contour and the width of the robot body, update the initial travel path to obtain the updated travel path; the cleaning robot 11 travels according to the updated travel path; analyze whether interference will occur between the target object and the cleaning component 112 if the cleaning robot 111 travels along the updated travel path; if it is determined that interference will occur between the target object and the cleaning component 112, the target object is identified as the first obstacle.

[0055] Specifically, in steps 011 and 013, the target object refers to an object located on or near the initial travel path. The number of target objects can be one or more (at least two). Some target objects will interfere with the cleaning component 112, while others will not. The sensor 115 acquires the target object, for example, by capturing a picture of the target object with a camera. The controller 114 processes the captured image to obtain the edge contour of the target object, and based on the edge contour and the width of the body 111 stored in its own memory, updates the current initial travel path to obtain the updated travel path. This avoids collisions between the body 111 and the target object, preventing the cleaning robot 11 from being unable to continue moving. In step 015, the cleaning robot 11 travels according to the updated travel path, ensuring that the body 111 avoids the target object during travel and that the cleaning robot 11 can smoothly travel along the updated path. In steps 017 and 019, the controller 114 analyzes whether interference will occur between the target object and the cleaning component 112 on the updated travel path. If interference occurs, the controller 114 needs to change the state of the cleaning component 112 based on the characteristic information of the target object; therefore, the controller 114 identifies the target object as the first obstacle. If no interference occurs between the target object and the cleaning component 112, the controller 114 does not need to change the state of the cleaning component 112 based on the characteristic information of the target object; in this case, the controller 114 does not identify the target object as the first obstacle.

[0056] Please see Figure 2 and Figure 5 In some implementations, step 017 may include:

[0057] 0171: Extract a segment of the planned path for the cleaning robot 11 to travel in the future from the updated path;

[0058] 0172: Select multiple sampling points that are spaced apart from each other along the planned path;

[0059] 0173: Estimate the expected position of the cleaning component 112 when the cleaning robot 11 arrives at each sampling point;

[0060] 0174: Evaluate whether there is any intersection between the edge contour of the target object and the outer contour of the cleaning component 112 at each expected location;

[0061] 0175: If there is an intersection at any expected location, confirm that interference occurs between the target object and the cleaning part 112;

[0062] 0176: If there is no intersection at any of the expected locations, confirm that there is no interference between the target object and the cleaning part 112.

[0063] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: extract a planned path for the future movement of the cleaning robot 11 on the updated travel path; select multiple mutually spaced sampling points on the planned path; estimate the expected position of the cleaning component 112 when the cleaning robot 11 reaches each sampling point; evaluate whether there is an intersection between the edge contour of the target object and the outer contour of the cleaning component 112 at each expected position; if there is an intersection at any expected position, confirm that interference occurs between the target object and the cleaning component 112; if there is no intersection at all expected positions, confirm that no interference occurs between the target object and the cleaning component 112.

[0064] Specifically, in steps 0171 and 0172, the controller 114 extracts a planned path for the future movement of the cleaning robot 11 on the updated travel path as the path for the first obstacle detection, and selects multiple mutually spaced sampling points on the planned path. The interval between the sampling points can be adjusted according to the actual application to achieve the best sampling effect. In step 0173, the controller 114 estimates the expected position of the cleaning component 112 when the cleaning robot 111 reaches each sampling point. Therefore, in step 0174, the controller evaluates whether there is an intersection between the edge contour of the target object and the outer contour of the cleaning component 112 at each expected position. By evaluating the intersection between the edge contour of the target object and the outer contour of the cleaning component 112, it is determined whether a collision will occur between the target object and the cleaning component 112. Therefore, in step 0175, if there is an intersection at any expected position, that is, if the target object will collide with the cleaning component 112, it is confirmed that interference has occurred between the target object and the cleaning component 112. In step 0176, if there is no intersection at all expected positions, that is, if the target object will not collide with the cleaning component 112, it is confirmed that there is no interference between the target object and the cleaning component 112.

[0065] Understandably, after the target object is identified as the first obstacle, the controller 114 needs to control the state of the cleaning component 112 and the body 111 based on the characteristic information of the first obstacle. Since there are many types of characteristic information of the first obstacle, the following will describe them in detail according to different situations.

[0066] If the characteristic information of the first obstacle includes the type information of the first obstacle, please refer to Figure 2 and Figure 6 In some implementations, step 03 includes:

[0067] 031: When the first obstacle is of the first type, the cleaning component 112 is in an outward-expanding state relative to the fuselage 111; and / or, the fuselage 111 is in a tilting state relative to the first obstacle;

[0068] 032: When the first obstacle is of the second type, the cleaning component 112 is in a retracted state relative to the body 111; and / or, the body 111 is in a non-swaying state or a swaying state relative to the first obstacle, wherein the hardness of the first obstacle of the first type is less than the hardness of the first obstacle of the second type.

[0069] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: control the cleaning component 112 to be in an outward expansion state relative to the body 111 when the first obstacle is of the first type; and / or control the body 111 to be in a yaw state relative to the first obstacle; control the cleaning component 112 to be in a retracted state relative to the body 111 when the first obstacle is of the second type; and / or control the body 111 to be in a non-yaw or yaw state relative to the first obstacle, wherein the hardness of the first obstacle of the first type is less than the hardness of the first obstacle of the second type.

[0070] Specifically, please combine Figure 7If the cleaning component 112 of the cleaning robot 11 frequently switches between the expansion state and the retraction state, it is easy to shorten the service life of the cleaning component 112 and increase the probability of its failure. Therefore, in step 031, when the first obstacle is of the first type, the controller 114 controls the cleaning component 112 to be in the expansion state relative to the body 111. Since the first obstacle has low hardness, the cleaning component 112 in the expansion state can deform the first obstacle and directly squeeze through the first obstacle, thereby reducing the number of state switching of the cleaning component 112 and improving the service life of the cleaning component 112. At the same time, in this case, the controller 114 can control the body 111 to be in the swaying state relative to the first obstacle. In this way, by keeping the cleaning component 112 in the expansion state while also making the body 111 sway relative to the first obstacle, the cleaning range can be expanded. Furthermore, when the cleaning component 112 includes cleaning from both the left and right sides, the swaying of the robot body 111 relative to the first obstacle allows the left cleaning component 112 to clean the aforementioned "central seam." Therefore, it can at least partially clean the uncleaned central seam area that appears during the movement of the cleaning robot 11 along the first obstacle because the cleaning component 112 is in an outward-expanding state. In step 032, when the first obstacle is of the second type, the first obstacle has a higher hardness. The controller 114 controls the cleaning component 112 to be in a retracted state relative to the robot body 111 to avoid damage caused by the cleaning component 112 colliding with the high-hardness obstacle. At the same time, it controls the robot body 111 to be in a non-swaying or swaying state relative to the first obstacle.

[0071] In some embodiments, where the characteristic information of the first obstacle includes the type information of the first obstacle, the hardness of the first obstacle of the first type is less than a preset hardness threshold, and the hardness of the first obstacle of the second type is greater than the preset hardness threshold.

[0072] The "preset hardness threshold" is a critical hardness value used to determine whether the first obstacle belongs to type one or type two. This critical hardness value is a known value, which can be set before the cleaning robot 11 leaves the factory or manually input during the use of the cleaning robot 11. In other words, the controller 114 can use the preset hardness threshold as the criterion to determine the type of the first obstacle. If the hardness of the first obstacle is less than the preset hardness threshold, the type of the first obstacle is determined to be type one. If the hardness of the first obstacle is greater than the preset hardness threshold, the type of the first obstacle is determined to be type two. And if the hardness of the first obstacle is equal to the preset hardness threshold, the type of the first obstacle can be determined to be either type one or type two.

[0073] If the feature information of the first obstacle includes its outline and size information, please refer to [link / reference]. Figure 2 and Figure 6 In some implementations, step 03 further includes:

[0074] 033: Based on the contour information of the first obstacle, it is determined that the cleaning robot needs to turn when moving along the first obstacle, and when the size of the first obstacle is the first size, the cleaning component 112 is in an outward expansion state relative to the body 111; and / or, the body 111 is in a non-swaying state or a swaying state relative to the first obstacle.

[0075] 034: Based on the contour information of the first obstacle, it is determined that the cleaning robot needs to turn when moving along the first obstacle, and when the size of the first obstacle is the second size, the cleaning component 112 is in a retracted state relative to the body 111; and / or, the body 111 is in a swaying state relative to the first obstacle.

[0076] The size of the first obstacle is the cross-sectional size of the first obstacle within the height range of the side wall of the cleaning robot's body, and the first size is larger than the second size.

[0077] It should be noted that cleaning robots are generally equipped with edge sensors on their sides. These edge sensors can be line structured light sensors, TOF sensors, infrared sensors, etc., and are used to detect the distance between the robot and obstacles. When the cleaning robot moves along an obstacle, it detects the distance between the robot body 111 and the obstacle through the edge sensors, so that the robot body 111 maintains a relatively constant distance from the obstacle while moving.

[0078] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: determine that the cleaning robot turns and moves along the first obstacle according to the contour information of the first obstacle, and when the size of the first obstacle is a first size, control the cleaning component 112 to be in an outward expansion state relative to the body 111; and / or control the body 111 to be in a non-tilting state or a tilting state relative to the first obstacle; determine that the cleaning robot turns and moves along the first obstacle according to the contour information of the first obstacle, and when the size of the first obstacle is a second size, control the cleaning component 112 to be in a retracted state relative to the body 111; and / or control the body 111 to be in a tilting state relative to the first obstacle, wherein the first size is larger than the second size.

[0079] Combination Figure 3a It can be seen that when the cleaning component 112 is in the outward expansion state, the distance between the two cleaning components 112 increases during the movement of the cleaning robot 11, which causes the two cleaning components 112 to leave an uncleaned "middle seam".

[0080] Specifically, please combine Figure 8 Taking the first obstacle as a circular obstacle as an example, when the cleaning robot 11 moves along the circular obstacle, because the farthest point of the cleaning component 112 in its outward-expanding state is not collinear with any diameter of the cleaning robot 11, there is a certain distance between the cleaning component 112 in its outward-expanding state and the obstacle, leaving a cleaning blind zone around the obstacle. Furthermore, the smaller the obstacle, the larger the cleaning blind zone. As long as the movement path of the cleaning robot 11 is not straight, this gap will exist. That is, the smaller the diameter of the circular obstacle, the larger the cleaning blind zone along the edge, and the more necessary it is to incorporate the tilting state of the robot body 111 for supplementary cleaning. Simultaneously, due to the outward expansion of the cleaning component 112, a "middle seam" area requiring further supplementary cleaning is also generated during the movement of the cleaning robot 11. Therefore, when the obstacle size is very small, and the cleaning component 112 does not expand outward, but only the robot body 111 maintains a tilting state, the overall cleaning efficiency of the cleaning robot 11 is higher. Therefore, when the cleaning robot is determined to turn along the first obstacle based on the outline information of the first obstacle, and the size of the first obstacle is a first size, that is, when the size of the first obstacle is large, the controller 114 controls the cleaning component 112 to be in an outward expansion state relative to the body 111; at the same time, it can also control the body 111 to be in a non-swaying state or a swaying state relative to the first obstacle; when the cleaning robot is determined to turn along the first obstacle based on the outline information of the first obstacle, and the size of the first obstacle is a second size, that is, when the size of the first obstacle is small, the controller 114 controls the cleaning component 112 to be in a retracted state relative to the body 111; at the same time, it can also control the body 111 to be in a swaying state relative to the first obstacle.

[0081] In some embodiments, where the feature information of the first obstacle includes the outline information and size information of the first obstacle, the first size is greater than a preset size threshold and the second size is less than the preset size threshold.

[0082] The "preset size threshold" is a critical size value used to determine whether the first obstacle belongs to the first size or the second size. This critical size value is a known value, which can be set before the cleaning robot 11 leaves the factory, or it can be manually input and set during the use of the cleaning robot 11. That is to say, the controller 114 can use the preset size threshold as the criterion to determine the size of the first obstacle. If the size of the first obstacle is greater than the preset size threshold, the size of the first obstacle is determined to be the first size. If the size of the first obstacle is less than the preset size threshold, the size of the first obstacle is determined to be the second size. And if the size of the first obstacle is equal to the preset size threshold, the size of the first obstacle can be determined to be either the first size or the second size.

[0083] The feature information of the first obstacle includes its outline information; please refer to [link / reference]. Figure 2 and Figure 6 In some implementations, step 03 further includes:

[0084] 035: When it is determined from the contour information of the first obstacle that the edge of the first obstacle includes straight edge segments and corner segments, during the process of the cleaning robot 11 moving along the straight edge segment of the first obstacle, the cleaning component 112 is controlled to be in an outward expansion state and the body 111 is in a non-swaying state.

[0085] 036: During the process of the cleaning robot 11 moving along the corner section of the first obstacle, the cleaning component 112 is controlled to be in an outward expansion state or a retracted state, and the body 111 is in a swaying state.

[0086] For example, the first obstacle is a square obstacle. The edge of the square obstacle includes straight edge segments and corner segments. When cleaning along the straight edge segment of the obstacle, the cleaning robot 11 can keep the cleaning component 112 in an outward-expanding state and simultaneously control the body 111 to be in a non-tilting state. Since the cleaning robot 11 does not need to turn when moving along the straight edge segment of the first obstacle, the outward-expanding state of the cleaning component 112 can achieve good contact with the edge of the first obstacle, realizing edge cleaning. Since the body 111 of the cleaning robot 11 does not need to tilt at this time, the cleaning robot 11 can achieve high cleaning efficiency along the straight edge segment of the first obstacle. When moving to the corner segment, since the cleaning robot 11 needs to turn when moving to the corner, by controlling the body 111 to be in a tilting state, blind spots when cleaning along the edge and turning can be cleaned, ensuring cleaning effect.

[0087] If the feature information of the first obstacle includes the arrangement density information of the first obstacle within a preset range, please refer to Figure 2 and Figure 6 In some implementations, step 03 further includes:

[0088] 037: When the arrangement density information of the first obstacle is the first arrangement density, the cleaning component 112 is in an outward expansion state relative to the body 111; and / or, the body 111 is in a tilting state relative to the first obstacle;

[0089] 038: When the arrangement density information of the first obstacle is the second arrangement density, the cleaning component 112 is in a retracted state relative to the body 111; and / or, the body 111 is in a non-swaying state or a swaying state relative to the first obstacle, wherein the first arrangement density is less than the second arrangement density.

[0090] The above control method can be applied to the cleaning robot 11. The controller 114 is configured to: control the cleaning component 112 to be in an outward expansion state relative to the body 111 when the arrangement density information of the first obstacle is a first arrangement density; and / or control the body 111 to be in a swaying state relative to the first obstacle; control the cleaning component 112 to be in a retracted state relative to the body 111 when the arrangement density information of the first obstacle is a second arrangement density; and / or control the body 111 to be in a non-swaying state or a swaying state relative to the first obstacle, wherein the first arrangement density is less than the second arrangement density.

[0091] Specifically, within a preset range, when the first obstacle is relatively dense, the cleaning robot 11 will continuously encounter obstacles during its movement. To prevent the cleaning component 112 from frequently switching between the outward expansion state and the retracted state during movement, thus reducing its service life, the controller 114 will also control the state of the cleaning component 112 and the robot body 111 based on the arrangement density information of the first obstacle within the preset range. When the arrangement density information of the first obstacle is the first arrangement density, that is, when the arrangement of the first obstacle is relatively sparse, the cleaning component 112 will not frequently switch between the outward expansion state and the retracted state. 4. The cleaning component 112 can be controlled to be in an outward expansion state relative to the body 111, and the body 111 can also be controlled to be in a swaying state relative to the first obstacle. However, when the arrangement density information of the first obstacle is the second arrangement density, it is necessary to prevent the cleaning component 112 from frequently switching between the outward expansion state and the retracted state, which would reduce its service life. Therefore, the controller 114 needs to control the cleaning component 112 to be in a retracted state relative to the body 111. At the same time, in this case, there are no other requirements for whether the body 111 continues to sway. Therefore, the controller 114 can control the body 111 to be in a non-swaying state or a swaying state relative to the first obstacle.

[0092] In some embodiments, when the feature information of the first obstacle includes the arrangement density information of the first obstacle within a preset range, the first arrangement density is less than a preset density threshold and the second arrangement density is greater than the preset density threshold.

[0093] The "preset layout density threshold" is a critical layout density value used to determine whether the first obstacle belongs to the first layout density or the second layout density. This critical layout density value is a known value, which can be set before the cleaning robot 11 leaves the factory, or it can be manually input and set during the use of the cleaning robot 11. That is to say, the controller 114 can use the preset density threshold as the criterion to determine the layout density of the first obstacle within the preset range. If the layout density of the first obstacle within the preset range is less than the preset density threshold, the layout density of the first obstacle within the preset range is determined to be the first layout density. If the layout density of the first obstacle within the preset range is greater than the preset density threshold, the layout density of the first obstacle within the preset range is determined to be the second layout density. And if the layout density of the first obstacle within the preset range is equal to the preset density threshold, the layout density of the first obstacle within the preset range can be determined to be either the first layout density or the second layout density.

[0094] It should be noted that the density of the first obstacle within the preset range can be determined by obtaining image information or point cloud information of the obstacle from sensors on the cleaning robot 11, such as vision sensors, lidar sensors, and line structured light sensors, and the arrangement density information of the first obstacle within the preset range can be determined based on the arrangement of pixels or point clouds.

[0095] Please see Figure 2 and Figure 10 In some embodiments, the control method of this disclosure further includes:

[0096] When the cleaning robot 11 performs edge cleaning and turns along the first obstacle and meets the first preset condition, the cleaning component is in an outward expansion state relative to the robot body, and the robot body is in a non-swaying state relative to the first obstacle.

[0097] And / or, when the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning component is in an outward expansion state relative to the robot body, and the robot body is in a swaying state relative to the first obstacle.

[0098] And / or, when the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning component is in a retracted state relative to the robot body, and the robot body is in a swaying state relative to the first obstacle.

[0099] In other words, during the process of cleaning along the edge of the first obstacle and turning, the states of the cleaning components 112 and the body 111 of the cleaning robot 11 are not constant. The states of the cleaning components 112 and the body 111 are ultimately determined according to the preset conditions met by the cleaning robot 11 during its movement. In this way, the cleaning mode selected by the cleaning robot 11 during the edge cleaning process can be more detailed and better meet the actual cleaning needs.

[0100] For example, the control method of this disclosure further includes: 0511: obtaining the turning radius of the cleaning robot 11 when turning around the first obstacle; the first preset condition includes: the turning radius is greater than a preset first turning radius threshold; the second preset condition includes: the turning radius is less than the preset first turning radius threshold and greater than a preset second turning radius threshold; the third preset condition includes: the turning radius is less than the preset second turning radius threshold.

[0101] 052: When the cleaning robot 11 performs edge cleaning and turns along the first obstacle and meets the first preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle.

[0102] 061: When the turning radius is the first turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle.

[0103] In other words, in scenarios where the turning radius of the cleaning robot 11 is large, i.e. the turning range of the cleaning robot 11 is small, the cleaning blind zone formed between the cleaning component 112 and the first obstacle is small, in this case, only the cleaning component 112 is controlled to be in an outward expansion state for edge cleaning, without controlling the body 111 to deflect or swing back relative to the first obstacle, thus effectively ensuring the cleaning efficiency of the cleaning robot.

[0104] 053: When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0105] 071: When the turning radius is the second turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0106] In other words, in scenarios where the turning radius of the cleaning robot 11 is moderate, i.e., the turning range of the cleaning robot 11 is not large, the width of the cleaning blind zone formed between the cleaning component 112 and the first obstacle is moderate. In this case, by controlling the cleaning component 112 to be in an outward expansion state and controlling the body 111 to deflect and swing back relative to the first obstacle, the cleaning robot 11 can clean the blind zone between the cleaning component 112 and the first obstacle, resulting in a larger cleaning range and improved cleaning efficiency.

[0107] 054: When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0108] 081: When the turning radius is the third turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0109] In other words, in scenarios where the turning radius of the cleaning robot 11 is small, i.e. the turning range of the cleaning robot 11 is large, the cleaning blind spot formed between the cleaning component 112 and the first obstacle is wide. In this case, in order to avoid the problem of reduced cleaning efficiency due to the need to fill the "gap" mentioned above, the cleaning component 112 can be controlled to be in a retracted state and the body 111 can be controlled to deflect and swing back relative to the first obstacle, so as to achieve a balance between cleaning efficiency and cleaning effect.

[0110] The first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

[0111] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: obtain the turning radius of the cleaning robot 11 when turning around the first obstacle; the first preset condition includes: the turning radius is greater than a preset first turning radius threshold; the second preset condition includes: the turning radius is less than the preset first turning radius threshold and greater than a preset second turning radius threshold; the third preset condition includes: the turning radius is less than the preset second turning radius threshold. When the cleaning robot 11 performs edge cleaning and turning along the first obstacle and meets the first preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle. When the turning radius is the first turning radius, and the cleaning robot 11 travels along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning and turning along the first obstacle and meets the second preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. When the turning radius is the second turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in an outward-expanding state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and a third preset condition is met, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. When the turning radius is the third turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. The first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

[0112] Specifically, please combine Figure 8Taking the first obstacle as a circular obstacle as an example, the smaller the size of the obstacle, the smaller the turning radius of the cleaning robot 11, and the larger the blind spot width between the cleaning component 112 and the obstacle. Since the overall obstacle size is small, the cleaning component will create the aforementioned "gap" when cleaning outwards. To avoid a large "gap" due to outward expansion caused by cleaning a small obstacle, and thus requiring cleaning of a larger "gap," the controller 114 controls the cleaning component 112 to retract into a retracted state when the obstacle size is small (i.e., the turning radius is small), while only controlling the robot body 111 to remain in a tilted state, thereby improving the overall cleaning efficiency of the cleaning robot 11. Conversely, when the obstacle size is large (i.e., the turning radius is large), the controller 114 controls the cleaning component 112 to remain in an outward expansion state while simultaneously controlling the robot body 111 to remain in a tilted state. In other words, the controller 114 can detect the turning radius to control the state of the cleaning component 112 and the robot body 111 according to the obstacle size. Therefore, this disclosure uses the relationship between the turning radius and the turning radius threshold as a method to determine whether the preset conditions are met. In addition, when the turning radius is equal to the turning radius threshold, the controller 114 can control the cleaning component 112 to be in an outward expansion state or to be in a retracted state. Then, the controller 114 can control the state of the cleaning component 112 and the robot body 111 as the cleaning robot 11 travels along the turning path according to the acquired turning radius.

[0113] Please see Figure 2 and Figure 11 In some implementations, step 0511 includes:

[0114] 05111: Based on the feature information of the first obstacle, plan the initial travel path of the cleaning robot 11 to perform edge cleaning along the first obstacle;

[0115] 05113: Based on the initial travel path, determine the turning radius of the cleaning robot 11 when it turns around the first obstacle in the initial travel path.

[0116] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: plan the initial travel path of the cleaning robot 11 along the edge of the first obstacle based on the feature information of the first obstacle; and determine the turning radius of the cleaning robot 11 around the first obstacle in the initial travel path based on the initial travel path.

[0117] Understandably, the turning radius is obtained from the initial travel path of the cleaning robot 11. Therefore, before obtaining the turning radius, it is necessary to plan the initial travel path of the cleaning robot 11 based on the feature information of the first obstacle.

[0118] Please see Figure 2 and Figure 10 In some embodiments, the control method of this disclosure further includes:

[0119] 0513: Obtain the width of the cleaning blind zone between the cleaning component 112 and the first obstacle when the cleaning robot 11 turns around the first obstacle;

[0120] The first preset condition includes: the width of the cleaning blind zone is less than the preset first cleaning blind zone width threshold; the second preset condition includes: the width of the cleaning blind zone is greater than the preset first cleaning blind zone width threshold and less than the preset second cleaning blind zone width threshold; the third preset condition includes: the width of the cleaning blind zone is greater than the preset third cleaning blind zone width threshold.

[0121] 052: When the cleaning robot performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is less than the preset first cleaning blind zone width threshold, the cleaning component 112 is in an outward expansion state relative to the body, and the body 111 is in a non-swaying state relative to the first obstacle.

[0122] 062: When the cleaning blind zone width is the first cleaning blind zone width, and during the process of the cleaning robot 11 moving along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle.

[0123] 053: When the cleaning robot performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is greater than the preset first cleaning blind zone width threshold and less than the preset second cleaning blind zone width threshold, the cleaning component 112 is in an outward expansion state relative to the body, and the body 111 is in a swaying state relative to the first obstacle.

[0124] 072: When the cleaning blind zone width is the second cleaning blind zone width, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0125] 054: When the cleaning robot performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is greater than the preset third cleaning blind zone width threshold, the cleaning component 112 is in a retracted state relative to the body, and the body 111 is in a swaying state relative to the first obstacle.

[0126] 082: When the cleaning blind zone width is the third cleaning blind zone width, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0127] The width of the first cleaning blind zone is smaller than the width of the second cleaning blind zone, and the width of the second cleaning blind zone is smaller than the width of the third cleaning blind zone.

[0128] The above control method can be applied to the cleaning robot 11. The controller 114 is configured to: when the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is less than a preset first cleaning blind zone width threshold, the cleaning component 112 is in an outward expansion state relative to the robot body, and the robot body 111 is in a non-swaying state relative to the first obstacle; when the cleaning blind zone width is the first cleaning blind zone width, and the cleaning robot 11 travels along the turning path, the cleaning component 112 is in an outward expansion state relative to the robot body 111, and the robot body 111 is in a non-swaying state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is greater than a preset first cleaning blind zone width threshold and less than a preset second cleaning blind zone width threshold, the cleaning component 112 is in an outward expansion state relative to the body, and the body 111 is in a swaying state relative to the first obstacle; when the cleaning blind zone width is the second cleaning blind zone width, and the cleaning robot 11 moves along the turning path, the cleaning component 112 is in an outward expansion state relative to the body, and the body is in a swaying state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is greater than a preset third cleaning blind zone width threshold, the cleaning component 112 is in a retracted state relative to the body, and the body 111 is in a swaying state relative to the first obstacle; when the cleaning blind zone width is the third cleaning blind zone width, and the cleaning robot 11 moves along the turning path, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle; wherein, the first cleaning blind zone width is less than the second cleaning blind zone width, and the second cleaning blind zone width is less than the third cleaning blind zone width.

[0129] Specifically, the controller 114 can also control the state of the cleaning component 112 and the robot body 111 based on the width of the cleaning blind zone. When turning, the width of the cleaning blind zone is basically determined by the size of the first obstacle. Relatively speaking, the smaller the size of the first obstacle, the smaller the turning radius of the cleaning robot along the first obstacle, and the larger the width of the cleaning blind zone. Therefore, when turning, the aforementioned preset conditions may also include a comparison between the cleaning blind zone width and a preset blind zone width threshold. If the cleaning blind zone width is too large, it also indicates that the turning radius of the cleaning robot cleaning along the edge of the first obstacle is small. Therefore, to improve cleaning efficiency, the controller 114 controls the cleaning component 112 to be in a retracted state and controls the robot body 111 to be in a swaying state. When turning, the width of the cleaning blind spot is basically determined by the size of the first obstacle. Relatively speaking, the larger the size of the first obstacle, the larger the turning radius of the cleaning robot along the first obstacle, and the smaller the width of the cleaning blind spot. Therefore, when a cleaning blind spot exists and its width is moderate (i.e., the width of the cleaning blind spot is greater than a preset first cleaning blind spot width threshold but less than a preset second cleaning blind spot width threshold), the controller 114 controls the cleaning component 112 to be in an outward expansion state and controls the body 111 to be in a swaying state to achieve a balance between cleaning efficiency and cleaning effect. When the cleaning blind spot is too small, in this case, only the cleaning component 112 is controlled to be in an outward expansion state for edge cleaning, without controlling the body 111 to deflect or sway relative to the first obstacle, thus effectively ensuring the cleaning efficiency of the cleaning robot.

[0130] Please see Figure 2 and Figure 10 In some embodiments, the control method of this disclosure further includes:

[0131] 055: When the cleaning robot 11 is performing edge cleaning along the first obstacle and the cleaning part is in an outward expansion state, a second obstacle is detected on the initial travel path of the cleaning robot 11 along the first obstacle;

[0132] 056: If the degree of interference between the cleaning component 112 and the second obstacle is predicted to be the first degree of interference, the cleaning component 112 moves from an outward state relative to the fuselage 111 to a retracted state;

[0133] 057: When the predicted interference level between the cleaning component 112 and the second obstacle is the second interference level, the cleaning component 112 remains in an outward expansion state relative to the fuselage 111, wherein the first interference level is greater than the second interference level;

[0134] 058: Obtain the height distance between the cleaning component 112 and the obstacle in the vertical direction;

[0135] 059: When the height distance is greater than the preset distance threshold, the fuselage 111 is in a swaying state relative to the first obstacle.

[0136] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: detect a second obstacle on the initial travel path of the cleaning robot 11 along the first obstacle when the cleaning robot 11 is performing edge cleaning along the first obstacle and the cleaning component 112 is in an outward expansion state; when the interference degree between the cleaning component 112 and the second obstacle is predicted to be a first interference degree, the cleaning component 112 moves from an outward expansion state relative to the body 111 to a retracted state; when the interference degree between the cleaning component 112 and the second obstacle is predicted to be a second interference degree, the cleaning component 112 remains in an outward expansion state relative to the body 111, wherein the first interference degree is greater than the second interference degree; obtain the height distance between the cleaning component 112 and the obstacle in the height direction; and when the height distance is greater than a preset distance threshold, control the body 111 to be in a yaw state relative to the first obstacle.

[0137] Specifically, when the cleaning robot 11 is cleaning along the edge of the first obstacle, it may encounter a second obstacle that is close to the first obstacle. Therefore, in order to avoid the cleaning component 112 colliding with the second obstacle and to avoid damage to the cleaning component 112, when the cleaning component 112 is in the outward expansion state, it is also necessary to detect the second obstacle on the initial travel path. The controller 114 predicts the degree of interference between the cleaning component 112 and the second obstacle based on the feature information of the second obstacle detected by the sensor 115. If the predicted degree of interference between the cleaning component 112 and the second obstacle is a large first interference degree, the cleaning component 112 moves from the outward expansion state relative to the body 111 to the retracted state to avoid colliding with the obstacle and causing damage. If the interference level between the cleaning component 112 and the second obstacle is predicted to be a small degree, the cleaning component 112 remains in an outward-expanding state relative to the body 111. When the cleaning robot 11 bypasses the second obstacle, it deforms through the obstacle, squeezing past it, thereby reducing the number of state changes of the cleaning component 112 and extending its service life. In steps 058 and 059, the controller 114 also acquires the height distance between the cleaning component 112 and the obstacle in the height direction. Please refer to... Figure 12 When the height distance is greater than a preset distance threshold, the cleaning component 112 can enter the low gap between the obstacle and the ground to clean (e.g., Figure 12 As shown in Figures 1 and 2), simultaneously, the controller 114 controls the body 111 to be in a yaw state relative to the first obstacle (e.g., Figure 12As shown in Figures 3 and 4, the cleaning area is increased by tilting the body 111, thereby improving the cleaning effect in low gaps.

[0138] In some embodiments, the degree of interference between the cleaning component 112 and the second obstacle is characterized by a predicted force between the cleaning component 112 and the second obstacle, and is positively correlated with the predicted force; or, the degree of interference between the cleaning component 112 and the second obstacle is characterized by a predicted turning angle on the planned path of the cleaning robot 11 turning around the second obstacle, and is positively correlated with the turning angle; or, the degree of interference between the cleaning component 112 and the second obstacle is characterized by a predicted deformation after the cleaning component 112 contacts the second obstacle, and is positively correlated with the predicted deformation; or, the degree of interference between the cleaning component 112 and the second obstacle is characterized by a predicted rotation angle of the cleaning component 112 turning toward the second position after contacting the second obstacle, and is positively correlated with the predicted rotation angle; or, the degree of interference between the cleaning robot 11 and the second obstacle is characterized by a predicted compression angle formed before and after the collision between the cleaning component and the second obstacle, and is positively correlated with the predicted compression angle.

[0139] It is understandable that the degree of interference between the cleaning component 112 and the second obstacle can be determined in various ways. For example, the force between two objects can reflect the intensity of their collision. The controller 114 can characterize the degree of interference between the cleaning component 112 and the second obstacle by predicting the force, and the degree of interference is positively correlated with the predicted force. When the cleaning robot 11 is moving at a constant speed, the shape of the second obstacle and its position on the planned path also affect the magnitude of the interference between the cleaning component 112 and the second obstacle. For example, if the cleaning robot 11 only slightly brushes against the second obstacle during its movement, the degree of interference between the cleaning component 112 and the second obstacle is small; conversely, the degree of interference between the cleaning component 112 and the second obstacle is large. Therefore, please combine... Figure 13The rotation angle A is the angle of directional change of the cleaning robot 11 before and after turning. The controller 114 can select two points on the planned path before and after turning to measure the turning angle A. The degree of interference between the second obstacle and the cleaning component 112 is also positively correlated with the turning angle A. Specifically, the turning angle A is the angle between the two tangents on the turning path passing through the two points when the cleaning robot 11 is at the two points (the center of the cleaning robot 11 is located at these two points). After the two objects come into contact, the deformation of the two objects can also be used as a standard to reflect the intensity of the collision. Therefore, the degree of interference between the cleaning component 112 and the second obstacle can also be characterized by the predicted deformation after the cleaning component 112 comes into contact with the second obstacle. The larger the deformation, the greater the degree of interference; the smaller the deformation, the smaller the degree of interference. Alternatively, the degree of interference between the cleaning component 112 and the second obstacle can also be characterized by the predicted rotation angle of the cleaning component 112 towards a second position after contact with the second obstacle. The second position is typically set as the position where the cleaning component 112 is in a retracted state. Before the collision with the second obstacle, the cleaning component 112 is in an outward-expanding state. Upon collision, under the influence of the force, the cleaning component 112 will rebound towards the retracted position at a certain angle. This disclosure refers to this angle as the rotation angle of the cleaning component 112. The controller 114 can determine the degree of interference between the cleaning component 112 and the second obstacle based on the predicted rotation angle. The predicted rotation angle is positively correlated with the degree of interference. Furthermore, the degree of interference between the cleaning component 112 and the second obstacle can also be characterized by the predicted compression angle formed before and after the collision between the cleaning robot 11 and the second obstacle. Please refer to... Figure 14 The compression angle B is the angle between the line connecting the cleaning robot 11 at two positions (the center of the cleaning robot 11) before and after the collision with the second obstacle and the point of collision. The greater the intensity of the collision, the greater the compression angle B.

[0140] Please see Figure 2 and Figure 15 In some implementations, step 055 includes:

[0141] 0551: Obtain the edge contour of the target object;

[0142] 0553: Based on the edge contour, update the initial travel path according to the width of the fuselage 111 and the edge distance between the fuselage 111 and the first obstacle to obtain the updated travel path;

[0143] 0555: Cleaning robot 11 performs edge cleaning along the first obstacle according to the updated travel path;

[0144] 0557: Analyze whether there is any interference between the target object and the cleaning component 112 on the updated travel path;

[0145] 0559: In the event of interference between the target object and the cleaning component 112, the target object is identified as a second obstacle.

[0146] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: acquire the edge contour of the target object; based on the edge contour, update the initial travel path according to the width of the robot body 111 and the edge distance between the robot body 111 and the first obstacle to obtain the updated travel path; the cleaning robot 11 performs edge cleaning along the first obstacle according to the updated travel path; analyze whether interference occurs between the target object and the cleaning component 112 on the updated travel path; if interference occurs between the target object and the cleaning component 112, confirm that the target object is the second obstacle.

[0147] Specifically, in steps 0551 and 0553, the target object refers to an object located on or near the initial travel path. The number of target objects can be one or more (at least two). Some target objects will interfere with the cleaning component 112, while others will not. The sensor 115 acquires the target object, for example, by capturing a picture of the target object with a camera. The controller 114 processes the captured image to obtain the edge contour of the target object, and based on the edge contour, updates the current initial travel path according to its stored width of the body 111 and the edge distance between the body 111 and the first obstacle, thus obtaining an updated travel path. This avoids collisions between the body 111 and the target object, preventing the cleaning robot 11 from being unable to continue moving. In step 0555, the cleaning robot 11 travels according to the updated travel path, ensuring that the body 111 avoids the target object during travel and that the cleaning robot 11 can smoothly travel along the updated path. In steps 0557 and 0559, the controller 114 analyzes whether interference occurs between the target object and the cleaning component 112 on the updated travel path. If interference occurs, the controller 114 needs to change the state of the cleaning component 112 based on the characteristic information of the target object; therefore, the controller 114 confirms the target object as a second obstacle. If no interference occurs between the target object and the cleaning component 112, the controller 114 does not need to change the state of the cleaning component 112 based on the characteristic information of the target object; in this case, the controller 114 does not confirm the target object as a second obstacle.

[0148] Please see Figure 2 and Figure 17 In some implementations, step 0557 includes:

[0149] 05571: Extract a segment of the planned path for the cleaning robot 11 to travel in the future from the updated path;

[0150] 05572: Select multiple sampling points that are spaced apart from each other along the planned path;

[0151] 05573: Estimate the expected location of the cleaning component 112 when the cleaning robot 11 arrives at each sampling point;

[0152] 05574: Evaluate whether there is any intersection between the edge contour of the target object and the outer contour of the cleaning component 112 at each expected location;

[0153] 05575: If there is an intersection at any expected location, confirm that interference occurs between the target object and the cleaning part 112;

[0154] 05576: If there is no intersection at any of the expected locations, confirm that there is no interference between the target object and the cleaning part 112.

[0155] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: extract a planned path for the future movement of the cleaning robot 11 on the updated travel path; select multiple mutually spaced sampling points on the planned path; estimate the expected position of the cleaning component 112 when the cleaning robot 11 reaches each sampling point; evaluate whether there is an intersection between the edge contour of the target object and the outer contour of the cleaning component 112 at each expected position; if there is an intersection at any expected position, confirm that interference occurs between the target object and the cleaning component 112; if there is no intersection at all expected positions, confirm that no interference occurs between the target object and the cleaning component 112.

[0156] Specifically, in steps 05571 and 05572, the controller 114 extracts a planned path for the future movement of the cleaning robot 11 on the updated travel path as the path for the second obstacle detection. Multiple spaced sampling points are selected on the planned path, where the spacing between sampling points can be adjusted according to the actual application to achieve the best sampling effect. In step 05573, the controller 114 estimates the expected position of the cleaning component 112 when the cleaning robot 111 reaches each sampling point. Therefore, in step 05574, it evaluates whether there is an intersection between the edge contour of the target object and the outer contour of the cleaning component 112 at each expected position. By evaluating the intersection between the edge contour of the target object and the outer contour of the cleaning component 112, it determines whether a collision will occur between the target object and the cleaning component 112. Therefore, in step 05575, if there is an intersection at any expected position, i.e., if the target object will collide with the cleaning component 112, it is confirmed that interference has occurred between the target object and the cleaning component 112. In step 05576, if there is no intersection at all expected positions, that is, if the target object will not collide with the cleaning component 112, it is confirmed that there is no interference between the target object and the cleaning component 112.

[0157] Please combine Figure 2 and Figure 10 In some embodiments, the control method of this disclosure further includes:

[0158] 055: When the cleaning robot 11 is performing edge cleaning along the first obstacle and the cleaning component 112 is in an outward expansion state, a second obstacle is detected on the initial travel path of the cleaning robot 11 along the first obstacle.

[0159] 010: If a second obstacle exists on the path, analyze the characteristic information of the second obstacle; and

[0160] 011: Control the degree of expansion of the cleaning component 112 relative to the body 111 based on the characteristic information of the second obstacle.

[0161] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: detect a second obstacle on the initial travel path of the cleaning robot 11 along the first obstacle when the cleaning robot 11 is performing edge cleaning along the first obstacle and the cleaning component 112 is in an outward expansion state; analyze the characteristic information of the second obstacle when there is an obstacle on the travel path; and control the degree of outward expansion of the cleaning component 112 relative to the body 111 according to the characteristic information of the second obstacle.

[0162] Specifically, in step 055, the controller 114 detects the second obstacle on the current initial travel path through the sensor 115. In step 010, after obtaining the second obstacle through the sensor 115, the controller 114 analyzes the feature information of the second obstacle. Since the feature information of the second obstacle includes at least one of the following: the type information of the second obstacle, the size information in the horizontal plane, the contour information, and the arrangement density information within a preset range, the type of the second obstacle can usually include obstacles with high hardness such as table legs and chair legs, as well as obstacles with low hardness such as cotton pads and rubber. The type information can reflect the hardness of the second obstacle. When the cleaning robot 11 passes through second obstacles of different hardness, in order to achieve the best cleaning effect, the state of the cleaning component 112 and the body 111 should also change. Regarding size information, the second obstacle can include a large pillar or a small chair leg. The size of the second obstacle will affect the turning radius of the cleaning robot 11 when it passes through it. Therefore, to achieve optimal cleaning results when the cleaning robot 11 passes through second obstacles of different sizes, the cleaning component 112 and the body 111 should also undergo different state changes based on the size information. The contour information of the second obstacle reflects its smoothness. For example, to achieve optimal cleaning results, the cleaning component 112 and the body 111 of the cleaning robot 11 should also undergo different state changes when passing through square and round obstacles. The density information of the second obstacle within the preset range reflects the individual density of the second obstacle within that range. The preset range is typically a cleaning area within a room. As shown in Figure 3, when the cleaning component 112 is in the outward expansion state, an uncleaned gap will remain between the two cleaning components 112 during the movement of the cleaning robot 11. If the second obstacle within the preset range is too dense, the difficulty of cleaning this uncleaned gap will also increase. Furthermore, in scenarios with dense obstacles, to avoid frequent collisions with the cleaning component 112, the outward expansion of the cleaning component 112 may require frequent expansion and retraction, which will affect the service life of the cleaning component 112. Therefore, the density information of the second obstacle within the preset range is also one of the characteristic information of the second obstacle that needs to be considered during the cleaning process. The controller 114 needs to control the outward expansion degree of the cleaning component 112 relative to the robot body 111 based on this characteristic information, thereby reducing the number of outward expansions and retractions and increasing the service life.

[0163] When the characteristic information of the second obstacle includes the type information of the second obstacle and the hardness of the first type of second obstacle is greater than the hardness of the second type of second obstacle, please combine it with... Figure 2 and Figure 15 In some implementations, step 011 includes:

[0164] 0111: When there is a second obstacle of the first type on the initial path, the degree of expansion of the cleaning component 112 is less than when there is a second obstacle of the second type on the initial path.

[0165] The above control method can be applied to the cleaning robot 11. The controller 114 is used to control the degree of expansion of the cleaning component 112 when there is a second obstacle of the first type on the initial path, so that it is less than the degree of expansion of the cleaning component 112 when there is a second obstacle of the second type on the initial path.

[0166] In other words, the higher the hardness of the second obstacle, the smaller the degree of outward expansion of the cleaning component 112 controlled by the controller 114.

[0167] When the characteristic information of the second obstacle includes the type information of the second obstacle and the hardness of the first type of second obstacle is greater than the hardness of the second type of second obstacle, please combine it with... Figure 2 and Figure 15 In some embodiments, step 011 further includes:

[0168] 0112: When the second obstacle is of the first type, the cleaning component 112 remains in an outward expansion state relative to the body 111, or the outward expansion degree of the cleaning component relative to the body 111 is reduced;

[0169] 0113: When the obstacle is of type two, the cleaning component 112 is in a retracted state relative to the body 111, or the outward expansion of the cleaning component relative to the body 111 is reduced.

[0170] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: control the cleaning component 112 to remain in an outward expansion state relative to the body 111 when the second obstacle is of the first type, or to reduce the outward expansion degree of the cleaning component relative to the body 111; and control the cleaning component 112 to be in a retracted state relative to the body 111 when the obstacle is of the second type, or to reduce the outward expansion degree of the cleaning component relative to the body 111.

[0171] Specifically, if the cleaning component 112 of the cleaning robot 11 frequently switches between an outward expansion state and a retracted state, its service life is easily shortened, increasing the probability of malfunction. Therefore, when the second obstacle is of the first type, the controller 114 controls the cleaning component 112 to be in an outward expansion state relative to the robot body 111. Since the second obstacle has low hardness, the cleaning component 112 in the outward expansion state can deform the second obstacle and directly squeeze through it, thereby reducing the number of times the cleaning component 112 retracts and improving its service life. At the same time, in this case, the controller 114 can control the robot body 111 to be in a swaying state relative to the second obstacle to clean the uncleaned seam area that appears during the movement of the cleaning robot 11 due to the cleaning component 112 being in the outward expansion state. When the second obstacle is of the second type, the second obstacle has high hardness, and the controller 114 controls the cleaning component 112 to be in a retracted state relative to the robot body 111 to avoid damage caused by collision with the high-hardness obstacle.

[0172] The feature information of the second obstacle includes its size information. The size of the second obstacle is its projected size on the surface to be cleaned. If the first size is larger than the second size, please refer to... Figure 2 and Figure 15 In some embodiments, step 011 further includes:

[0173] 0114: When there is a second obstacle of the first size on the initial path, the degree of expansion of the cleaning component 112 is less than when there is a second obstacle of the second size on the initial path.

[0174] The above control method can be applied to the cleaning robot 11. The controller 114 is used to control the degree of expansion of the cleaning component 112 when there is a second obstacle of a first size on the initial path, so that it is less than the degree of expansion of the cleaning component 112 when there is a second obstacle of a second size on the initial path.

[0175] In other words, the larger the size of the second obstacle, the smaller the extent to which the controller 114 controls the cleaning component 112 to expand outward.

[0176] If the feature information of the second obstacle includes the size information of the second obstacle, please combine it with... Figure 2 and Figure 15 In some embodiments, step 011 further includes:

[0177] 0115: If the size of the second obstacle is less than the preset size threshold, the cleaning component 112 remains in an outward expansion state relative to the body 111, or the outward expansion degree of the cleaning component 112 relative to the body 111 is reduced.

[0178] 0116: When the size of the second obstacle is greater than the preset size threshold, the cleaning component 112 is in a retracted state relative to the body 111, or the outward expansion of the cleaning component 112 relative to the body 111 is reduced.

[0179] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: control the cleaning component to remain in an outward expansion state relative to the robot body when the size of the second obstacle is less than a preset size threshold, or to reduce the outward expansion degree of the cleaning component relative to the robot body; and control the cleaning component to be in a retracted state relative to the robot body when the size of the second obstacle is greater than the preset size threshold, or to reduce the outward expansion degree of the cleaning component relative to the robot body.

[0180] When a second obstacle appears on the path of the cleaning robot 11 along the first obstacle, the second obstacle is an obstacle that will interfere with the cleaning component 112 of the cleaning robot 11. The larger the size of the second obstacle, the greater the degree of interference between the cleaning component 112 and the second obstacle. Therefore, the degree of expansion of the cleaning component 112 can be controlled according to the size of the second obstacle. The larger the size of the second obstacle, the smaller the degree of expansion of the cleaning component 112 can be controlled.

[0181] Please combine Figure 2 In some embodiments, step 011 further includes:

[0182] 0117: When it is determined from the contour information of the first obstacle that the edge of the first obstacle includes straight edge segments and corner segments, during the process of the cleaning robot 11 moving along the straight edge segment of the first obstacle, the cleaning component 112 is controlled to be in an outward expansion state and the body 111 is in a non-swaying state.

[0183] 0118: During the process of the cleaning robot 11 moving along the corner section of the first obstacle, the cleaning component 112 is controlled to be in an outward expansion state or a retracted state, and the body 111 is in a swaying state.

[0184] For example, the first obstacle is a square obstacle. The edge of the square obstacle includes straight edge segments and corner segments. When cleaning along the straight edge segment of the obstacle, the cleaning robot 11 can keep the cleaning component 112 in an outward-expanding state and simultaneously control the body 111 to be in a non-tilting state. Since the cleaning robot 11 does not need to turn when moving along the straight edge segment of the first obstacle, the outward-expanding state of the cleaning component 112 can achieve good contact with the edge of the first obstacle, realizing edge cleaning. Since the body 111 of the cleaning robot 11 does not need to tilt at this time, the cleaning robot 11 can achieve high cleaning efficiency along the straight edge segment of the first obstacle. When moving to the corner segment, since the cleaning robot 11 needs to turn when moving to the corner, by controlling the body 111 to be in a tilting state, blind spots when cleaning along the edge and turning can be cleaned, ensuring cleaning effect.

[0185] In summary, in the control method of the cleaning robot disclosed herein, the controller 114 can obtain the feature information of the first obstacle on the initial travel path of the cleaning robot 11, and analyze the feature information of the first obstacle. Since the feature information of the first obstacle includes at least one of the following: the type information of the first obstacle, the size information in the horizontal plane, the contour information, and the arrangement density information within a preset range, these feature information constitute the actual application scenario of the cleaning robot 11. The controller 114 controls the state of the cleaning component 112 and the state of the robot body 111 according to the feature information of the first obstacle, thereby achieving the purpose of using different cleaning methods according to the feature information of the obstacle in different scenarios, thereby improving the cleaning effect of the cleaning robot 11.

[0186] In some implementations, please refer to Figure 2 This disclosure also provides a cleaning robot 11, which includes a body 111, a cleaning component 112 disposed on the body 111, drive wheels 113 disposed on the body 111, and a controller 114. The drive wheels 113 are used to drive the body 111 to move. The cleaning component 112 is used to contact the surface to be cleaned to clean the surface. And, the controller 114 is used to implement the control method in any of the above embodiments.

[0187] For example, when the processor of the cleaning robot 11 executes the computer program stored in memory, it implements the following control method:

[0188] 01: Detect the first obstacle on the initial travel path of the cleaning robot 11;

[0189] 02: Analyze the feature information of the first obstacle, which includes at least one of the following: the type information of the first obstacle, its size information in the horizontal plane, its outline information, and its arrangement density information within a preset range; and

[0190] 03: Control the state of cleaning component 112 and body 111 based on the characteristic information of the first obstacle.

[0191] In some implementations, please refer to Figure 21 This disclosure also provides a base station 21 for use with the cleaning robot 11 of any of the above embodiments. The base station 21 includes a docking position 22 for accommodating the cleaning robot 11.

[0192] In some implementations, please refer to Figure 22 This disclosure also provides a cleaning system 100, including a cleaning robot 11 as described in any of the above embodiments and a base station 21 as described in any of the above embodiments for use in conjunction with the cleaning robot 11. The base station 21 includes a docking position 22 for accommodating the cleaning robot 11.

[0193] Please see Figure 2 and Figure 23 In some embodiments, this disclosure also provides a computer storage medium 200 storing a computer program 202, which, when executed by a processor 20, implements the control method in any of the above embodiments.

[0194] For example, when computer program 202 is executed by processor 20, the following control method is implemented:

[0195] 01: Detect the first obstacle on the initial travel path of the cleaning robot 11;

[0196] 02: Analyze the feature information of the first obstacle, which includes at least one of the following: the type information of the first obstacle, its size information in the horizontal plane, its outline information, and its arrangement density information within a preset range; and

[0197] 03: Control the state of cleaning component 112 and body 111 based on the characteristic information of the first obstacle.

[0198] For example, when computer program 202 is executed by processor 20, the following control method is implemented:

[0199] 011: Obtain the edge contour of the target object;

[0200] 013: Based on the edge contour, update the initial travel path according to the width of the fuselage to obtain the updated travel path;

[0201] 015: The cleaning robot is moving along the updated path;

[0202] 017: Analyze whether interference will occur between the target object and the cleaning component 112 if the cleaning robot 111 travels along the updated path;

[0203] 019: If it is determined that interference will occur between the target object and the cleaning component 112, the target object is identified as the first obstacle.

[0204] For example, when the computer program 202 is executed by the processor 20, the control method involved in any step described in the above embodiments can also be implemented.

[0205] In the cleaning robot 11, base station 21, cleaning system 100, and computer storage medium 200 disclosed herein, the controller 114 can obtain the feature information of the first obstacle based on the first obstacle on the initial travel path of the cleaning robot 11, and analyze the feature information of the first obstacle. Since the feature information of the first obstacle includes at least one of the following: the type information of the first obstacle, the size information in the horizontal plane, the outline information, and the arrangement density information within a preset range, these feature information constitute the actual application scenario of the cleaning robot 11. The controller 114 controls the state of the cleaning component 112 and the state of the body 111 according to the feature information of the first obstacle, thereby achieving the purpose of using different cleaning methods according to the feature information of the obstacle in different scenarios, thereby improving the cleaning effect of the cleaning robot 11.

[0206] With the increasing automation of home appliances, the application prospects of cleaning robots are becoming increasingly widespread. Cleaning robots such as sweeping robots and mopping robots are used in homes, large venues, and other settings. Currently, various cleaning robots clean according to planned paths. For example, when cleaning along edges, the robot moves along an obstacle while cleaning, maintaining a fixed distance from the wall. During edge cleaning, if the robot needs to turn, a large cleaning area will be missed at the corner, resulting in poor cleaning performance. To solve the problem of large cleaning areas being missed at corners, leading to poor cleaning performance, this disclosure provides another control method for cleaning robots (…). Figure 18 (as shown), Cleaning Robot 11 ( Figure 2 (as shown), base station 12 ( Figure 21 (as shown), Cleaning System 10 ( Figure 22 (as shown) and computer storage medium 200 ( Figure 23 (As shown).

[0207] Please see Figure 2 and Figure 18 This disclosure provides another method for controlling a cleaning robot, the method comprising:

[0208] 012: When the cleaning robot 11 performs edge cleaning and turns along the first obstacle and meets the second preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. The swaying state is the state in which the rear end of the body 111 sways towards the first obstacle and swings back away from the first obstacle multiple times.

[0209] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: when the cleaning robot 11 performs edge cleaning and turns along the first obstacle and meets the second preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. The swaying state is the state in which the rear end of the body 111 sways towards the first obstacle and away from the first obstacle multiple times.

[0210] Specifically, please combine Figure 19 When the cleaning robot 11 performs edge cleaning and turns along the first obstacle, and under preset conditions, the controller 114 controls the cleaning component 112 to be in an outward-expanding state relative to the robot body 111, and controls the robot body 111 to be in a swaying state relative to the first obstacle, repeatedly deflecting towards the first obstacle and swinging back away from the first obstacle. By keeping the cleaning component 112 in an outward-expanding state and controlling the back-and-forth swaying of the robot body 111, it is ensured that there are no large cleaning omission areas at the corners when the cleaning robot 11 is cleaning along the edge and turning, thereby improving the cleaning effect and efficiency of edge cleaning. Please refer to [link / reference]. Figure 2 as well as Figure 20 In some embodiments, the control method of this application further includes:

[0211] 0111: Obtain the turning radius of cleaning robot 11 when it turns around the first obstacle;

[0212] Meeting the preset conditions includes: the turning radius is greater than the preset turning radius threshold; not meeting the preset conditions includes: the turning radius is less than the preset turning radius threshold.

[0213] 0121: When the cleaning robot 11 performs edge cleaning and turns along the first obstacle and meets the first preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle.

[0214] 021: When the turning radius is the first turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle.

[0215] 0122: When the cleaning robot 11 performs edge cleaning and turns along the first obstacle and meets the second preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0216] 031: When the turning radius is the second turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0217] In other words, in scenarios where the turning radius of the cleaning robot 11 is moderate, i.e., the turning range of the cleaning robot 11 is not large, the width of the cleaning blind zone formed between the cleaning component 112 and the first obstacle is moderate. In this case, by controlling the cleaning component 112 to be in an outward expansion state and controlling the body 111 to deflect and swing back relative to the first obstacle, the cleaning robot 11 can clean the blind zone between the cleaning component 112 and the first obstacle, resulting in a larger cleaning range and improved cleaning efficiency.

[0218] 0123: When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0219] 041: When the turning radius is the third turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0220] In other words, in scenarios where the turning radius of the cleaning robot 11 is small, i.e. the turning range of the cleaning robot 11 is large, the cleaning blind spot formed between the cleaning component 112 and the first obstacle is wide. In this case, in order to avoid the problem of reduced cleaning efficiency due to the need to fill the "gap" mentioned above, the cleaning component 112 can be controlled to be in a retracted state and the body 111 can be controlled to deflect and swing back relative to the first obstacle, so as to achieve a balance between cleaning efficiency and cleaning effect.

[0221] The first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

[0222] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: obtain the turning radius of the cleaning robot 11 when turning around the first obstacle; the first preset condition includes: the turning radius is greater than a preset first turning radius threshold; the second preset condition includes: the turning radius is less than the preset first turning radius threshold and greater than a preset second turning radius threshold; the third preset condition includes: the turning radius is less than the preset second turning radius threshold. When the cleaning robot 11 performs edge cleaning and turning along the first obstacle and meets the first preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle. When the turning radius is the first turning radius, and the cleaning robot 11 travels along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning and turning along the first obstacle and meets the second preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. When the turning radius is the second turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in an outward-expanding state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and a third preset condition is met, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. When the turning radius is the third turning radius, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. The first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

[0223] Specifically, please combine Figure 8Taking the first obstacle as a circular obstacle as an example, the smaller the size of the obstacle, the smaller the turning radius of the cleaning robot 11, and the larger the blind spot width between the cleaning component 112 and the obstacle. Since the overall obstacle size is small, the cleaning component will create the aforementioned "gap" when cleaning outwards. To avoid a large "gap" due to outward expansion caused by cleaning a small obstacle, and thus requiring cleaning of a larger "gap," the controller 114 controls the cleaning component 112 to retract into a retracted state when the obstacle size is small (i.e., the turning radius is small), while only controlling the robot body 111 to remain in a tilted state, thereby improving the overall cleaning efficiency of the cleaning robot 11. Conversely, when the obstacle size is large (i.e., the turning radius is large), the controller 114 controls the cleaning component 112 to remain in an outward expansion state while simultaneously controlling the robot body 111 to remain in a tilted state. In other words, the controller 114 can detect the turning radius to control the state of the cleaning component 112 and the robot body 111 according to the obstacle size. Therefore, this disclosure uses the relationship between the turning radius and the turning radius threshold as a method to determine whether the preset conditions are met. In addition, when the turning radius is equal to the turning radius threshold, the controller 114 can control the cleaning component 112 to be in an outward expansion state or to be in a retracted state. Then, the controller 114 can control the state of the cleaning component 112 and the robot body 111 as the cleaning robot 11 travels along the turning path according to the acquired turning radius.

[0224] Please see Figure 2 In some implementations, step 0111 includes:

[0225] 01111: Based on the feature information of the first obstacle, plan the initial travel path of the cleaning robot 11 to perform edge cleaning along the first obstacle;

[0226] 01113: Based on the initial travel path, determine the turning radius of the cleaning robot 11 when it turns around the first obstacle in the initial travel path.

[0227] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: plan the initial travel path of the cleaning robot 11 along the edge of the first obstacle based on the feature information of the first obstacle; and determine the turning radius of the cleaning robot 11 around the first obstacle in the initial travel path based on the initial travel path.

[0228] Understandably, the turning radius is obtained from the initial travel path of the cleaning robot 11. Therefore, before obtaining the turning radius, it is necessary to plan the initial travel path of the cleaning robot 11 based on the feature information of the first obstacle.

[0229] Please see Figure 2 as well as Figure 20 In some embodiments, the control method of this disclosure further includes:

[0230] 0113: Obtain the width of the cleaning blind zone between the cleaning component 112 and the first obstacle when the cleaning robot 11 turns around the first obstacle;

[0231] Meeting the preset conditions includes: the width of the cleaning blind zone is greater than the preset blind zone width threshold; not meeting the preset conditions includes: the width of the cleaning blind zone is less than the preset blind zone width threshold.

[0232] The first preset condition includes: the width of the cleaning blind zone is less than the preset first cleaning blind zone width threshold; the second preset condition includes: the width of the cleaning blind zone is greater than the preset first cleaning blind zone width threshold and less than the preset second cleaning blind zone width threshold; the third preset condition includes: the width of the cleaning blind zone is greater than the preset third cleaning blind zone width threshold.

[0233] 0121: When the cleaning robot performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is less than the preset first cleaning blind zone width threshold, the cleaning component 112 is in an outward expansion state relative to the body, and the body 111 is in a non-swaying state relative to the first obstacle.

[0234] 022: When the cleaning blind zone width is the first cleaning blind zone width, and when the cleaning robot 11 moves along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a non-swaying state relative to the first obstacle.

[0235] 0122: When the cleaning robot performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is greater than the preset first cleaning blind zone width threshold and less than the preset second cleaning blind zone width threshold, the cleaning component 112 is in an outward expansion state relative to the body, and the body 111 is in a swaying state relative to the first obstacle.

[0236] 032: When the cleaning blind zone width is the second cleaning blind zone width, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0237] 0123: When the cleaning robot performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is greater than the preset third cleaning blind zone width threshold, the cleaning component 112 is in a retracted state relative to the body, and the body 111 is in a swaying state relative to the first obstacle.

[0238] 042: When the cleaning blind zone width is the third cleaning blind zone width, and the cleaning robot 11 is moving along the turning path, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0239] The width of the first cleaning blind zone is smaller than the width of the second cleaning blind zone, and the width of the second cleaning blind zone is smaller than the width of the third cleaning blind zone. The above control method can be applied to the cleaning robot 11. The controller 114 is configured to: when the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the width of the cleaning blind zone is less than a preset threshold value for the first cleaning blind zone, the cleaning component 112 is in an outward expansion state relative to the robot body, and the robot body 111 is in a non-swaying state relative to the first obstacle; when the width of the cleaning blind zone is the first cleaning blind zone width, and the cleaning robot 11 travels along the turning path, the cleaning component 112 is in an outward expansion state relative to the robot body 111, and the robot body 111 is in a non-swaying state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is greater than a preset first cleaning blind zone width threshold and less than a preset second cleaning blind zone width threshold, the cleaning component 112 is in an outward expansion state relative to the body, and the body 111 is in a swaying state relative to the first obstacle; when the cleaning blind zone width is the second cleaning blind zone width, and the cleaning robot 11 moves along the turning path, the cleaning component 112 is in an outward expansion state relative to the body, and the body is in a swaying state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the cleaning blind zone width is greater than a preset third cleaning blind zone width threshold, the cleaning component 112 is in a retracted state relative to the body, and the body 111 is in a swaying state relative to the first obstacle; when the cleaning blind zone width is the third cleaning blind zone width, and the cleaning robot 11 moves along the turning path, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle; wherein, the first cleaning blind zone width is less than the second cleaning blind zone width, and the second cleaning blind zone width is less than the third cleaning blind zone width.

[0240] Specifically, the size of the cleaning blind zone can be represented by its width. The controller 114 can also control the state of the cleaning component 112 and the robot body 111 based on the width of the cleaning blind zone. When turning, the width of the cleaning blind zone is basically determined by the size of the first obstacle. Relatively speaking, the smaller the size of the first obstacle, the smaller the turning radius of the cleaning robot along the first obstacle, and the larger the width of the cleaning blind zone. Therefore, when turning, the aforementioned preset conditions may also include comparing the width of the cleaning blind zone with a preset blind zone width threshold. If the width of the cleaning blind zone is too large, it also indicates that the turning radius of the cleaning robot cleaning along the edge of the first obstacle is small. Therefore, to improve cleaning efficiency, the controller 114 controls the cleaning component 112 to be in a retracted state and controls the robot body 111 to be in a swaying state. When turning, the width of the cleaning blind spot is basically determined by the size of the first obstacle. Relatively speaking, the larger the size of the first obstacle, the larger the turning radius of the cleaning robot along the first obstacle, and the smaller the width of the cleaning blind spot. Therefore, when a cleaning blind spot exists and its width is moderate (i.e., the width of the cleaning blind spot is greater than a preset first cleaning blind spot width threshold but less than a preset second cleaning blind spot width threshold), the controller 114 controls the cleaning component 112 to be in an outward expansion state and controls the body 111 to be in a swaying state to achieve a balance between cleaning efficiency and cleaning effect. When the cleaning blind spot is too small, in this case, only the cleaning component 112 is controlled to be in an outward expansion state for edge cleaning, without controlling the body 111 to deflect or sway relative to the first obstacle, thus effectively ensuring the cleaning efficiency of the cleaning robot.

[0241] Please see Figure 2 as well as Figure 20 In some embodiments, the control method of this disclosure further includes:

[0242] 014: When the cleaning robot 11 is performing edge cleaning along the first obstacle and moving straight, the cleaning component 112 is in an outward expansion state relative to the body 111, and / or the body 111 is in a swaying state relative to the first obstacle.

[0243] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: control the cleaning component 112 to be in an outward expansion state relative to the body 111 when the cleaning robot 11 is performing edge cleaning along the first obstacle and moving straight, and / or control the body 111 to be in a yaw state relative to the first obstacle.

[0244] Specifically, when the cleaning robot 11 is cleaning along the edge of the first obstacle and moving straight, since the cleaning component 112 in the outward expansion state will not leave a cleaning blind spot due to turning, the controller 114 only needs to control the cleaning component 112 to maintain the outward expansion state to expand the cleaning area, while controlling the robot body 111 to be in a swaying state relative to the first obstacle to clean the seam area left by the outward expansion of the cleaning component 112, thus improving the cleaning effect.

[0245] Please see Figure 2 as well as Figure 20 In some embodiments, the control method of this application further includes:

[0246] 015: When the cleaning robot 11 is performing edge cleaning along the first obstacle and the cleaning component 112 is in an outward expansion state, a second obstacle is detected on the initial travel path of the cleaning robot 11 along the first obstacle;

[0247] 016: If the degree of interference between the cleaning component 112 and the second obstacle is predicted to be the first degree of interference, the cleaning component 112 moves from an outward expansion state relative to the fuselage 111 to a retracted state;

[0248] 017: When the predicted interference level between the cleaning component 112 and the second obstacle is the second interference level, the cleaning component 112 remains in an outward expansion state relative to the fuselage 111, wherein the first interference level is greater than the second interference level;

[0249] 018: Obtain the height distance between the cleaning component 112 and the obstacle in the vertical direction;

[0250] 019: When the height distance is greater than the preset distance threshold, the fuselage 111 is in a swaying state relative to the first obstacle.

[0251] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: detect a second obstacle on the initial travel path of the cleaning robot 11 along the first obstacle when the cleaning robot 11 is performing edge cleaning along the first obstacle and the cleaning component 112 is in an outward expansion state; control the cleaning component 112 to move from an outward expansion state relative to the body 111 to a retracted state when the interference degree between the cleaning component 112 and the second obstacle is predicted to be a first interference degree; control the cleaning component 112 to remain in an outward expansion state relative to the body 111 when the interference degree between the cleaning component 112 and the second obstacle is predicted to be a second interference degree, wherein the first interference degree is greater than the second interference degree; obtain the height distance between the cleaning component 112 and the obstacle in the height direction; and control the body 111 to be in a yaw state relative to the first obstacle when the height distance is greater than a preset distance threshold.

[0252] Specifically, when the cleaning robot 11 is cleaning along the edge of the first obstacle, it may encounter a second obstacle that is close to the first obstacle. Therefore, in order to avoid the cleaning component 112 colliding with the second obstacle and to avoid damage to the cleaning component 112, when the cleaning component 112 is in the outward expansion state, it is also necessary to detect the second obstacle on the initial travel path. The controller 114 predicts the degree of interference between the cleaning component 112 and the second obstacle based on the feature information of the second obstacle detected by the sensor 115. If the predicted degree of interference between the cleaning component 112 and the second obstacle is a large first interference degree, the cleaning component 112 moves from the outward expansion state relative to the body 111 to the retracted state to avoid colliding with the high-hardness obstacle and causing damage. If the interference level between the cleaning component 112 and the second obstacle is predicted to be a small degree, the cleaning component 112 remains in an outward-expanding state relative to the body 111. When the cleaning robot 11 bypasses the second obstacle, it deforms through the obstacle, squeezing past it, thereby reducing the number of state changes of the cleaning component 112 and extending its service life. In steps 018 and 019, the controller 114 also acquires the height distance between the cleaning component 112 and the obstacle in the height direction. Please refer to... Figure 12 When the height distance is greater than a preset distance threshold, the cleaning component 112 can enter the low gap between the obstacle and the ground to clean (e.g., Figure 12 (As shown in Figures 1 and 2), simultaneously, controller 114 controls the body 111 to be in a yaw state relative to the first obstacle, for example... Figure 12 As shown in Figures 3 and 4, the cleaning area is increased by tilting the body 111, thereby improving the cleaning effect in low gaps.

[0253] In some embodiments, the degree of interference between the cleaning component 112 and the second obstacle is characterized by a predicted force between the cleaning component 112 and the second obstacle, and is positively correlated with the predicted force; or, the degree of interference between the cleaning component 112 and the second obstacle is characterized by a predicted turning angle on the planned path of the cleaning robot 11 turning around the second obstacle, and is positively correlated with the turning angle; or, the degree of interference between the cleaning component 112 and the second obstacle is characterized by a predicted deformation after the cleaning component 112 contacts the second obstacle, and is positively correlated with the predicted deformation; or, the degree of interference between the cleaning component 112 and the second obstacle is characterized by a predicted rotation angle of the cleaning component 112 turning toward the second position after contacting the second obstacle, and is positively correlated with the predicted rotation angle; or, the degree of interference between the cleaning robot 11 and the second obstacle is characterized by a predicted compression angle formed before and after the collision between the cleaning component and the second obstacle, and is positively correlated with the predicted compression angle.

[0254] It is understandable that the degree of interference between the cleaning component 112 and the second obstacle can be determined in various ways. For example, the force between two objects can reflect the intensity of their collision. The controller 114 can characterize the degree of interference between the cleaning component 112 and the second obstacle by predicting the force, and the degree of interference is positively correlated with the predicted force. When the cleaning robot 11 is moving at a constant speed, the shape of the second obstacle and its position on the planned path also affect the magnitude of the interference between the cleaning component 112 and the second obstacle. For example, if the cleaning robot 11 only slightly brushes against the second obstacle during its movement, the degree of interference between the cleaning component 112 and the second obstacle is small; conversely, the degree of interference is large. Therefore, please consider... Figure 13 The rotation angle A is the angle of directional change of the cleaning robot 11 before and after turning. The controller 114 can select two points on the planned path before and after turning to measure the turning angle A (explained as before). The degree of interference between the second obstacle and the cleaning component 112 is also positively correlated with the turning angle A. After the two objects come into contact, the deformation of the two objects can also be used as a standard to reflect the intensity of the collision. Therefore, the degree of interference between the cleaning component 112 and the second obstacle can also be characterized by the predicted deformation after the cleaning component 112 comes into contact with the second obstacle. The larger the deformation, the greater the degree of interference; the smaller the deformation, the smaller the degree of interference. Alternatively, the degree of interference between the cleaning component 112 and the second obstacle can be characterized by the predicted rotation angle of the cleaning robot 11 after contact with the second obstacle, rotating towards a second position. The second position is typically set as the position where the cleaning component 112 is in a retracted state. Before the collision with the second obstacle, the cleaning component 112 is in an outward-expanding state. Upon collision, under the influence of the force, the cleaning component 112 will rebound towards the retracted position at a certain angle. This application refers to this angle as the rotation angle of the cleaning component 112. The controller 114 can determine the degree of interference between the cleaning component 112 and the second obstacle based on the predicted rotation angle. The predicted rotation angle is positively correlated with the degree of interference. Furthermore, the degree of interference between the cleaning component 112 and the second obstacle can also be characterized by the predicted compression angle formed before and after the collision. Please refer to... Figure 14 The squeezing angle B is the angle between the line connecting the cleaning robot 11 to the point of collision at two positions (explained as above) before and after the collision between the robot and the second obstacle. The greater the intensity of the collision, the greater the squeezing angle B.

[0255] Please combine Figure 2 In some implementations, step 015 includes:

[0256] 0151: Obtain the edge contour of the target object;

[0257] 0153: Based on the edge contour, update the initial travel path according to the width of the fuselage 111 and the edge distance between the fuselage 111 and the first obstacle to obtain the updated travel path;

[0258] 0155: Cleaning robot 11 performs edge cleaning along the first obstacle according to the updated travel path;

[0259] 0157: Analyze whether interference occurs between the target object and the cleaning component 112 on the updated travel path;

[0260] 0159: In the event of interference between the target object and the cleaning component 112, the target object is identified as a second obstacle.

[0261] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: acquire the edge contour of the target object; based on the edge contour, update the initial travel path according to the width of the robot body 111 and the edge distance between the robot body 111 and the first obstacle to obtain the updated travel path; the cleaning robot 11 performs edge cleaning along the first obstacle according to the updated travel path; analyze whether interference occurs between the target object and the cleaning component 112 on the updated travel path; if interference occurs between the target object and the cleaning component 112, confirm that the target object is the second obstacle.

[0262] Specifically, in steps 0151 and 0153, the target object is interpreted as before. Sensor 115 acquires the target object, for example, by capturing a picture of the target object with a camera. Controller 114 processes the captured image to obtain the edge contour of the target object, and based on the edge contour, updates the current initial travel path according to its stored width of the body 111 and the edge distance between the body 111 and the first obstacle, thus obtaining an updated travel path. This avoids collisions between the body 111 and the target object, preventing the cleaning robot 11 from being unable to continue moving. In step 0155, the cleaning robot 11 travels according to the updated travel path, ensuring that the body 111 avoids the target object during travel and that the cleaning robot 11 can smoothly travel along the updated travel path. In steps 0157 and 0159, the controller 114 analyzes whether interference occurs between the target object and the cleaning component 112 on the updated travel path. If interference occurs, the controller 114 needs to change the state of the cleaning component 112 based on the characteristic information of the target object; therefore, the controller 114 confirms the target object as a second obstacle. If no interference occurs between the target object and the cleaning component 112, the controller 114 does not need to change the state of the cleaning component 112 based on the characteristic information of the target object; in this case, the controller 114 does not confirm the target object as a second obstacle.

[0263] Please combine Figure 2 In some implementations, step 0157 includes:

[0264] 01571: Extract a segment of the planned path for the cleaning robot 11 to travel in the future from the updated path;

[0265] 01572: Select multiple sampling points that are spaced apart from each other along the planned path;

[0266] 01573: Estimate the expected position of the cleaning component 112 when the cleaning robot 11 arrives at each sampling point;

[0267] 01574: Evaluate whether there is any intersection between the edge contour of the target object and the outer contour of the cleaning component 112 at each expected location;

[0268] 01575: If there is an intersection at any expected location, confirm that interference occurs between the target object and the cleaning part 112;

[0269] 01576: If there is no intersection at any of the expected locations, confirm that there is no interference between the target object and the cleaning part 112.

[0270] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: extract a planned path for the future movement of the cleaning robot 11 on the updated travel path; select multiple mutually spaced sampling points on the planned path; estimate the expected position of the cleaning component 112 when the cleaning robot 11 reaches each sampling point; evaluate whether there is an intersection between the edge contour of the target object and the outer contour of the cleaning component 112 at each expected position; if there is an intersection at any expected position, confirm that interference occurs between the target object and the cleaning component 112; if there is no intersection at all expected positions, confirm that no interference occurs between the target object and the cleaning component 112.

[0271] Specifically, in steps 01571 and 01572, the controller 114 extracts a planned path for the future movement of the cleaning robot 11 on the updated travel path as the path for the second obstacle detection. Multiple spaced sampling points are selected on the planned path, where the spacing between sampling points can be adjusted according to the actual application to achieve the best sampling effect. In step 01573, the controller 114 estimates the expected position of the cleaning component 112 when the cleaning robot 111 reaches each sampling point. Therefore, in step 01574, it evaluates whether there is an intersection between the edge contour of the target object and the outer contour of the cleaning component 112 at each expected position. By evaluating the intersection between the edge contour of the target object and the outer contour of the cleaning component 112, it determines whether a collision will occur between the target object and the cleaning component 112. Therefore, in step 01575, if there is an intersection at any expected position, i.e., if the target object will collide with the cleaning component 112, it is confirmed that interference has occurred between the target object and the cleaning component 112. In step 01576, if there is no intersection at all expected positions, that is, if the target object will not collide with the cleaning component 112, it is confirmed that there is no interference between the target object and the cleaning component 112.

[0272] The above embodiments describe the control method of the cleaning robot provided in this application from the perspective of the external appearance of the cleaning robot 11. The control method of the cleaning robot provided in this application will be described from the perspective of the underlying logic below.

[0273] Please combine Figure 2 In some embodiments, the control method of this disclosure further includes:

[0274] 015: When the cleaning robot 11 is performing edge cleaning along the first obstacle and the cleaning component 112 is in an outward expansion state, a second obstacle is detected on the initial travel path of the cleaning robot 11 along the first obstacle;

[0275] 06: Analyze the characteristic information of the second obstacle; and

[0276] 07: Control the degree of expansion of the cleaning component 112 relative to the body 111 based on the characteristic information of the second obstacle.

[0277] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: detect a second obstacle on the initial travel path of the cleaning robot 11 along the first obstacle when the cleaning robot 11 is performing edge cleaning along the first obstacle and the cleaning component 112 is in an outward expansion state; analyze the characteristic information of the second obstacle; and control the degree of outward expansion of the cleaning component 112 relative to the body 111 according to the characteristic information of the second obstacle.

[0278] Specifically, in step 015, the controller 114 detects the second obstacle on the current initial travel path through the sensor 115. In step 08, after obtaining the second obstacle through the sensor 115, the controller 114 analyzes the feature information of the second obstacle. Since the feature information of the second obstacle includes at least one of the following: the type information of the second obstacle, the size information in the horizontal plane, the contour information, and the arrangement density information within a preset range, the type of the second obstacle can usually include obstacles with high hardness such as table legs and chair legs, as well as obstacles with low hardness such as cotton pads and rubber. The type information can reflect the hardness of the second obstacle. When the cleaning robot 11 passes through second obstacles of different hardness, in order to achieve the best cleaning effect, the state of the cleaning component 112 and the body 111 should also change. Regarding size information, the second obstacle can include a large pillar or a small chair leg. The different sizes of the second obstacle will affect the turning radius of the cleaning robot 11 when it passes through it. Therefore, to achieve the best cleaning effect, the cleaning component 112 and the body 111 should undergo different state changes based on the size information when the cleaning robot 11 passes through second obstacles of different sizes. The contour information of the second obstacle reflects its smoothness. For example, to achieve the best cleaning effect, the cleaning component 112 and the body 111 of the cleaning robot 11 should also undergo different state changes when passing through square and round obstacles. The density information of the second obstacle within the preset range reflects the individual density of the second obstacle within that range. The preset range is typically a cleaning area within a room. As shown in Figure 3, when the cleaning component 112 is in the outward expansion state, an uncleaned gap will remain between the two cleaning components 112 during the movement of the cleaning robot 11. If the second obstacle within the preset range is too dense, the difficulty of cleaning this uncleaned gap will also increase. Furthermore, in scenarios with dense obstacles, to avoid frequent collisions with the cleaning component 112, the outward expansion of the cleaning component 112 may require frequent expansion and retraction, which will affect the service life of the cleaning component 112. Therefore, the density information of the second obstacle within the preset range is also one of the characteristic information of the second obstacle that needs to be considered during the cleaning process. The controller 114 needs to control the outward expansion degree of the cleaning component 112 relative to the robot body 111 based on this characteristic information, thereby reducing the number of outward expansions and retractions and increasing the service life.

[0279] When the characteristic information of the second obstacle includes the type information of the second obstacle and the hardness of the first type of second obstacle is greater than the hardness of the second type of second obstacle, please combine it with... Figure 2 In some implementations, step 07 includes:

[0280] 071: When there is a second obstacle of the first type on the initial path, the outward expansion of the cleaning component 112 is less than when there is a second obstacle of the second type on the initial path.

[0281] The above control method can be applied to the cleaning robot 11. The controller 114 is used to control the degree of expansion of the cleaning component 112 when there is a second obstacle of the first type on the initial path, so that it is less than the degree of expansion of the cleaning component 112 when there is a second obstacle of the second type on the initial path.

[0282] In other words, the higher the hardness of the second obstacle, the smaller the degree of outward expansion of the cleaning component 112 controlled by the controller 114.

[0283] When the characteristic information of the second obstacle includes the type information of the second obstacle, and the hardness of the first type of second obstacle is greater than the hardness of the second type of second obstacle, please combine it with... Figure 2 In some implementations, step 07 further includes:

[0284] 072: When the second obstacle is of the first type, the cleaning component 112 remains in an outward expansion state relative to the body 111, or the outward expansion degree of the cleaning component relative to the body 111 is reduced;

[0285] 073: When the obstacle is of type two, control the cleaning component 112 to be in a retracted state relative to the body 111, or reduce the degree of outward expansion of the cleaning component relative to the body 111.

[0286] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: control the cleaning component 112 to remain in an outward expansion state relative to the body 111 when the second obstacle is of the first type, or to reduce the outward expansion degree of the cleaning component relative to the body 111; and control the cleaning component 112 to be in a retracted state relative to the body 111 when the obstacle is of the second type, or to reduce the outward expansion degree of the cleaning component relative to the body 111.

[0287] Specifically, if the cleaning component 112 of the cleaning robot 11 frequently switches between an outward expansion state and a retracted state, its service life is easily shortened, increasing the probability of malfunction. Therefore, when the second obstacle is of the first type, the controller 114 controls the cleaning component 112 to be in an outward expansion state relative to the robot body 111. Since the second obstacle has low hardness, the cleaning component 112 in the outward expansion state can deform the second obstacle and directly squeeze through it, thereby reducing the number of times the cleaning component 112 retracts and improving its service life. At the same time, in this case, the controller 114 can control the robot body 111 to be in a swaying state relative to the second obstacle to clean the uncleaned seam area that appears during the movement of the cleaning robot 11 due to the cleaning component 112 being in the outward expansion state. When the second obstacle is of the second type, the second obstacle has high hardness, and the controller 114 controls the cleaning component 112 to be in a retracted state relative to the robot body 111 to avoid damage caused by collision with the high-hardness obstacle.

[0288] The feature information of the second obstacle includes its size information. The size of the second obstacle is its projected size on the surface to be cleaned. If the first size is larger than the second size, please refer to... Figure 2 In some implementations, step 07 further includes:

[0289] 074: When there is a second obstacle of the first size on the initial path, the degree of expansion of the cleaning component 112 is less than when there is a second obstacle of the second size on the initial path.

[0290] The above control method can be applied to the cleaning robot 11. The controller 114 is used to control the degree of expansion of the cleaning component 112 when there is a second obstacle of a first size on the initial path, so that it is less than the degree of expansion of the cleaning component 112 when there is a second obstacle of a second size on the initial path.

[0291] In other words, the larger the size of the second obstacle, the smaller the extent to which the controller 114 controls the cleaning component 112 to expand outward.

[0292] If the feature information of the second obstacle includes the size information of the second obstacle, please combine it with... Figure 2 In some implementations, step 07 further includes:

[0293] 075: If the size of the second obstacle is less than the preset size threshold, the cleaning component remains in an outward expansion state relative to the machine body, or the outward expansion degree of the cleaning component relative to the machine body is reduced.

[0294] 076: If the size of the second obstacle is greater than the preset size threshold, the cleaning component is in a retracted state relative to the machine body, or the outward expansion of the cleaning component relative to the machine body is reduced.

[0295] The above control method can be applied to the cleaning robot 11. The controller 114 is used to: control the cleaning component to remain in an outward expansion state relative to the robot body when the size of the second obstacle is less than a preset size threshold, or to reduce the outward expansion degree of the cleaning component relative to the robot body; and control the cleaning component to be in a retracted state relative to the robot body when the size of the second obstacle is greater than the preset size threshold, or to reduce the outward expansion degree of the cleaning component relative to the robot body.

[0296] When a second obstacle appears on the path of the cleaning robot 11 along the first obstacle, the second obstacle is an obstacle that will interfere with the cleaning component 112 of the cleaning robot 11. The larger the size of the second obstacle, the greater the degree of interference between the cleaning component 112 and the second obstacle. Therefore, the degree of expansion of the cleaning component 112 can be controlled according to the size of the second obstacle. The larger the size of the second obstacle, the smaller the degree of expansion of the cleaning component 112 can be controlled.

[0297] Please combine Figure 2 In some implementations, step 07 further includes:

[0298] 077: When it is determined from the contour information of the first obstacle that the edge of the first obstacle includes straight edge segments and corner segments, during the process of the cleaning robot 11 moving along the straight edge segment of the first obstacle, the cleaning component 112 is controlled to be in an outward expansion state and the body 111 is in a non-swaying state.

[0299] 078: During the process of the cleaning robot 11 moving along the corner section of the first obstacle, the cleaning component 112 is controlled to be in an outward expansion state or a retracted state, and the body 111 is in a swaying state.

[0300] For example, the first obstacle is a square obstacle. The edge of the square obstacle includes straight edge segments and corner segments. When cleaning along the straight edge segment of the obstacle, the cleaning robot 11 can keep the cleaning component 112 in an outward-expanding state and simultaneously control the body 111 to be in a non-tilting state. Since the cleaning robot 11 does not need to turn when moving along the straight edge segment of the first obstacle, the outward-expanding state of the cleaning component 112 can achieve good contact with the edge of the first obstacle, realizing edge cleaning. Since the body 111 of the cleaning robot 11 does not need to tilt at this time, the cleaning robot 11 can achieve high cleaning efficiency along the straight edge segment of the first obstacle. When moving to the corner segment, since the cleaning robot 11 needs to turn when moving to the corner, by controlling the body 111 to be in a tilting state, blind spots when cleaning along the edge and turning can be cleaned, ensuring cleaning effect.

[0301] In summary, when the cleaning robot 11 performs edge cleaning and turns along the first obstacle, and the preset conditions are met, the controller 114 controls the cleaning component 112 to be in an outward-expanding state relative to the body 111, and controls the body 111 to be in a swaying state relative to the first obstacle, repeatedly deflecting towards the first obstacle and swinging back away from the first obstacle. By keeping the cleaning component 112 in an outward-expanding state and controlling the body 111 to sway back and forth, it is ensured that when the cleaning robot 11 cleans along the edge and turns, there will not be a large cleaning oversight area at the corner, thereby improving the cleaning effect of edge cleaning.

[0302] In some implementations, please refer to Figure 2 This disclosure also provides a cleaning robot 11, which includes a body 111, a cleaning component 112 disposed on the body 111, drive wheels 113 disposed on the body 111, and a controller 114. The drive wheels 113 are used to drive the body 111 to move. The cleaning component 112 is used to contact the surface to be cleaned to clean the surface. The controller 114 is used to implement the control method in any of the above embodiments.

[0303] For example, when the processor of the cleaning robot 11 executes the computer program stored in memory, it implements the following control method:

[0304] 012: When the cleaning robot performs edge cleaning and turns along the first obstacle and meets the second preset condition, the cleaning component is in an outward expansion state relative to the body, and the body is in a swaying state relative to the first obstacle. The swaying state is the state in which the rear end of the body 111 sways towards the first obstacle and away from the first obstacle multiple times.

[0305] In some implementations, please refer to Figure 21 This disclosure also provides a base station 21 for use with the cleaning robot 11 of any of the above embodiments. The base station 21 includes a docking position 22 for accommodating the cleaning robot 11.

[0306] In some implementations, please refer to Figure 22 This disclosure also provides a cleaning system 100, including a cleaning robot 11 as described in any of the above embodiments and a base station 21 as described in any of the above embodiments for use in conjunction with the cleaning robot 11. The base station 21 includes a docking position 22 for accommodating the cleaning robot 11.

[0307] Please see Figure 2 and Figure 23 In some embodiments, this disclosure also provides a computer storage medium 200 storing a computer program 202, which, when executed by a processor 20, implements the control method in any of the above embodiments.

[0308] For example, when computer program 202 is executed by processor 20, the following control method is implemented:

[0309] 012: When the cleaning robot 11 performs edge cleaning and turns along the first obstacle and meets the second preset condition, the cleaning component 112 is in an outward expansion state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle. The swaying state is the state in which the rear end of the body 111 sways towards the first obstacle and swings back away from the first obstacle multiple times.

[0310] For example, when computer program 202 is executed by processor 20, the following control method is implemented:

[0311] 013: When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning component 112 is in a retracted state relative to the body 111, and the body 111 is in a swaying state relative to the first obstacle.

[0312] For example, when the computer program 202 is executed by the processor 20, it can also implement the control method corresponding to any of the steps mentioned in the above embodiments.

[0313] In the cleaning robot 11, base station 21, cleaning system 100, and computer storage medium 200 disclosed herein, when the cleaning robot 11 performs edge cleaning and turns along the first obstacle and meets preset conditions, the controller 114 controls the cleaning component 112 to be in an outward-expanding state relative to the body 111, and controls the body 111 to be in a swaying state relative to the first obstacle, repeatedly deflecting towards the first obstacle and swinging back away from the first obstacle. By keeping the cleaning component 112 in an outward-expanding state and controlling the body 111 to sway back and forth, it is ensured that when the cleaning robot 11 cleans along the edge and turns, there will not be a large cleaning oversight area at the corner, thereby improving the cleaning effect of edge cleaning.

[0314] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0315] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0316] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, a computer storage medium can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, the computer storage medium can even be paper or other suitable media on which the above program can be printed, because the above program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in the computer memory.

[0317] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0318] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer storage medium, and when executed, it includes one or a combination of the steps of the method embodiments. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer storage medium. The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc.

[0319] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method for a cleaning robot, characterized in that, The cleaning robot includes a body and a cleaning component mounted at the rear end of the body. The cleaning component has an outward-expanding state at a predetermined first position and a retracted state at a predetermined second position relative to the body. Compared to the retracted state, the cleaning component is further away from the centerline of the body's width direction when in the outward-expanding state. The body has a swaying state and a non-swaying state relative to a first obstacle. The swaying state is characterized by the rear end of the body repeatedly swaying towards the first obstacle and then swinging back away from the first obstacle. The control method includes: Detect the first obstacle on the initial travel path of the cleaning robot; Analyzing the feature information of the first obstacle, the feature information of the first obstacle includes at least one of the following: type information of the first obstacle, size information in the horizontal plane, contour information, and arrangement density information within a preset range; and The state of the cleaning component and the state of the machine body are controlled based on the characteristic information of the first obstacle.

2. The control method according to claim 1, characterized in that, The detection of the first obstacle on the cleaning robot's path includes: Obtain the edge contour of the target object; Based on the edge contour, the initial travel path is updated according to the width of the fuselage to obtain the updated travel path; Analyze whether interference will occur between the target object and the cleaning component if the cleaning robot travels along the updated path; If it is determined that interference will occur between the target object and the cleaning component, the target object is identified as the first obstacle.

3. The control method according to claim 2, characterized in that, The analysis of whether interference will occur between the target object and the cleaning component if the cleaning robot travels along the updated path includes: On the updated travel path, extract a segment of the planned path for the cleaning robot to travel in the future; Select multiple sampling points that are spaced apart from each other along the planned path; Estimate the expected position of the cleaning component when the cleaning robot reaches each of the sampling points; Evaluate whether there is any intersection between the edge contour of the target object and the outer contour of the cleaning component at each of the expected locations; If an intersection exists at any of the predicted locations, it is confirmed that interference occurs between the target object and the cleaning component. If there is no intersection at any of the predicted locations, it is confirmed that there is no interference between the target object and the cleaning component.

4. The control method according to claim 1, characterized in that, When the feature information of the first obstacle includes the type information of the first obstacle, controlling the state of the cleaning component and the state of the machine body based on the feature information of the first obstacle includes: When the first obstacle is of the first type, the cleaning component is in the outward expansion state relative to the body; and / or, the body is in the swaying state relative to the first obstacle; When the first obstacle is of the second type, the cleaning component is in the retracted state relative to the body; and / or, the body is in the non-swaying state or the swaying state relative to the first obstacle, wherein the hardness of the first obstacle of the first type is less than the hardness of the first obstacle of the second type, the hardness of the first obstacle of the first type is less than a preset hardness threshold, and the hardness of the first obstacle of the second type is greater than the preset hardness threshold.

5. The control method according to claim 1, characterized in that, When the feature information of the first obstacle includes the outline information and size information of the first obstacle, controlling the state of the cleaning component and the state of the machine body based on the feature information of the first obstacle includes: Based on the contour information of the first obstacle, it is determined that the cleaning robot turns and moves along the first obstacle, and when the size of the first obstacle is a first size, the cleaning component is in the outward expansion state relative to the body; and / or, the body is in the non-swaying state or the swaying state relative to the first obstacle. Based on the contour information of the first obstacle, it is determined that the cleaning robot turns and moves along the first obstacle, and when the size of the first obstacle is the second size, the cleaning component is in the retracted state relative to the body; and / or, the body is in the yaw state relative to the first obstacle, wherein the size of the first obstacle is the cross-sectional size of the first obstacle within the height range of the side wall of the body of the cleaning robot, the first size is greater than the second size, the first size is greater than a preset size threshold, and the second size is less than the preset size threshold.

6. The control method according to claim 1, characterized in that, The feature information of the first obstacle includes the outline information of the first obstacle. Controlling the state of the cleaning component and the state of the machine body based on the feature information of the first obstacle includes: When it is determined from the contour information of the first obstacle that the edge of the first obstacle includes straight edge segments and corner segments, during the process of the cleaning robot traveling along the straight edge segment of the first obstacle, the cleaning component is controlled to be in the outward expansion state, and the body is in a non-swaying state. As the cleaning robot travels along the corner of the first obstacle, the cleaning component is controlled to be in the outward expansion state or the retracted state, and the robot body is in the swaying state.

7. The control method according to claim 1, characterized in that, When the feature information of the first obstacle includes the arrangement density information of the first obstacle within a preset range, controlling the state of the cleaning component and the state of the machine body based on the feature information of the first obstacle includes: When the arrangement density information of the first obstacle is the first arrangement density, the cleaning component is in the outward expansion state relative to the machine body; and / or, the machine body is in the swaying state relative to the first obstacle; When the arrangement density information of the first obstacle is the second arrangement density, the cleaning component is in the retracted state relative to the body; and / or, the body is in the non-swaying state or the swaying state relative to the first obstacle, wherein the first arrangement density is less than the second arrangement density, the first arrangement density is less than a preset density threshold, and the second arrangement density is greater than the preset density threshold.

8. The control method according to claim 1, characterized in that, The control method further includes: When the cleaning robot performs edge cleaning along the first obstacle and turns, and a first preset condition is met, the cleaning component is in the outward-expanding state relative to the robot body, and the robot body is in the non-swaying state relative to the first obstacle; and / or, When the cleaning robot performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning component is in the outward expansion state relative to the robot body, and the robot body is in the yaw state relative to the first obstacle; and / or, When the cleaning robot performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning component is in the retracted state relative to the robot body, and the robot body is in the yaw state relative to the first obstacle.

9. The control method according to claim 8, characterized in that, The control method further includes: Obtain the turning radius of the cleaning robot as it turns around the first obstacle; The first preset condition includes: the turning radius is greater than a preset first turning radius threshold; the second preset condition includes: the turning radius is less than the preset first turning radius threshold and greater than a preset second turning radius threshold; the third preset condition includes: the turning radius is less than the preset second turning radius threshold.

10. The control method according to claim 8, characterized in that, When the turning radius is the first turning radius, and the cleaning robot is traveling along the turning path, the cleaning component is in the outward expansion state relative to the body, and the body is in the non-swaying state relative to the first obstacle; When the turning radius is the second turning radius, and the cleaning robot is moving along the turning path, the cleaning component is in the outward expansion state relative to the body, and the body is in the swaying state relative to the first obstacle; When the turning radius is the third turning radius, and the cleaning robot is traveling along the turning path, the cleaning component is in the retracted state relative to the body, and the body is in the yaw state relative to the first obstacle; wherein, the first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

11. The control method according to claim 9, characterized in that, The step of obtaining the turning radius of the cleaning robot around the first obstacle includes: Based on the feature information of the first obstacle, the initial travel path of the cleaning robot for edge cleaning along the first obstacle is planned; Based on the initial travel path, determine the turning radius of the cleaning robot when it turns around the first obstacle in the initial travel path.

12. The control method according to claim 8, characterized in that, The control method further includes: The cleaning blind zone width between the cleaning component and the first obstacle is obtained when the cleaning robot turns around the first obstacle; The first preset condition includes: the width of the cleaning blind zone is less than a preset first cleaning blind zone width threshold; the second preset condition includes: the width of the cleaning blind zone is greater than the preset first cleaning blind zone width threshold and less than a preset second cleaning blind zone width threshold; the third preset condition includes: the width of the cleaning blind zone is greater than a preset third cleaning blind zone width threshold.

13. The control method according to claim 12, characterized in that, The cleaning blind zone width is the first cleaning blind zone width, and during the process of the cleaning robot moving along the turning path, the cleaning component is in the outward expansion state relative to the body, and the body is in the non-swaying state relative to the first obstacle; When the cleaning blind zone width is the second cleaning blind zone width, and when the cleaning robot travels along the turning path, the cleaning component is in the outward expansion state relative to the body, and the body is in the swaying state relative to the first obstacle; The cleaning blind zone width is the third cleaning blind zone width, and during the process of the cleaning robot traveling along the turning path, the cleaning component is in the retracted state relative to the robot body, and the robot body is in the swaying state relative to the first obstacle; wherein, the first cleaning blind zone width is smaller than the second cleaning blind zone width, and the second cleaning blind zone width is smaller than the third cleaning blind zone width.

14. The control method according to claim 1, characterized in that, The control method further includes: When the cleaning robot is performing edge cleaning along the first obstacle and the cleaning component is in the extended state, a second obstacle is detected on the initial travel path of the cleaning robot along the first obstacle; If the degree of interference between the cleaning component and the second obstacle is predicted to be a first degree of interference, the cleaning component moves from the outward expansion state relative to the body to the retracted state. If the degree of interference between the cleaning component and the second obstacle is predicted to be the second degree of interference, the cleaning component remains in the outward expansion state relative to the body, wherein the first degree of interference is greater than the second degree of interference.

15. The control method according to claim 14, characterized in that, The degree of interference between the cleaning component and the second obstacle is characterized by the predicted force between the cleaning component and the second obstacle, and is positively correlated with the predicted force; or, The degree of interference between the cleaning component and the second obstacle is characterized by the predicted turning angle of the cleaning robot on the planned path around the second obstacle, and is positively correlated with the turning angle; or, The degree of interference between the cleaning component and the second obstacle is characterized by the predicted deformation after the cleaning component comes into contact with the second obstacle, and is positively correlated with the predicted deformation. or, The degree of interference between the cleaning component and the second obstacle is characterized by the predicted rotation angle of the cleaning component toward the second position after it comes into contact with the second obstacle, and is positively correlated with the predicted rotation angle; or, The degree of interference between the cleaning component and the second obstacle is characterized by the predicted squeezing angle formed before and after the cleaning robot collides with the second obstacle, and is positively correlated with the predicted squeezing angle.

16. The control method according to claim 14, characterized in that, The detection of a second obstacle on the initial travel path of the cleaning robot along the first obstacle includes: Obtain the edge contour of the target object; Based on the edge contour, the initial travel path is updated according to the width of the fuselage and the edge distance between the fuselage and the first obstacle to obtain the updated travel path; The cleaning robot performs edge cleaning along the first obstacle according to the updated travel path; Analyze whether interference occurs between the target object and the cleaning component on the updated travel path; If interference occurs between the target object and the cleaning component, the target object is identified as the second obstacle.

17. The control method according to claim 16, characterized in that, The analysis of whether interference occurs between the target object and the cleaning component on the updated travel path includes: On the updated travel path, extract a segment of the planned path for the cleaning robot to travel in the future; Select multiple sampling points that are spaced apart from each other along the planned path; Estimate the expected position of the cleaning component when the cleaning robot reaches each of the sampling points; Evaluate whether there is any intersection between the edge contour of the target object and the outer contour of the cleaning component at each of the expected locations; If an intersection exists at any of the predicted locations, it is confirmed that interference occurs between the target object and the cleaning component. If there is no intersection at any of the predicted locations, it is confirmed that there is no interference between the target object and the cleaning component.

18. The control method according to claim 1, characterized in that, The control method further includes: Obtain the height distance between the cleaning component and the obstacle in the vertical direction; When the height distance is greater than a preset distance threshold, the fuselage is in a swaying state relative to the first obstacle.

19. The control method according to claim 1, characterized in that, The control method further includes: When the cleaning robot is performing edge cleaning along the first obstacle and the cleaning component is in the extended state, a second obstacle is detected on the initial travel path of the cleaning robot along the first obstacle; If the second obstacle exists on the travel path, analyze the characteristic information of the second obstacle; and The degree of expansion of the cleaning component relative to the body is controlled based on the characteristic information of the second obstacle.

20. The control method according to claim 19, characterized in that, The characteristic information of the second obstacle includes the type of the second obstacle; when the hardness of the second obstacle of the first type is greater than the hardness of the second obstacle of the second type, controlling the outward expansion of the cleaning component relative to the machine body according to the characteristic information of the second obstacle includes: The extent of expansion of the cleaning component when a first type of the second obstacle exists on the initial path is less than the extent of expansion of the cleaning component when a second type of the second obstacle exists on the initial path.

21. The control method according to claim 19, characterized in that, The characteristic information of the second obstacle includes the type of the second obstacle; when the hardness of the second obstacle of the first type is less than a preset hardness threshold, and the hardness of the second obstacle of the second type is greater than the preset hardness threshold, the step of controlling the outward expansion of the cleaning component relative to the machine body according to the characteristic information of the second obstacle includes: When the second obstacle is of the first type, the cleaning component maintains the outward expansion state relative to the body, or the outward expansion degree of the cleaning component relative to the body is reduced; When the obstacle is of the second type, the cleaning component is controlled to be in the retracted state relative to the body, or the outward expansion of the cleaning component relative to the body is reduced.

22. The control method according to claim 19, characterized in that, The feature information of the second obstacle includes the size of the second obstacle, which is the projected size of the second obstacle on the surface to be cleaned; When the first size is larger than the second size, controlling the outward expansion of the cleaning component relative to the body based on the characteristic information of the second obstacle includes: The extent of expansion of the cleaning component when a second obstacle of a first size is present on the initial path is less than the extent of expansion of the cleaning component when a second obstacle of a second size is present on the initial path.

23. The control method according to claim 19, characterized in that, The feature information of the second obstacle includes the size of the second obstacle, which is the projected size of the second obstacle on the surface to be cleaned; the step of controlling the outward expansion of the cleaning component relative to the machine body based on the feature information of the second obstacle includes: When the size of the second obstacle is less than a preset size threshold, the cleaning component maintains its outward expansion relative to the machine body, or the outward expansion of the cleaning component relative to the machine body is reduced. If the size of the second obstacle is greater than the preset size threshold, the cleaning component is in the retracted state relative to the body, or the outward expansion of the cleaning component relative to the body is reduced.

24. The control method according to claim 19, characterized in that, The feature information of the first obstacle includes the outline information of the first obstacle. Controlling the state of the cleaning component and the state of the machine body based on the feature information of the first obstacle includes: When it is determined from the contour information of the first obstacle that the edge of the first obstacle includes straight edge segments and corner segments, during the process of the cleaning robot traveling along the straight edge segment of the first obstacle, the cleaning component is controlled to be in the outward expansion state, and the body is in a non-swaying state. As the cleaning robot travels along the corner of the first obstacle, the cleaning component is controlled to be in the outward expansion state or the retracted state, and the robot body is in the swaying state.

25. A control method for a cleaning robot, characterized in that, The cleaning robot includes a body and a cleaning component installed on the body. The cleaning component has an outwardly expanded state at a predetermined first position and a retracted state at a predetermined second position. Compared to the retracted state, the cleaning component is further away from the center line of the body width when it is in the outwardly expanded state. The control method includes: When the cleaning robot performs edge cleaning and turns along the first obstacle and meets the second preset condition, the cleaning component is in the outward expansion state relative to the body, and the body is in the swaying state relative to the first obstacle. The swaying state is the state in which the rear end of the body repeatedly sways toward the first obstacle and back away from the first obstacle.

26. The control method according to claim 25, characterized in that, The control method further includes: When the cleaning robot performs edge cleaning and turns along the first obstacle, and a first preset condition is met, the cleaning component is in the outward-expanding state relative to the robot body, and the robot body is in a non-swaying state relative to the first obstacle; and / or, When the cleaning robot performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning component is in the outward expansion state relative to the robot body, and the robot body is in the yaw state relative to the first obstacle; and / or, When the cleaning robot performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning component is in the retracted state relative to the robot body, and the robot body is in the yaw state relative to the first obstacle.

27. The control method according to claim 26, characterized in that, The control method further includes: Obtain the turning radius of the cleaning robot as it turns around the first obstacle; The first preset condition includes: the turning radius is greater than a preset first turning radius threshold; the second preset condition includes: the turning radius is less than the preset first turning radius threshold and greater than a preset second turning radius threshold; the third preset condition includes: the turning radius is less than the preset second turning radius threshold.

28. The control method according to claim 26, characterized in that, When the turning radius is the first turning radius, and the cleaning robot is traveling along the turning path, the cleaning component is in the outward expansion state relative to the body, and the body is in the non-swaying state relative to the first obstacle; When the turning radius is the second turning radius, and the cleaning robot is moving along the turning path, the cleaning component is in the outward expansion state relative to the body, and the body is in the swaying state relative to the first obstacle; When the turning radius is the third turning radius, and the cleaning robot is traveling along the turning path, the cleaning component is in the retracted state relative to the body, and the body is in the yaw state relative to the first obstacle; wherein, the first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

29. The control method according to claim 26, characterized in that, The control method further includes: The cleaning blind zone width between the cleaning component and the first obstacle is obtained when the cleaning robot turns around the first obstacle; The first preset condition includes: the width of the cleaning blind zone is less than a preset first cleaning blind zone width threshold; the second preset condition includes: the width of the cleaning blind zone is greater than the preset first cleaning blind zone width threshold and less than a preset second cleaning blind zone width threshold; the third preset condition includes: the width of the cleaning blind zone is greater than a preset third cleaning blind zone width threshold.

30. The control method according to claim 29, characterized in that, The cleaning blind zone width is the first cleaning blind zone width, and during the process of the cleaning robot moving along the turning path, the cleaning component is in the outward expansion state relative to the body, and the body is in the non-swaying state relative to the first obstacle; When the cleaning blind zone width is the second cleaning blind zone width, and when the cleaning robot travels along the turning path, the cleaning component is in the outward expansion state relative to the body, and the body is in the swaying state relative to the first obstacle; The cleaning blind zone width is the third cleaning blind zone width, and during the process of the cleaning robot traveling along the turning path, the cleaning component is in the retracted state relative to the robot body, and the robot body is in the swaying state relative to the first obstacle; wherein, the first cleaning blind zone width is smaller than the second cleaning blind zone width, and the second cleaning blind zone width is smaller than the third cleaning blind zone width.

31. A cleaning robot, characterized in that, include: body; The drive wheel is provided on the fuselage and is used to drive the fuselage to move; A cleaning component disposed on the body of the machine is used to contact the surface to be cleaned in order to clean the surface to be cleaned; and A controller for performing the control method according to any one of claims 1-30.

32. A base station, characterized in that, For use in conjunction with the cleaning robot of claim 31, the base station includes a docking position for accommodating the cleaning robot.

33. A cleaning system, characterized in that, include: The cleaning robot of claim 31; and A base station for use with the cleaning robot of claim 31, the base station including a docking position for accommodating the cleaning robot.

34. A computer storage medium, characterized in that, The device contains a computer program that, when executed by one or more processors, implements the control method according to any one of claims 1-30.

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