Cleaning robot obstacle crossing cleaning part control method

Abstract

The invention relates to an obstacle crossing cleaning component control method for a cleaning robot. The obstacle crossing cleaning component control method of the cleaning robot comprises the steps that when the cleaning robot works along the edge, a fixed cleaning component and a telescopic cleaning component are controlled to rotate and work; after it is detected that the cleaning robot slips at the target obstacle, the cleaning robot is controlled to stop supplying water to at least one water supply component at the slipping position, and / or the cleaning robot is controlled to conduct water stain cleaning treatment on the target obstacle; the telescopic cleaning component is controlled to retract, and the cleaning robot is controlled to move to the slipping position for obstacle crossing sprint; and after it is detected that the cleaning robot succeeds in obstacle crossing, the cleaning robot is controlled to continuously work along the edge. According to the scheme, residual water stains on obstacles can be removed, slipping of the cleaning robot is reduced, and the obstacle crossing / escaping efficiency and success rate are improved.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent device technology, and in particular to a method for controlling the obstacle-crossing cleaning components of a cleaning robot. Background Technology

[0002] Cleaning robots have become increasingly versatile, capable of sweeping, vacuuming, and mopping, and need to handle a wide variety of floor surfaces. During cleaning, they may encounter slippery obstacles such as thresholds. Typically, special maneuvers are needed to control and adjust the speed of the main drive wheels to help the robot overcome these obstacles. However, the cleaning components themselves can also affect the robot's movement, potentially exacerbating slippage and causing it to fail to overcome obstacles or escape difficulties.

[0003] For example, patent document CN 113171038A discloses a method for controlling a water supply device during obstacle crossing. This method controls the water supply device based on the device's position and relative distance to the obstacle to reduce residual water stains during obstacle crossing. However, while this method can reduce some water stains, it lacks control over other cleaning components, still leaving the problem that these components may slip more during obstacle crossing. Furthermore, it does not fully utilize the assistance provided by the cleaning components to the robot's movement, leading to obstacle crossing / escape failure. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a method for controlling the obstacle-crossing cleaning components of a cleaning robot.

[0005] In a first aspect, this disclosure provides a method for controlling the obstacle-crossing cleaning components of a cleaning robot, including:

[0006] When the cleaning robot is working along the edge, control the rotation of the fixed cleaning component and the telescopic cleaning component.

[0007] After detecting that the cleaning robot has seriously slipped at the target obstacle, the cleaning robot is controlled to shut off the water supply to at least one water supply component at the slipping position, and / or the cleaning robot is controlled to perform water stain cleaning treatment on the target obstacle;

[0008] Control the retractable cleaning component to retract, and control the cleaning robot to move to the slipping position to perform obstacle-crossing sprint;

[0009] After detecting that the cleaning robot has successfully crossed the obstacle, control the cleaning robot to continue working along the edge.

[0010] In some embodiments, controlling the rotation of the fixed cleaning component and the telescopic cleaning component while the cleaning robot is working along the edge includes:

[0011] When the cleaning robot is working along the edge, the fixed cleaning component is controlled to rotate and the corresponding first water supply component is controlled to start water supply. The telescopic cleaning component is controlled to extend and rotate and the corresponding second water supply component is controlled to start water supply.

[0012] In some embodiments, the method further includes:

[0013] Obtain the real-time location information of the cleaning robot;

[0014] The actual moving distance of the cleaning robot is calculated based on the real-time location information, and the cleaning robot is judged to have slipped based on the error between the actual moving distance and the estimated moving distance.

[0015] In some embodiments, determining whether the cleaning robot has slipped based on the error between the actual travel distance and the estimated travel distance includes:

[0016] If the error is less than a preset threshold, it is determined that the cleaning robot has slightly slipped;

[0017] If the error is greater than or equal to the preset threshold, it is determined that the cleaning robot has experienced severe slippage.

[0018] In some embodiments, after detecting that the cleaning robot has slipped at a target obstacle, controlling the cleaning robot to shut off the water supply to at least one water supply component at the slipped position, and / or controlling the cleaning robot to perform water stain cleaning on the target obstacle, including:

[0019] After detecting that the cleaning robot has slightly slipped at the target obstacle, the system controls the fixed cleaning component to rotate and the first water supply component to shut off the water supply, controls the telescopic cleaning component to extend and rotate and controls the second water supply component to maintain the water supply.

[0020] In some embodiments, after detecting that the cleaning robot has slipped at a target obstacle, controlling the cleaning robot to shut off the water supply to at least one water supply component at the slipped position, and / or controlling the cleaning robot to perform water stain cleaning on the target obstacle, including:

[0021] After detecting that the cleaning robot has severely slipped at the target obstacle, the first water supply component and the second water supply component are controlled to shut off the water supply.

[0022] The drive wheel component of the cleaning robot is controlled to rotate by a preset angle relative to the initial slip direction at the slip position;

[0023] The telescopic cleaning component and the fixed cleaning component are controlled to move at least one body distance along the target obstacle to perform cleaning.

[0024] In some embodiments, controlling the retractable cleaning component to retract and controlling the cleaning robot to move to the slip position for obstacle-crossing sprint includes:

[0025] Control the retraction of the telescopic cleaning component;

[0026] Control the cleaning robot to move to the slipping position, and control the cleaning robot to sprint over the obstacle in the initial slipping direction.

[0027] In some embodiments, after detecting that the cleaning robot has successfully crossed the obstacle, controlling the cleaning robot to continue working along the edge includes:

[0028] After detecting that the cleaning robot has successfully crossed the obstacle, control the cleaning robot to continue working along the edge;

[0029] The system controls the fixed cleaning component to rotate and operate, and controls the corresponding first water supply component to start supplying water. It also controls the telescopic cleaning component to extend and rotate, and controls the corresponding second water supply component to start supplying water.

[0030] In some embodiments, after controlling the cleaning robot to move to the slip position to perform an obstacle-crossing sprint, the method further includes:

[0031] After detecting that the cleaning robot has failed to overcome an obstacle, the target tilt orientation of the cleaning robot is determined;

[0032] The fixed cleaning component and the telescopic cleaning component are controlled to tilt and rotate toward the target, so that the cleaning robot moves toward the target.

[0033] In some embodiments, controlling the fixed cleaning component and the telescopic cleaning component to rotate toward the target tilt direction, so that the cleaning robot moves toward the target tilt direction, includes:

[0034] The linear velocity direction and / or angular velocity direction of the cleaning robot are determined based on the target tilt orientation;

[0035] Based on a preset rotation direction table, determine the rotational working direction of the fixed cleaning component and the rotational working direction of the telescopic cleaning component corresponding to the linear velocity direction and / or the angular velocity direction.

[0036] The fixed cleaning component and the telescopic cleaning component are controlled to rotate in the same direction, so that the cleaning robot tilts and moves toward the target.

[0037] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0038] The obstacle-crossing cleaning component control method of this disclosed embodiment can control the fixed cleaning component and the telescopic cleaning component to rotate while the cleaning robot is working along the edge. Then, after detecting that the cleaning robot has slipped at the target obstacle, the method controls the cleaning robot to shut off the water supply to at least one water supply component and / or controls the cleaning robot to clean the water stains on the target obstacle. Then, the method controls the telescopic cleaning component to retract and controls the cleaning robot to move to the slipped position to cross the obstacle. Finally, after detecting that the cleaning robot has successfully crossed the obstacle, the method controls the cleaning robot to continue working along the edge. Thus, after detecting that the cleaning robot has slipped, the method first controls at least one water supply component to shut off the water supply and cleans the water stains on the target obstacle, then controls the telescopic cleaning component to retract and cross the obstacle, and finally controls the telescopic cleaning component to extend and continue rotating after successfully crossing the obstacle. By controlling the extension and retraction of the telescopic cleaning component, residual water stains on obstacles can be actively removed, reducing the cleaning robot's slippage and improving the efficiency and success rate of obstacle crossing / getting out of trouble.

[0039] Furthermore, the opening and closing of the water supply components of the fixed and telescopic cleaning components can be controlled to reduce water stains that pollute the ground during obstacle crossing. By adjusting the rotation strategy of the fixed and telescopic cleaning components during obstacle crossing, friction can be used to assist the cleaning robot in overcoming obstacles, thereby improving obstacle crossing / getting out of trouble efficiency and success rate. Attached Figure Description

[0040] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0041] Figure 1 A flowchart illustrating a method for controlling the obstacle-crossing cleaning components of a cleaning robot, provided in an embodiment of this disclosure;

[0042] Figure 2 This is a schematic diagram illustrating a scenario where a cleaning robot works along an edge, as provided in an embodiment of this disclosure.

[0043] Figure 3 This is a schematic diagram illustrating a scenario where a cleaning robot experiences slight slippage, as provided in an embodiment of this disclosure.

[0044] Figure 4 This is a schematic diagram illustrating a scenario where a cleaning robot experiences severe slippage, as provided in an embodiment of this disclosure.

[0045] Figure 5 This is a schematic diagram illustrating a cleaning robot performing cleaning operations according to an embodiment of the present disclosure.

[0046] Figure 6 This is a schematic diagram illustrating a cleaning robot performing obstacle-crossing sprints, as provided in an embodiment of this disclosure.

[0047] Figure 7 This is a schematic diagram illustrating a scenario where a cleaning robot continues to work along an edge, as provided in an embodiment of this disclosure.

[0048] Figure 8 A schematic diagram illustrating a scenario where a cleaning robot fails to overcome an obstacle, as provided in an embodiment of this disclosure.

[0049] Figure 9 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of this disclosure. Detailed Implementation

[0050] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0051] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0052] The term "comprising" and its variations as used herein are open-ended inclusion, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0053] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0054] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0055] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0056] To address the aforementioned problems, this disclosure provides a method for controlling the obstacle-crossing cleaning components of a cleaning robot. The following is in conjunction with… Figures 1 to 8 The method for controlling the obstacle-crossing cleaning components of a cleaning robot provided in this disclosure will be described in detail.

[0057] Figure 1 A flowchart illustrating a method for controlling the obstacle-crossing cleaning components of a cleaning robot, as provided in an embodiment of this disclosure, is shown.

[0058] In this embodiment of the disclosure, the obstacle-crossing cleaning component control method of the cleaning robot can be executed by an electronic device. This electronic device can be a cleaning robot, a workstation, various other devices, etc.

[0059] like Figure 1 As shown, the obstacle-crossing cleaning component control method of the cleaning robot may include the following steps.

[0060] S110. When the cleaning robot is working along the edge, control the rotation of the fixed cleaning component and the telescopic cleaning component.

[0061] In this embodiment of the disclosure, when the cleaning robot is working along the edge, the electronic device can control the rotation of the fixed cleaning component and the telescopic cleaning component.

[0062] Alternatively, edge-working can be used to allow the cleaning robot to perform cleaning work along the edge of an obstacle.

[0063] Alternatively, the fixed cleaning component can be a cleaning component fixed below the cleaning robot body.

[0064] Optionally, the telescopic cleaning component can be a component located on the side of the cleaning robot body that can retract to perform cleaning.

[0065] Specifically, when the cleaning robot is working along the edge, electronic devices can control the rotation of the fixed cleaning components and the telescopic cleaning components to ensure that the cleaning robot can perform cleaning.

[0066] S120. After detecting that the cleaning robot has seriously slipped at the target obstacle, control the cleaning robot to shut off the water supply to at least one water supply component and / or control the cleaning robot to clean the water stains on the target obstacle.

[0067] In this embodiment of the disclosure, after detecting that the cleaning robot has severely slipped at the target obstacle, the electronic device can control the cleaning robot to shut off the water supply to at least one water supply component at the slipping position, and / or control the cleaning robot to perform water stain cleaning on the target obstacle.

[0068] Optionally, the target obstacle can be a threshold, step, or other obstacle that the cleaning robot encounters during the cleaning process, which could cause the cleaning robot to slip.

[0069] Optionally, the slip location can be the position where the cleaning robot slips.

[0070] Optionally, the water supply component can be a component used to provide clean water for the cleaning robot during cleaning. For example, a first water supply component can provide clean water for a fixed cleaning component, and a second water supply component can provide clean water for a telescopic cleaning component.

[0071] Optionally, the preset angle can be a pre-defined angle. For example, the preset angle can be 90°.

[0072] Specifically, during the operation of the cleaning robot, if it is detected that the cleaning robot is severely slipping at the target obstacle, the electronic device can control the cleaning robot to shut off the water supply to at least one water supply component at the slipping position, and / or control the cleaning robot to perform water stain cleaning treatment on the target obstacle.

[0073] S130, Control the retractable cleaning component to retract, and control the cleaning robot to move to the slipping position to perform obstacle crossing sprint.

[0074] In this embodiment of the disclosure, the electronic device can control the retractable cleaning component to retract and control the cleaning robot to move to the slip position to perform obstacle-crossing sprint.

[0075] Specifically, the electronic device controls the cleaning robot to shut off the water supply to at least one water supply component when it is in a slippery position, and / or controls the cleaning robot to clean the water stains on the target obstacle. After that, the electronic device can control the telescopic cleaning component to retract and control the cleaning robot to move to the slippery position and sprint towards the initial slippery direction to overcome the obstacle.

[0076] S140. After detecting that the cleaning robot has successfully crossed the obstacle, control the cleaning robot to continue working along the edge.

[0077] In this embodiment of the disclosure, after detecting that the cleaning robot has successfully crossed the obstacle, the electronic device can control the cleaning robot to continue working along the edge.

[0078] Specifically, once the cleaning robot successfully overcomes the obstacle, the electronic device can control the cleaning robot to continue working along the edge, and control the telescopic cleaning component to extend, and activate the fixed cleaning component and the telescopic cleaning component to continue rotating.

[0079] Therefore, in this embodiment of the present disclosure, when the cleaning robot is working along the edge, the fixed cleaning component and the telescopic cleaning component can be controlled to rotate. Then, after the cleaning robot is detected to slip at the target obstacle, the cleaning robot is controlled to shut off the water supply to at least one water supply component at the slip position, and / or the cleaning robot is controlled to clean the water stains on the target obstacle. Then, the telescopic cleaning component is controlled to retract, and the cleaning robot is controlled to move to the slip position to overcome the obstacle. Finally, after the cleaning robot successfully overcomes the obstacle, the cleaning robot is controlled to continue working along the edge. Thus, after the cleaning robot is detected to slip, at least one water supply component is first controlled to shut off the water supply and clean the water stains on the target obstacle. Then, the telescopic cleaning component is controlled to retract to overcome the obstacle. Finally, after successfully overcoming the obstacle, the telescopic cleaning component is controlled to extend and continue rotating. By controlling the extension and retraction of the telescopic cleaning component, residual water stains on obstacles can be actively removed, reducing the cleaning robot's slippage and improving the efficiency and success rate of obstacle overcoming / getting out of trouble.

[0080] Optionally, S110 may specifically include: when the cleaning robot is working along the edge, controlling the fixed cleaning component to rotate and controlling the corresponding first water supply component to start water supply, controlling the telescopic cleaning component to extend and rotate and controlling the corresponding second water supply component to start water supply.

[0081] In this embodiment of the present disclosure, when the cleaning robot is working along the edge, the electronic device can control the fixed cleaning component to rotate and control the corresponding first water supply component to start water supply, and control the telescopic cleaning component to extend and rotate and control the corresponding second water supply component to start water supply.

[0082] Optionally, the first water supply component can be the water supply component corresponding to the fixed cleaning component.

[0083] Optionally, the second water supply component can be the water supply component corresponding to the telescopic cleaning component.

[0084] Specifically, when the cleaning robot is working along the edge, the electronic equipment can simultaneously activate the fixed cleaning component and the telescopic cleaning component to rotate, and activate the corresponding first water supply component and second water supply component to supply water, thereby cleaning the gaps and ensuring the cleaning effect.

[0085] Figure 2 This illustration shows a scenario of a cleaning robot working along an edge, according to an embodiment of the present disclosure.

[0086] like Figure 2 As shown, when the cleaning robot is working along the edge, the fixed cleaning component (2) can be controlled to rotate and the corresponding first water supply component can be controlled to turn on the water supply (gray), and the telescopic cleaning component (1) can be controlled to extend and rotate and the corresponding second water supply component can be controlled to turn on the water supply (gray).

[0087] Optionally, the obstacle-crossing cleaning component control method of the cleaning robot may further include: acquiring the real-time position information of the cleaning robot; calculating the actual moving distance of the cleaning robot based on the real-time position information; and determining whether the cleaning robot has slipped based on the error between the actual moving distance and the estimated moving distance.

[0088] In this embodiment of the disclosure, the electronic device can acquire the real-time location information of the cleaning robot.

[0089] Specifically, electronic devices can obtain the real-time location information of the cleaning robot through positioning devices.

[0090] Furthermore, the electronic device can calculate the actual moving distance of the cleaning robot based on the real-time location information, and determine whether the cleaning robot has slipped based on the error between the actual moving distance and the estimated moving distance.

[0091] Optionally, the actual moving distance can be the distance that the cleaning robot actually moves during its work.

[0092] Optionally, the estimated travel distance can be a pre-estimated distance that the cleaning robot can travel.

[0093] Specifically, the electronic device can calculate the actual moving distance of the cleaning robot using real-time location information, and calculate the error between the actual moving distance and the estimated moving distance, and use this error to determine whether the cleaning robot has slipped.

[0094] Next, based on the error between the actual moving distance and the estimated moving distance, it is determined whether the cleaning robot has slipped. Specifically, this can include: if the error is less than a preset threshold, it is determined that the cleaning robot has slightly slipped; if the error is greater than or equal to the preset threshold, it is determined that the cleaning robot has severely slipped.

[0095] In some embodiments of this disclosure, if the error is less than a preset threshold, the electronic device can determine that the cleaning robot has slightly slipped. Specifically, the electronic device can determine that the cleaning robot has slightly slipped when it determines that the error between the actual moving distance and the estimated moving distance is less than the preset threshold.

[0096] In other embodiments of this disclosure, if the error is greater than or equal to the preset threshold, it is determined that the cleaning robot has experienced severe slippage. Specifically, the electronic device can determine that the cleaning robot has experienced severe slippage when the error between the actual travel distance and the estimated travel distance is greater than or equal to the preset threshold.

[0097] Optionally, S120 may specifically include: after detecting that the cleaning robot has slightly slipped at the target obstacle, controlling the fixed cleaning component to rotate and control the first water supply component to shut off the water supply, controlling the telescopic cleaning component to extend and rotate and control the second water supply component to maintain the water supply.

[0098] In this embodiment of the disclosure, after detecting that the cleaning robot has slightly slipped at the target obstacle, the electronic device can control the fixed cleaning component to rotate and operate, control the first water supply component to shut off the water supply, control the telescopic cleaning component to extend and rotate, and control the second water supply component to maintain the water supply.

[0099] Figure 3 The illustration shows a scenario where a cleaning robot experiences slight slippage, as provided in an embodiment of this disclosure.

[0100] like Figure 3 As shown, when the cleaning robot is performing cleaning work, if it slightly slips on a target obstacle (such as a threshold or step), the electronic device can control the fixed cleaning component (2) to rotate and control the corresponding first water supply component to shut off the water supply (black), and control the telescopic cleaning component (1) to extend and rotate and control the corresponding second water supply component to turn on the water supply (gray). This ensures the lateral cleaning effect while preventing the cleaning robot from leaving too much water on the target obstacle, thus avoiding further slippage.

[0101] Optionally, S120 may specifically include: after detecting that the cleaning robot has severely slipped at the target obstacle, controlling the first water supply component and the second water supply component to shut off the water supply; controlling the drive wheel component of the cleaning robot to rotate the preset angle relative to the initial slipping direction at the slipping position; and controlling the telescopic cleaning component and the fixed cleaning component to move at least one body distance along the target obstacle to perform cleaning.

[0102] In this embodiment of the disclosure, after detecting that the cleaning robot has severely slipped at the target obstacle, the electronic device can control the first water supply component and the second water supply component to shut off the water supply, and control the drive wheel component of the cleaning robot to rotate by the preset angle relative to the initial slip direction at the slip position, such as rotating 90° relative to the initial slip direction at the slip position, and control the telescopic cleaning component on the side and the fixed cleaning component to move at least one body distance along the target obstacle to perform cleaning.

[0103] Figure 4 The illustration shows a scenario where a cleaning robot experiences severe slippage, as provided in an embodiment of this disclosure.

[0104] like Figure 4 As shown, after the electronic device detects that the cleaning robot has severely slipped at the target obstacle, it controls the first water supply component and the second water supply component to shut off the water supply (black), and controls the drive wheel component of the cleaning robot to rotate the preset angle (90°) relative to the initial slip direction at the slip position, so that the telescopic cleaning component is aligned with the target obstacle, wipes away the water stains around the target obstacle, and controls the telescopic cleaning component on the side and the fixed cleaning component to move at least one body distance along the target obstacle to perform cleaning.

[0105] Figure 5 This illustration shows a scenario of a cleaning robot performing cleaning operations according to an embodiment of the present disclosure.

[0106] like Figure 5 As shown, the electronic device can keep the telescopic cleaning component extended and shut off the water supply from the first and second water supply components (black), controlling the cleaning robot to move at least one body distance along the target obstacle for cleaning (for example, if the cleaning robot has a diameter of 0.36m, it needs to travel at least 0.36m), thereby ensuring that water stains on the target obstacle within the coverage area of ​​the cleaning robot are wiped away.

[0107] Optionally, S130 may specifically include: controlling the retractable cleaning component to retract; controlling the cleaning robot to move to the slip position; and controlling the cleaning robot to sprint towards the initial slip direction to overcome the obstacle.

[0108] In this embodiment of the disclosure, the electronic device can control the retractable cleaning component to retract, control the cleaning robot to move to the slip position, and control the cleaning robot to sprint towards the initial slip direction to overcome obstacles.

[0109] Figure 6 This illustration shows a scenario of a cleaning robot performing obstacle-crossing sprints, as provided in an embodiment of this disclosure.

[0110] like Figure 6 As shown, after the electronic device controls the cleaning robot to wipe away water stains on the target obstacle using the telescopic cleaning component, it can control the telescopic cleaning component (1) to retract and control the cleaning robot to move to the slip position, and control the cleaning robot to sprint towards the initial slip direction to overcome the obstacle.

[0111] Therefore, by controlling the retraction of the telescopic cleaning components, the volume occupied by the cleaning robot is reduced, thereby effectively avoiding collisions during the sprint.

[0112] Optionally, S140 may specifically include: after detecting that the cleaning robot has successfully crossed the obstacle, controlling the cleaning robot to continue working along the edge; controlling the fixed cleaning component to rotate and control the corresponding first water supply component to start water supply; controlling the telescopic cleaning component to extend and rotate and control the corresponding second water supply component to start water supply.

[0113] In this embodiment of the disclosure, after detecting that the cleaning robot has successfully crossed the obstacle, the electronic device can control the cleaning robot to continue working along the edge, control the fixed cleaning component to rotate and work, control the corresponding first water supply component to start water supply, control the telescopic cleaning component to extend and rotate and work, and control the corresponding second water supply component to start water supply.

[0114] Figure 7 This illustration shows a scenario where a cleaning robot continues to work along an edge, according to an embodiment of the present disclosure.

[0115] like Figure 7 As shown, after the electronic device detects that the cleaning robot has successfully crossed the obstacle, it can control the cleaning robot to continue working along the edge, control the fixed cleaning component (2) to rotate and control the corresponding first water supply component to turn on water supply (gray), control the telescopic cleaning component (1) to extend and rotate and control the corresponding second water supply component to turn on water supply (gray).

[0116] Optionally, after controlling the cleaning robot to move to the slip position to perform obstacle-crossing sprint, the method further includes: after detecting that the cleaning robot has failed to cross the obstacle, determining the target tilt orientation of the cleaning robot; controlling the fixed cleaning component and the telescopic cleaning component to rotate in the target tilt orientation, so that the cleaning robot moves in the target tilt orientation.

[0117] In this embodiment of the disclosure, after detecting that the cleaning robot has failed to overcome an obstacle, the electronic device can determine the target tilt orientation of the cleaning robot and control the fixed cleaning component and the telescopic cleaning component to rotate in the target tilt orientation, so that the cleaning robot moves in the target tilt orientation.

[0118] Figure 8 This illustration shows a scenario where a cleaning robot fails to overcome an obstacle, according to an embodiment of this disclosure.

[0119] like Figure 8 As shown, when the electronic device detects that the cleaning robot has failed to overcome the obstacle, that is, when the cleaning robot is stuck on the target obstacle due to slipping, the electronic device can first determine the target tilt direction of the cleaning robot (i.e., the direction of arrow 3), and then control the fixed cleaning component and the telescopic cleaning component to rotate in the target tilt direction, so that the cleaning robot moves in the target tilt direction.

[0120] Optionally, controlling the fixed cleaning component and the telescopic cleaning component to rotate towards the target tilting direction, so that the cleaning robot moves towards the target tilting direction, may specifically include: determining the linear velocity direction and / or angular velocity direction of the cleaning robot based on the target tilting direction; determining the rotational working direction of the fixed cleaning component and the rotational working direction of the telescopic cleaning component corresponding to the linear velocity direction and / or the angular velocity direction based on a preset rotation direction table; and controlling the fixed cleaning component and the telescopic cleaning component to rotate according to the rotational working directions of the fixed cleaning component and the telescopic cleaning component, so that the cleaning robot moves towards the target tilting direction.

[0121] In this embodiment of the disclosure, the electronic device can determine the linear velocity direction and / or angular velocity direction of the cleaning robot based on the target tilt orientation. Then, based on a preset rotation direction table, it determines the rotational working direction of the fixed cleaning component and the rotational working direction of the telescopic cleaning component corresponding to the linear velocity direction and / or the angular velocity direction. According to the rotational working direction of the fixed cleaning component and the rotational working direction of the telescopic cleaning component, it controls the fixed cleaning component and the telescopic cleaning component to rotate, so that the cleaning robot moves towards the target tilt orientation.

[0122] The preset rotation direction table can be:

[0123] Table 1: Preset Rotation Direction Table

[0124] Direction of linear velocity Angular velocity direction Fixed cleaning components Telescopic cleaning parts Facing forward To the left Rotate forward Rotate to the left Facing forward To the right Rotate forward Rotate to the right towards the rear To the left Rotate backward Rotate to the left towards the rear To the right Rotate backward Rotate to the right

[0125] Specifically, the electronic device can determine the rotational working direction of the fixed cleaning component and the rotational working direction of the telescopic cleaning component based on the linear velocity direction and / or angular velocity direction of the cleaning robot in the aforementioned preset rotational direction table. In this way, the electronic device can control the fixed cleaning component and the telescopic cleaning component to rotate according to their respective rotational working directions, so that the cleaning robot tilts and moves toward the target.

[0126] Continue to refer to Figure 8 The target tilt direction of the cleaning robot is in the direction of arrow 3. The electronic device can determine the linear velocity direction and / or angular velocity direction of the cleaning robot based on the target tilt direction. For example, if the angular velocity direction is to the right and / or the linear velocity direction is forward, the corresponding rotational working direction of the fixed cleaning component (rotating forward) and the rotational working direction of the telescopic cleaning component (rotating to the right, i.e., in the direction of arrow 4) can be determined. This increases the lateral friction force on the ground, helping the cleaning robot move towards the target tilt direction, thereby increasing the probability of the cleaning robot successfully overcoming obstacles.

[0127] Figure 9 A schematic diagram of the structure of a cleaning robot provided in an embodiment of this disclosure is shown.

[0128] In some embodiments of this disclosure, Figure 9 The cleaning robot shown may include workstations, various devices, etc.

[0129] like Figure 9 As shown, the cleaning robot may also include a processor 901 and a memory 902 storing computer program instructions.

[0130] Specifically, the processor 901 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0131] Memory 902 may include a large-capacity storage for information or instructions. For example, and not limitingly, memory 902 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 902 may include removable or non-removable (or fixed) media. Where appropriate, memory 902 may be internal or external to the integrated gateway device. In a particular embodiment, memory 902 is a non-volatile solid-state memory. In a particular embodiment, memory 902 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0132] The processor 901 reads and executes computer program instructions stored in the memory 902 to perform the steps of the obstacle-crossing cleaning component control method for a cleaning robot provided in this embodiment of the present disclosure.

[0133] In one example, the cleaning robot may also include a transceiver 903 and a bus 904. Wherein, as... Figure 9 As shown, the processor 901, memory 902 and transceiver 903 are connected via bus 904 and communicate with each other.

[0134] Bus 904 includes hardware, software, or both. For example, and not limitingly, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 904 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0135] This disclosure also provides a computer-readable storage medium that can store a computer program. When the computer program is executed by a processor, the processor enables the processor to implement the obstacle-crossing cleaning component control method for the cleaning robot provided in this disclosure.

[0136] The aforementioned storage medium may include, for example, a memory 902 containing computer program instructions, which can be executed by the processor 901 of the cleaning robot to complete the obstacle-crossing cleaning component control method of the cleaning robot provided in this embodiment. Optionally, the storage medium may be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), compact disc ROM (CD-ROM), magnetic tape, floppy disk, and optical data storage device.

[0137] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0138] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling the obstacle-crossing cleaning components of a cleaning robot, characterized in that, include: When the cleaning robot is working along the edge, control the rotation of the fixed cleaning component and the telescopic cleaning component. After detecting that the cleaning robot slips at the target obstacle, the robot is controlled to shut off the water supply to at least one water supply component at the slip position, and / or the robot is controlled to clean the water stains on the target obstacle. Control the retractable cleaning component to retract, and control the cleaning robot to move to the slipping position to perform obstacle-crossing sprint; After detecting that the cleaning robot has successfully crossed the obstacle, control the cleaning robot to continue working along the edge.

2. The method according to claim 1, characterized in that, The control of the rotation of the fixed cleaning component and the telescopic cleaning component when the cleaning robot is working along the edge includes: When the cleaning robot is working along the edge, the fixed cleaning component is controlled to rotate and the corresponding first water supply component is controlled to start water supply. The telescopic cleaning component is controlled to extend and rotate and the corresponding second water supply component is controlled to start water supply.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the real-time location information of the cleaning robot; The actual moving distance of the cleaning robot is calculated based on the real-time location information, and the cleaning robot is judged to have slipped based on the error between the actual moving distance and the estimated moving distance.

4. The method according to claim 3, characterized in that, The step of determining whether the cleaning robot has slipped based on the error between the actual moving distance and the estimated moving distance includes: If the error is less than a preset threshold, it is determined that the cleaning robot has slightly slipped. If the error is greater than or equal to the preset threshold, it is determined that the cleaning robot has experienced severe slippage.

5. The method according to claim 2, characterized in that, The step of controlling the cleaning robot to shut off the water supply to at least one water supply component at the slipped position after detecting that the cleaning robot has slipped at the target obstacle includes: After detecting that the cleaning robot has slightly slipped at the target obstacle, the system controls the fixed cleaning component to rotate and the first water supply component to shut off the water supply, controls the telescopic cleaning component to extend and rotate and controls the second water supply component to maintain the water supply.

6. The method according to claim 2, characterized in that, The step of controlling the cleaning robot to shut off the water supply to at least one water supply component at the slipped position after detecting that the cleaning robot has slipped at the target obstacle includes: After detecting that the cleaning robot has severely slipped at the target obstacle, the first water supply component and the second water supply component are controlled to shut off the water supply. The drive wheel component of the cleaning robot is controlled to rotate by a preset angle relative to the initial slip direction at the slip position; The telescopic cleaning component and the fixed cleaning component are controlled to move at least one body distance along the target obstacle to clean water stains.

7. The method according to claim 6, characterized in that, The control of retracting the telescopic cleaning component and moving the cleaning robot to the slipping position for obstacle-crossing sprint includes: Control the retraction of the telescopic cleaning component; Control the cleaning robot to move to the slipping position, and control the cleaning robot to sprint over the obstacle in the initial slipping direction.

8. The method according to claim 5, characterized in that, After detecting that the cleaning robot has successfully crossed the obstacle, controlling the cleaning robot to continue working along the edge includes: After detecting that the cleaning robot has successfully crossed the obstacle, control the cleaning robot to continue working along the edge; The system controls the fixed cleaning component to rotate and operate, and controls the corresponding first water supply component to start supplying water. It also controls the telescopic cleaning component to extend and rotate, and controls the corresponding second water supply component to start supplying water.

9. The method according to claim 1, characterized in that, After controlling the cleaning robot to move to the slippery position to perform an obstacle-crossing sprint, the method further includes: After detecting that the cleaning robot has failed to overcome an obstacle, the target tilt orientation of the cleaning robot is determined; The fixed cleaning component and the telescopic cleaning component are controlled to tilt and rotate toward the target, so that the cleaning robot moves toward the target.

10. The method according to claim 9, characterized in that, The control of the fixed cleaning component and the telescopic cleaning component to tilt and rotate toward the target, so that the cleaning robot moves tilted toward the target, includes: The linear velocity direction and / or angular velocity direction of the cleaning robot are determined based on the target tilt orientation; Based on a preset rotation direction table, determine the rotational working direction of the fixed cleaning component and the rotational working direction of the telescopic cleaning component corresponding to the linear velocity direction and / or the angular velocity direction. The fixed cleaning component and the telescopic cleaning component are controlled to rotate in the same direction, so that the cleaning robot tilts and moves toward the target.

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