Cleaning robot control method and cleaning robot

Abstract

The invention discloses a cleaning robot control method and a cleaning robot, the cleaning robot comprises a cleaning robot body, a laser ranging unit and an obstacle recognition unit, the control method comprises the steps that in the advancing process of the cleaning robot, the obstacle recognition unit is controlled to detect obstacles in real time, and obstacle information is obtained; if the obstacle information changes and the laser ranging unit does not detect the obstacle, judging that the obstacle is a suspended obstacle; and the real-time obstacle distance between the obstacle recognition unit and the obstacle is obtained, and the lifting state of the laser ranging unit, the rotating angle of the obstacle recognition unit and / or the cleaning mode of the cleaning robot are / is controlled according to the real-time obstacle distance. According to the cleaning robot, through linkage of the obstacle recognition unit and the laser ranging unit, the recognition distance and height of the suspended obstacle are increased, the recognition precision is improved, and the trafficability and the cleaning coverage rate of the cleaning robot are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and in particular to a cleaning robot control method and a cleaning robot. Background Technology

[0002] Currently, cleaning robots on the market are typically equipped with laser diode scanners (LDS) to achieve comprehensive environmental perception and path planning. However, traditional LDS devices are mostly fixed and protruding from the top of the robot body, which increases the overall height of the robot. This results in poor maneuverability when facing suspended obstacles such as under tables and beds, making it unable to enter these areas for cleaning and thus reducing the cleaning coverage.

[0003] To address this issue, some cleaning robots have adopted a retractable obstacle detection system (LDS). These robots, working in conjunction with obstacle recognition systems, lower their LDS when they detect low, suspended obstacles, allowing them to pass smoothly. Existing obstacle recognition systems are mainly divided into contact and non-contact types. Contact systems require a physical collision between the robot and the obstacle to be triggered, lacking predictive capabilities and easily leading to the robot getting stuck. While non-contact systems can detect obstacles in advance, their obstacle recognition devices are usually fixed to the robot, only detecting one side of the obstacle. They have a lower recognition rate for small obstacles such as table legs and chair legs, and their recognition distance is limited.

[0004] Therefore, how to optimize the linkage strategy between LDS lifting and obstacle recognition to achieve a longer recognition distance, higher recognition accuracy, and further improve the passability and cleaning coverage of cleaning robots is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a cleaning robot control method and a cleaning robot, thereby increasing the recognition distance of suspended obstacles, improving the recognition accuracy of small obstacles, and thus improving the cleaning coverage of the cleaning robot.

[0006] The present invention provides a cleaning robot control method, including a cleaning robot body, a laser ranging unit movably mounted on the cleaning robot body, and an obstacle recognition unit rotatably mounted on the cleaning robot body. The control method includes: As the cleaning robot moves forward, the obstacle recognition unit is controlled to detect obstacles in real time and obtain obstacle information; If the obstacle information changes and the laser ranging unit does not detect the obstacle, the obstacle is determined to be a suspended obstacle. The system acquires the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controls the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance.

[0007] Furthermore, the obstacle information includes the obstacle slope, the obstacle entrance position, and the robot's forward distance. The step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: While the laser ranging unit is in the raised state and moving forward below the obstacle, the slope of the obstacle, the entrance position of the obstacle, and the distance the robot moves forward are acquired. The real-time height between the horizontal plane where the bottom of the obstacle is located and the horizontal plane where the top of the cleaning robot body is located is calculated based on the slope of the obstacle, the entrance position of the obstacle, and the robot's forward distance. The lifting and lowering state of the laser ranging unit is adjusted according to the real-time height and the preset height threshold, wherein the preset height threshold is the minimum height value that the cleaning robot can pass through when the laser ranging unit is raised.

[0008] Furthermore, it also includes: When the laser ranging unit is in the raised state, the obstacle recognition unit is controlled to form a first angle with the top surface of the cleaning robot body; When the laser ranging unit is in the lowered state, the obstacle recognition unit is controlled to rotate to form a second angle with the top surface of the cleaning robot body, wherein the second angle is used to measure the real-time height after the laser ranging unit is lowered.

[0009] Furthermore, the real-time obstacle distance includes a first distance between the obstacle recognition unit and a first surface of the obstacle perpendicular to the direction of travel of the cleaning robot. The step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: If the obstacle information changes, obtain the first distance; If the first distance is greater than or equal to a preset first distance threshold, the laser ranging unit is controlled to rise, wherein the first distance threshold is the distance at which the laser ranging unit is allowed to rise and pass through the obstacle; If the first distance is greater than or equal to a preset second distance threshold, but less than the first distance threshold, the laser ranging unit is controlled to descend, wherein the second distance threshold is the distance at which the laser ranging unit is allowed to descend and pass through the obstacle.

[0010] Furthermore, the step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: Obtain the distance between the third surface of the obstacle and the first surface, and determine the suspension depth of the obstacle, wherein the third surface is parallel to the first surface; If the real-time obstacle distance is greater than or equal to the first distance threshold and the suspension depth is greater than or equal to a preset depth threshold, the laser ranging unit is controlled to rise and enter below the obstacle, wherein the depth threshold is the side distance between the laser ranging unit and the cleaning robot body; If the first distance is greater than or equal to the second distance threshold, less than the first distance threshold, and the suspension depth is greater than or equal to the depth threshold, the laser ranging unit is controlled to descend and enter below the obstacle.

[0011] Furthermore, the step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: If the first distance is greater than or equal to the second distance threshold, and the suspension depth is less than the depth threshold, the cleaning robot is controlled to enter the edge cleaning mode.

[0012] Furthermore, the step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: If the first distance is less than the second distance threshold, the cleaning robot is controlled to move forward to a third distance threshold preset from the obstacle and then enter the edge cleaning mode.

[0013] Furthermore, adjusting the lifting state of the laser ranging unit based on the real-time height and a preset height threshold includes: If the real-time height is greater than or equal to a preset first height threshold, the laser ranging unit is controlled to remain in the raised state, wherein the first height threshold is the minimum height at which the laser ranging unit is allowed to rise and pass through the obstacle; If the real-time height is less than the first height threshold, the laser ranging unit is controlled to descend.

[0014] Furthermore, adjusting the lifting state of the laser ranging unit based on the real-time height and a preset height threshold includes: If the real-time height is greater than or equal to a preset first height threshold, and the distance traveled by the cleaning robot is greater than a preset fourth distance threshold, the laser ranging unit is controlled to rise. If the real-time height is greater than a preset second height threshold and less than the first height threshold, the laser ranging unit is controlled to remain in a lowered state, wherein the second height threshold is the minimum height at which the laser ranging unit is allowed to lower to pass through the obstacle; If the real-time height is equal to the second height threshold, the cleaning robot is controlled to enter the edge cleaning mode.

[0015] The technical solution of the present invention also provides a cleaning robot, comprising: The cleaning robot itself; A laser ranging unit is mounted on the cleaning robot body in a height-adjustable manner; An obstacle recognition unit is rotatably mounted on the cleaning robot body; A controller configured to perform the cleaning robot control method as described above.

[0016] The above technical solution offers the following advantages: The laser ranging unit is vertically and rotatably mounted on the cleaning robot body, while the obstacle recognition unit is rotatably mounted on the same body. This allows a single obstacle recognition unit to identify both the height and width of an obstacle, avoiding the need for at least two separate units required by existing cleaning robots, thus reducing costs. Furthermore, when an obstacle is determined to be suspended, the real-time obstacle distance between the obstacle recognition unit and the obstacle is obtained. Based on this distance, the lifting and lowering states of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot are controlled. This multi-posture linkage compensation mechanism enables the obstacle recognition unit to detect the first surface of the obstacle earlier and more accurately when the laser ranging unit is raised, and to directly and accurately measure the height of the second surface of the suspended obstacle when the laser ranging unit is lowered. This improves recognition accuracy and achieves optimal obstacle perception in different operating modes, significantly enhancing the robot's passability and cleaning coverage. Attached Figure Description

[0017] The disclosure of this invention will become more readily understood by referring to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings: Figure 1 A flowchart illustrating a cleaning robot control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the laser ranging unit in the raised state in an embodiment of the present invention; Figure 3 for Figure 2 The left view; Figure 4 This is a schematic diagram of the laser ranging unit in the lowered state in an embodiment of the present invention; Figure 5 for Figure 4 The left view; Figure 6 This is a schematic diagram of the first side of the cleaning robot detecting an obstacle in an embodiment of the present invention; Figure 7 This is a schematic diagram of the obstacle recognition unit approaching the second side of an obstacle in an embodiment of the present invention; Figure 8 This is a schematic diagram illustrating how the laser ranging unit can rise and pass through suspended obstacles in an embodiment of the present invention; Figure 9 This is a schematic diagram illustrating the laser ranging unit needing to descend and pass through a suspended obstacle in an embodiment of the present invention; Figure 10 This is a schematic diagram illustrating the cleaning robot's detection of semi-suspended obstacles in an embodiment of the present invention; Figure 11 This is a schematic diagram of the laser ranging unit rising and passing through a suspended obstacle in an embodiment of the present invention; Figure 12 This is another schematic diagram of the laser ranging unit rising and passing through a suspended obstacle in an embodiment of the present invention; Figure 13 This is a schematic diagram of the laser ranging unit descending through a suspended obstacle in an embodiment of the present invention; Figure 14 This is another schematic diagram of the laser ranging unit descending to pass through a suspended obstacle in an embodiment of the present invention; Figure 15 This is a schematic diagram of the laser ranging unit entering a semi-suspended obstacle in the raised state in an embodiment of the present invention; Figure 16 This is another schematic diagram of the laser ranging unit entering a semi-suspended obstacle in the raised state in an embodiment of the present invention; Figure 17 This is a schematic diagram of the laser ranging unit entering a semi-suspended obstacle in the lowered state in an embodiment of the present invention; Figure 18 This is another schematic diagram of the laser ranging unit entering a semi-suspended obstacle in the lowered state in an embodiment of the present invention; Figure 19 This is a schematic diagram of the laser ranging unit entering a suspended obstacle and performing edge cleaning mode in the raised state in an embodiment of the present invention; Figure 20 This is another schematic diagram of the laser ranging unit entering a suspended obstacle and performing edge cleaning mode in the raised state of this invention embodiment; Figure 21 This is a schematic diagram of a cleaning robot approaching a suspended obstacle and performing edge cleaning in an embodiment of the present invention; Figure 22 This is another schematic diagram of the cleaning robot approaching a suspended obstacle and performing edge cleaning in an embodiment of the present invention; Figure 23 This is a schematic diagram of the cleaning robot approaching a semi-suspended obstacle and performing edge cleaning in an embodiment of the present invention; Figure 24 This is another schematic diagram of the cleaning robot approaching a semi-suspended obstacle and performing edge cleaning in an embodiment of the present invention; Figure 25 This is a schematic diagram of the laser ranging unit entering and adjusting below a suspended obstacle with a high inlet and low outlet in the raised state in an embodiment of the present invention. Figure 26 This is another schematic diagram of the laser ranging unit entering and adjusting below a suspended obstacle with a high inlet and a low outlet in the raised state of an embodiment of the present invention. Figure 27 This is a schematic diagram of the laser ranging unit entering and adjusting below a suspended obstacle with a high inlet and low outlet in the lowered state in an embodiment of the present invention. Figure 28 This is another schematic diagram of the laser ranging unit entering and adjusting below a suspended obstacle with a high inlet and a low outlet in the lowered state in an embodiment of the present invention. Figure 29 This is another schematic diagram of the laser ranging unit entering and adjusting below a suspended obstacle with a high inlet and low outlet in the lowered state in an embodiment of the present invention. Figure 30 This is a schematic diagram illustrating the laser ranging unit entering and adjusting below a suspended obstacle with a low inlet and high outlet in a lowered state, as described in an embodiment of the present invention. Figure 31 This is another schematic diagram of the laser ranging unit entering and adjusting below a suspended obstacle with a low inlet and a high outlet in the lowered state of an embodiment of the present invention. Figure 32 This is a schematic diagram illustrating the laser ranging unit continuing to pass through the suspended obstacle while remaining in a lowered state in an embodiment of the present invention; Figure 33 This is another schematic diagram illustrating the laser ranging unit continuing to pass through the suspended obstacle while remaining in a lowered state in an embodiment of the present invention; Figure 34 This is a schematic diagram of the laser ranging unit continuing to pass through the suspended obstacle and perform edge cleaning in an embodiment of the present invention while maintaining its lowered state. Figure 35 This is another schematic diagram of the laser ranging unit continuing to pass through the suspended obstacle and perform edge cleaning in an embodiment of the present invention; Figure 36 This is a schematic diagram of the laser ranging unit in the embodiment of the present invention returning to normal working state after passing through a suspended obstacle; Figure 37 This is another schematic diagram of the laser ranging unit in the embodiment of the present invention returning to normal working state after passing through a suspended obstacle; Figure 38 This is a schematic diagram illustrating the laser ranging unit returning to normal operation after passing through a suspended obstacle in a descending state, as described in an embodiment of the present invention. Figure 39 This is another schematic diagram of the laser ranging unit returning to normal working state after passing through a suspended obstacle in an embodiment of the present invention; Figure 40 This is a schematic diagram of the structure of a cleaning robot provided in one embodiment of the present invention. Detailed Implementation

[0018] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0019] It is readily understood that, based on the technical solution of this invention, various structural and implementation methods can be interchanged by those skilled in the art without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of the invention.

[0020] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. They are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive.

[0021] Figure 1 As shown, an embodiment of the present invention provides a cleaning robot control method, comprising: Step S101: During the forward movement of the cleaning robot, the obstacle recognition unit is controlled to detect obstacles in real time and obtain obstacle information; Step S102: If the obstacle information changes and the laser ranging unit does not detect the obstacle, the obstacle is determined to be a suspended obstacle; Step S103: Obtain the real-time obstacle distance between the obstacle recognition unit and the obstacle, and control the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot according to the real-time obstacle distance.

[0022] Specifically, the cleaning robot control method of the present invention is applied to cleaning robots, such as... Figures 2-5 As shown, the cleaning robot includes a cleaning robot body 10, a laser ranging unit 11 that is vertically and flexibly mounted on the cleaning robot body 10, and an obstacle recognition unit 12 that is rotatably mounted on the cleaning robot body 10. The obstacle recognition unit 12 can be located in front of or behind the laser ranging unit 10. For ease of obstacle detection, in this embodiment, the obstacle recognition unit 12 is preferably located in front of the laser ranging unit 10. The laser ranging unit 11 is used for navigation and positioning. The laser ranging unit 11 can be raised and lowered along the vertical direction of the cleaning robot body 10 via a lifting mechanism, meaning the laser ranging unit 11 has both raised and lowered states. The obstacle recognition unit 12 is used to detect the distance and height of obstacles. The obstacle recognition unit 12 can rotate around the cleaning robot body 10 via a rotating mechanism. Preferably, to ensure system reliability, sensors are installed at both the lifting mechanism of the laser ranging unit 11 and the rotating mechanism of the obstacle recognition unit 12 to monitor their status in real time.

[0023] like Figure 2 and Figure 3 As shown, when the laser ranging unit 11 is in the raised state, the height of the laser ranging unit 11 protruding from the top surface of the cleaning robot body is h1. At this time, the obstacle recognition unit 12 forms a first angle θ1 with the top surface of the cleaning robot body 10, enabling the obstacle recognition unit 12 to identify the height of the obstacle. The distance between the laser ranging unit 11 and the front end of the cleaning robot body 10 is L01, and the distance between the laser ranging unit 11 and the side of the cleaning robot body 10 is L02. The length of the cleaning robot body 10 is L03, and the width is L04. Figure 4 and Figure 5As shown, when the laser ranging unit 11 is in the lowered state, it descends to be at least flush with the top surface of the cleaning robot body 10. The obstacle recognition unit 12 rotates accordingly, forming a second angle θ2 with the top surface of the cleaning robot body 10, allowing the obstacle recognition unit 12 to identify the width of the obstacle. This achieves a multi-posture linkage compensation mechanism, enabling the obstacle recognition unit to detect the first surface A of the obstacle (e.g., when the laser ranging unit is raised (first angle θ1)) earlier and more accurately. Figure 6 and Figure 7 As shown), when the laser ranging unit descends (second included angle θ2), it can directly and accurately measure the height Hx of the second surface B at the bottom of the suspended obstacle (as shown). Figure 10 As shown in the figure, this allows for optimal obstacle perception in different working modes.

[0024] The working principles of the laser ranging unit 11 and the obstacle recognition unit 12 in this application are the same as those in the prior art and are not improvements of this application, so they will not be described in detail here.

[0025] Preferably, the laser ranging unit 11 is an LDS.

[0026] Preferably, the obstacle recognition unit 12 is an obstacle recognition sensor.

[0027] It should be noted that the "front and back" referred to in this application are based on the direction of movement of the cleaning robot (e.g., ...). Figure 2 As shown by the arrows, the direction of movement closer to the cleaning robot is forward, and the direction of movement further away from the cleaning robot is backward.

[0028] When the cleaning robot starts working, the controller executes step S101: during the cleaning robot's forward movement, it controls the obstacle recognition unit 12 to detect obstacles in real time and obtain obstacle information. Specifically, the obstacle recognition unit 12 operates continuously during the cleaning robot's movement. Because there is a first angle θ1 between the obstacle recognition unit 12 and the top surface of the cleaning robot, the distance measurement of the first surface A of an obstacle perpendicular to the cleaning robot's direction of movement is very accurate. However, for the second surface B of an obstacle parallel to the cleaning robot's direction of movement, the measurement data error is larger. This invention utilizes this characteristic for preliminary obstacle identification. For example... Figure 6 As shown, a deceleration distance threshold L11 is set. When the obstacle recognition unit 12 detects that the real-time distance between the cleaning robot and the obstacle in front is less than L11 during the forward movement of the cleaning robot, the cleaning robot performs a deceleration action regardless of the type of obstacle, so as to leave reaction time for subsequent fine judgment and control.

[0029] Then, if the obstacle information changes and the laser ranging unit 11 does not detect the obstacle, then the obstacle is determined to be a suspended obstacle. Specifically, after the cleaning robot decelerates, the obstacle recognition unit 12 continues to detect obstacles, judging in real time whether the obstacle information has changed, and whether the laser ranging unit 11 has detected the obstacle. Figure 10 As shown, when obstacle information changes, if the laser ranging unit 11 does not detect the third surface C of the obstacle within its scanning range (i.e., the laser ranging unit 11 has no echo signal within the corresponding height range), then the obstacle is determined to be a suspended obstacle. The change in obstacle information can be caused by the first derivative or rate of change of the detection data of the obstacle recognition unit 12 exceeding a preset abrupt change threshold, indicating that the object detected by the obstacle recognition unit 12 has switched from a distant background to the edge of a nearby obstacle.

[0030] Next, step S103 is executed to obtain the real-time obstacle distance between the obstacle recognition unit 12 and the obstacle, and the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit and / or the cleaning mode of the cleaning robot are controlled according to the real-time obstacle distance.

[0031] In this embodiment, a laser ranging unit is flexibly mounted on the cleaning robot body, and an obstacle recognition unit is rotatably mounted on the same body. This allows a single obstacle recognition unit to identify both the height and width of an obstacle, avoiding the need for at least two separate units required by existing cleaning robots, thus reducing costs. Furthermore, when an obstacle is determined to be suspended, the real-time obstacle distance between the obstacle recognition unit and the obstacle is obtained. Based on this distance, the lifting and lowering states of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot are controlled. This multi-posture linkage compensation mechanism enables the obstacle recognition unit to detect the first surface of the obstacle earlier and more accurately when the laser ranging unit is raised, and to directly and accurately measure the height of the second surface of the suspended obstacle when the laser ranging unit is lowered. This improves recognition accuracy and achieves optimal obstacle perception in different operating modes, significantly enhancing the robot's passability and cleaning coverage.

[0032] In one embodiment, the obstacle information includes obstacle slope, obstacle entrance position, and robot forward distance. The step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: While the laser ranging unit is in the raised state and moving forward below the obstacle, the slope of the obstacle, the entrance position of the obstacle, and the distance the robot moves forward are acquired. Calculate the real-time height between the horizontal plane where the bottom of the obstacle is located and the horizontal plane where the top of the cleaning robot body is located according to the slope of the obstacle, the entrance position of the obstacle, and the forward distance of the robot. Adjust the lifting state of the laser ranging unit according to the real-time height and a preset height threshold, where the preset height threshold is the minimum height value that allows the cleaning robot to pass when the laser ranging unit rises.

[0033] Specifically, when the cleaning robot travels under a suspended obstacle with the laser ranging unit 11 in the raised state, due to the occlusion of the laser ranging unit 11, the obstacle recognition unit 12 cannot directly and accurately measure the height of the second surface B at the bottom of the suspended obstacle. In this embodiment, by extracting the slope of the obstacle, the entrance position of the obstacle (i.e., the junction position between the first surface A and the second surface B), and the forward distance of the robot from the obstacle information detected by the obstacle recognition unit 12, the real-time height Hx of the second surface B is calculated. Specifically, it can be calculated based on geometric relationships: Assume that the obstacle recognition unit 12 scans at a fixed angle, and the rate of change of the distance (slope) it detects is related to the inclination angle of the second surface B of the obstacle. Combining the forward distance of the robot starting from the entrance position, the real-time height of the second surface B relative to the robot chassis can be deduced. For example, if the obstacle recognition unit 12 detects a distance D at a certain moment, the robot has traveled a distance Δx from the entrance point P0 (Hx0), and the detection angle is α, then the real-time height Hx can be calculated through trigonometric functions or linear interpolation using D, Δx, α, and the slope of the detection data.

[0034] If the calculated Hx ≥ H2 (the height threshold that allows the laser ranging unit 11 to rise), the cleaning robot continues to move forward with the laser ranging unit 11 in the raised state (as Figure 25 and Figure 26 ).

[0035] If the calculated Hx < H2, it means that the height in front has decreased, and the cleaning robot will immediately perform the action of lowering the laser ranging unit 11 to adapt to the change (as Figures 27 to 29 ).

[0036] In this embodiment, when the laser ranging unit is raised and the robot is moving forward under a suspended obstacle, the real-time height of the second surface at the bottom of the suspended obstacle is calculated according to the slope of the obstacle, the entrance position of the obstacle, and the forward distance of the robot, effectively solving the problem that the occlusion of the laser ranging unit causes the inability to directly measure the height of the second surface of the suspended obstacle, ensuring that the cleaning robot can accurately perceive the height of the obstacle throughout the entire passage, and significantly improving the traffic safety and efficiency of the cleaning robot in a complex and low space.

[0037] In one of the embodiments, it further includes: When the laser ranging unit is in the raised state, the obstacle recognition unit is controlled to form a first angle with the top surface of the cleaning robot body; When the laser ranging unit is in the lowered state, the obstacle recognition unit is controlled to rotate to form a second angle with the top surface of the cleaning robot body, wherein the second angle is used to measure the real-time height after the laser ranging unit is lowered.

[0038] Specifically, such as Figure 2 and Figure 3 As shown, when the laser ranging unit 11 is in the raised state, the height of the laser ranging unit 11 protruding from the top surface of the cleaning robot body is h1. At this time, the obstacle recognition unit 12 forms a first angle θ1 with the top surface of the cleaning robot body 10, enabling the obstacle recognition unit 12 to identify the height of the obstacle. The distance between the laser ranging unit 11 and the front end of the cleaning robot body 10 is L01, and the distance between the laser ranging unit 11 and the side of the cleaning robot body 10 is L02. The length of the cleaning robot body 10 is L03, and the width is L04. Figure 4 and Figure 5 As shown, when the laser ranging unit 11 is in the lowered state, it descends to be at least flush with the top surface of the cleaning robot body 10. The obstacle recognition unit 12 rotates accordingly, forming a second angle θ2 with the top surface of the cleaning robot body 10, allowing the obstacle recognition unit 12 to identify the width of the obstacle. This achieves a multi-posture linkage compensation mechanism, enabling the obstacle recognition unit to detect the first surface A of the obstacle (e.g., when the laser ranging unit is raised (first angle θ1)) earlier and more accurately. Figure 6 and Figure 7 As shown), when the laser ranging unit descends (second included angle θ2), it can directly and accurately measure the height Hx of the second surface B at the bottom of the suspended obstacle (as shown). Figure 10 (As shown).

[0039] In this embodiment, the obstacle recognition unit can automatically adjust the angle between the laser ranging unit and the top surface of the cleaning robot body according to the lifting and lowering state of the laser ranging unit. This ensures that the first side of the obstacle can be detected earlier and more accurately when the laser ranging unit is raised, and the height of the second side of the obstacle can be directly and accurately measured when the laser ranging unit is lowered. Thus, the optimal obstacle perception effect can be obtained in different working modes.

[0040] In one embodiment, the real-time obstacle distance includes a first distance between the obstacle recognition unit and a first surface of the obstacle perpendicular to the forward direction of the cleaning robot. The step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: If the obstacle information changes, obtain the first distance; If the first distance is greater than or equal to a preset first distance threshold, the laser ranging unit is controlled to rise, wherein the first distance threshold is the distance at which the laser ranging unit is allowed to rise and pass through the obstacle; If the first distance is greater than or equal to a preset second distance threshold, but less than the first distance threshold, the laser ranging unit is controlled to descend, wherein the second distance threshold is the distance at which the laser ranging unit is allowed to descend and pass through the obstacle.

[0041] Specifically, such as Figure 8 As shown, if the first distance L1x is greater than or equal to the preset first distance threshold L12 (which corresponds to the minimum ground clearance H2 that allows the laser ranging unit 11 to rise and pass), then it is determined that the cleaning robot can safely pass through with the laser ranging unit 11 in the raised state. At this time, the cleaning robot will maintain or switch to the raised state of the laser ranging unit 11, preparing to enter the suspended area (such as...). Figures 11-12 ).

[0042] like Figure 9 As shown, if the first distance L1x is less than the first distance threshold L12 but greater than or equal to the preset second distance threshold L13 (which corresponds to the minimum ground clearance H3 that allows the laser ranging unit 11 to descend and pass), then it is determined that the cleaning robot needs to lower the laser ranging unit 11 to pass. At this time, the cleaning robot will execute the action of lowering the laser ranging unit 11, preparing to enter the suspended area (such as...). Figures 13-14 ).

[0043] In this embodiment, In one embodiment, acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: Obtain the distance between the third surface of the obstacle and the first surface, and determine the suspension depth of the obstacle, wherein the third surface is parallel to the first surface; If the real-time obstacle distance is greater than or equal to the first distance threshold and the suspension depth is greater than or equal to a preset depth threshold, the laser ranging unit is controlled to rise and enter below the obstacle, wherein the depth threshold is the side distance between the laser ranging unit and the cleaning robot body; If the first distance is greater than or equal to the second distance threshold, less than the first distance threshold, and the suspension depth is greater than or equal to the depth threshold, the laser ranging unit is controlled to descend and enter below the obstacle.

[0044] Specifically, such as Figure 10 As shown, if the laser ranging unit 11 detects the third surface C of the obstacle at the same time as the obstacle information changes, the obstacle is determined to be in a semi-suspended state. At this time, the suspension depth L3x = L2x - L1x can be calculated.

[0045] If the first distance L1x ≥ the first distance threshold L12 and the suspension depth L3x ≥ the depth threshold L02 (L02 is the distance from the side of the cleaning robot to the laser ranging unit 11, representing the minimum lateral space required for the cleaning robot to safely enter), control the laser ranging unit 11 to rise and enter the suspended area (e.g., Figure 15 , Figure 16 ).

[0046] If the first distance threshold L12 > the first distance L1x ≥ the second distance threshold L13 and the suspension depth L3x ≥ the depth threshold L02, control the laser ranging unit 11 to descend into the suspension area (e.g., ...). Figure 17 , Figure 18 ).

[0047] This embodiment can identify and measure two sides of an obstacle and determine the obstacle's suspended depth, thereby gaining a more accurate grasp of the shape of suspended obstacles. This allows the cleaning robot to automatically control whether to raise or lower the laser ranging unit to pass through, greatly improving its ability to pass through various suspended obstacles and its adaptability. This effectively expands the robot's cleaning range and improves the overall cleaning coverage.

[0048] In one embodiment, acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: If the first distance is greater than or equal to the second distance threshold, and the suspension depth is less than the depth threshold, the cleaning robot is controlled to enter the edge cleaning mode.

[0049] Specifically, if the first distance L1x ≥ the second distance threshold L13 but the suspension depth L3x < the depth threshold L02, it means that the lateral space in the suspended area is insufficient for the entire body of the cleaning robot to enter. In this case, the cleaning robot will switch to edge cleaning mode and move along the edge of the obstacle (e.g., ...). Figure 19 , Figure 20 ).

[0050] In this embodiment, the cleaning robot is able to perform edge cleaning, which further improves its ability to pass through various suspended obstacles and its adaptability, effectively expanding the robot's cleaning range and improving the overall cleaning coverage.

[0051] In one embodiment, acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: If the first distance is less than the second distance threshold, the cleaning robot is controlled to move forward to a third distance threshold preset from the obstacle and then enter the edge cleaning mode.

[0052] Specifically, if the first distance L1x is less than the second distance threshold L13, it means the obstacle is too low and cannot be passed even if the laser ranging unit 11 is lowered. In this case, the cleaning robot will advance to a preset third distance threshold (safe distance) L14 from the obstacle and then switch to edge cleaning mode for cleaning (e.g., ...). Figures 21-24 ).

[0053] In this embodiment, by accurately judging and successfully passing through various previously inaccessible suspended areas, the robot's cleaning range is effectively expanded, and the overall cleaning coverage is improved.

[0054] In one embodiment, adjusting the lifting state of the laser ranging unit based on the real-time height and a preset height threshold includes: If the real-time height is greater than or equal to a preset first height threshold, the laser ranging unit is controlled to remain in the raised state, wherein the first height threshold is the minimum height at which the laser ranging unit is allowed to rise and pass through the obstacle; If the real-time height is less than the first height threshold, the laser ranging unit is controlled to descend.

[0055] Specifically, if the real-time height Hx ≥ the first height threshold H2 (the height threshold that allows the laser ranging unit 11 to rise), the laser ranging unit 11 is controlled to continue moving forward while remaining in the raised state (e.g., Figure 25 , Figure 26 ).

[0056] If the real-time altitude Hx < the first altitude threshold H2, it indicates that the altitude ahead has decreased. The laser ranging unit 11 will immediately perform a descent to adapt to the change (e.g., ...). Figures 27-29 ).

[0057] In this embodiment, by accurately judging and successfully passing through various previously inaccessible suspended areas, the robot's cleaning range is effectively expanded, and the overall cleaning coverage is improved.

[0058] In one embodiment, adjusting the lifting state of the laser ranging unit based on the real-time height and a preset height threshold includes: If the real-time height is greater than or equal to a preset first height threshold, and the distance traveled by the cleaning robot is greater than a preset fourth distance threshold, the laser ranging unit is controlled to rise. If the real-time height is greater than a preset second height threshold and less than the first height threshold, the laser ranging unit is controlled to remain in a lowered state, wherein the second height threshold is the minimum height at which the laser ranging unit is allowed to lower to pass through the obstacle; If the real-time height is equal to the second height threshold, the cleaning robot is controlled to enter the edge cleaning mode.

[0059] Specifically, if the real-time height Hx is greater than or equal to the first height threshold H2, and the cleaning robot has already traveled a distance of the fourth distance threshold L4, it indicates that the space in front is high enough. Therefore, the laser ranging unit 11 is raised to obtain a better navigation field of view (e.g., ...). Figure 30 , Figure 31 ).

[0060] If the first height threshold H2 > real-time height Hx > second height threshold H3, it indicates that the height is appropriate, and the laser ranging unit 11 is controlled to continue advancing while maintaining the LDS in a lowered state (e.g., Figure 32 , Figure 33 ).

[0061] If the real-time height Hx equals the second height threshold H3, it means that the limit area at that height has been reached, and the cleaning robot switches to edge cleaning mode (e.g., ...). Figure 34 , Figure 35 ).

[0062] In this embodiment, by accurately judging and successfully passing through various previously inaccessible suspended areas, the robot's cleaning range is effectively expanded, and the overall cleaning coverage is improved.

[0063] In one embodiment, the method further includes: If the obstacle recognition unit fails to recognize the obstacle and the cleaning robot travels a distance greater than a preset distance while passing through the obstacle, it is determined that the cleaning robot has left the obstacle. If the laser ranging unit is in the raised state when leaving, the cleaning robot is controlled to accelerate to normal speed; If the laser ranging unit is in a lowered state when leaving, first control the laser ranging unit to rise, and then control the cleaning robot to accelerate to normal speed.

[0064] Specifically, if the obstacle recognition unit 12 fails to recognize the obstacle for a period of time during the process of passing through the obstacle, and the cleaning robot travels a distance exceeding the preset distance L6, it is determined that the cleaning robot has completely left the obstacle area.

[0065] If the laser ranging unit 11 is in the raised state when leaving, the cleaning robot will accelerate back to its normal cleaning speed (e.g., ...). Figure 36 , Figure 37 ).

[0066] If the laser ranging unit 11 is in a lowered state when leaving, first control the laser ranging unit 11 to rise, restore full navigation capability, and then accelerate to normal speed (e.g., Figure 38 , Figure 39 ).

[0067] Furthermore, when the cleaning robot first traverses an obstacle, it associates and marks key information from the entire process, such as the obstacle's entrance location, height, depth, and the passage strategy employed, with map data. When the cleaning robot works again, it can access this information to plan its path and actions in advance, thus achieving more efficient and intelligent cleaning operations.

[0068] like Figure 40 As shown, an embodiment of the present invention provides a cleaning robot, comprising: Cleaning robot body 10; A laser ranging unit 11 is vertically and flexibly mounted on the cleaning robot body 10; An obstacle recognition unit 12 is rotatably mounted on the cleaning robot body 10 and located in front of the laser ranging unit 11. A controller configured to perform the cleaning robot control method as described above.

[0069] In this embodiment, a laser ranging unit is flexibly mounted on the cleaning robot body, and an obstacle recognition unit is rotatably mounted on the same body. This allows a single obstacle recognition unit to identify both the height and width of an obstacle, avoiding the need for at least two separate units required by existing cleaning robots, thus reducing costs. Furthermore, when an obstacle is determined to be suspended, the real-time obstacle distance between the obstacle recognition unit and the obstacle is obtained. Based on this distance, the lifting and lowering states of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot are controlled. This multi-posture linkage compensation mechanism enables the obstacle recognition unit to detect the first surface of the obstacle earlier and more accurately when the laser ranging unit is raised, and to directly and accurately measure the height of the second surface of the suspended obstacle when the laser ranging unit is lowered. This improves recognition accuracy and achieves optimal obstacle perception in different operating modes, significantly enhancing the robot's passability and cleaning coverage.

[0070] The above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that, The cleaning robot includes a cleaning robot body, a laser ranging unit that can be lifted and lowered on the cleaning robot body, and an obstacle recognition unit that can be rotatably mounted on the cleaning robot body. The control method includes: As the cleaning robot moves forward, the obstacle recognition unit is controlled to detect obstacles in real time and obtain obstacle information; If the obstacle information changes and the laser ranging unit does not detect the obstacle, the obstacle is determined to be a suspended obstacle. The system acquires the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controls the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance.

2. The cleaning robot control method as described in claim 1, characterized in that, The obstacle information includes the obstacle slope, the obstacle entrance position, and the robot's forward distance. The step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: While the laser ranging unit is in the raised state and moving forward below the obstacle, the slope of the obstacle, the entrance position of the obstacle, and the distance the robot moves forward are acquired. The real-time height between the horizontal plane where the bottom of the obstacle is located and the horizontal plane where the top of the cleaning robot body is located is calculated based on the slope of the obstacle, the entrance position of the obstacle, and the robot's forward distance. The lifting and lowering state of the laser ranging unit is adjusted according to the real-time height and the preset height threshold, wherein the preset height threshold is the minimum height value that the cleaning robot can pass through when the laser ranging unit is raised.

3. The cleaning robot control method as described in claim 2, characterized in that, Also includes: When the laser ranging unit is in the raised state, the obstacle recognition unit is controlled to form a first angle with the top surface of the cleaning robot body; When the laser ranging unit is in the lowered state, the obstacle recognition unit is controlled to rotate to form a second angle with the top surface of the cleaning robot body, wherein the second angle is used to measure the real-time height after the laser ranging unit is lowered.

4. The cleaning robot control method as described in claim 1, characterized in that, The real-time obstacle distance includes a first distance between the obstacle recognition unit and a first surface of the obstacle perpendicular to the direction of travel of the cleaning robot. The process of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: If the obstacle information changes, obtain the first distance; If the first distance is greater than or equal to a preset first distance threshold, the laser ranging unit is controlled to rise, wherein the first distance threshold is the distance at which the laser ranging unit is allowed to rise and pass through the obstacle; If the first distance is greater than or equal to a preset second distance threshold, but less than the first distance threshold, the laser ranging unit is controlled to descend, wherein the second distance threshold is the distance at which the laser ranging unit is allowed to descend and pass through the obstacle.

5. The cleaning robot control method as described in claim 4, characterized in that, The step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: Obtain the distance between the third surface of the obstacle and the first surface, and determine the suspension depth of the obstacle, wherein the third surface is parallel to the first surface; If the real-time obstacle distance is greater than or equal to the first distance threshold and the suspension depth is greater than or equal to a preset depth threshold, the laser ranging unit is controlled to rise and enter below the obstacle, wherein the depth threshold is the side distance between the laser ranging unit and the cleaning robot body; If the first distance is greater than or equal to the second distance threshold, less than the first distance threshold, and the suspension depth is greater than or equal to the depth threshold, the laser ranging unit is controlled to descend and enter below the obstacle.

6. The cleaning robot control method as described in claim 5, characterized in that, The step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: If the first distance is greater than or equal to the second distance threshold, and the suspension depth is less than the depth threshold, the cleaning robot is controlled to enter the edge cleaning mode.

7. The cleaning robot control method as described in claim 5, characterized in that, The step of acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and / or the cleaning mode of the cleaning robot based on the real-time obstacle distance, includes: If the first distance is less than the second distance threshold, the cleaning robot is controlled to move forward to a third distance threshold preset from the obstacle and then enter the edge cleaning mode.

8. The cleaning robot control method as described in claim 2, characterized in that, The step of adjusting the lifting state of the laser ranging unit based on the real-time height and a preset height threshold includes: If the real-time height is greater than or equal to a preset first height threshold, the laser ranging unit is controlled to remain in the raised state, wherein the first height threshold is the minimum height at which the laser ranging unit is allowed to rise and pass through the obstacle; If the real-time height is less than the first height threshold, the laser ranging unit is controlled to descend.

9. The cleaning robot control method as described in claim 2, characterized in that, The step of adjusting the lifting state of the laser ranging unit based on the real-time height and a preset height threshold includes: If the real-time height is greater than or equal to a preset first height threshold, and the distance traveled by the cleaning robot is greater than a preset fourth distance threshold, the laser ranging unit is controlled to rise. If the real-time height is greater than a preset second height threshold and less than the first height threshold, the laser ranging unit is controlled to remain in a lowered state, wherein the second height threshold is the minimum height at which the laser ranging unit is allowed to lower to pass through the obstacle; If the real-time height is equal to the second height threshold, the cleaning robot is controlled to enter the edge cleaning mode.

10. A cleaning robot, characterized in that, include: The cleaning robot itself; A laser ranging unit is mounted on the cleaning robot body in a height-adjustable manner; An obstacle recognition unit is rotatably mounted on the cleaning robot body; A controller configured to perform the cleaning robot control method as described in any one of claims 1-9.

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