Cleaning method and device, cleaning robot and computer readable storage medium

Abstract

The invention relates to a cleaning method and device, a cleaning robot and a computer readable storage medium. The method is applied to the cleaning robot and comprises the steps that when a suspended obstacle exists in a to-be-cleaned area, structural detection is conducted on the suspended obstacle, and the structural type of the suspended obstacle is determined; and when the height from the lowest point outside the suspended obstacle to the ground is larger than the height of a cleaning robot body and smaller than a preset height threshold value, and the structure type is a preset suspended obstacle structure type, the lower area of the suspended obstacle is cleaned based on a preset surrounding type cleaning mode. By adopting the method, a cleaning blind area caused by identification defects can be avoided, and the comprehensiveness and effectiveness of cleaning are improved.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a cleaning method, apparatus, cleaning robot, and computer-readable storage medium. Background Technology

[0002] In home cleaning scenarios, cleaning robots have become a common cleaning device, and their cleaning effect on obstacles such as under beds and coffee tables directly affects the overall cleaning experience.

[0003] Currently, cleaning robots typically determine whether to clean obstacle areas based on the relationship between the obstacle's height from the ground and a preset height threshold. This preset height threshold is a standard that allows the cleaning robot to safely enter the obstacle's interior and complete the entire cleaning process, provided it is higher than the robot's own height. Therefore, when the lowest point of the obstacle is higher than the preset height threshold, the robot will directly enter and clean the area inside the obstacle; when the lowest point is lower than the threshold, the robot will avoid it.

[0004] However, in real-world cleaning scenarios, there are numerous obstacles with irregular shapes (such as inverted conical decorative pieces on bed frames). Due to limitations in current detection accuracy and control strategies, cleaning robots cannot accurately identify their cleanable areas, or may abandon cleaning those areas due to conservative obstacle avoidance. Therefore, the traditional cleaning method of cleaning robots directly leads to an expansion of cleaning blind spots in the area to be cleaned, reducing the overall cleaning effect of the robot and failing to meet the user's cleaning needs. Summary of the Invention

[0005] Therefore, it is necessary to provide a cleaning method, device, cleaning robot, and computer-readable storage medium to address the technical problem that the irregular structure of the area to be cleaned cannot be accurately identified, resulting in a larger cleaning blind spot.

[0006] In a first aspect, this application provides a cleaning method applied to a cleaning robot, the method comprising:

[0007] When there are suspended obstacles in the area to be cleaned, structural detection is performed on the suspended obstacles to determine their structural type;

[0008] When the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold, and the structure type is a preset suspended obstacle structure type, the lower area of ​​the suspended obstacle is cleaned based on a preset surround cleaning mode.

[0009] In one embodiment, the preset suspended obstacle structure type is an internally unobstructed type;

[0010] The outer surface thickness of the suspended obstacle of the type with no internal obstruction is less than a preset thickness threshold, and / or the outer surface thickness of the suspended obstacle of the type with no internal obstruction is less than a preset ratio of the total thickness of the obstacle entity.

[0011] In one embodiment, the method further includes:

[0012] When the structure type is internal occlusion type, the edge area of ​​the suspended obstacle is cleaned based on the obstacle avoidance mode.

[0013] In one embodiment, the method further includes:

[0014] When the lowest point of the suspended obstacle is higher than the preset height threshold, and the structure type is a preset suspended obstacle structure type, the interior of the suspended obstacle is entered and the lower area of ​​the suspended obstacle is cleaned based on the bow-shaped route cleaning mode.

[0015] In one embodiment, when the lowest point of the suspended obstacle is higher than the height of the cleaning robot's body but lower than a preset height threshold, and the structure type is a preset suspended obstacle structure type, cleaning the lower area of ​​the suspended obstacle based on a preset surround cleaning mode includes:

[0016] When the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold, and the structure type is an unobstructed internal type, based on a preset surround cleaning mode, the cleanable area around the suspended obstacle is cleaned around the projection of the lowest point of the unobstructed internal type onto the ground.

[0017] In one embodiment, the method further includes:

[0018] After completing the cleaning of the cleanable area around the suspended obstacle, the internal ground clearance of the suspended obstacle of the type with no internal obstruction is detected;

[0019] When the internal height above the ground is greater than the preset height threshold, the system enters the interior of the suspended obstacle based on the non-lowest point position of the suspended obstacle, and cleans the lower area of ​​the suspended obstacle based on the bow-shaped route cleaning mode.

[0020] In one embodiment, the lowest point of the suspended obstacle is the geometric point of the suspended obstacle that is closest to the ground in the vertical direction; if the suspended obstacle has multiple geometric points at different distances from the ground in the vertical direction, the method further includes:

[0021] When the lowest point of the suspended obstacle is less than the height of the cleaning robot body, and the structure type is an internal unobstructed type, the vertical height of other geometric points of the same suspended obstacle within a preset length range is detected.

[0022] If there are other adjacent geometric points of the same suspended obstacle whose ground height is less than the height of the cleaning robot body, and / or the lateral width between the lowest point and the other adjacent geometric points is less than the width of the cleaning robot body, then the edge area of ​​the suspended obstacle is cleaned based on the obstacle avoidance mode.

[0023] If the height of other geometric points adjacent to the same suspended obstacle is greater than the height of the cleaning robot's body, and the lateral width between the lowest point and the other adjacent geometric points is greater than the width of the cleaning robot's body, then the area between the other adjacent geometric points is used as the entrance to enter the interior of the suspended obstacle and clean the lower area of ​​the suspended obstacle.

[0024] In one embodiment, the step of cleaning the cleanable area around the suspended obstacle based on a preset surround cleaning pattern, centered on the projection of the lowest point of the unobstructed internal suspended obstacle onto the ground, includes:

[0025] Based on the phased surrounding cleaning strategy in the preset surrounding cleaning mode, the cleaning robot is instructed to move along a phased trajectory and at a phased speed, with the projection of the lowest point of the internal unobstructed type of suspended obstacle onto the ground as the center, and complete the cleaning during the movement.

[0026] In one embodiment, the phased surrounding cleaning strategy based on a preset surrounding cleaning mode instructs the cleaning robot to move along a phased trajectory and at a phased speed, centered on the projection of the lowest point of the internal unobstructed type suspended obstacle onto the ground, and to complete the cleaning during the movement, including:

[0027] A polygonal or arc-shaped trajectory with a first radius is planned using the projection of the lowest point of the suspended obstacle onto the ground as the center point, and a preliminary circular cleaning of the cleanable area is completed at a first traveling speed.

[0028] The first radius is reduced by a preset adjustment ratio and the first travel speed is reduced simultaneously. The cleanable area is cleaned by a circular or arc-shaped trajectory based on the reduced second radius and the reduced second travel speed. During the circular movement, a reference calibration is performed in real time or periodically to maintain the circular trajectory.

[0029] In one embodiment, the process of performing circumferential cleaning of the cleanable area based on a polygonal or arcuate trajectory with a reduced second radius and a decelerated second travel speed includes:

[0030] The cleaning component of the cleaning robot is controlled to be in an outward expansion state, and the cleaning component in the outward expansion state covers the cleaning area below the lowest point of the outside of the suspended obstacle.

[0031] During the process of performing circling and reciprocating cleaning along a broken line or arc trajectory with a second travel speed, the cleaning component based on the outward expansion state performs full-coverage cleaning of the lower area of ​​the suspended obstacle.

[0032] In one embodiment, the method further includes:

[0033] During the circular cleaning phase of executing the first radius line trajectory or arc trajectory and the first travel speed, the cleaning robot's cleaning components are controlled to perform a circular preliminary cleaning of the cleanable area at a first cleaning speed.

[0034] During the stage of performing the circular reciprocating cleaning with the second radius of the broken line trajectory or arc trajectory and the second travel speed, the rotation speed of the cleaning parts of the cleaning robot is controlled to be increased to the second cleaning speed to perform circular reciprocating cleaning on the cleanable area;

[0035] The first cleaning speed is less than the second cleaning speed.

[0036] In one embodiment, the phased surrounding cleaning strategy based on a preset surrounding cleaning mode instructs the cleaning robot to move along a phased trajectory and at a phased speed, centered on the projection of the lowest point of the internal unobstructed type suspended obstacle onto the ground, and to complete the cleaning during the movement, including:

[0037] A cleaning path is planned around the projected lowest point of the suspended obstacle onto the ground. During a single journey around the suspended obstacle, the first half of the path adopts a broken line or arc trajectory with a first radius, and the corresponding area is cleaned at a first travel speed.

[0038] During the latter half of the circumferential path cleaning process, the first radius is reduced based on a preset adjustment ratio to form a broken line trajectory or arc trajectory with a second radius. Simultaneously, the first travel speed is reduced to the second travel speed to complete the cleaning of the corresponding area. Furthermore, benchmark calibration is performed in real time or periodically during a single circumferential journey to maintain the circumferential trajectory.

[0039] In one embodiment, the step of performing structural detection on the suspended obstacle to determine the structural type of the suspended obstacle includes:

[0040] The cleaning robot body is controlled to approach the suspended obstacle from the outer side of the suspended obstacle at a preset distance, and the structural data of the suspended obstacle is collected by the ranging sensor;

[0041] Based on the structural data, the structural type of the suspended obstacle is determined.

[0042] Secondly, this application also provides a cleaning device applied to a cleaning robot, the device comprising:

[0043] The determination module is used to detect the structure of the suspended obstacle when there is a suspended obstacle in the area to be cleaned, and to determine the structural type of the suspended obstacle;

[0044] The first control module is used to clean the lower area of ​​the suspended obstacle based on a preset surround cleaning mode when the lowest point of the external part of the suspended obstacle is greater than the height of the cleaning robot body but less than a preset height threshold, and the structure type is a preset suspended obstacle structure type.

[0045] Thirdly, this application also provides a cleaning robot, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0046] When there are suspended obstacles in the area to be cleaned, structural detection is performed on the suspended obstacles to determine their structural type;

[0047] When the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold, and the structure type is a preset suspended obstacle structure type, the lower area of ​​the suspended obstacle is cleaned based on a preset surround cleaning mode.

[0048] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0049] When there are suspended obstacles in the area to be cleaned, structural detection is performed on the suspended obstacles to determine their structural type;

[0050] When the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold, and the structure type is a preset suspended obstacle structure type, the lower area of ​​the suspended obstacle is cleaned based on a preset surround cleaning mode.

[0051] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0052] When there are suspended obstacles in the area to be cleaned, structural detection is performed on the suspended obstacles to determine their structural type;

[0053] When the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold, and the structure type is a preset suspended obstacle structure type, the lower area of ​​the suspended obstacle is cleaned based on a preset surround cleaning mode.

[0054] The aforementioned cleaning method, apparatus, cleaning robot, and computer-readable storage medium, wherein the method is applied to the cleaning robot, accurately identifies the structural type of suspended obstacles, effectively distinguishes between suspended obstacles with and without internal obstructions, and combines the matching judgment of the lowest point of the suspended obstacle's exterior above the ground with the robot's height and a preset height threshold, executes a preset surround cleaning mode on the lower area of ​​the suspended obstacle that meets the conditions. This can accurately locate the cleanable area of ​​the suspended obstacle, avoid cleaning blind spots caused by identification defects, improve the comprehensiveness and effectiveness of cleaning, and avoid invalid cleaning actions through dual judgment of structural type and height, reducing the risk of collision between the cleaning robot and the suspended obstacle, while making the cleaning operation more targeted, taking into account both cleaning effect and equipment operation safety. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of the internal structure of a cleaning robot in one embodiment;

[0057] Figure 2 This is a flowchart illustrating a cleaning method in one embodiment;

[0058] Figure 3 This is a schematic diagram of two structural types of a suspended obstacle in one embodiment;

[0059] Figure 4 This is a structural diagram of an internally unobstructed type of suspended obstacle included in a specific entity in one embodiment;

[0060] Figure 5This is a structural schematic diagram of a suspended obstacle of the type with no internal obstruction in one embodiment;

[0061] Figure 6 This is a flowchart illustrating an obstacle avoidance cleaning method in one embodiment when the structure type is internal occlusion and / or the lowest point of the suspended obstacle is less than the height of the cleaning robot's body.

[0062] Figure 7 This is a flowchart illustrating a cleaning method in one embodiment when the structure type is internally unobstructed and the lowest point of the suspended obstacle is higher than a preset height threshold.

[0063] Figure 8 This is a flowchart illustrating a cleaning method in one embodiment where the structure type is internally unobstructed, and the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold.

[0064] Figure 9 This is a flowchart illustrating the steps of cleaning the lower area of ​​a suspended obstacle based on a bow-shaped route cleaning pattern in one embodiment.

[0065] Figure 10 This is a flowchart illustrating a cleaning method for a suspended obstacle that is internally unobstructed and has multiple geometric points at different distances from the ground in the vertical direction, according to one embodiment.

[0066] Figure 11 This is a flowchart illustrating a phased surrounding cleaning method in one embodiment;

[0067] Figure 12 This is a flowchart illustrating the steps of cleaning using a phased, surround-style cleaning pattern in one embodiment.

[0068] Figure 13 This is a structural diagram of a suspended obstacle of the type with no internal obstruction in a cleaning scenario in one embodiment;

[0069] Figure 14 This is a scene diagram surrounding the cleaning scene in a specific cleaning scenario in one embodiment;

[0070] Figure 15 This is a flowchart illustrating a method for fully covering the lower area of ​​a suspended obstacle using a cleaning component in an expanded state, as described in one embodiment.

[0071] Figure 16 This is a flowchart illustrating the cleaning steps of controlling the cleaning speed of the cleaning component in a phased, surround cleaning mode, as shown in one embodiment.

[0072] Figure 17This is a flowchart illustrating the cleaning steps of controlling the cleaning speed of the cleaning component in stages under a single-round cleaning mode in one embodiment.

[0073] Figure 18 This is a flowchart illustrating the steps for determining the structural type of a suspended obstacle in one embodiment;

[0074] Figure 19 This is a structural block diagram of a cleaning device in one embodiment. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0076] Where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0077] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0078] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0079] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0080] In the embodiments of this application, such as Figure 1 As shown, the cleaning robot includes a body, a walking system, a sensing module, a control module, an execution module, etc. Optionally, the cleaning robot in this application includes, but is not limited to, various intelligent cleaning devices such as sweeping and mopping robots, pure sweeping robots, and floor washing robots. The sensing module of the cleaning robot can use one or more combinations of lidar sensors, vision sensors, infrared ranging sensors, and ultrasonic sensors. The control module can use devices with data processing and logic control capabilities, such as embedded main control chips and microcontrollers. The execution module may include structures such as walking wheel sets, cleaning components, and fan assemblies. This application does not specifically limit the types, models, or combinations of internal components of the cleaning robot.

[0081] Optional cleaning components include, but are not limited to, one or more of the following: side brushes, roller brushes, disc cloths, roller cloths, and conveyor belt cloths.

[0082] In this application, the surface materials of all types of cleaning components are treated with anti-fouling and antibacterial agents, and the corresponding drive components are equipped with overload protection devices, including motor overheat protection and transmission shaft torque limiters, to ensure that the cleaning process is stable and reliable and to meet the automated cleaning needs of cleaning robots.

[0083] The cleaning method provided in this application can be applied to various practical application scenarios of intelligent cleaning robots, such as homes and offices. This application does not limit the practical application scenarios.

[0084] In one exemplary embodiment, such as Figure 2 As shown, a cleaning method is provided, which is applied to Figure 1 Taking a cleaning robot as an example, the process includes steps 202 to 204. Wherein:

[0085] Step 202: When there are suspended obstacles in the area to be cleaned, perform structural detection on the suspended obstacles to determine their structural type.

[0086] In practice, when the cleaning robot detects a suspended obstacle (such as under a bed, table legs, or inverted cone-shaped decorative parts of a TV cabinet) in the cleaning area using its onboard ranging sensors, vision sensors, and other sensing devices, it initiates a preset "approach-semi-circle detection" combined structural detection process: the cleaning robot first slowly approaches the suspended obstacle from the outside side at a preset safe distance to avoid accidental head-on collisions, and then moves in a semi-circle around the suspended obstacle. During the movement, it collects structural data such as the cone slope and internal space occlusion of the suspended obstacle using LiDAR, vision sensors, etc. Finally, it analyzes and judges the structural type of the suspended obstacle based on the collected complete structural data to support the determination of the cleaning strategy of the subsequent cleaning robot.

[0087] Optionally, the structural types of the suspended obstacle include at least: an unobstructed type with only an irregular surface or an obstructed type with an internally penetrating irregular shape.

[0088] Step 204: When the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than the preset height threshold, and the structure type is the preset suspended obstacle structure type, the lower area of ​​the suspended obstacle is cleaned based on the preset surround cleaning mode.

[0089] In practice, suspended obstacles fall into two categories: one is internally obstructive obstacles, which include internally penetrating suspended obstacles, such as... Figure 3 As shown in (2) of the text, Figure 3In (2), the B mark indicates an internal through-type suspended obstacle, which represents a solid structure whose internal space has through-support from the surface to the bottom, such as the through-support structure (beam) under the bed, or a suspended obstacle with a non-through-type support structure inside, that is, although the bed does not have a support structure that runs through the entire bottom space, there are other independent support structures besides the four bed legs (e.g., there are multiple other support legs in the bed bottom area). This will also prevent the cleaning robot from directly entering the internal space under the bed for cleaning. Therefore, this type of obstacle is regarded as an internal blocking type obstacle. Specifically, the cleaning robot determines the height of the lowest point of any suspended obstacle on the outer surface of the four sides of an entity in the cleaning environment. If the height of the lowest point is less than the height of the cleaning robot, it indicates that the cleaning robot cannot enter its internal space for cleaning. Alternatively, if the suspended obstacle is an internal obstruction, there are other supports (through support structures and / or other independent support structures) blocking it. Even if the height of the lowest point of the outer surface of the suspended obstacle (the decorative elements on the outer surface of the four sides) is greater than the height of the cleaning robot, the cleaning robot cannot enter its interior for cleaning due to the internal support of this type of obstacle. Therefore, this type of internal obstruction obstacle is cleaned along the edge using an obstacle avoidance cleaning mode.

[0090] Another type is the obstacle with no internal obstruction, such as Figure 3 As shown in (1), Figure 3 (1) is a single-layer suspended obstacle on the outer surface of a solid object, that is, it only manifests as a single layer of raised, angular or decorative structure on the surface. Figure 3 In (1), the A mark indicates a single-layer inverted cone-shaped decorative structure, but its internal area lacks any solid support, columns, or partitions extending from the top surface of the obstacle to the ground. The entire lower part of the obstacle is a continuous, open space without internal partitions. For example... Figure 4 As shown, taking a piano stool as an example in the cleaning scene, there are irregularly shaped decorations around the piano stool. These irregularly shaped decorations are only a surface decorative structure. There are no physical supports, columns, or partitions extending from the top surface of the obstacle to the ground in the internal area of ​​the piano stool. The area under the piano stool is an open space without internal partitions.

[0091] Optional, such as Figure 5 As shown, Figure 5 This is a structural example diagram of an unobstructed internal obstacle included in another physical TV cabinet. The unobstructed internal suspended obstacle is a conical decorative piece, an arc-shaped protruding decorative piece, etc., set on the outer surface of the TV cabinet. This type of structure only protrudes from the outer surface of the suspended obstacle. There is no physical structure penetrating and obstructing the interior of the obstacle, and it is an open space without internal partitions.

[0092] In an optional embodiment, the preset suspended obstacle structure type is an internally unobstructed type. The outer surface thickness of the internally unobstructed type suspended obstacle is less than a preset thickness threshold, and / or the ratio of the outer surface thickness of the internally unobstructed type suspended obstacle to the total thickness of the obstacle entity is less than a preset proportion. Thus, after determining that the suspended obstacle is an internally unobstructed type (i.e., the preset suspended obstacle structure type), the cleaning robot will further detect the ground clearance H of the lowest point (the geometric point closest to the ground in the vertical direction among multiple geometric points of the suspended obstacle) between consecutive geometric points within a preset length interval using sensors. When the detection result shows that this height H is greater than the cleaning robot's own body height h and less than the cleaning robot's preset height threshold H0 (i.e., h < H < H0), for the structure type being the preset suspended obstacle structure type, the corresponding preset surround cleaning mode will be activated to perform cleaning operations on the lower area of ​​the suspended obstacle.

[0093] Specifically, the preset height threshold for cleaning robots is usually greater than the robot's body height, serving as the standard for determining the height at which the robot can safely enter the interior of an obstacle. When the lowest point of the obstacle (e.g., ...) is within the height of the robot's body, ... Figure 5 When the ground clearance of the obstacle (marked by 'a') is between a preset height threshold and the robot's body height (i.e., h < H < H0), the cleaning robot cannot directly enter the obstacle's interior. Therefore, when determining the cleaning strategy, traditional cleaning strategies typically employ a conservative obstacle avoidance mode, either not cleaning the area inside the suspended obstacle or only cleaning a small portion of it, resulting in an increased cleaning blind spot. However, in this embodiment, when the ground clearance H of the lowest point of the suspended obstacle is greater than the robot's body height h but less than the preset internal height threshold H0, the cleaning robot will adopt a surround cleaning mode to avoid the lowest point of the suspended obstacle (e.g., the lowest point marked by 'a'). Figure 5 The system enters the area below the suspended obstacle by using the ground projection position corresponding to the "a" mark in the middle, avoiding contact during the cleaning process. In the surround cleaning mode, it also uses a phased surround cleaning strategy, combined with phased adjustments to the trajectory and speed, and coordinated control of the cleaning components, to achieve full coverage and fine cleaning of the area below the suspended obstacle, ensuring cleaning effectiveness while avoiding collision risks.

[0094] In an optional embodiment, for Figure 5 The suspended obstacle corresponding to surface A of the TV cabinet shown in the figure, if the length of the suspended obstacle (i.e. Figure 5If the length range shown by the dashed line is relatively long and exceeds the preset length threshold, then the cleaning strategy length range W can be preset first. Then, the cleaning robot can judge the lowest point among the geometric points of the suspended obstacle in segments according to the cleaning strategy length range W. After determining the lowest point, it will perform circumferential cleaning based on the ground projection of the lowest point for each lowest point that meets the conditions. The specific circumferential cleaning mode will be described in detail in the following embodiments, and will not be repeated here.

[0095] In the above-mentioned cleaning method, the structural type of the suspended obstacle is accurately identified by a preset structural detection method, which can effectively distinguish between suspended obstacles with and without internal obstructions. By combining the matching judgment of the lowest point of the suspended obstacle's exterior above the ground with the robot's height and a preset height threshold, a preset surround cleaning mode is executed on the lower area of ​​the suspended obstacle that meets the conditions. This can accurately locate the cleanable area of ​​the suspended obstacle, avoid cleaning blind spots caused by identification defects, and improve the comprehensiveness and effectiveness of cleaning. It can also avoid invalid cleaning actions by determining the structure type and height, reduce the risk of collision between the cleaning robot and the suspended obstacle, and make the cleaning operation more targeted, taking into account both the cleaning effect and the safety of equipment operation.

[0096] In one exemplary embodiment, such as Figure 6 As shown, the method also includes:

[0097] Step 601: When the structure type is internal occlusion type, clean the edge area of ​​the suspended obstacle based on the obstacle avoidance mode.

[0098] In practice, after the cleaning robot completes the structural detection and ground clearance detection of the suspended obstacle, if it determines that the structure of the suspended obstacle is an internal obstruction type, such as an internal through cone, or if it detects that the ground clearance of its lowest external point is less than the height of the cleaning robot itself, it will directly activate the obstacle avoidance cleaning mode to carry out the operation. That is, under this determination result, the cleaning robot avoids the suspended obstacle for cleaning, or cleans the irregularly shaped obstacle along its edge.

[0099] Specifically, when the structure of a suspended obstacle is an internal occlusion type, such as an internally penetrating cone, it indicates that the internal space of the suspended obstacle cannot meet the height requirements for the cleaning robot to perform cleaning operations. Furthermore, if the lowest point of the outer surface of the suspended obstacle is less than the height of the cleaning robot's body, even if the internal space of the suspended obstacle is relatively high, the cleaning robot cannot enter the interior of the suspended obstacle to perform cleaning. Therefore, when the cleaning robot determines that the current cleaning scenario meets one or more of the following conditions—that the structure of the suspended obstacle is an internal occlusion type, or that the lowest point of the suspended obstacle is less than the height of the cleaning robot's body—to avoid the risk of collision between the cleaning robot and the suspended obstacle, the cleaning robot will not enter the internal space of the obstacle. Instead, it will use an outward-expanding cleaning mechanism to clean the edge areas and edge gaps of the suspended obstacle (i.e., the edge gaps are formed based on the lowest point of the suspended obstacle's exterior and the ground).

[0100] For example, the edge cleaning process of the cleaning robot specifically includes: the cleaning robot first plans an edge cleaning path that maintains a safe distance from the suspended obstacle through its own sensing devices, and then performs edge cleaning operation on the outer edge area of ​​the suspended obstacle along the edge cleaning path. During the process, it maintains a stable moving speed and a safe obstacle avoidance distance, while controlling the cleaning components to maintain a basic working state. Under the premise of avoiding collision risks and ensuring the safe operation of the equipment, it completes basic cleaning of the accessible edge area around the suspended obstacle, minimizing cleaning blind spots while avoiding ineffective cleaning actions and equipment wear and tear.

[0101] In this embodiment, the obstacle avoidance cleaning mode is triggered by a dual determination of the structural type of the suspended obstacle and the height of its lowest point above the ground. When the structure is internally obstructed or the lowest point of the suspended obstacle is not high enough above the ground, the cleaning operation in the area where cleaning is not possible is abandoned and the cleaning is switched to edge cleaning. This not only avoids the risk of collision or jamming between the cleaning robot and the suspended obstacle from the root, ensuring the safety and stability of the equipment operation, but also does not directly abandon the cleaning operation in that area. By targeting the cleanable areas along the edge, the cleaning blind spots around low and irregularly shaped obstacles are minimized, making the cleaning operation more reasonable and efficient.

[0102] In one exemplary embodiment, such as Figure 7 As shown, the method also includes:

[0103] Step 701: When the lowest point of the suspended obstacle is higher than the preset height threshold and the structure type is the preset suspended obstacle structure type, enter the interior of the suspended obstacle and clean the lower area of ​​the suspended obstacle based on the bow-shaped route cleaning mode.

[0104] During implementation, after the cleaning robot completes structural detection and precise height measurement of the suspended obstacle, if it determines that the suspended obstacle is a pre-defined structure type with only a conical surface and that the height of its lowest external point is greater than a pre-set height threshold (which is greater than the height of the cleaning robot's body), then the cleaning robot is deemed capable of safely entering the obstacle's interior (such as a TV cabinet or under a bed without internal support). At this point, the cleaning robot smoothly enters the interior space of the suspended obstacle from its accessible area, simultaneously switching to a bow-shaped cleaning mode and performing full-coverage cleaning of the cleanable area according to the planned bow-shaped cleaning trajectory. The dynamic cleaning process involves the following steps: When the cleaning robot detects a suspended obstacle with no internal obstructions (such as a TV cabinet or under a bed without internal support), it first uses sensors to detect the actual height of the internal space of the obstacle. If the actual height of the internal space is greater than the height of the cleaning robot or greater than the preset height threshold of the cleaning robot, the internal area of ​​the obstacle is determined to be an accessible area. The cleaning robot then smoothly enters the internal space from the accessible area and switches to a bow-shaped route cleaning mode. Following the planned bow-shaped cleaning trajectory, it performs full-coverage cleaning of the open, cleanable area with no obstructions, ensuring that no internal area is missed.

[0105] During the cleaning process, the cleaning robot maintains a regular and efficient working state. Relying on the advantages of its bow-shaped trajectory, which provides no blind spots and full coverage, it thoroughly cleans the ground area inside the suspended obstacle. This not only makes full use of the cleanable space inside the obstacle, but also ensures cleaning efficiency and effectiveness through the mature bow-shaped cleaning mode.

[0106] In this embodiment, by accurately determining both the structural type and the height above the ground, after confirming that the suspended obstacle is an unobstructed type with its lowest external point above the ground greater than a preset height threshold and meets the conditions for safe entry, the cleaning robot is guided into its interior and operates using a bow-shaped route cleaning mode. This not only relies on the bow-shaped trajectory's full coverage and lack of blind spots to achieve thorough cleaning of the lower area of ​​the suspended obstacle, maximizing the use of cleanable space and eliminating internal cleaning blind spots, but also avoids the risk of collision or jamming after the robot enters the interior due to the accurate structural and height determination completed in the early stage, thus ensuring the safety of equipment operation.

[0107] In one exemplary embodiment, such as Figure 8 As shown, when the preset suspended obstacle structure type is the internal unobstructed type, the specific processing procedure of step 204 includes:

[0108] Step 801: When the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than the preset height threshold, and the structure type is internally unobstructed, based on the preset surround cleaning mode, the cleanable area around the suspended obstacle is cleaned around the projection of the lowest point of the internally unobstructed suspended obstacle onto the ground as the center.

[0109] In practice, after the cleaning robot completes the structural detection and ground height detection of the suspended obstacle, if it determines that the ground height of the lowest external point is within the range between the body height and the preset height threshold (i.e., h < H < H0) and it is a type with only a surface cone and no internal obstruction, it will determine that the projection of the lowest external point of the suspended obstacle onto the ground is the center of the surrounding operation and start the preset surrounding cleaning mode to carry out the operation.

[0110] For example, the cleaning robot first uses sensors to locate the core reference point of the suspended obstacle and plans a circumferential trajectory. Then, it executes a phased circumferential cleaning strategy of "large circle coverage + small circle re-mopping": First, it plans a zigzag or arc-shaped trajectory with the core reference point as the center. It completes the initial large circle coverage cleaning at the normal first moving speed. At the same time, it collects distance data in real time or periodically for benchmark calibration. Then, it shrinks to the second radius according to a preset adjustment ratio and reduces the moving speed of the cleaning robot to about 70% of the normal speed (i.e., the second moving speed). It performs small circle fine re-mopping along the zigzag or arc-shaped trajectory of the second radius. During this cleaning process, the cleaning components are controlled to work together. In the small circle stage, the cleaning components expand outward to cover the area below the suspended obstacle. In addition, the cleaning components can switch cleaning states according to the stage and gradually increase the rotation speed. Under the premise of maintaining a safe distance from the suspended obstacle throughout the process, it achieves full coverage and fine circumferential cleaning of the cleanable area around it. The specific process of the cleaning robot cleaning the cleanable area around the suspended obstacle can be adjusted according to the actual cleaning scenario. Some exemplary cleaning scenarios will be described in detail in the following embodiments, and will not be repeated here.

[0111] In this embodiment, by determining both the structural type and the ground clearance, for unobstructed suspended obstacles located between the robot's height and a preset height threshold that cannot be directly entered, a preset surround cleaning mode centered on the outside of the suspended obstacle is adopted. This precisely matches the cleaning scenario characteristics of this type of suspended obstacle, avoiding the collision and jamming risks that may be caused by direct entry, ensuring the operational safety of the cleaning robot. Furthermore, the surround cleaning method covers the cleaning blind spots that are easily formed around the obstacle, significantly improving the cleaning coverage of the suspended obstacle area. At the same time, the surround cleaning operation mode allows the cleaning action to conform to the obstacle structure. With the phased trajectory, speed, and cleaning component control, it can achieve fine cleaning of the surrounding cleanable area while avoiding ineffective cleaning actions, thus balancing cleaning effect and operational efficiency.

[0112] In one exemplary embodiment, such as Figure 9 As shown, the method also includes:

[0113] Step 901: After completing the cleaning of the cleanable area around the suspended obstacle, detect the internal ground clearance of the suspended obstacle of the unobstructed type.

[0114] During implementation, after the cleaning robot completes the full-process cleaning operation around the cleanable area of ​​the unobstructed suspended obstacle inside according to the preset surrounding cleaning mode, the cleaning robot will initiate the internal height detection process: using its own lidar, vision sensors and other ranging and sensing devices, it will conduct multi-directional and multi-angle height detection of the internal space with the suspended obstacle as the center, accurately collecting the ground height data of different positions inside, focusing on detecting whether there is a height area that meets the requirements for the cleaning robot to safely enter. At the same time, combined with the structural data detected earlier, it ensures that the collected internal ground height data is accurate and effective, providing a reliable basis for subsequent judgment on whether to enter the interior for cleaning. Throughout the detection process, a safe distance will be maintained from the suspended obstacle to avoid collision.

[0115] Step 902: When the internal height above the ground is greater than the preset height threshold, enter the interior of the suspended obstacle based on the non-lowest point position of the suspended obstacle, and clean the lower area of ​​the suspended obstacle based on the bow-shaped route cleaning mode.

[0116] During implementation, the cleaning robot analyzes and judges the collected data on the ground clearance of the suspended obstacle. If it is determined that the ground clearance is greater than a pre-set height threshold above the robot's body height, it is determined that the conditions for safe entry are met. The cleaning robot will then avoid the lowest point of the suspended obstacle, which is prone to collision, and autonomously identify and select a non-lowest point area with a safe ground clearance as the entry point. It will smoothly enter the interior space of the obstacle and then switch to a bow-shaped route cleaning mode. Following the planned bow-shaped cleaning trajectory with no blind spots and full coverage, it moves and works in the cleanable area inside. During this cleaning process, the cleaning components of the cleaning robot maintain a high-efficiency working state. Relying on the advantages of the bow-shaped cleaning mode, it thoroughly cleans the ground area inside the suspended obstacle. At the same time, it monitors the surrounding environment in real time during movement to ensure the safety of the internal cleaning operation.

[0117] For example, the obstacle could be the suspended space under a TV cabinet. After cleaning the area around the unobstructed suspended obstacle, the cleaning robot detects that its internal height above the ground exceeds a preset height threshold, indicating safe entry. At this point, the robot doesn't attempt to enter directly from the lowest point of the TV cabinet (the decorative strip near the ground). Instead, it slowly retreats a short distance, then turns 90 degrees around its central axis, aligning its side with the opening of the TV cabinet. It then smoothly enters the space under the TV cabinet using a lateral movement. Once inside, the robot immediately switches to a bow-shaped cleaning mode, moving along a pre-planned bow-shaped trajectory. During this process, the side brushes, roller brushes, and cloths operate efficiently, thoroughly cleaning dust and debris from the interior. Simultaneously, the robot uses LiDAR to monitor its surroundings in real time, maintaining a safe distance from the side and bottom panels of the TV cabinet to avoid collisions and ensure the safety and stability of the cleaning operation.

[0118] In this embodiment, by adding a detection step to measure the ground clearance of the interior of the suspended obstacle after the surrounding cleaning, and executing a targeted internal cleaning strategy based on the detection results, a seamless connection between surrounding cleaning and internal cleaning is achieved. This allows the cleaning operation of the low suspended obstacle area to form a complete closed loop, significantly reducing cleaning blind spots. At the same time, choosing to enter the interior from a position other than the lowest point of the suspended obstacle effectively avoids the risks of collision and jamming that may occur when entering from the lowest point, further ensuring the operational safety of the cleaning robot. After entering the interior, the robot adopts a bow-shaped route cleaning mode, which can rely on its characteristics of full coverage, no dead angles, and high cleaning efficiency to thoroughly clean the cleanable area inside the obstacle, maximizing the cleanable space.

[0119] In one exemplary embodiment, such as Figure 10As shown, the lowest point of the suspended obstacle is the geometric point on the suspended obstacle that is closest to the ground in the vertical direction; if the suspended obstacle has multiple geometric points at different distances from the ground in the vertical direction, the method further includes:

[0120] Step 1001: When the lowest point of the suspended obstacle is less than the height of the cleaning robot body and the structure type is internal unobstructed, detect the vertical height of other geometric points of the same suspended obstacle within a preset length range.

[0121] In practice, when the cleaning robot detects that the lowest point of the suspended obstacle (i.e., the geometric point of the suspended obstacle that is closest to the ground in the vertical direction) is less than the height of the cleaning robot itself, and the sensor identifies and determines that the structure of the current suspended obstacle is an unobstructed internal type, in order to accurately determine whether there is a passage to enter the internal space, the cleaning robot will initiate the height detection process of the remaining geometric points within a preset length range of the suspended obstacle: by means of lidar, visual sensors or infrared ranging, the height data of the remaining geometric points in the vertical direction above the ground is obtained one by one, providing a basis for the selection of subsequent cleaning strategies.

[0122] Specifically, the same suspended obstacle refers to an independent suspended structural unit composed of continuous suspended structures (including decorative parts, supporting parts, etc.) distributed along the same vertical plane below a single side of an entity such as furniture (e.g., bookshelves, bed cabinets, etc.) in the cleaning scene, using that single side as the criterion. Therefore, for a given entity in the cleaning scene, the cleaning strategy of the cleaning robot is determined based on at least one of the following: the same suspended obstacle to which continuous geometric points on the same side of the entity belong; the height of the geometric points within the same suspended obstacle within a predetermined length range; and the height of the geometric points within that predetermined length range from the ground in the vertical direction.

[0123] Step 1002: If there are other adjacent geometric points of the same suspended obstacle whose ground height is less than the height of the cleaning robot body, and / or the lateral width between the lowest point and other adjacent geometric points is less than the width of the cleaning robot body, then the edge area of ​​the suspended obstacle is cleaned based on the obstacle avoidance mode.

[0124] In practice, if the height detection results of the same suspended obstacle reveal that among the multiple geometric points of the suspended obstacle, there are other geometric points adjacent to the lowest point whose ground clearance is less than the body height of the cleaning robot, or the lateral width between the lowest point and the other adjacent geometric points is less than the body width of the cleaning robot, and either or both of the above conditions are met, the cleaning robot will determine that there is currently no effective passage to safely enter the internal space. At this time, it will automatically switch to obstacle avoidance cleaning mode, using the outer contour of the suspended obstacle as a reference, and perform a circumferential or edge-based cleaning operation along its edge area, so as to effectively cover the cleanable area around the suspended obstacle while avoiding collisions with the obstacle.

[0125] Step 1003: If the height of other adjacent geometric points above the ground of the same suspended obstacle is greater than the height of the cleaning robot's body, and the lateral width between the lowest point and other adjacent geometric points is greater than the width of the cleaning robot's body, then the area between the other adjacent geometric points is used as the entrance to enter the interior of the suspended obstacle and clean the lower area of ​​the suspended obstacle.

[0126] In practice, if the height detection results of the cleaning robot show that, except for the lowest point of the same suspended obstacle being lower than the height of the cleaning robot's body, the height of other geometric points adjacent to the lowest point is higher than the height of the cleaning robot's body, and the lateral width between the lowest point and the other adjacent geometric points is also greater than the width of the cleaning robot's body, then the cleaning robot will determine that the area between the other adjacent geometric points is an accessible entrance. Subsequently, the cleaning robot can smoothly enter the interior space of the suspended obstacle through the entrance, and according to the unobstructed open space structure inside, switch to a bow-shaped or other full-coverage cleaning mode, and perform efficient and thorough cleaning of the cleanable areas inside the suspended obstacle according to the pre-planned cleaning trajectory.

[0127] For each suspended obstacle, a cleaning strategy is determined separately based on the geometric points not located within the same suspended obstacle. Specifically, for items such as beds and bookshelves in home cleaning scenarios, there may be inverted cone-shaped decorations on all four sides (between pairs of table legs). Thus, the underside of the bed and the four edges of the bookshelf form different suspended obstacles due to these inverted cone-shaped decorations. Since the space under the bed and inside the bookshelf has no other support, the suspended obstacles formed by the four edges of this type of entity are determined to be unobstructed internal suspended obstacles. Therefore, during the cleaning strategy determination process, the cleaning robot classifies suspended obstacles located on the same side (i.e., all suspended structures distributed along the same vertical plane below a single side) as the same suspended obstacle and executes steps 1001 to 1003 to determine the specific cleaning strategy. For example... Figure 5 As shown, Figure 5The A-side of the bookcase serves as the first suspended obstacle. The lowest point of this obstacle (marked as 'a' in the diagram) is higher than the height of the cleaning robot's body, and the lateral width between the bookcase legs is greater than the width of the cleaning robot's body. Therefore, the cleaning robot can use the projection of the lowest point onto the ground as the center for circumferential cleaning. Simultaneously, based on the height space between the edge of the bookcase on side A and the ground, it can enter the bookcase to perform a bow-shaped cleaning of the internal areas to be cleaned. As for the other side edge of the bookcase... Figure 5 Side B in the diagram serves as the second suspended obstacle. If the lowest point of the second suspended obstacle (marked by b in the diagram) is less than the height of the cleaning robot's body, and the lateral width between multiple geometric points generated by its decorative shape is less than the width of the cleaning robot's body, then the cleaning robot will execute an obstacle avoidance cleaning strategy to clean the second suspended obstacle along its edge.

[0128] In this embodiment, by performing refined detection and grading of the geometric height and lateral width of suspended obstacles with no internal obstructions, adaptive switching of cleaning strategies is achieved. On the one hand, when there is no safe passage entrance, the obstacle avoidance edge cleaning mode is automatically adopted, which avoids the risk of collision and jamming between the cleaning robot and low obstacles, and ensures cleaning coverage of the outer perimeter of the obstacle. On the other hand, when an entrance area that meets the robot's passage conditions is detected, the robot can avoid the lowest point of the obstacle and accurately drive into the internal space of the suspended obstacle and switch to cleaning modes such as bow-shaped cleaning mode to perform efficient and thorough full-coverage cleaning of the internal cleanable area. This fully utilizes the characteristics of the unobstructed open space inside, greatly improving the cleaning coverage and operation efficiency in complex suspended obstacle scenarios, while also taking into account the operational safety and scenario adaptability of the cleaning robot.

[0129] In one exemplary embodiment, such as Figure 11 As shown, the specific processing steps of step 801 include:

[0130] Step 1101: Based on the phased surrounding cleaning strategy in the preset surrounding cleaning mode, the cleaning robot is instructed to move along a phased trajectory and at a phased speed, with the projection of the lowest point of the unobstructed suspended obstacle inside the robot onto the ground as the center, and to complete the cleaning during the movement.

[0131] In practice, after determining that the target object in the scene to be cleaned is a suspended obstacle with no internal obstructions and a height between the robot's height and a preset height threshold, the cleaning robot will plan a series of closed-loop zigzag trajectories with progressively decreasing radii based on the phased surrounding cleaning strategy in the preset surrounding cleaning mode. This is achieved by using the projection of the lowest point of the suspended obstacle onto the ground as the reference positioning point. First, the robot performs a large-radius surrounding cleaning at a first speed (e.g., 0.3 m / s) according to the first-stage trajectory, focusing on covering the main cleanable areas around the suspended obstacle. Simultaneously, the trajectory is calibrated in real-time using LiDAR to ensure a safe distance from the obstacle. After completing the first stage of cleaning, the robot automatically switches to the second-stage trajectory, reducing the surrounding radius by a preset percentage (e.g., 20%) and adjusting the speed to a second speed (e.g., 0.15 m / s). This results in a smaller, more precise surrounding cleaning at a slower speed, focusing on covering the blind spots near the obstacle's edge. This achieves comprehensive, layered cleaning of the cleanable areas around the suspended obstacle from the outside in.

[0132] For example, in a family living room scenario, when a cleaning robot detects an unobstructed, suspended obstacle formed by decorations under a TV cabinet, the lowest point of this obstacle is higher than the robot's height but lower than a preset height threshold, preventing it from directly entering the space. Furthermore, the space under the obstacle is narrow, and its edges easily create blind spots for cleaning. In this situation, a phased, surrounding cleaning strategy is needed: first, quickly cover the outer area with a larger radius and faster speed; then, use a smaller radius and slower speed to meticulously clean the hard-to-reach corners near the edges of the decorations under the TV cabinet. Through layered control of trajectory and speed, overall cleaning efficiency is ensured while accurately removing dust from the edges, and collisions with the TV cabinet are avoided.

[0133] In this embodiment, a phased surround cleaning strategy in the preset surround cleaning mode is used to guide the cleaning robot to work in a layered and progressive manner according to a phased trajectory and a phased speed, with the unobstructed suspended obstacle as the center. This can quickly cover the main cleanable area around the suspended obstacle through the first phase of cleaning with a large radius and a relatively fast speed, improving the overall work efficiency. At the same time, the second phase of cleaning with a small radius and a relatively slow speed can focus on covering the cleaning dead corners near the edge of the obstacle, improving the precision of the cleaning. Meanwhile, the phased control of the travel trajectory and speed can ensure that the cleaning robot always maintains a safe distance from the suspended obstacle, effectively avoiding the risk of collision and ensuring the safe operation of the equipment.

[0134] In one exemplary embodiment, such as Figure 12As shown, for situations where the cleaning robot cannot directly enter the interior of unobstructed suspended obstacles between its body height and a preset height threshold to carry out cleaning operations, a phased surround cleaning mode is adopted to achieve full coverage and fine cleaning of the cleanable area around such suspended obstacles, while avoiding the risk of equipment collision. The specific processing steps of step 1101 include:

[0135] Step 1201: Plan a broken line or arc trajectory with the projection of the lowest point of the suspended obstacle onto the ground as the center point, and complete the preliminary circular cleaning of the cleanable area with the first traveling speed.

[0136] In practice, after initiating a phased, circular cleaning strategy, the cleaning robot first uses LiDAR and visual sensors to locate the geometric center point of the unobstructed suspended obstacle inside. Using this geometric center point as a reference, and combining the shape and dimensions of the suspended obstacle with its own body parameters, the robot automatically plans a polygonal circular trajectory with a first radius. This trajectory is a continuous closed-loop polygonal structure with smooth transitions between adjacent polygonal segments, and the edge of the trajectory maintains a sufficient safety distance from the outer edge of the suspended obstacle to avoid scratches during movement. After the trajectory planning is completed, the cleaning robot moves at a preset first speed (e.g., 0.3 m / s) along the polygonal or arc-shaped trajectory at a uniform speed. During the movement, the cleaning components are simultaneously controlled to rotate at a rated speed, and the surface of the cleaning components is kept in contact with the ground. This allows for a comprehensive, circular preliminary cleaning of the main cleanable areas around the suspended obstacle, quickly removing large areas of loose dirt such as dust and hair, laying the foundation for subsequent fine cleaning.

[0137] Step 1202: Based on a preset adjustment ratio, the first radius is reduced and the first travel speed is reduced simultaneously. Based on the broken line trajectory or arc trajectory of the reduced second radius and the reduced second travel speed, the cleanable area is cleaned in a circular motion. During the circular motion, a reference calibration is performed in real time or periodically to maintain the circular trajectory.

[0138] During implementation, after the cleaning robot completes the initial circular cleaning of the first radius, its control module automatically retrieves a preset adjustment ratio (e.g., 20%), proportionally reducing the first radius to obtain a second radius. It then replans a closed-loop zigzag or arc-shaped trajectory that matches the second radius. This trajectory is closer to the edge of the suspended obstacle, accurately covering the edge and corner areas easily missed during the initial cleaning. Simultaneously, the first travel speed is reduced to a second travel speed (e.g., 0.15 m / s), performing multiple rounds of circular cleaning along the zigzag or arc-shaped trajectory of the second radius at a slower speed. Throughout the circular movement, the cleaning robot uses LiDAR to collect real-time distance data from the center point of the obstacle, or performs a baseline calibration at preset time intervals (e.g., every 5 seconds). By comparing the deviation between the real-time position and the planned trajectory, it promptly fine-tunes the robot's direction and speed, ensuring stable movement along the set zigzag or arc-shaped trajectory. Combined with a slight increase in the rotation speed of the cleaning components, it achieves refined mopping of the cleanable area, thoroughly removing edge dust and stubborn stains.

[0139] In one exemplary embodiment, such as Figure 13 As shown, when the cleaning robot encounters a suspended obstacle with no internal obstruction, such as an inverted cone-shaped decorative piece under a bookshelf in a study scenario, and it is determined that the lowest point of the outer part is higher than the height of the robot body but lower than the preset height threshold, the cleaning robot will determine to clean the lower part of the suspended obstacle based on the preset surround cleaning mode, avoiding the lowest point area, until it completely enters the cleanable space inside the obstacle, and then combines the bow-shaped cleaning strategy to clean the cleanable area inside.

[0140] Specifically, the cleaning robot will initiate a phased, surround cleaning mode: such as Figure 14 As shown, firstly, Figure 14 (1) is a schematic diagram of a cleaning robot performing a circular cleaning operation in a three-dimensional space cleaning scenario. Specifically, the cleaning robot uses a lidar to locate the projection point of the cone tip of the conical decorative component onto the ground (see [reference]). Figure 14 Point M in (2) is used as the center of the loop. Based on this, a polygonal loop trajectory with a first radius is planned. This trajectory is a closed-loop polygonal structure, maintaining a safe distance from the outer edge of the conical decorative component. Subsequently, the cleaning robot completes the preliminary circular cleaning along this trajectory at the first traveling speed, quickly removing floating dust and loose stains from the cleanable area around the conical decorative component. After completing the preliminary cleaning, the cleaning robot reduces the radius of the loop according to the preset adjustment ratio, generating a polygonal or arc-shaped trajectory with a second radius (see [reference]). Figure 14In (2) H), the trajectory is closer to the edge of the conical decorative part, and the travel speed is reduced to the second travel speed. Multiple rounds of circling and reciprocating cleaning are performed along the second radius trajectory. During the circling process, the cleaning robot will periodically calibrate its position based on the cone tip projection point on the ground and make real-time fine adjustments to the travel direction to ensure that it always moves stably along the set trajectory. With the slight increase in the rotation speed of the cleaning part, the cleaning dead corners of the edge of the conical decorative part are finely mopped to thoroughly remove accumulated dust and stubborn stains, and finally achieve full coverage and no dead corner cleaning of the cleanable area around the suspended obstacle.

[0141] In this embodiment, a phased operation method of "large-radius fast initial cleaning + small-radius slow fine re-mopping" is adopted, combined with trajectory control with full-process benchmark calibration. Firstly, the robot uses a first-radius polygonal or arc-shaped trajectory and a first-speed movement to quickly complete the circular coverage of the cleanable area around the suspended obstacle, efficiently removing large-area contaminants such as floating dust and loose stains, improving overall cleaning efficiency. Secondly, a second-radius polygonal or arc-shaped trajectory, reduced by a preset ratio, and a slower second-speed movement allow for precise, close-to-the-edge, circling cleaning, specifically removing dust and stubborn stains easily missed in the initial cleaning, enhancing the precision of the cleaning. Simultaneously, real-time or periodic benchmark calibration during circling movement promptly corrects trajectory deviations, ensuring the cleaning robot maintains a safe distance from the suspended obstacle, effectively avoiding collisions and scratches, ensuring equipment safety, and guaranteeing the stability of the circling trajectory and the comprehensiveness of cleaning coverage. This achieves a triple improvement in cleaning efficiency, cleaning effect, and operational safety.

[0142] In one exemplary embodiment, such as Figure 15 As shown, in the second stage of the phased circular cleaning, in order to accurately cover the cleaning blind spot below the lowest point of the suspended obstacle, and at the same time avoid the risk of collision caused by the equipment directly entering the interior, the cleaning parts can be expanded outward to clean the edges, corners and other areas in the cleaning area. The cleaning process using the expanded state of the cleaning parts is described in detail below. That is, the specific process of performing circular reciprocating cleaning of the cleanable area based on the broken line trajectory or arc trajectory of the reduced second radius and the reduced second travel speed in step 1202 includes:

[0143] Step 1501: Control the cleaning robot's cleaning components to be in an expanded state, and based on the expanded state of the cleaning components, cover the cleaning area below the lowest point of the suspended obstacle.

[0144] During implementation, after the cleaning robot completes the initial circular cleaning of the first radius and plans the zigzag or arc trajectory of the second radius, it sends an outward expansion control command to the cleaning component before switching to the second travel speed. This drives the telescopic structure of the cleaning component to extend outward by a preset stroke, so that the outer edge of the cleaning component can extend to the area directly below the lowest point of the inner and outer surfaces of the suspended obstacle (such as the conical decorative structure under the bed). This ensures that the area is within the effective working range of the cleaning component, laying the foundation for subsequent fine cleaning close to the edge of the obstacle. At the same time, during the outward expansion of the cleaning component, the telescopic status of the cleaning component is monitored in real time to avoid scratching the lowest point of the obstacle due to excessive outward expansion.

[0145] Step 1502: During the process of performing circumferential cleaning along a broken line trajectory or arc trajectory with a second travel speed, the cleaning component in the outward expansion state performs full-coverage cleaning of the area below the suspended obstacle.

[0146] In practice, the cleaning robot maintains the outward expansion of its cleaning components and performs multiple rounds of reciprocating cleaning around the projection point of the lowest point of the suspended obstacle (e.g., the projection point of the cone tip on the ground) along a zigzag or arc-shaped trajectory with a second travel speed and a second radius. After each round of circling, it moves slightly along the tangent of the trajectory, forming an interlaced cleaning path. During the movement, the outward-expanding surface of the cleaning components continues to adhere to the ground and rotates at high speed. With the help of the extended cleaning range of the cleaning components, the robot includes all the cleanable areas near the edge of the suspended obstacle in the work area, thoroughly cleaning stubborn stains such as dust and hair in the area. At the same time, combined with real-time benchmark calibration, the robot ensures that the cleaning components are always accurately aligned with the cleanable areas inside, without any cleaning omissions, and finally achieves full coverage and fine cleaning of the lower area of ​​the suspended obstacle.

[0147] In this embodiment, by controlling the cleaning component to be in an outward-expanding state during the second-stage circumferential cleaning, it can accurately cover the cleaning area below the lowest point of the suspended obstacle, specifically solving the cleaning blind spot caused by the narrow space and hidden location of this area; when performing circumferential reciprocating cleaning along the second radius zigzag trajectory or arc trajectory at a reduced second travel speed, the cleaning component in the outward-expanding state continues to work efficiently, achieving full coverage cleaning of the lower area of ​​the suspended obstacle, thoroughly removing edge dust and stubborn stains, and improving the precision of cleaning.

[0148] In one exemplary embodiment, such as Figure 16 As shown, the method also includes:

[0149] Step 1601: During the circular cleaning phase of executing a polygonal or arc-shaped trajectory with a first radius and a first traveling speed, the cleaning component of the cleaning robot is controlled to perform preliminary circular cleaning of the cleanable area at a first cleaning speed.

[0150] In practice, when the cleaning robot performs preliminary circular cleaning along a zigzag or arc-shaped trajectory with a first radius at a first traveling speed, it primarily targets large, conventionally cleanable areas surrounding suspended obstacles. The cleaning targets are mainly loose contaminants such as dust and debris. To match the cleaning requirements and travel speed at this stage, the cleaning robot controls its cleaning components to operate at a first cleaning speed, ensuring a stable and gentle working state. This achieves rapid basic cleaning of the surrounding area while reducing energy consumption and component wear, making it suitable for large-area, high-efficiency preliminary cleaning scenarios.

[0151] For example, when a cleaning robot performs a preliminary circular cleaning of an open area surrounding a suspended obstacle, it can effectively clean light pollutants such as dust and hair scattered on the ground by using the first cleaning speed. This ensures basic cleaning results while avoiding unnecessary high-speed operation.

[0152] Step 1602: During the stage of performing circular reciprocating cleaning with a second radius of polygonal or arc-shaped trajectory and a second travel speed, the rotation speed of the cleaning robot's cleaning components is increased to the second cleaning speed to perform circular reciprocating cleaning of the cleanable area.

[0153] The first cleaning speed is less than the second cleaning speed.

[0154] During implementation, the cleaning robot enters a second-radius, second-speed reciprocating cleaning phase. This phase primarily targets areas with higher cleaning difficulty, such as the edges of suspended obstacles and the areas below the lowest points on the inside and outside, where contaminants are mostly stubborn types like accumulated dust and adhesive stains. To adapt to the refined and high-intensity cleaning needs of this phase, the cleaning robot increases the rotation speed of its cleaning components to a second cleaning speed. This higher operating intensity enhances the cleaning power and stain removal ability, combined with a slower travel speed and a multi-round reciprocating cleaning method, to achieve thorough cleaning of hard-to-reach areas. Specifically, during the stage of executing a zigzag or arc-shaped trajectory with a second radius and performing reciprocating cleaning at a second travel speed, the cleaning robot will increase the rotation speed of its cleaning components from the initial first cleaning speed to a higher second cleaning speed based on preset parameter configurations. By increasing the contact frequency and friction between the cleaning components and the ground, it enhances the ability to peel off and collect stubborn stains and dust in the cleanable area. At the same time, in conjunction with a more compact circumferential trajectory with a second radius and a gentler second travel speed, it achieves deep circular reciprocating cleaning of the target area, significantly improving the cleaning effect and cleanliness in complex environments while ensuring cleaning coverage.

[0155] For example, when the cleaning robot approaches the edge and the area below the inside of a suspended obstacle to clean, it increases the cleaning speed to the second cleaning speed to increase friction with the ground and cleaning force in the face of long-term accumulated dust and hard-to-remove attached stains, thereby effectively removing stubborn pollutants and improving the overall cleaning quality.

[0156] In this embodiment, by matching different cleaning component rotation speeds to different cleaning stages, a lower first cleaning rotation speed is used in the initial circular cleaning stage with the first radius and first travel speed. This allows for rapid basic cleaning of a large area around the suspended obstacle while reducing energy consumption and component wear, making it suitable for efficient, low-load peripheral cleaning scenarios. In the reciprocating cleaning stage with the second radius and second travel speed, the rotation speed is increased to a higher second cleaning rotation speed, which enhances cleaning power and decontamination effect. This allows for targeted removal of stubborn dust and attached stains from the edges and lower interior areas of the obstacle. Combined with slowing down and reciprocating cleaning, this achieves thorough and precise cleaning of hard-to-reach areas. The overall solution ensures overall cleaning efficiency, improves the cleaning effect of hard-to-reach areas, and optimizes energy consumption and component lifespan, making the cleaning robot more intelligent, efficient, and reliable in cleaning the area around suspended obstacles.

[0157] Optionally, in the phased surrounding cleaning process in the above embodiments, the travel route, travel speed and cleaning rotation speed of the cleaning component corresponding to different cleaning scenarios can be freely combined and adaptively matched according to the actual obstacle structure type, cleaning area size, pollutant type and other application requirements. The specific values ​​and combination methods of the above parameters are not limited in the embodiments of this application.

[0158] In one exemplary embodiment, such as Figure 17 As shown, the specific processing steps of step 1101 include:

[0159] Step 1701: Plan a circular cleaning path with the projection of the lowest point of the suspended obstacle onto the ground as the center point. During a single journey around the suspended obstacle, the first half of the circular path adopts a broken line trajectory or an arc trajectory with a first radius, and the corresponding area is cleaned at a first travel speed.

[0160] In practice, the cleaning robot uses the projection point of the lowest point of the identified suspended obstacle onto the ground as its geometric center point to plan a single-loop cleaning path around the obstacle. During the execution of this single-loop cleaning path, it travels along a broken line or arc trajectory corresponding to the first radius in the first half of the loop path, while moving smoothly at a set first travel speed. During the movement, it continuously drives the cleaning components to work, performing stable and efficient cleaning operations on the cleanable area covered by the first half of the loop path, achieving preliminary coverage cleaning of a large area outside the suspended obstacle.

[0161] Step 1702: During the cleaning process of the second half of the circumferential path, the first radius is reduced based on a preset adjustment ratio to form a broken line trajectory or arc trajectory with a second radius. The first travel speed is reduced to the second travel speed to complete the cleaning of the corresponding area. In addition, the reference calibration is performed in real time or periodically during a single circumferential journey to maintain the circumferential trajectory.

[0162] During implementation, when the cleaning robot enters the second half of the single-circle cleaning phase, it reduces the first radius according to a preset adjustment ratio, forming a second-radius polygonal or arc-shaped trajectory suitable for close-range cleaning. Simultaneously, it reduces its travel speed from the first speed to a gentler second speed, completing the fine cleaning of the corresponding area in the second half according to the adjusted trajectory and speed. At the same time, throughout the entire single-circle journey, the cleaning robot performs benchmark calibration with the preset center point in real time or periodically through its own positioning module, promptly correcting any deviations and thus stably maintaining the planned circumferential trajectory, ensuring that the cleaning path does not deviate from the center of the obstacle.

[0163] In this embodiment, the cleaning robot performs segmented cleaning by using trajectories with different radii and speeds in stages within a single orbital process. This allows for efficient coverage of the outer area in the first half with a larger radius and faster speed, while enabling detailed cleaning of the area near obstacles in the second half with a smaller radius and lower speed. Combined with real-time or periodic trajectory calibration during the movement, this effectively avoids missed or repeated cleaning issues caused by positional deviations, significantly improving the cleaning coverage, uniformity, and overall cleaning effect around suspended obstacles.

[0164] In one exemplary embodiment, such as Figure 18 As shown, the specific processing steps of step 202 include:

[0165] Step 1801: Control the cleaning robot body to approach the suspended obstacle from the outside side of the suspended obstacle at a preset distance, and collect the structural data of the suspended obstacle through the ranging sensor.

[0166] In practice, after entering the cleaning area where the suspended obstacle is located, the cleaning robot first initiates the approach process from the outer side of the obstacle: the cleaning robot slowly moves towards the suspended obstacle at a preset safe distance, always maintaining a safe distance between the robot body and the obstacle to avoid collisions or scrapes; at the same time, the cleaning robot continuously collects key information such as the outer contour, height changes, lowest point position, and internal space dimensions of the suspended obstacle from multiple directions and angles through its own laser rangefinder, infrared rangefinder, or visual depth sensor, forming complete obstacle structure data, providing accurate and reliable data support for subsequent structural type determination.

[0167] Step 1802: Based on the structural data, determine the structural type of the suspended obstacle.

[0168] During implementation, the cleaning robot analyzes and processes the collected structural data of suspended obstacles. By comparing it with a pre-set obstacle structure feature library, it identifies key features such as the outline shape, height distribution, internal occlusion status, and the relationship between the lowest points inside and outside the obstacle. Based on this, it determines whether the current suspended obstacle belongs to the type with no internal occlusion, the type with internal occlusion, or other structural types, thus completing the accurate classification of the suspended obstacle. This provides a basis for subsequent selection of differentiated processing strategies such as surrounding cleaning, internal cleaning, or height detection.

[0169] In this embodiment, by controlling the cleaning robot to safely approach the suspended obstacle from the outside at a preset distance and using a ranging sensor to accurately collect the obstacle's structural data, complete and reliable environmental information can be obtained without collisions, providing a data foundation for subsequent judgments. Based on the collected structural data, the structural type of the suspended obstacle can be determined, allowing the cleaning robot to adaptively select the corresponding cleaning strategy according to different obstacle characteristics, achieving targeted and intelligent cleaning. This effectively improves the adaptability and cleaning coverage of various suspended obstacles in complex home environments, while ensuring equipment operation safety and improving the overall reliability and efficiency of cleaning.

[0170] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0171] Based on the same inventive concept, this application also provides a cleaning apparatus for implementing the cleaning method described above. The solution provided by this apparatus is similar to the solution described in the above method; therefore, specific limitations in one or more cleaning apparatus embodiments provided below can be found in the limitations of the cleaning method described above, and will not be repeated here.

[0172] In one exemplary embodiment, such as Figure 19 As shown, a cleaning device 1900 is provided, including: a determining module 1901 and a first control module 1902, wherein:

[0173] The determination module 1901 is used to detect the structure of the suspended obstacle when there is a suspended obstacle in the area to be cleaned, and to determine the structural type of the suspended obstacle.

[0174] The first control module 1902 is used to clean the lower area of ​​the suspended obstacle based on a preset surround cleaning mode when the structure type is internally unobstructed and the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold.

[0175] In one embodiment, the preset suspended obstacle structure type is an internal unobstructed type;

[0176] The outer surface thickness of a suspended obstacle with no internal obstruction is less than a preset thickness threshold, and / or the outer surface thickness of a suspended obstacle with no internal obstruction accounts for less than a preset proportion of the total thickness of the obstacle entity.

[0177] In one embodiment, the cleaning device 1900 further includes:

[0178] The second control module is used to clean the edge area of ​​the suspended obstacle based on the obstacle avoidance mode when the structure type is internal occlusion type and / or the lowest point of the suspended obstacle is less than the height of the cleaning robot body.

[0179] In one embodiment, the cleaning device 1900 further includes:

[0180] The third control module is used to enter the interior of the suspended obstacle and clean the lower area of ​​the suspended obstacle based on the bow-shaped route cleaning mode when the structure type is internal unobstructed and the lowest point of the suspended obstacle is higher than the preset height threshold.

[0181] In one embodiment, the first control module 1902 is specifically used to perform a surround cleaning of the cleanable area around the suspended obstacle based on a preset surround cleaning mode, when the structure type is an internal unobstructed type and the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold.

[0182] In one embodiment, the cleaning device 1900 further includes:

[0183] The first detection module is used to detect the internal ground height of unobstructed suspended obstacles after completing the surrounding cleanable area of ​​the suspended obstacle.

[0184] The fourth control module is used to enter the interior of the suspended obstacle based on the non-lowest point position of the suspended obstacle when the internal height above the ground is greater than the preset height threshold, and to clean the lower area of ​​the suspended obstacle based on the bow-shaped route cleaning mode.

[0185] In one embodiment, the lowest point of the suspended obstacle is the geometric point on the suspended obstacle that is closest to the ground in the vertical direction; if the suspended obstacle has multiple geometric points at different distances from the ground in the vertical direction, the cleaning device 1900 further includes:

[0186] The second detection module is used to detect the vertical height of other geometric points of the same suspended obstacle when the structure type is internally unobstructed and the lowest point of the suspended obstacle is less than the height of the cleaning robot body.

[0187] The fifth control module is used to clean the edge area of ​​the suspended obstacle based on the obstacle avoidance mode if there are other adjacent geometric points of the same suspended obstacle with a ground height less than the height of the cleaning robot body, and / or the lateral width between the lowest point and other adjacent geometric points is less than the width of the cleaning robot body.

[0188] The sixth control module is used to enter the interior of the suspended obstacle and clean the lower area of ​​the suspended obstacle if the height of other adjacent geometric points above the ground of the same suspended obstacle is greater than the height of the cleaning robot's body, and the lateral width between the lowest point and other adjacent geometric points is greater than the width of the cleaning robot's body.

[0189] In one embodiment, the first control module 1902 is specifically used to instruct the cleaning robot to move around the unobstructed suspended obstacle as the center, according to the phased trajectory and phased speed, and to complete the cleaning during the movement, based on the phased surrounding cleaning strategy in the preset surrounding cleaning mode.

[0190] In one embodiment, the first control module 1902 is specifically used to plan a broken line trajectory or arc trajectory with a first radius centered on the projection of the lowest point of the suspended obstacle onto the ground, and to complete the ring-shaped preliminary cleaning of the cleanable area at a first traveling speed.

[0191] The first radius is reduced by a preset adjustment ratio and the first travel speed is reduced simultaneously. The cleanable area is cleaned by a circular or arc-shaped trajectory based on the reduced second radius and the reduced second travel speed. The baseline calibration is performed in real time or periodically during the circular movement to maintain the circular trajectory.

[0192] In one embodiment, the first control module 1902 is specifically used to control the cleaning component of the cleaning robot to be in an outward expansion state, and to cover the cleaning area below the lowest point of the outside of the suspended obstacle based on the outward expansion state of the cleaning component.

[0193] During the process of performing circling and reciprocating cleaning along a broken line or arc trajectory with a second travel speed, the cleaning component based on the outward expansion state performs full-coverage cleaning of the area below the suspended obstacle.

[0194] In one embodiment, the cleaning device 1900 further includes:

[0195] The seventh control module is used to control the cleaning robot's cleaning components to perform preliminary circular cleaning of the cleanable area at a first cleaning speed during the circular cleaning phase of executing a polygonal or arc-shaped trajectory with a first radius and a first traveling speed.

[0196] The eighth control module is used to control the cleaning robot to increase the rotation speed of the cleaning parts to the second cleaning speed during the stage of performing circular reciprocating cleaning with a second radius polygonal or arc trajectory and a second travel speed, so as to perform circular reciprocating cleaning on the cleanable area.

[0197] The first cleaning speed is less than the second cleaning speed.

[0198] In one implementation, the first control module 1902 is specifically used to plan a surrounding cleaning path with the projection of the lowest point of the suspended obstacle onto the ground as the center point. During a single journey around the suspended obstacle, the first half of the surrounding path adopts a broken line trajectory or an arc trajectory with a first radius and completes the cleaning of the corresponding area at a first travel speed.

[0199] During the latter half of the circumferential path cleaning process, the first radius is reduced based on a preset adjustment ratio to form a broken line trajectory or arc trajectory with a second radius. Simultaneously, the first travel speed is reduced to the second travel speed to complete the cleaning of the corresponding area. Furthermore, benchmark calibration is performed in real time or periodically during a single circumferential journey to maintain the circumferential trajectory.

[0200] In one embodiment, the determining module 1901 is specifically used to control the cleaning robot body to approach the suspended obstacle from the outside side of the suspended obstacle at a preset distance, and to collect the structural data of the suspended obstacle through a ranging sensor;

[0201] Based on structural data, the structural type of suspended obstacles is determined.

[0202] Each module in the aforementioned cleaning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the cleaning robot in hardware form or independent of it, or stored in the memory of the cleaning robot in software form, so that the processor can call and execute the corresponding operations of each module.

[0203] In one embodiment, a cleaning robot is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0204] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0205] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0206] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0207] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0208] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A cleaning method, characterized in that, The method is applied to a cleaning robot, and the method includes: When there are suspended obstacles in the area to be cleaned, structural detection is performed on the suspended obstacles to determine their structural type; When the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold, and the structure type is a preset suspended obstacle structure type, the lower area of ​​the suspended obstacle is cleaned based on a preset surround cleaning mode.

2. The method according to claim 1, characterized in that, The preset suspended obstacle structure type is an internal unobstructed type; The outer surface thickness of the suspended obstacle of the type with no internal obstruction is less than a preset thickness threshold, and / or the outer surface thickness of the suspended obstacle of the type with no internal obstruction is less than a preset ratio of the total thickness of the obstacle entity.

3. The method according to claim 2, characterized in that, The method further includes: When the structure type is internal occlusion type, the edge area of ​​the suspended obstacle is cleaned based on the obstacle avoidance mode.

4. The method according to claim 1 or 2, characterized in that, The method further includes: When the lowest point of the suspended obstacle is higher than the preset height threshold, and the structure type is a preset suspended obstacle structure type, the interior of the suspended obstacle is entered and the lower area of ​​the suspended obstacle is cleaned based on the bow-shaped route cleaning mode.

5. The method according to claim 2, characterized in that, When the lowest point of the suspended obstacle is higher than the height of the cleaning robot's body but lower than a preset height threshold, and the structure type is a preset suspended obstacle structure type, the lower area of ​​the suspended obstacle is cleaned based on a preset surround cleaning mode, including: When the lowest point of the suspended obstacle is higher than the height of the cleaning robot body but lower than a preset height threshold, and the structure type is an unobstructed internal type, based on a preset surround cleaning mode, the cleanable area around the suspended obstacle is cleaned around the projection of the lowest point of the unobstructed internal type onto the ground.

6. The method according to claim 5, characterized in that, The method further includes: After completing the cleaning of the cleanable area around the suspended obstacle, the internal ground clearance of the suspended obstacle of the type with no internal obstruction is detected; When the internal height above the ground is greater than the preset height threshold, the system enters the interior of the suspended obstacle based on the non-lowest point position of the suspended obstacle, and cleans the lower area of ​​the suspended obstacle based on the bow-shaped route cleaning mode.

7. The method according to claim 5, characterized in that, The lowest point of the suspended obstacle is the geometric point on the suspended obstacle that is closest to the ground in the vertical direction; if the suspended obstacle has multiple geometric points at different distances from the ground in the vertical direction, the method further includes: When the lowest point of the suspended obstacle is less than the height of the cleaning robot body, and the structure type is an internal unobstructed type, the vertical height of other geometric points of the same suspended obstacle within a preset length range is detected. If there are other adjacent geometric points of the same suspended obstacle whose ground height is less than the height of the cleaning robot body, and / or the lateral width between the lowest point and the other adjacent geometric points is less than the width of the cleaning robot body, then the edge area of ​​the suspended obstacle is cleaned based on the obstacle avoidance mode. If the height of other geometric points adjacent to the same suspended obstacle is greater than the height of the cleaning robot's body, and the lateral width between the lowest point and the other adjacent geometric points is greater than the width of the cleaning robot's body, then the area between the other adjacent geometric points is used as the entrance to enter the interior of the suspended obstacle and clean the lower area of ​​the suspended obstacle.

8. The method according to claim 5, characterized in that, The method, based on a preset surround cleaning pattern, uses the projection of the lowest point of the unobstructed suspended obstacle onto the ground as the center to perform surround cleaning of the cleanable area around the suspended obstacle, including: Based on the phased surrounding cleaning strategy in the preset surrounding cleaning mode, the cleaning robot is instructed to move along a phased trajectory and at a phased speed, with the projection of the lowest point of the internal unobstructed type of suspended obstacle onto the ground as the center, and complete the cleaning during the movement.

9. The method according to claim 8, characterized in that, The phased surrounding cleaning strategy based on the preset surrounding cleaning mode instructs the cleaning robot to move along a phased trajectory and at a phased speed, centering on the projection of the lowest point of the internal unobstructed type of suspended obstacle onto the ground, and to complete the cleaning during the movement, including: A polygonal or arc-shaped trajectory with a first radius is planned using the projection of the lowest point of the suspended obstacle onto the ground as the center point, and a preliminary circular cleaning of the cleanable area is completed at a first traveling speed. The first radius is reduced by a preset adjustment ratio and the first travel speed is reduced simultaneously. The cleanable area is cleaned by a circular or arc-shaped trajectory based on the reduced second radius and the reduced second travel speed. During the circular movement, a reference calibration is performed in real time or periodically to maintain the circular trajectory.

10. The method according to claim 9, characterized in that, The process of performing reciprocating cleaning of the cleanable area based on a polygonal or arc-shaped trajectory with a reduced second radius and a decreased second travel speed includes: The cleaning component of the cleaning robot is controlled to be in an outward expansion state, and the cleaning component in the outward expansion state covers the cleaning area below the lowest point of the outside of the suspended obstacle. During the process of performing circling and reciprocating cleaning along a broken line or arc trajectory with a second travel speed, the cleaning component based on the outward expansion state performs full-coverage cleaning of the lower area of ​​the suspended obstacle.

11. The method according to claim 9, characterized in that, The method further includes: During the circular cleaning phase of executing the first radius line trajectory or arc trajectory and the first travel speed, the cleaning robot's cleaning components are controlled to perform a circular preliminary cleaning of the cleanable area at a first cleaning speed. During the stage of performing the circular reciprocating cleaning with the second radius of the broken line trajectory or arc trajectory and the second travel speed, the rotation speed of the cleaning parts of the cleaning robot is controlled to be increased to the second cleaning speed to perform circular reciprocating cleaning on the cleanable area; The first cleaning speed is less than the second cleaning speed.

12. The method according to claim 8, characterized in that, The phased surrounding cleaning strategy based on the preset surrounding cleaning mode instructs the cleaning robot to move along a phased trajectory and at a phased speed, centering on the projection of the lowest point of the internal unobstructed type of suspended obstacle onto the ground, and to complete the cleaning during the movement, including: A cleaning path is planned around the projected lowest point of the suspended obstacle onto the ground. During a single journey around the suspended obstacle, the first half of the path adopts a broken line or arc trajectory with a first radius, and the corresponding area is cleaned at a first travel speed. During the latter half of the circumferential path cleaning process, the first radius is reduced based on a preset adjustment ratio to form a broken line trajectory or arc trajectory with a second radius. Simultaneously, the first travel speed is reduced to the second travel speed to complete the cleaning of the corresponding area. Furthermore, benchmark calibration is performed in real time or periodically during a single circumferential journey to maintain the circumferential trajectory.

13. The method according to claim 1, characterized in that, The step of performing structural detection on the suspended obstacle to determine its structural type includes: The cleaning robot body is controlled to approach the suspended obstacle from the outer side of the suspended obstacle at a preset distance, and the structural data of the suspended obstacle is collected by the ranging sensor; Based on the structural data, the structural type of the suspended obstacle is determined.

14. A cleaning device, characterized in that, The device is used in a cleaning robot, and the device includes: The determination module is used to detect the structure of the suspended obstacle when there is a suspended obstacle in the area to be cleaned, and to determine the structural type of the suspended obstacle; The first control module is used to clean the lower area of ​​the suspended obstacle based on a preset surround cleaning mode when the lowest point of the external part of the suspended obstacle is greater than the height of the cleaning robot body but less than a preset height threshold, and the structure type is a preset suspended obstacle structure type.

15. A cleaning robot, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 13.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.

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