Control method for cleaning robot and cleaning robot

Abstract

The invention provides a control method of a cleaning robot and the cleaning robot. The method comprises the steps that when an obstacle is detected, the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle are obtained through a sensor system; when the height of the obstacle is larger than or equal to a first threshold value and the observation angle is larger than a fourth threshold value, the height, width, depth and type of the obstacle are obtained through a sensor system arranged on the mechanical arm; when the height of the obstacle is larger than or equal to a first threshold value, the width and depth of the obstacle exceed a second threshold value, and the type of the obstacle belongs to a preset pushable obstacle type, the mechanical arm is controlled to push the obstacle, and the first threshold value is the upper limit value of the distance between the lower surface of the robot body of the cleaning robot and the ground; the second threshold value is the upper limit value of the grabbing range of the grabbing part of the mechanical arm. According to the scheme, obstacles of different types under different conditions can be processed in a targeted mode, and a good cleaning effect can be obtained.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511676686.0 (22) Application Date 2024.07.17 (62) Divisional Application Data 202410956241.7 2024.07.17 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Qian Hongzhi, Zhu Yiming (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Huang Jiuling (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) A47L 11 / 282 (2006.01) (54) Invention Title: Control Method and Cleaning Robot for Cleaning Robot (57) Abstract: This invention provides a control method and a cleaning robot for cleaning robots. It relates to the field of smart home technology. The method includes: when an obstacle is detected, obtaining the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through a sensor system; when the height of the obstacle is greater than or equal to a first threshold and the observation angle is greater than a fourth threshold, obtaining the height, width, depth, and type of the obstacle through a sensor system installed on the robotic arm; when the height of the obstacle is greater than or equal to the first threshold, the width and depth of the obstacle exceed a second threshold, and the type of the obstacle belongs to a preset movable obstacle type, controlling the robotic arm to move the obstacle. The first threshold is the upper limit of the distance between the lower surface of the cleaning robot's body and the ground, and the second threshold is the upper limit of the grasping range of the robotic arm's grasping part. This solution can specifically handle different types of obstacles in different situations, achieving better cleaning results. Claims 2 pages, Description 25 pages, Drawings 5 ​​pages, CN 121421406 A 2026.01.30 CN 1 21 42 14 06 A 1. A control method for a cleaning robot, characterized in that it is applied to a cleaning robot, the cleaning robot being equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information of obstacles, the method comprising: during the movement of the cleaning robot, when an obstacle is detected, acquiring the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through the sensor system; when the height of the obstacle is greater than or equal to a first threshold, and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold, acquiring the height, width, depth, and type of the obstacle through the sensor system installed on the robotic arm of the cleaning robot; when the height of the obstacle is greater than or equal to the first threshold, the width and depth of the obstacle exceed a second threshold, and the obstacle...The obstacle is classified as a preset movable obstacle type, and the robotic arm is controlled to move the obstacle. The first threshold is the upper limit of the distance between the lower surface of the cleaning robot's body and the ground, and the second threshold is the upper limit of the gripping range of the robotic arm's gripping part. 2. The method according to claim 1, wherein when the height of the obstacle is greater than or equal to the first threshold, the width and depth of the obstacle exceed the second threshold, and the obstacle is classified as a preset movable obstacle type, the method further includes: controlling the robotic arm to push the obstacle away from its original location; adjusting the posture of the robotic arm so that at least a preset proportion of the robotic arm's projection on the ground is within the range of the cleaning robot's body's projection on the ground, and cleaning the original location of the obstacle. 3. The method according to claim 1, wherein the observation angle of the cleaning robot relative to the obstacle is the angle formed by the tangents from the first reference point of the cleaning robot to the outer perimeter boundary of the obstacle; wherein the first reference point is a point close to the obstacle along the current direction of travel among the intersection points of the body boundary of the cleaning robot and the central axis of the cleaning robot, and the central axis of the cleaning robot is parallel to the current direction of travel of the cleaning robot. 4. The method according to claim 3, wherein when the observation angle includes a horizontal observation angle, the fourth threshold includes a horizontal field of view threshold; and when the observation angle includes a vertical observation angle, the fourth threshold includes a vertical field of view threshold; and when the observation angle includes both a horizontal and a vertical observation angle, the fourth threshold includes both a horizontal field of view threshold and a vertical field of view threshold. 5. The method according to claim 1, further comprising: when the height of the obstacle is greater than or equal to a first threshold, the width and depth of the obstacle exceed a second threshold, and the type of the obstacle belongs to a preset non-movable obstacle type, performing a bypass cleaning action. 6. The method according to claim 1, characterized in that the method further comprises: when the height of the obstacle is greater than or equal to a first threshold, the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, controlling the robotic arm to grasp the obstacle; when the height of the obstacle is greater than or equal to the first threshold, the width and / or depth of the obstacle does not exceed the second threshold, and the type of the obstacle belongs to a preset non-graspable obstacle type, performing a bypass cleaning action. 7. The method according to claim 1, characterized in that the method further comprises: when the height of the obstacle is less than the first threshold, if the type of the obstacle belongs to a preset inhalable obstacle type, moving along the current direction of travel and sucking the obstacle in through the main brush chamber; if the type of the obstacle belongs to a preset non-inhalable obstacle type, performing a bypass cleaning action. 8. The method according to claim 1, characterized in that the method further comprises:Claim 1 / 2 Page 2 CN 121421406 A When the height of the obstacle is greater than or equal to a first threshold, the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle is an obstacle that needs to be cleaned, the robotic arm is controlled to grab the obstacle and place the grabbed obstacle into a nearby garbage collection point. 9. The method according to claim 1, characterized in that the cleaning robot is provided with a garbage can or garbage bag on its body; the method further includes: when the height of the obstacle is greater than or equal to a first threshold, the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle is an obstacle that needs to be cleaned, the robotic arm is controlled to grab the obstacle and place the grabbed obstacle into a garbage can or garbage bag. 10. A cleaning robot, characterized in that it includes: a body, a sensor system capable of acquiring three-dimensional information of obstacles, a robotic arm, a processor, and a memory for storing processor-executable instructions; during the movement of the cleaning robot, when the processor executes the instructions, it implements the steps of the control method of the cleaning robot according to any one of claims 1 to 9. Claims 2 / 2 Page 3 CN 121421406 A Control Method for Cleaning Robot and Cleaning Robot

[0001] This application is a divisional application of the invention patent with application number 202410956241.7, application date 2024.07.17, and invention title "Control Method for Cleaning Robot and Cleaning Robot". Technical Field

[0002] This invention relates to the field of smart home technology, specifically to a control method for a cleaning robot and a cleaning robot. Background Art

[0003] With the rapid development of artificial intelligence and robotics technology, more and more users are beginning to get used to using cleaning robots for indoor or outdoor cleaning operations.

[0004] Based on existing cleaning robot control methods, when faced with different types of obstacles in different situations, a uniform and fixed approach is mostly adopted. That is, obstacles are usually regarded as insurmountable "forbidden zones." Once an obstacle is detected, a detour command is generated to avoid it. In addition, existing cleaning robots use fixed-set perception systems, which cannot completely and accurately perceive obstacles, resulting in inaccurate identification. Ultimately, the cleaning effect is often not ideal, affecting the user experience. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a control method for a cleaning robot and a cleaning robot, so as to at least solve the above-mentioned problems of generating detour commands to avoid different types of obstacles in different situations, and the problems of using fixed-set perception systems, which cannot completely and accurately perceive obstacles, resulting in inaccurate identification and ultimately leading to unsatisfactory cleaning effects, affecting the user experience.

[0006] To achieve the above objectives, the first aspect of the present invention provides a control method for a cleaning robot, applied to a cleaning robot equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information about obstacles. The method includes: during the movement of the cleaning robot, when an obstacle is detected, acquiring the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through the sensor system; when the height of the obstacle is greater than or equal to a first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold, acquiring the height, width, depth, and type of the obstacle through the sensor system installed on the robotic arm of the cleaning robot; when the height of the obstacle is greater than or equal to the first threshold, the width and depth of the obstacle exceed a second threshold, and the type of the obstacle belongs to a preset movable obstacle type, controlling the robotic arm to move the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the gripping part of the robotic arm.

[0007] Optionally, when the height of the obstacle is greater than or equal to a first threshold, the width and depth of the obstacle exceed a second threshold, and the type of the obstacle belongs to a preset movable obstacle type, the method further includes: controlling the robotic arm to push the obstacle away from the original area of ​​the obstacle; adjusting the posture of the robotic arm so that the projection of the robotic arm on the ground is at least a preset proportion within the range of the projection of the body of the cleaning robot on the ground, and cleaning the original area of ​​the obstacle.

[0008] Optionally, the observation angle of the cleaning robot relative to the obstacle is the angle formed by the tangent from the first reference point of the cleaning robot to the outer perimeter boundary of the obstacle; wherein, the first reference point is the point close to the obstacle along the current direction of travel among the intersection points of the body boundary of the cleaning robot and the central axis of the cleaning robot, and the central axis of the cleaning robot is parallel to the current direction of travel of the cleaning robot.

[0009] Optionally, when the observation angle includes a horizontal observation angle, the fourth threshold includes a horizontal field of view threshold; and when the observation angle includes a vertical observation angle, the fourth threshold includes a vertical field of view threshold; and when the observation angle includes both a horizontal and a vertical observation angle, the fourth threshold includes both a horizontal field of view threshold and a vertical field of view threshold.

[0010] Optionally, the method further includes: when the height of the obstacle is greater than or equal to a first threshold, the width and depth of the obstacle exceed a second threshold, and the type of the obstacle belongs to a preset non-movable obstacle type, a detour cleaning action is performed.

[0011] Optionally, the method further includes: when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold...If the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset non-graspable obstacle type, a bypass cleaning action is performed.

[0012] Optionally, the method further includes: when the height of the obstacle is less than the first threshold, if the type of the obstacle belongs to a preset inhalable obstacle type, the obstacle moves along the current direction of travel and is sucked into the main brush chamber; if the type of the obstacle belongs to a preset non-inhalable obstacle type, a bypass cleaning action is performed.

[0013] Optionally, the method further includes: when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to an obstacle that needs to be cleaned, the robotic arm is controlled to grab the obstacle and place the grabbed obstacle into a nearby waste recycling area.

[0014] Optionally, the cleaning robot is equipped with a trash can or trash bag; the method further includes: when the height of the obstacle is greater than or equal to a first threshold, the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle is an obstacle that needs to be cleaned, controlling the robotic arm to grab the obstacle, and controlling the robotic arm to put the grabbed obstacle into a trash can or trash bag.

[0015] On the other hand, the present invention provides a cleaning robot, including: a body, a sensor system capable of acquiring three-dimensional information of obstacles, a robotic arm, a processor, and a memory for storing processor-executable instructions; during the movement of the cleaning robot, the processor executes the instructions to implement the control method of the cleaning robot.

[0016] In this solution, when the cleaning robot detects an obstacle during its movement, it first obtains the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through a sensor system. When the height of the obstacle is greater than or equal to a first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold, the height, width, depth, and type of the obstacle are obtained through a sensor system located on page 2 / 25 of the manual for the robotic arm of the cleaning robot (CN 121421406 A). This fully utilizes the advantages and characteristics of the robotic arm. The second sensor system located on the robotic arm obtains relatively complete and accurate information such as the height, width, depth, and type of the obstacle. Based on the above information, it can accurately distinguish different types of obstacles in different situations. Then, for different types of obstacles in different situations, it fully utilizes the advantages and characteristics of the robotic arm and the sensor system to perform targeted processing with matching processing methods, thereby obtaining more comprehensive and detailed obstacle information. Furthermore, it can accurately and flexibly cooperate with the cleaning components to better complete the cleaning task and achieve better cleaning results.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Brief Description of the Drawings

[0018] The accompanying drawings are provided to further illustrate the embodiments of the present invention and constitute a part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings: Figure 1 is a schematic diagram of an embodiment of the structure of the rear side of the cleaning robot body using the control method of the cleaning robot provided in the embodiments of this specification; Figure 2 is a schematic diagram of an embodiment of the structure of the front side of the cleaning robot body using the control method of the cleaning robot provided in the embodiments of this specification; Figure 3 is a schematic diagram of an embodiment of the structure of the robotic arm of the cleaning robot using the control method of the cleaning robot provided in the embodiments of this specification; Figure 4 is a flowchart illustrating the control method of the cleaning robot provided in an embodiment of this specification; Figure 5 is a schematic diagram of an embodiment of the control method of the cleaning robot provided in the embodiments of this specification in a scenario example; Figure 6 is a schematic diagram of an embodiment of the control method of the cleaning robot provided in the embodiments of this specification in a scenario example; Figure 7 is a schematic diagram of an embodiment of the control method of the cleaning robot provided in the embodiments of this specification in a scenario example; Figure 8 is a schematic diagram of an embodiment of the control method of the cleaning robot provided in the embodiments of this specification in a scenario example; Figure 9 is a schematic diagram of an embodiment of the control method of the cleaning robot provided in the embodiments of this specification in a scenario example; Figure 10 is a flowchart illustrating the control method of the cleaning robot provided in an embodiment of this specification; Figure 11 is a schematic diagram of an embodiment of the control method of the cleaning robot provided in the embodiments of this specification in a scenario example. Figure 12 is a schematic diagram of the structural composition of a cleaning robot provided in one embodiment of this specification; Figure 13 is a schematic diagram of the structural composition of a control device of a cleaning robot provided in one embodiment of this specification. Detailed Description

[0019] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the present invention and are not intended to limit the present invention.

[0020] An embodiment of this specification provides a cleaning robot. See Figure 1. Specification 3 / 25 pages 6 CN 121421406 A

[0021] The above-mentioned cleaning robot can specifically be an autonomous robot, capable of moving autonomously and completing cleaning tasks autonomously within a work area without external human information input and control. The work area can include indoor areas and outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns,Gardens, roads, etc. Cleaning tasks may include sweeping (e.g., washing, mopping, sweeping, etc.), lawn mowing, snow removal, etc.

[0022] The above-mentioned cleaning robots include, but are not limited to: sweeping robots, washing robots, sweeping and mopping robots, lawn mowing robots, snow removal robots, etc. Cleaning robots can clean by sweeping in front and mopping behind or by sweeping and mopping separately. Among them, sweeping in front and mopping behind can sweep and mop at the same time, which can improve cleaning efficiency. Sweeping and mopping separately can sweep first and then mop after sweeping, which can improve cleaning effect.

[0023] Specifically, referring to Figure 1, the above-mentioned cleaning robot includes at least a body, a controller, one or more cleaning components, and a sensor system capable of acquiring three-dimensional information of obstacles.

[0024] The above-mentioned cleaning components may specifically include one or more of the following: side brushes, main brushes (or roller brushes), mop pads (or mop pads), etc.

[0025] Specifically, the shape of the above-mentioned body can be circular, square, or other shapes. For example, part of the above-mentioned body can be circular and another part can be square.

[0026] The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0027] The cleaning component may be circular, square, or other shapes (e.g., semi-circular, arc-shaped, triangular, etc.). The circular shape facilitates the rotating cleaning of the cleaning component. The irregular shape facilitates the cleaning component cleaning corner areas.

[0028] The side brush can gather foreign objects, causing them to move towards the center of the bottom of the cleaning robot. The main brush can sweep up foreign objects from the bottom of the cleaning robot, allowing them to enter the dust collection box through the suction port. The mop tray is used for wiping or mopping the floor.

[0029] Specifically, a mop is provided on the mop tray. A water tank is provided on the cleaning robot. Water in the water tank flows through holes to the mop, wetting it. The wet mop is used for mopping the floor.

[0030] The main brush is located in the main brush cavity at the bottom of the cleaning robot's body. The main brush cavity is connected to the suction channel of the cleaning robot. Small debris such as dust and hair swept up by the main brush and / or side brushes will be sucked into the main brush cavity by the cleaning robot.

[0031] The above-mentioned sensor system can be installed on the body of the cleaning robot (which can be referred to as the first sensor system), and can at least acquire three-dimensional information of obstacles. The cleaning robot can detect and identify obstacles based on the three-dimensional information of obstacles acquired by the sensor system. Then, the controller can control the cleaning robot accordingly based on the detected and identified obstacles.

[0032] The above-mentioned sensor system may specifically include one or more of the following: monocular vision sensor, binocular vision sensor, etc.Sensors, line laser sensors, area laser sensors, LDS sensors, Dtof sensors, Itof sensors, etc.

[0033] Specifically, the above-mentioned monocular vision sensor can acquire a projection image of an object on a two-dimensional plane through a single camera. This image can carry information such as the object's shape, size, color, and texture. The above-mentioned binocular vision sensor can simulate human vision and acquire three-dimensional information of an object through two cameras.

[0034] The above-mentioned line laser sensor can be a sensor that uses line lasers to achieve measurement. The above-mentioned area laser sensor can be a sensor that uses area lasers to achieve measurement.

[0035] The above-mentioned LDS (Laser Direct Structuring) sensor can be an optical sensor that uses triangulation laser ranging. The above-mentioned Dtof (Direct Time of Flight) sensor is also called a depth time-of-flight sensor. Based on the above-mentioned Dtof sensor, depth perception can be achieved by measuring the time required for the pulse to travel from the camera to the target and back by emitting an infrared laser pulse through a Dtof camera. The aforementioned Itof (indirect time-of-flight) sensor specifically refers to a long-range, anti-interference Itof depth image sensor. Based on the aforementioned Itof sensor, a modulated infrared light signal can be emitted into the scene, and then the sensor can receive the light signal reflected back from the target in the scene. The phase difference between the emitted and received signals can be calculated based on the cumulative charge during the exposure (integration) time, thereby obtaining the depth information of the target.

[0036] Of course, it should be noted that the sensors listed above are only illustrative. In specific implementations, depending on the specific circumstances and processing requirements, the aforementioned sensor system may also include other types of sensors such as infrared sensors.

[0037] Specifically, based on the aforementioned sensor system, two-dimensional information (e.g., planar images, etc.) and depth information of obstacles within a certain range can be collected; then, by fusing the aforementioned two-dimensional information and depth information of obstacles, the corresponding three-dimensional information of obstacles can be obtained; furthermore, based on the three-dimensional information of obstacles, relatively accurate detection and identification of obstacles can be achieved, as well as obtaining relatively rich feature information about obstacles such as shape, size, and texture.

[0038] Specifically, in some embodiments, the sensor system may include a binocular camera set at the front of the cleaning robot. In practice, the cleaning robot can use binocular cameras to acquire image information of objects in its environment, including visible light and / or infrared light, thereby identifying the type and boundary range of the objects. Furthermore, it can calculate the three-dimensional shape and distance of objects using the parallax of the two cameras, thus obtaining the corresponding three-dimensional information of obstacles.Furthermore, obstacle avoidance can be performed based on three-dimensional information such as obstacle type, boundary range, three-dimensional shape, and distance, as well as functions such as dirt detection, cleaning surface material detection, threshold step detection, room and furniture recognition, and human or pet recognition.

[0039] In some other embodiments, the sensor system may also include a monocular camera and a structured light sensor (such as a line laser sensor, crossbeam sensor, etc.) disposed at the front of the cleaning robot. In this way, the cleaning robot can obtain image information of objects in the visible light and / or infrared light bands of the environment in which the cleaning robot is located through the monocular camera, thereby identifying the type and boundary range of the object; it can also detect the three-dimensional shape and distance of the object by using the structured light sensor in combination with the robot's motion scanning, or by combining the rotation or movement of the LDS sensor, and obtain the corresponding obstacle three-dimensional information. Furthermore, obstacle avoidance can be performed based on three-dimensional information such as obstacle type, boundary range, three-dimensional shape, and distance, as well as functions such as dirt detection, cleaning surface material detection, threshold step detection, room and furniture recognition, and human or pet recognition.

[0040] Specifically, for example, an obstacle detection model pre-trained based on artificial intelligence algorithms can be used to intelligently detect and identify obstacles by processing the three-dimensional information of obstacles acquired by the sensor system, determining the specific type of obstacle, and obtaining characteristic information of the obstacle such as shape, size (e.g., height, width, length, etc.), and texture.

[0041] Further, referring to FIG2, the cleaning robot may also include a robotic arm. A robotic arm storage slot matching the robotic arm may also be provided on the body. A rotating shaft may also be fixedly provided in the robotic arm storage slot, and the robotic arm is connected to the rotating shaft.

[0042] Specifically, referring to FIG2, when the robotic arm is not in use, it can be retracted and placed in the robotic arm storage slot.

[0043] Referring to FIG3, when the robotic arm is in use, the robotic arm can rotate and unfold around the rotating shaft as a fulcrum, and then the robotic arm can be used to complete specific actions, such as grasping actions, pushing actions, etc.

[0044] Specifically, referring to Figure 3, the above-mentioned robotic arm is at least provided with a gripping part, such as a claw. Accordingly, the cleaning robot can use the gripping part provided on the robotic arm to grasp specific items.

[0045] The above-mentioned robotic arm can also be provided with a sensor system (which can be referred to as a second sensor system), such as a binocular sensor system. Accordingly, the sensor system provided on the robotic arm can be used to obtain three-dimensional information of obstacles.

[0046] It should be noted that the robotic arm and robotic arm storage slot listed above are only illustrative. In specific implementation, according to the specific application scenario and processing requirements, other types of robotic arms and other types of robotic arms may also be included.The robotic arm storage slot. This specification does not limit this.

[0047] Referring to Figure 4, this specification provides a control method for a cleaning robot. This method is applied to a cleaning robot equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information about obstacles. In specific implementation, this method may include the following: S401: During the movement of the cleaning robot, when an obstacle is detected, the height, width, depth, and type of the obstacle are acquired through the sensor system; S402: When the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, the robotic arm is controlled to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot's body and the ground, and the second threshold is the upper limit of the grasping range of the robotic arm's grasping part.

[0048] The height, width, and depth of the obstacle can be referred to Figure 8.

[0049] The height is the distance between the highest point of the obstacle and the working surface, the width is the maximum lateral dimension of the obstacle facing the cleaning robot, and the depth is the maximum dimension along the direction of travel of the cleaning robot.

[0050] Specifically, the depth of the obstacle can be the maximum distance between the two intersection points of the obstacle and the central axis. The central axis is parallel to the current direction of travel of the cleaning robot and parallel to the ground. The width of the obstacle can be the maximum distance between the two intersection points of the obstacle and the first reference line. The first reference line is a straight line that moves along the central axis, is parallel to the ground, and is perpendicular to the current direction of travel of the cleaning robot. The height of the obstacle can be the maximum height projected onto a plane perpendicular to the central axis.

[0051] In specific implementation, three-dimensional information of the obstacle can be obtained through a sensor system; the three-dimensional information of the obstacle can specifically include the height, width, depth, and other dimensional information of the obstacle.

[0052] Furthermore, the type of obstacle can be identified and determined based on the three-dimensional information of the obstacle.

[0053] Based on the above embodiments, for obstacles that are high enough for the robotic arm to grasp, and where the obstacle type belongs to a preset graspable obstacle type suitable for the robotic arm to grasp, the robotic arm can grasp the obstacle, avoiding interference with the cleaning process and achieving a better cleaning effect.

[0054] Specifically, the above-mentioned cleaning robot's movement process can be a process where the cleaning robot moves while cleaning, or a process where the cleaning robot only moves without cleaning, etc.

[0055] Further, the above-mentioned movement process can specifically be a movement along a straight path, a movement along an arc path, or a movement along an irregularly shaped path, etc.

[0056] Typically, during its movement, a cleaning robot uses a sensor system to detect obstacles in the area ahead in real time or periodically.

[0057] When an unknown obstacle is detected, based on existing cleaning robots and their control methods, the cleaning robot often does not distinguish the type of obstacle and continues to move along the original route; and continuously rotates the side brush during movement in order to sweep the obstacle to the area below the robot's body; then, through the main brush cavity located at the bottom of the body, it sucks the obstacle into the dust collection box to complete the cleaning task.

[0058] However, in the actual cleaning process, the applicant found that when the obstacle is relatively high, the cleaning robot often has difficulty sweeping the obstacle to the space area below the robot's body, resulting in the inability to smoothly suck the obstacle into the dust collection box through the main brush cavity, thus affecting the cleaning effect.

[0059] Alternatively, based on existing cleaning robots and their control methods, the cleaning robot will directly perform an avoidance action after discovering the aforementioned obstacles, resulting in the inability to effectively clean the area where the obstacles are located, thus affecting the cleaning effect.

[0060] Furthermore, the applicant has also found that in the actual cleaning process, the types and situations of obstacles encountered by the cleaning robot are often diverse and complex.

[0061] For example, some obstacles are obstacles that need to be cleaned, such as garbage; while others are obstacles that do not need to be cleaned, such as furniture and potted plants.

[0062] Furthermore, the aforementioned obstacles that need to be cleaned can be further subdivided into: obstacles that can be directly sucked into the dust collection box through the main brush cavity (e.g., relatively low obstacles such as paper scraps and hair), and obstacles that cannot be directly sucked into the dust collection box through the main brush cavity (e.g., relatively high obstacles such as packaging boxes and foam boxes).

[0063] For example, due to the limited grasping range of the robotic arm's gripping part, some obstacles are too large for the robotic arm to grasp; others are too small for the robotic arm to grasp. For another example, some obstacles are suitable for the robotic arm to grasp due to their material, value, etc.; others are unsuitable due to their material, value, etc.

[0064] The obstacles that the robotic arm can grasp can be further subdivided into: pre-set graspable obstacles and pre-set ungraspable obstacles. Specifically, the pre-set graspable obstacles may include lightweight, unbreakable, and inexpensive obstacles such as plastic stools and cardboard boxes. The pre-set ungraspable obstacles may include heavy, fragile, and valuable obstacles such as vases and fish tanks.

[0065] The obstacles that the robotic arm cannot grasp can be further subdivided into: pre-set pushable obstacles.And preset non-movable obstacles. Among them, the preset movable obstacles can be lightweight, not easily broken, and relatively inexpensive obstacles; the preset non-movable obstacles can be heavy, easily broken, and relatively expensive obstacles.

[0066] More deeply, the applicant also found that: because different types of obstacles have different attributes and characteristics, the cleaning robot's handling methods for different types of obstacles in different situations will also differ during the cleaning process.

[0067] For example, when the size of the obstacle is relatively small and suitable for grasping operations, the preferred handling method should be to grasp and lift the obstacle in place, and then clean the area where the obstacle was originally located; after cleaning the area where the obstacle was originally located, put the obstacle down so that the obstacle returns to the area where the obstacle was originally located.

[0068] For example, when the obstacle is relatively large and suitable for pushing away, a preferred approach is to push the obstacle away from its original location, then clean the original location; after cleaning the original location, push the obstacle back to its original location, etc.

[0069] However, existing cleaning robots cannot implement the above-mentioned obstacle types and the corresponding handling methods, and existing cleaning robot control methods do not take this into account at all.

[0070] The applicant has noticed the above-mentioned problems and, in light of the specific reasons for these problems, considers that the advantages and characteristics of the sensor system and the robotic arm can be fully utilized: On the one hand, by utilizing the structural advantages of the robotic arm, a sensor system set on the body of the cleaning robot (which can be referred to as the first sensor system) and a sensor system set on the robotic arm (which can be referred to as the second sensor system) can be combined to collect relatively more comprehensive and accurate three-dimensional information of obstacles; On the other hand, based on the above-mentioned three-dimensional information of obstacles, the specific situation and type of obstacles can be further distinguished, and then, for different situations and different types of obstacles, a matching processing method can be adopted to utilize the robotic arm, in conjunction with the operation of the cleaning components, to perform corresponding processing, thereby better completing the cleaning task and obtaining a relatively better cleaning effect.

[0071] In this embodiment, the sensor system may specifically include one or more of the following sensors: monocular vision sensor, binocular vision sensor, line laser sensor, area laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0072] In one embodiment, referring to Figure 5, when the cleaning robot detects an obstacle while moving in the current direction, the sensor system can acquire the height, width, depth, and type of the obstacle.

[0073] Referring to Figure 8, the height of the obstacle can be understood as the maximum vertical distance of the obstacle relative to the ground, denoted as h. The width of the obstacle can be understood as the maximum distance of the obstacle along the direction perpendicular to the current travel direction of the cleaning robot, denoted as w. The depth of the obstacle can be understood as the maximum distance of the obstacle along the direction parallel to the current travel direction of the cleaning robot, denoted as d.

[0074] In specific implementation, the height, width, and depth of the obstacle can be directly measured using some specific sensors in the sensor system (e.g., ranging sensors, height sensors, etc.). Alternatively, the sensor system can be used to acquire the three-dimensional information of the obstacle first; then, based on the three-dimensional information of the obstacle, the height, width, and depth of the obstacle can be determined. Then, a pre-trained obstacle detection model can be used to intelligently detect and identify the obstacle and determine the type of obstacle by processing the three-dimensional information of the obstacle acquired by the sensor system.

[0075] In one embodiment, the cleaning robot can acquire information such as the height, width, and depth of an obstacle through a sensor system; and determine the specific situation of the obstacle based on the acquired information such as the height, width, and depth of the obstacle.

[0076] In a specific implementation, after obtaining information such as the height, width, and depth of the obstacle, the height of the obstacle can be compared with a first threshold to obtain a corresponding first comparison result; at the same time, the width and depth of the obstacle are compared with a second threshold to obtain a corresponding second comparison result.

[0077] Wherein, the first threshold can specifically be the upper limit of the distance between the lower surface of the cleaning robot's body and the ground. The second threshold can specifically be the upper limit of the gripping range of the gripping part.

[0078] Specifically, for example, the gripping range of the gripping part can be the maximum range when the gripping part is open.

[0079] In a specific implementation, based on the first comparison result, when it is determined that the height of the obstacle is greater than or equal to the first threshold, it can be judged that the height of the obstacle is relatively high, and the obstacle cannot enter the space area under the body of the cleaning robot. Therefore, the cleaning robot cannot directly suck the dust into the dust collection box through the main brush chamber.

[0080] Conversely, based on the first comparison result, when it is determined that the height of the obstacle is less than the first threshold, it can be judged that the height of the obstacle is relatively low, and the obstacle can enter the space area under the body of the cleaning robot. Therefore, it can be directly sucked into the dust collection box through the main brush chamber.

[0081] Furthermore, based on the width and depth of the obstacle, it is determined whether the obstacle exceeds the second threshold.

[0082] In one case, based on the second comparison result, when it is currently determined that the width of the obstacle is less than or equal to the second threshold, and the depth of the obstacle is less than or equal to the second threshold, it is determined that the obstacle does not exceed the second threshold, and the size of the obstacle can be determined.The obstacle is within the effective grasping range of the robotic arm's gripping part. Therefore, the obstacle can be successfully grasped by the gripping part of the robotic arm, meaning that the obstacle is one that can be grasped by the robotic arm.

[0083] Conversely, according to the second comparison result, when it is determined that the width of the obstacle is greater than the second threshold and the depth of the obstacle is greater than the second threshold, it is determined that the obstacle exceeds the second threshold, and it can be judged that the size of the obstacle has exceeded the effective grasping range of the robotic arm's gripping part. Therefore, the obstacle cannot be successfully grasped by the gripping part of the robotic arm, meaning that the obstacle is one that cannot be grasped by the robotic arm.

[0084] In another case, according to the second comparison result, if the width and depth of the obstacle are at least equal to the second threshold, it is determined that the width and / or depth of the obstacle does not exceed the second threshold. Since the obstacle does not exceed the second threshold, it can be determined that the robot can successfully grasp the obstacle after adjusting the grasping direction and position; that is, the obstacle is an obstacle that can be grasped by the robotic arm.

[0085] Conversely, according to the second comparison result, if the width and depth of the obstacle are both greater than the second threshold, it is determined that the width and depth of the obstacle exceed the second threshold. Since the obstacle exceeds the second threshold, it can be determined that even if the robotic arm adjusts the grasping direction and position, it still cannot successfully grasp the obstacle; that is, the obstacle is an obstacle that cannot be grasped by the robotic arm.

[0086] In this embodiment, when the height of the obstacle is greater than or equal to the first threshold, and the width and / or depth of the obstacle does not exceed the second threshold, it can be determined that the current obstacle cannot be sucked into the dust collection box through the main brush cavity and can be grasped by the robotic arm, that is, the obstacle meets the grasping conditions.

[0087] At the same time, according to the type of the obstacle, it is determined whether the type of the obstacle belongs to the preset graspable obstacle type.

[0088] Specifically, according to the type of the obstacle, a preset graspable obstacle type table can be matched. If the matching fails, it is determined that the type of the obstacle belongs to the preset ungraspable obstacle type, and the obstacle is not suitable to be grasped by the robotic arm, that is, the type of the obstacle does not meet the grasping conditions.

[0089] Conversely, if the matching is successful, it is determined that the type of the obstacle belongs to the preset graspable obstacle type, and the obstacle is suitable to be grasped by the robotic arm, that is, the type of the obstacle meets the grasping conditions.

[0090] In accordance with the above method, when the condition and type of the obstacle meet the grasping conditions, the cleaning robot can actively grasp the obstacle by controlling the robotic arm to better complete the cleaning task and obtain a better cleaning effect.

[0091] Based on the above embodiments, the height, width, depth, type, and other information of the obstacle can be obtained through the sensor system.The robot can collect information and distinguish different types of obstacles based on the above information. For different types of obstacles, a matching processing method is used for targeted processing to obtain a better cleaning effect. Specifically, obstacles whose conditions and types meet the grasping conditions can be grasped by a robotic arm.

[0092] In one embodiment, the cleaning robot can also acquire three-dimensional information of obstacles through a sensor system; and determine the specific type of obstacle based on the acquired three-dimensional information of obstacles.

[0093] Further, the cleaning robot can also determine a matching processing strategy based on the type of obstacle; and then control the operation of the robotic arm based on the matching processing strategy to better complete the cleaning task.

[0094] In specific implementation, a pre-trained obstacle detection model can be used to process the above three-dimensional information of obstacles to obtain the corresponding obstacle detection results; and the type of obstacle can be determined based on the obstacle detection results. The above obstacle detection model can be understood as a neural network model that can automatically identify and determine the type of obstacle by pre-training a large number of sample obstacle three-dimensional information.

[0095] Then, based on the type of obstacle, a matching processing strategy is determined by querying a preset processing strategy set. The preset processing strategy set contains multiple preset processing strategies, and each predicted processing strategy corresponds to at least one type of obstacle.

[0096] In one embodiment, the types of obstacles may specifically include: preset graspable obstacles and preset non-grabable obstacles. The types of obstacles may also include: preset pushable obstacles and preset non-pushable obstacles.

[0097] Furthermore, the types of obstacles may also include: obstacles that require cleaning and obstacles that do not require cleaning, etc. Instruction manual, page 9 / 25, 12 CN 121421406 A

[0098] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold; and, according to the obstacle detection result, when it is determined that the obstacle indicated by the three-dimensional information of the obstacle is an obstacle that needs to be cleaned, the cleaning robot can control the robotic arm to grab the obstacle according to a matching processing strategy; and control the robotic arm to put the grabbed obstacle into a nearby recycling area (e.g., a trash can, etc.).

[0099] In some cases, a trash can or trash bag can also be set on the body of the cleaning robot. Accordingly, the cleaning robot can also control the robotic arm to put the grabbed obstacle into the trash can or trash bag according to a matching processing strategy. Thus, the robotic arm can be used to efficiently and accurately clean the obstacles that need to be cleaned, and obtain a better cleaning effect.

[0100] When the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold.Threshold; and, based on the obstacle detection results, when it is determined that the obstacle indicated by the three-dimensional information of the obstacle is an obstacle that does not need to be cleaned, the cleaning robot can control the robotic arm to grab the obstacle according to the matching processing strategy; and control the robotic arm to lift the grabbed obstacle off the ground, for example, to a position at least three thresholds away from the ground; and then perform the in-situ cleaning action to clean the area where the obstacle was originally located; after the cleaning of the area is completed, control the robotic arm to put down the obstacle. The aforementioned third threshold can be, for example, the distance between the upper surface of the cleaning robot body and the ground. Thus, the robotic arm can be used to efficiently and precisely complete the cleaning of the relevant location area of ​​the obstacle that does not need to be cleaned, and obtain a better cleaning effect.

[0101] In one embodiment, when the height of the obstacle is greater than or equal to the first threshold and the width and / or depth of the obstacle does not exceed the second threshold, it is possible to detect whether the type of the obstacle belongs to a preset graspable obstacle type.

[0102] When it is determined that the obstacle belongs to a preset graspable obstacle type, the robotic arm can be controlled to grasp the obstacle to complete the corresponding cleaning task.

[0103] Conversely, when it is determined that the obstacle belongs to a preset non-graspable obstacle type, the robotic arm can be controlled not to grasp the obstacle, but to perform bypass cleaning to complete the corresponding cleaning task.

[0104] Furthermore, when it is determined that the obstacle belongs to a preset non-graspable obstacle type, it can be further detected whether the obstacle belongs to a preset pushable obstacle type.

[0105] When it is determined that the obstacle belongs to a preset pushable obstacle type, the robotic arm can be controlled to push the obstacle away to complete the corresponding cleaning task.

[0106] Conversely, when it is determined that the obstacle belongs to a preset non-pushable obstacle type, the robotic arm can be controlled neither to grasp nor push the obstacle, but to perform bypass cleaning to complete the corresponding cleaning task.

[0107] Based on the above embodiments, the cleaning robot can also acquire three-dimensional information of obstacles through a sensor system; determine the type of obstacle based on the three-dimensional information of the obstacle; further distinguish different types of obstacles in different situations; and adopt a matching processing method for targeted processing of different types of obstacles in different situations to obtain a better cleaning effect.

[0108] In one embodiment, the sensor system may specifically include a first sensor system and a second sensor system; correspondingly, the acquisition of the height, width, depth, and type of obstacles through the sensor system may specifically include the following: S1: acquiring the height of the obstacle through the first sensor system installed on the body of the cleaning robot; S2: when the height of the obstacle is greater than or equal to the height threshold, acquiring the height of the obstacle through the first sensor system installed on the robotic arm of the cleaning robot.Page 13 CN 121421406 A The second sensor system acquires the width, depth, and type of the obstacle.

[0109] The aforementioned height threshold can be related to the performance parameters of the first sensor system. Generally, when the height of the obstacle is greater than or equal to the height threshold, the first sensor system alone cannot obtain information such as the width, depth, and type of the obstacle with high accuracy and small error.

[0110] Referring to Figure 2, the position and angle of the first sensor system set on the body are fixed relative to the cleaning robot.

[0111] The position and angle of the second sensor system set on the robotic arm can change within a certain range with the movement of the robotic arm, thereby flexibly acquiring the required and relatively complete three-dimensional information of the obstacle in different situations and different types of obstacles.

[0112] In specific implementation, the height of the obstacle can be acquired first using the first sensor system set on the body; then the height of the obstacle can be compared with a first threshold to obtain a first comparison result.

[0113] According to the first comparison result, when it is determined that the height of the obstacle is greater than or equal to the height threshold, it can be judged that the obstacle is relatively high relative to the cleaning robot.

[0114] In this case, since the position and angle of the first sensor system are fixed relative to the cleaning robot, and the observation range of the first sensor system is limited, the three-dimensional information of the obstacle collected by the first sensor system based on the current position of the cleaning robot may be incomplete, inaccurate, or even have detection blind spots. For example, it may be unable to detect the part of the area behind the obstacle, as shown in Figure 6.

[0115] Therefore, in this case, the cleaning robot often cannot accurately obtain the width, depth, type, and other information of the obstacle by using only the first sensor system, or the information obtained may be prone to errors.

[0116] In order to obtain the above information of the obstacle more accurately, the cleaning robot can obtain the width, depth, type, and other information of the obstacle through the second sensor system set in the robotic arm.

[0117] In a specific implementation, the robotic arm can be activated so that the obstacle is within the detection range of the second sensor system; and the three-dimensional information of the obstacle can be obtained through the second sensor system; wherein, the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0118] Specifically, for example, referring to Figure 7, the cleaning robot can activate and deploy its robotic arm. By adjusting the robotic arm, the position and angle of the second sensor system can be adjusted so that the second sensor system can observe the obstacle as completely as possible, that is, so that the obstacle is within the detection range of the second sensor system.

[0119] Furthermore, the advantages of the robotic arm and the second sensor system can be utilized to obtain obstacle information with high accuracy.Information such as the width, depth, and type of the obstacle is obtained, effectively reducing data errors.

[0120] In one embodiment, after obtaining the height of the obstacle through the first sensor system installed on the body of the cleaning robot, the method may further include the following: When the height of the obstacle is greater than or equal to a first threshold, the width, depth, and type of the obstacle are obtained by combining the first sensor system installed on the body of the cleaning robot and the second sensor system installed on the robotic arm of the cleaning robot.

[0121] Specifically, for example, the first sensor system and the second sensor system can be used to obtain obstacle 3D information 1 and obstacle 3D information 2 corresponding to the same obstacle; then the obstacle 3D information 1 and obstacle 3D information 2 are fused to obtain more comprehensive fused obstacle 3D information; then the width and depth of the obstacle are accurately determined based on the fused obstacle 3D information. At the same time, the type of obstacle can also be accurately identified and determined based on the fused obstacle 3D information. Instruction manual, pages 11 / 25, 14 CN 121421406 A

[0122] In one embodiment, after obtaining the height of the obstacle through the first sensor system installed on the body of the cleaning robot, the method may further include the following: Based on the current relative pose information of the cleaning robot relative to the obstacle (including relative position and relative angle) and the height of the obstacle, determine whether the obstacle as a whole is within the effective observation range of the first sensor system; if it is within the effective observation range of the first sensor system, the height of the obstacle can continue to be obtained through the first sensor system installed on the body of the cleaning robot; conversely, if it is not within the effective observation range of the first sensor system, the width, depth, and type of the obstacle can be obtained through the second sensor system installed on the robotic arm of the cleaning robot.

[0123] In one embodiment, the second sensor system is a binocular sensor system.

[0124] This is because the binocular sensor system can not only obtain the required three-dimensional information of the obstacle; at the same time, the structure of the binocular sensor system also has a good matching degree with the structure of the robotic arm.

[0125] Therefore, a binocular sensor system can be set on the robotic arm as a second sensor system, which can better cooperate with and utilize the structural characteristics of the robotic arm to obtain relatively better three-dimensional obstacle information.

[0126] In one embodiment, the above-mentioned acquisition of the width, depth, and type of obstacle by the second sensor system set on the robotic arm of the cleaning robot may specifically include the following: starting the robotic arm so that the obstacle is within the detection range of the second sensor system; and collecting the three-dimensional obstacle information by the second sensor system set on the robotic arm; wherein the three-dimensional obstacle information is used to determineInformation such as the width, depth, and type of the obstacle.

[0127] In specific implementation, the robotic arm can be started first; then, based on the relevant information collected by the first sensor system and / or the second sensor system, the pose (including height and / or angle) of the robotic arm can be continuously adjusted so that the second sensor system can cover the obstacle as completely as possible, so that the obstacle is within the detection range of the second sensor system; then, the three-dimensional information of the obstacle can be obtained through the second sensor system.

[0128] Thus, relatively complete and highly accurate three-dimensional information of the obstacle can be obtained through the second sensor system.

[0129] In specific implementation, the obstacle detection model can be used to process the three-dimensional information of the obstacle to determine the width, depth, and other information of the obstacle. Alternatively, the width, depth, and other information of the obstacle can be determined through corresponding data processing based on the three-dimensional information of the obstacle.

[0130] For example, the projection pattern of the obstacle relative to the ground can be determined first based on the three-dimensional information of the obstacle; then, the width, depth, and other information of the obstacle can be calculated based on the projection pattern.

[0131] Thus, the width, depth, and other information of the obstacle can be accurately determined using the acquired three-dimensional information of the obstacle.

[0132] In specific implementation, the obstacle detection model can be used to process the three-dimensional information of the obstacle to determine the type of the obstacle. Thus, the type of obstacle can be accurately and efficiently identified.

[0133] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, the method may further include the following: If the type of the obstacle belongs to a preset graspable obstacle type, the robotic arm can be directly controlled to grasp the obstacle.

[0134] The preset graspable obstacle may specifically include lightweight, unbreakable, and inexpensive obstacles such as plastic benches, cardboard boxes, and foam boxes.

[0135] If the type of the obstacle belongs to a preset ungraspable obstacle type, the robotic arm can be controlled not to grasp the obstacle.

[0136] Specifically, the aforementioned pre-defined ungraspable obstacles may include heavy, fragile, or valuable obstacles such as fish tanks, sofas, and vases.

[0137] In one embodiment, after controlling the robotic arm to grasp the obstacle, the method may further include the following: S1: Controlling the robotic arm to move the grasped obstacle and place it in a first area; S2: Performing a return cleaning action.

[0138] In specific implementation, firstly, the cleaning robot can control the robotic arm to move the grasped obstacle from its original location area and place it in the first area.

[0139] The first area and the original location area of ​​the obstacle belong to different location areas. Specifically, for example, the aforementioned...A region can be a location adjacent to the original location of the obstacle and already cleaned.

[0140] Next, the cleaning robot can perform a return cleaning action, return to the original location of the obstacle, and perform a cleaning action on that region.

[0141] After cleaning the original location of the obstacle, the cleaning robot can also move back to the first region, control the robotic arm to grab the obstacle, and move and place the grabbed obstacle back to the original location of the obstacle.

[0142] Based on the above embodiments, the cleaning robot can temporarily grab the obstacle and move it to the first region through the robotic arm, effectively avoiding the obstacle from interfering with the cleaning of the original location of the obstacle, and obtaining a better cleaning effect.

[0143] In one embodiment, after controlling the robotic arm to grab the obstacle, referring to FIG9, the method may further include the following: S1: control the robotic arm to lift the grabbed obstacle to a position where the vertical distance between the obstacle and the ground is at least greater than a third threshold; S2: maintain the vertical distance between the obstacle and the ground at least greater than the third threshold, and clean the original location of the obstacle.

[0144] In a specific implementation, after the cleaning robot grabs an obstacle, it does not need to move the obstacle to the first area; instead, it can stay in the current area (i.e., the area where the obstacle was originally located); and control the robotic arm to lift the grabbed obstacle; so that the distance between the obstacle and the ground is at least greater than or equal to the third threshold. The third threshold can specifically be the distance between the upper surface of the cleaning robot's body and the ground.

[0145] In this embodiment, by lifting the obstacle to a position at least greater than or equal to the third threshold from the ground using the robotic arm, the cleaning robot, or the cleaning component of the cleaning robot, can smoothly enter the area where the obstacle was originally located for cleaning.

[0146] Correspondingly, the cleaning robot can mechanically maintain the vertical distance between the obstacle and the ground at least greater than the third threshold; then control the cleaning robot to perform in-situ cleaning actions, for example, controlling the cleaning robot to enter the area where the obstacle was originally located, and / or extending the cleaning component into the area where the obstacle was originally located to clean the area where the obstacle was originally located.

[0147] After cleaning the area where the obstacle was originally located, the cleaning robot can control the robotic arm to lower the obstacle so that the obstacle returns to its original location.

[0148] Based on the above embodiments, the cleaning robot can effectively avoid the obstacle interfering with the cleaning of the area where the obstacle was originally located by temporarily grabbing and lifting the obstacle through the robotic arm, thus achieving a better cleaning effect.

[0149] In one embodiment, while maintaining the vertical distance between the obstacle and the ground at least greater than the threshold value specified in the third specification (page 13 / 25, CN 121421406 A), the method may further include:The horizontal displacement of the obstacle relative to the body of the cleaning robot is maintained to be less than a preset amplitude threshold.

[0150] Wherein, the preset amplitude threshold can be a minimum value close to 0. For example, 0.01cm, etc.

[0151] In this way, the vertical distance between the obstacle and the ground can be maintained to be at least greater than a third threshold, so as to better complete the cleaning of the area where the obstacle was originally located.

[0152] In one embodiment, the method may further include the following: if the three-dimensional information of the obstacle indicates that the obstacle belongs to a preset non-graspable obstacle type, adjust the pose of the robotic arm so that at least a preset proportion of the projection of the robotic arm on the ground is within the range of the projection of the body of the cleaning robot on the ground; and perform a bypass cleaning action.

[0153] Wherein, the preset proportion threshold can be determined by the manufacturer in advance through actual testing using the same model of cleaning robot.

[0154] Specifically, the preset proportion threshold can be greater than or equal to 60%, for example, 65%, 70%, or 85%, etc.

[0155] Of course, in specific implementations, depending on the specific conditions of the cleaning robot used, the above-mentioned preset proportion threshold can also be a data value greater than or equal to 75%.

[0156] In specific implementations, the above-mentioned adjustment of the posture of the robotic arm can include: retracting the robotic arm; or, retracting the robotic arm and placing the retracted robotic arm in the robotic arm storage slot; or, adjusting the position and angle of the robotic arm so that at least a preset proportion of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground.

[0157] This can, on the one hand, avoid the overall instability of the center of gravity after the robotic arm is extended, which could cause the cleaning robot to tip over during movement and cleaning; on the other hand, it can also avoid the extended robotic arm colliding with obstacles during movement and cleaning, thereby better ensuring the safety of the cleaning robot during movement and cleaning.

[0158] In specific implementations, the above-mentioned execution of the bypass cleaning action can include: determining the cleaning route around the obstacle based on the three-dimensional information of the obstacle; controlling the cleaning robot to move along the cleaning route and performing edge cleaning during the movement. This allows for better cleaning of the surrounding area of ​​the obstacle, reducing missed areas and achieving a better cleaning effect.

[0159] In one embodiment, when the height of the obstacle is greater than or equal to the first threshold, the method may further include the following: performing a steering action; and acquiring three-dimensional information of the obstacle through a first sensor system mounted on the fuselage; wherein the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0160] In a specific implementation, by performing a steering action, the angle of the fuselage relative to the obstacle can be adjusted to adjust the first...The sensor system can acquire the obstacle's three-dimensional information again by adjusting the first sensor system relative to the obstacle's pose (e.g., angle), so as to obtain the obstacle's three-dimensional information that meets the requirements for accurately determining the obstacle's width, depth, and type.

[0161] In a specific implementation, after performing a turning action, the cleaning robot can also be controlled to perform a backward action to adjust the first sensor system's pose (e.g., angle and distance) relative to the obstacle, so as to acquire the obstacle's three-dimensional information again by adjusting the first sensor system, so as to obtain the obstacle's three-dimensional information that meets the requirements for accurately determining the obstacle's width, depth, and type.

[0162] Based on the above embodiments, when the obstacle's height is greater than or equal to a first threshold, the first sensor system installed on the body can continue to acquire the obstacle's three-dimensional information that meets the requirements by adjusting the pose. Instruction Manual Pages 14 / 25 17 CN 121421406 A

[0163] As can be seen from the above, based on the control method and cleaning robot provided in this specification, the robot can accurately distinguish different types of obstacles in different situations by acquiring information such as the height, width, depth, and type of obstacles through the sensor system; and for different types of obstacles in different situations, it makes full use of the advantages and characteristics of the robotic arm and sensor system to carry out targeted processing with matching processing methods, so that a more comprehensive and detailed three-dimensional information of the obstacle can be obtained by using the sensor system set on the robotic arm; and by using the robotic arm to accurately and flexibly cooperate with the cleaning components, the cleaning task can be completed better and a better cleaning effect can be obtained.

[0164] In one embodiment, when the height of the obstacle is greater than or equal to the first threshold and the width and depth of the obstacle exceed the second threshold, the method may further include the following: If the type of obstacle belongs to a preset movable obstacle type, control the robotic arm to move the obstacle.

[0165] In specific implementation, when the height of the obstacle is greater than or equal to the first threshold, and the width and depth of the obstacle exceed the second threshold, it can be determined that the current obstacle cannot be sucked into the dust collection box through the main brush chamber; and cannot be grasped by the robotic arm.

[0166] Furthermore, the cleaning robot can determine whether the obstacle type belongs to a preset movable obstacle type.

[0167] Specifically, it can match the preset movable obstacle type table according to the obstacle type. If the match fails, it is determined that the obstacle type belongs to a preset non-movable obstacle type, and the obstacle is not suitable to be moved by the robotic arm, that is, the obstacle type does not meet the moving condition.

[0168] Conversely, if the match is successful, it is determined that the obstacle type belongs to a preset movable obstacle type, and the obstacle is suitable to be moved by the robotic arm, that is, the obstacle type meets the moving condition.

[0169] If the obstacle is a preset movable obstacle type, it can be actively moved by the robotic arm so that the cleaning robot can effectively clean the area where the obstacle was originally located and obtain a better cleaning effect.

[0170] Based on the above embodiments, for situations where the obstacle is too high and the robotic arm cannot grasp it, the obstacle can be moved by the robotic arm to avoid the obstacle interfering with the cleaning process and obtain a better cleaning effect.

[0171] In one embodiment, for some obstacles that are not suitable to be moved by the robotic arm, in some scenarios, the obstacle can also be actively moved by the body or side brush of the cleaning robot.

[0172] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, if the type of the obstacle belongs to a preset movable obstacle type, the method may further include the following: S1: Control the robotic arm to push the obstacle away from its original location; S2: Adjust the posture of the robotic arm so that at least a preset proportion of the robotic arm's projection on the ground is within the range of the cleaning robot's body projection on the ground, and clean the original location of the obstacle.

[0173] Specifically, the preset movable obstacle can be understood as an obstacle that the robotic arm cannot grasp, is lightweight, not easily broken, and relatively inexpensive, and is suitable for being pushed by the robotic arm. For example, plastic basins, cat scratching posts, small potted plants, etc.

[0174] In a specific implementation, the type of obstacle can be determined by processing the three-dimensional information of the obstacle using an obstacle detection model.

[0175] In specific implementation, if the obstacle is a preset type of movable obstacle, the robotic arm can be controlled to extend laterally; and the obstacle can be pushed away from its current location area by the laterally extended robotic arm to free up the location area (i.e., the original location area).

[0176] After pushing the obstacle away from the original location area, the posture of the robotic arm can be adjusted so that the projection of the robotic arm on the ground is at least within a preset proportion of the projection of the cleaning robot's body on the ground; and then the in-situ cleaning action can be performed in that location area. In this way, the cleaning task for that location area can be completed relatively safely.

[0177] After completing the cleaning task for the above-mentioned location area, the cleaning robot can also control the robotic arm to return the obstacle to its original location area.

[0178] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, the method may further include the following: If the obstacle is a preset non-movable obstacle type, perform a detour cleaning action.

[0179] Among them, the aforementioned preset non-pushable obstacles can be specifically understood as obstacles that the robotic arm cannot grasp, and that are heavy, fragile, valuable, and unsuitable for being pushed by the robotic arm. For example, antiques, statues, large flower pots, etc.

[0180] In specific implementation, when the three-dimensional information of the obstacle indicates that the type of the obstacle is a preset non-pushable obstacle, the edge cleaning route around the obstacle can be replanned; then, the detour cleaning action is performed according to the edge cleaning route, so as to effectively clean the surrounding area of ​​the obstacle.

[0181] In one embodiment, when the height of the obstacle is less than the first threshold, if the type of the obstacle belongs to the preset inhalable obstacle type, it moves along the current direction of travel; and the obstacle is sucked in through the main brush chamber.

[0182] Based on the above embodiments, for the case of a low obstacle, when it is determined that the type of the obstacle belongs to the preset inhalable obstacle type, the obstacle can be directly sucked in by the main brush chamber without having to spend additional time and energy to start the robotic arm, so as to complete the relevant cleaning more efficiently.

[0183] In a specific implementation, when the height of the obstacle is less than the first threshold, it can be determined that the obstacle is an obstacle that can be sucked into the dust collection box by the main brush chamber.

[0184] In a specific implementation, the obstacle's three-dimensional information can be processed using an obstacle detection model to determine the type of the obstacle; when it is determined that the type of the obstacle belongs to a preset inhalable obstacle type, the cleaning robot can continue to move along the current direction of travel; and directly suck in the obstacle located in the space area below the body through the main brush chamber.

[0185] Specifically, the above-mentioned preset inhalable obstacle can be understood as an obstacle that can be sucked into the dust collection chamber by the main brush chamber and will not affect the normal operation of the cleaning robot, such as paper scraps, dust, short hair, etc.

[0186] In contrast, there are also preset non-inhalable obstacles, which can be understood as obstacles that cannot be sucked into the dust collection chamber by the main brush chamber, or obstacles that can be sucked into the dust collection chamber by the main brush chamber but will affect the normal operation of the cleaning robot. For example, obstacles such as long hair, plastic bags, shoelaces, etc., are easy to get tangled with the main brush and affect the normal operation of the cleaning robot.

[0187] In one embodiment, when the height of the obstacle is less than the first threshold, the three-dimensional information of the obstacle can be obtained first; and the size parameters of the obstacle can be obtained according to the three-dimensional information of the obstacle; and then the size parameters of the obstacle can be compared with the fifth threshold. The fifth threshold is determined according to the size parameters of the main brush chamber and the dust collection box.

[0188] If the size parameters of the obstacle are greater than the fifth threshold, it can be determined that the obstacle cannot be sucked into the dust collection box by the main brush chamber, that is, the obstacle is a preset non-inhalable obstacle. If the size parameters of the obstacle are less than or equal to the fifth threshold, it can be determined that the obstacle can be sucked into the dust collection box by the main brush chamber, that is, the obstacle is a preset inhalable obstacle.

[0189] Based on the above embodiments, preset inhalable obstacles and preset non-inhalable obstacles can be distinguished and identified more precisely and accurately.

[0190] In one embodiment, the method may further include the following: If the type of obstacle belongs to the preset non-inhalable obstacle type, a detour cleaning action is performed.

[0191] In a specific implementation, the cleaning route can be replanned according to the three-dimensional information of the obstacle; and then, based on the replanned cleaning route (page 16 / 25 of the specification, 19 CN 121421406 A), a detour cleaning action is performed.

[0192] In one embodiment, if the type of obstacle belongs to the preset non-inhalable obstacle type, the method may further include the following: S1: Control the robotic arm to push the obstacle away from the original area of ​​the obstacle; S2: Adjust the posture of the robotic arm so that the projection of the robotic arm on the ground is at least a preset proportion within the range of the projection of the body of the cleaning robot on the ground, and clean the original area of ​​the obstacle.

[0193] Based on the above embodiments, the cleaning robot can be precisely controlled to complete the corresponding cleaning tasks more safely, effectively avoiding the robot body from tipping over or colliding with obstacles during cleaning.

[0194] As can be seen from the above, based on the control method and cleaning robot provided in this specification, by acquiring and utilizing information such as the height, width, depth, and type of obstacles, different types of obstacles in different situations can be accurately distinguished; and for different types of obstacles, the advantages of the robotic arm and sensor system can be fully utilized to carry out targeted processing with matching processing methods, thereby obtaining more comprehensive and detailed three-dimensional information of obstacles by using the sensor system set on the robotic arm; or, by using the robotic arm in conjunction with cleaning components, the cleaning task can be completed better, and a better cleaning effect can be obtained.

[0195] Referring to Figure 10, this embodiment of the specification also provides a control method for a cleaning robot, applied to a cleaning robot. The cleaning robot is equipped with a sensor system and a robotic arm capable of acquiring three-dimensional information about obstacles. In specific implementation, the method may include the following: S1001: During the movement of the cleaning robot, when an obstacle is detected within a first detection range, the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle are acquired through the sensor system; S1002: When the height of the obstacle is greater than or equal to a first threshold, and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold, the height, width, depth, and type of the obstacle are acquired through the sensor system installed on the robotic arm of the cleaning robot; S1003: When the height of the obstacle is greater than or equal to the first threshold, and the width and / or depth of the obstacle does not exceed...When the second threshold is reached, and the obstacle type belongs to the preset graspable obstacle type, the robotic arm is controlled to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the robotic arm's grasping part.

[0196] The above-mentioned fourth threshold can be specifically understood as the effective detection range of the sensor system based on the field of view. The above-mentioned field of view can be the angle formed by the two edges of the maximum range through which the image of the target object can pass through the lens in the sensor system. This angle determines the field of view of the sensor system. Generally, the larger the field of view, the larger the field of view.

[0197] Specifically, the above-mentioned fourth threshold can be determined based on the performance parameters such as the field of view of the sensor in the sensor system.

[0198] In one embodiment, referring to FIG11, the observation angle of the cleaning robot relative to the obstacle is the angle formed by the tangent from the first reference point of the cleaning robot to the outer peripheral boundary of the obstacle; In this embodiment, the first reference point is the point close to the obstacle along the current direction of travel among the intersection of the body boundary of the cleaning robot and the central axis of the cleaning robot, and the central axis of the cleaning robot is parallel to the current direction of travel of the cleaning robot.

[0199] Specifically, the above-mentioned observation angle can be understood as the angle formed by the tangent from the first reference point (e.g., point M) on the body of the cleaning robot to the outer peripheral boundary of the obstacle, which can be represented by β. Specification 17 / 25 pages 20 CN 121421406 A

[0200] In specific implementation, when an obstacle is detected in the first detection range during the movement of the cleaning robot, the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle can be obtained first by the sensor system (denoted as the first sensor system) set on the body. The obtained observation angle can be the observation angle based on the first sensor system.

[0201] In specific implementation, when the height of the obstacle is greater than or equal to the first threshold, and the observation angle of the cleaning robot relative to the obstacle is greater than the fourth threshold, it can be determined that the obstacle is too high and cannot be directly sucked into the dust collection box through the main brush chamber; furthermore, the size of the obstacle is relatively large, and the current position of the obstacle relative to the cleaning robot has exceeded the effective detection range of the sensor system, that is, the first sensor system cannot accurately and comprehensively obtain complete three-dimensional information of the obstacle.

[0202] At this time, in order to accurately obtain relatively complete three-dimensional information of the obstacle, the three-dimensional information of the obstacle can be obtained by using the sensor system (denoted as the second sensor system) set on the robotic arm.

[0203] Specifically, the robotic arm can be started; and by adjusting the posture of the robotic arm, the second sensor system set on the robotic arm can be adjusted.The sensor system is positioned and / or angled relative to the obstacle so that the obstacle is within the effective detection range of the second sensor system as much as possible; then the adjusted second sensor system is controlled to acquire the three-dimensional information of the obstacle. Thus, relatively accurate and complete three-dimensional information of the obstacle can be obtained.

[0204] Conversely, when the height of the obstacle is greater than or equal to the first threshold and the observation angle of the cleaning robot relative to the obstacle is less than or equal to the fourth threshold, the first sensor system set on the robot body can continue to acquire the three-dimensional information of the obstacle without the need to start the robotic arm. Thus, unnecessary energy consumption can be reduced.

[0205] Based on the above embodiments, the advantages and characteristics of the robotic arm can be fully utilized to acquire relatively complete and accurate information such as the height, width, depth, and type of the obstacle through the second sensor system set on the robotic arm. Based on the above information, different types of obstacles in different situations can be accurately distinguished. Then, for different types of obstacles in different situations, the advantages and characteristics of the robotic arm and sensor system can be fully utilized to carry out targeted processing with matching processing methods, thereby acquiring relatively comprehensive and detailed obstacle information. And, the cleaning components can be precisely and flexibly coordinated to complete the cleaning task better and achieve better cleaning results.

[0206] In one embodiment, when the observation angle includes a horizontal observation angle, the fourth threshold includes a horizontal field of view threshold; and when the observation angle includes a vertical observation angle, the fourth threshold includes a vertical field of view threshold; when the observation angle includes both a horizontal and a vertical observation angle, the fourth threshold includes both a horizontal and a vertical field of view threshold.

[0207] Specifically, when the observation angle includes a vertical observation angle, the fourth threshold includes the vertical field of view threshold of the sensor system.

[0208] Wherein, the aforementioned vertical observation angle can be specifically understood as the observation angle along the vertical direction, and the aforementioned vertical field of view threshold can be specifically understood as the field of view threshold along the vertical direction.

[0209] Accordingly, in a specific implementation, when the height of the obstacle is greater than or equal to the first threshold, and the vertical observation angle of the cleaning robot relative to the obstacle is greater than the corresponding vertical field of view threshold, it can be determined that the current obstacle height is relatively high, and the three-dimensional information of the obstacle collected solely based on the first sensor system is incomplete. For example, the first sensor system can only acquire partial height information of the obstacle; the height information of other parts is beyond the vertical viewing angle and cannot be completely and accurately acquired by the first sensor system. In this case, the height, width, depth, and type of the obstacle can be acquired by the sensor system installed on the robotic arm of the cleaning robot, obtaining more complete and accurate obstacle information.

[0210] Conversely, when the height of the obstacle is greater than or equal to the first threshold, and the vertical viewing angle of the cleaning robot relative to the obstacle is less than or equal to the corresponding vertical field of view threshold, the three-dimensional information of the obstacle can continue to be obtained through the sensor system installed on the body of the cleaning robot, including the height, width, depth, and type of the obstacle.

[0211] Specifically, the manufacturer can conduct actual machine tests on sample cleaning robots in advance; collect and determine the vertical field of view threshold and horizontal field of view threshold of the model of cleaning robot based on the actual machine test data.

[0212] Specifically, the above-mentioned vertical field of view threshold can be an angle value greater than or equal to 40 degrees and less than or equal to 60 degrees, for example, the above-mentioned vertical field of view threshold can be 45 degrees, or 50 degrees, etc.

[0213] The above-mentioned horizontal field of view threshold can be an angle value greater than or equal to 120 degrees and less than or equal to 140 degrees, for example, the above-mentioned horizontal field of view threshold can be 125 degrees, or 130 degrees, etc.

[0214] Of course, it should be noted that the vertical field of view threshold and horizontal field of view threshold listed above are only illustrative. In specific implementations, depending on the specific model of the cleaning robot, the specific sensor system used, etc., the above-mentioned vertical field of view threshold and horizontal field of view threshold can also be other suitable values.

[0215] Specifically, when the observation angle includes a horizontal observation angle, the fourth preset detection threshold includes the horizontal field of view threshold of the sensor system.

[0216] Wherein, the above-mentioned horizontal observation angle can be specifically understood as the observation angle along the horizontal direction, and the above-mentioned horizontal field of view threshold can be specifically understood as the field of view threshold along the horizontal direction.

[0217] Correspondingly, in specific implementations, when the height of the obstacle is greater than or equal to the first threshold, and the horizontal observation angle of the cleaning robot relative to the obstacle is greater than the corresponding horizontal field of view threshold, it is determined that the width of the current obstacle is relatively wide, and the three-dimensional information of the obstacle collected solely based on the first sensor system is incomplete. For example, based on the first sensor system, only part of the width information of the obstacle can be obtained, and the width information of other parts cannot be completely and accurately collected based on the first sensor system because it exceeds the horizontal observation angle. At this time, the height, width, depth, and type of the obstacle can be obtained through the sensor system installed on the robotic arm of the cleaning robot, thus obtaining relatively complete and accurate three-dimensional information of the obstacle.

[0218] Conversely, when the height of the obstacle is greater than or equal to the first threshold, and the horizontal observation angle of the cleaning robot relative to the obstacle is less than the corresponding horizontal field of view threshold, the three-dimensional information of the obstacle can continue to be obtained through the sensor system installed on the body of the cleaning robot, thus obtaining the height, width, depth, and type of the obstacle.

[0219] Specifically, when the observation angle includes a horizontal observation angle and a vertical observation angle, the fourth preset detection threshold includes the horizontal field of view threshold and the vertical field of view threshold of the sensor system.

[0220] Accordingly, in specific implementation, when the height of the obstacle is greater than or equal to the first threshold, the vertical observation angle of the cleaning robot relative to the obstacle is greater than the corresponding vertical field of view threshold, and the horizontal observation angle is greater than the corresponding horizontal field of view threshold, the height, width, depth, type, and other information of the obstacle can be obtained through the sensor system set on the robotic arm of the cleaning robot, so as to obtain relatively complete and accurate three-dimensional information of the obstacle.

[0221] Conversely, when the height of the obstacle is greater than or equal to the first threshold, the vertical observation angle of the cleaning robot relative to the obstacle is less than the corresponding vertical field of view threshold, and / or the horizontal observation angle is less than the corresponding horizontal field of view threshold, the three-dimensional information of the obstacle can continue to be obtained through the sensor system set on the body of the cleaning robot, so as to obtain the height, width, depth, and type of the obstacle.

[0222] In one embodiment, after controlling the robotic arm to grasp the obstacle, the method may further include: controlling the robotic arm to move the grasped obstacle and place it in the first area; and performing a return cleaning action. Instruction manual, pages 19 / 25, 22 CN 121421406 A

[0223] In one embodiment, the method may further include: if the obstacle's three-dimensional information indicates that the obstacle belongs to a preset ungraspable obstacle type, adjusting the pose of the robotic arm so that the projection of the robotic arm on the ground is at least a preset proportion within the range of the robot's body projection on the ground; and performing a bypass cleaning action.

[0224] In one embodiment, after obtaining the obstacle's three-dimensional information, the type of obstacle can be determined based on the obstacle's three-dimensional information; then, a matching processing strategy can be determined based on the type of obstacle; and the robotic arm can be controlled to perform corresponding processing based on the matching processing strategy to better complete the cleaning task.

[0225] In one embodiment, the sensor system may specifically include one or more of the following sensors: monocular vision sensor, binocular vision sensor, line laser sensor, area laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0226] As can be seen from the above, based on the control method and cleaning robot provided in this specification, by acquiring and determining the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle, it is possible to intelligently and accurately determine whether the first sensor system installed on the body of the cleaning robot can accurately obtain complete three-dimensional information of the obstacle. If it is determined that the first sensor system installed on the body of the cleaning robot cannot accurately obtain complete three-dimensional information of the obstacle, the structural advantages of the machine can be fully utilized to activate the robotic arm and accurately obtain complete three-dimensional information of the obstacle through the second sensor system installed on the robotic arm. Conversely, if it is determined that the first sensor system installed on the body of the cleaning robot cannot accurately obtain complete three-dimensional information of the obstacle, the structural advantages of the machine can be fully utilized to activate the robotic arm and accurately obtain complete three-dimensional information of the obstacle through the second sensor system installed on the robotic arm.If the first sensor system installed on the body of the cleaning robot can accurately acquire complete 3D information of obstacles, the robotic arm can be left unactivated, allowing the robot to continue acquiring this information. This reduces unnecessary energy consumption and improves overall cleaning efficiency. Furthermore, based on the accurate 3D information, the robot can precisely determine the condition and type of obstacle. Then, for different types of obstacles, the robot can fully utilize the advantages and characteristics of both the robotic arm and the sensor system, employing appropriate processing methods to obtain comprehensive and detailed obstacle information. Finally, the robot can precisely and flexibly coordinate with cleaning components to effectively complete cleaning tasks and achieve better cleaning results.

[0227] Referring to FIG12, an embodiment of this specification also provides a cleaning robot, wherein the cleaning robot includes: a body 1201, a first sensor system 1202 disposed on the body 1201 and capable of acquiring three-dimensional information of obstacles, a processor 1203, and a memory 1204 for storing processor-executable instructions; wherein a robotic arm 1205 is also disposed on the body, and a second sensor system 1206 capable of acquiring three-dimensional information of obstacles is also disposed on the robotic arm 1205; during the movement of the cleaning robot, the processor 1203 can implement the relevant steps of the movement control method of the cleaning robot by executing the relevant instructions in the memory 1204, so that the sensor system 1202 can effectively acquire the required three-dimensional information of obstacles.

[0228] In a specific implementation, the processor 1203, during the movement of the cleaning robot, when an obstacle is detected, obtains the height, width, depth, and type of the obstacle through the sensor system; when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, the processor controls the robotic arm to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0229] In a specific implementation, the processor 1203, during the movement of the cleaning robot, when an obstacle is detected, acquires the height, width, depth, and type of the obstacle through the sensor system; when the height of the obstacle is greater than or equal to a first threshold value, and the width and depth of the obstacle exceed a second threshold value, and the type of the obstacle belongs to a preset pushable obstacle type, the processor controls the robotic arm to push the obstacle; wherein, the first threshold value is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold value is the upper limit of the grasping range of the gripping part of the robotic arm.

[0230] In specific implementation, during the movement of the cleaning robot, when an obstacle is detected, the processor 1203 obtains the height, width, depth, and type of the obstacle through the sensor system; when the height of the obstacle is less than a first threshold and the type of the obstacle belongs to a preset inhalable obstacle type, the robot moves along the current direction of travel and sucks in the obstacle through the main brush chamber; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground.

[0231] In a specific implementation, during the movement of the cleaning robot, when an obstacle is detected, the processor 1203 obtains the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through a sensor system; when the height of the obstacle is greater than or equal to a first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold, the processor obtains the height, width, depth, and type of the obstacle through a sensor system installed on the robotic arm of the cleaning robot; when the height of the obstacle is greater than or equal to the first threshold and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, the processor controls the robotic arm to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0232] In this embodiment, the processor 1203 can be implemented in any suitable manner. For example, a processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. This specification does not limit the scope.

[0233] In this embodiment, the memory 1204 may include multiple layers. In digital systems, anything that can store binary data can be a memory; in integrated circuits, a circuit with storage function but no physical form is also called a memory, such as RAM, FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0234] This specification also provides a computer-readable storage medium based on the above-described control method for a cleaning robot. The computer-readable storage medium stores computer program instructions, which, when executed, implement the following steps: during the movement of the cleaning robot, when an obstacle is detected, the height, width, depth, and type of the obstacle are obtained through the sensor system; when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, the robotic arm is controlled.Grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the gripping part of the robotic arm.

[0235] This specification also provides another computer-readable storage medium based on the above-described control method for a cleaning robot. The computer-readable storage medium stores computer program instructions, which, when executed, implement the following steps: during the movement of the cleaning robot, when an obstacle is detected, the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle are obtained through a sensor system; when the height of the obstacle is greater than or equal to a first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold, the height, width, depth, and type of the obstacle are obtained through a sensor system installed on the robotic arm of the cleaning robot; when the height of the obstacle is greater than or equal to the first threshold and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset grasping obstacle type, the robotic arm is controlled to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0236] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), Cache, Hard Disk Drive (HDD), or Memory Card. The memory can be used to store computer program instructions. The network communication unit can be an interface for network connection communication, set according to the standard specified in the communication protocol.

[0237] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer-readable storage medium can be explained in comparison with other embodiments, and will not be repeated here.

[0238] This specification embodiment also provides a computer program product, which at least includes a computer program. When the computer program is executed by a processor, it implements the relevant steps of the movement control method of the cleaning robot.

[0239] This specification embodiment also provides a control device for a cleaning robot, applied to a cleaning robot, which is equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information of obstacles. Referring to Figure 13, the device may specifically include: an acquisition module 1301, which can be used to acquire the height, width, depth and type of an obstacle through the sensor system when an obstacle is detected during the movement of the cleaning robot;The control module 1302 is specifically used to control the robotic arm to grasp the obstacle when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type; wherein, the first threshold is the upper limit of the distance between the lower surface of the body of the cleaning robot and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0240] In one embodiment, the sensor system may specifically include a first sensor system and a second sensor system; accordingly, when the above-mentioned acquisition module 1301 is specifically implemented, the height, width, depth, and type of the obstacle can be acquired through the sensor system in the following manner: the height of the obstacle is acquired through the first sensor system set on the body of the cleaning robot; when the height of the obstacle is greater than or equal to the height threshold, the width, depth, and type of the obstacle are acquired through the second sensor system set on the robotic arm of the cleaning robot.

[0241] In one embodiment, the second sensor system may specifically be a binocular sensor system, etc.

[0242] In one embodiment, when the above-mentioned acquisition module 1301 is specifically implemented, the width, depth, and type of the obstacle can be acquired by the second sensor system set on the robotic arm of the cleaning robot in the following manner: activating the robotic arm so that the obstacle is within the detection range of the second sensor system; and acquiring the three-dimensional information of the obstacle through the second sensor system; wherein the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0243] In one embodiment, after controlling the robotic arm to grab the obstacle, when the device is specifically implemented, it can also be used to: control the robotic arm to move the grabbed obstacle and place it in a first area; and perform a return cleaning action.

[0244] In one embodiment, after controlling the robotic arm to grab the obstacle, when the device is specifically implemented, it can also be used to: control the robotic arm to lift the grabbed obstacle to a position where the vertical distance between the obstacle and the ground is at least greater than a third threshold; maintain the vertical distance between the obstacle and the ground at least greater than the third threshold, and clean the area where the obstacle was originally located.

[0245] In one embodiment, while maintaining the vertical distance between the obstacle and the ground at least greater than the threshold value specified in the third specification (pages 22 / 25, CN 121421406 A), the device can also be used to: maintain the horizontal displacement of the obstacle relative to the body of the cleaning robot at less than a preset amplitude threshold value.

[0246] In one embodiment, the device can also be used to: if the obstacle is of a preset ungraspable obstacle type, adjust the pose of the robotic arm so that the projection of the robotic arm on the ground is at least a preset value greater than the target distance.The projection of the example value is located within the range of the projection of the cleaning robot's body on the ground; and it performs a bypass cleaning action.

[0247] In one embodiment, when the height of the obstacle is greater than or equal to the first threshold, the device can also be used to: perform a turning action; and acquire three-dimensional information of the obstacle through a first sensor system installed on the body; wherein the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0248] In one embodiment, when the height of the obstacle is greater than or equal to the first threshold, and the width and depth of the obstacle exceed the second threshold, the device can also be used to: if the type of the obstacle belongs to a preset movable obstacle type, control the robotic arm to move the obstacle.

[0249] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, if the type of the obstacle belongs to a preset movable obstacle type, the device can also be used to: control the robotic arm to push the obstacle away from the original area of ​​the obstacle; adjust the posture of the robotic arm so that the projection of the robotic arm on the ground is at least a preset proportion within the range of the projection of the cleaning robot's body on the ground, and clean the original area of ​​the obstacle.

[0250] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, the device can also be used to: if the type of the obstacle belongs to a preset non-movable obstacle type, perform a bypass cleaning action.

[0251] In one embodiment, the device can also be used to: when the height of the obstacle is less than a first threshold, if the type of the obstacle belongs to a preset suckable obstacle type, move along the current direction of travel; and suck in the obstacle through the main brush chamber.

[0252] In one embodiment, the device can also be used to: perform a bypass cleaning action if the obstacle is a preset non-inhalable obstacle type.

[0253] In one embodiment, if the obstacle is a preset non-inhalable obstacle type, the device can also be used to: control the robotic arm to push the obstacle away from its original location; adjust the posture of the robotic arm so that the projection of the robotic arm on the ground is at least a preset proportion within the range of the projection of the cleaning robot's body on the ground, and clean the original location of the obstacle.

[0254] This specification also provides a control device for a cleaning robot, applied to a cleaning robot, the cleaning robot being equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information about obstacles, including: an acquisition module, used to acquire the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through the sensor system when an obstacle is detected during the movement of the cleaning robot;A control module is used to acquire the height, width, depth, and type of the obstacle through a sensor system installed on the robotic arm of the cleaning robot when the height of the obstacle is greater than or equal to a first threshold and the viewing angle of the cleaning robot relative to the obstacle is greater than a fourth threshold; when the height of the obstacle is greater than or equal to the first threshold and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, the control module controls the robotic arm to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0255] In one embodiment, the sensor system includes a first sensor system installed on the body of the cleaning robot (page 23 / 25, CN 121421406 A) and a second sensor system installed on the robotic arm; in one embodiment, after controlling the robotic arm to grasp the obstacle, the device can also be used to: control the robotic arm to move the grasped obstacle and place it in a first area; and perform a return cleaning action.

[0256] In one embodiment, the device can also be used to: adjust the pose of the robotic arm so that, if the obstacle is a preset type of ungraspable obstacle, the projection of the robotic arm on the ground is at least a preset proportion within the range of the projection of the cleaning robot's body on the ground; and perform a bypass cleaning action.

[0257] In one embodiment, the observation angle of the cleaning robot relative to the obstacle is the angle formed by the tangent from the first reference point of the cleaning robot to the outer perimeter of the obstacle; wherein, the first reference point is the point close to the obstacle along the current direction of travel among the intersections of the body boundary of the cleaning robot and the central axis of the cleaning robot, and the central axis of the cleaning robot is parallel to the current direction of travel of the cleaning robot.

[0258] In one embodiment, when the observation angle includes a horizontal observation angle, the fourth threshold includes a horizontal field of view threshold; and when the observation angle includes a vertical observation angle, the fourth threshold includes a vertical field of view threshold; when the observation angle includes both a horizontal and a vertical observation angle, the fourth threshold includes both a horizontal field of view threshold and a vertical field of view threshold.

[0259] It should be noted that the units, devices, or modules described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this specification, the functions of each module can be implemented in one or more software and / or hardware, or a module that implements the same function can be implemented by a combination of multiple sub-modules or sub-units, etc.The device embodiments described above are merely illustrative. For example, the division of the units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces. The indirect coupling or communication connection of devices or units may be electrical, mechanical or other forms.

[0260] As can be seen from the above, the control device of the cleaning robot provided in the embodiments of this specification can accurately distinguish different types of obstacles in different situations by acquiring and utilizing information such as the height, width, depth, and type of obstacles; and for different types of obstacles in different situations, it can make full use of the advantages and characteristics of the robotic arm and sensor system to carry out targeted processing with matching processing methods, thereby obtaining more comprehensive and detailed three-dimensional information of obstacles; and flexibly cooperate with cleaning components to better complete the cleaning task and obtain better cleaning effect.

[0261] Although this specification provides the method operation steps as described in the embodiments or flowcharts, conventional or non-inventive means may include more or fewer operation steps. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only possible execution order. In actual device or client product execution, the steps can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment) as shown in the embodiments or accompanying drawings. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded. The terms "first," "second," etc., are used to denote names and do not indicate any specific order.

[0262] Those skilled in the art also know that, besides implementing the controller in the form of purely computer-readable program code, the controller can achieve the same function entirely by logically programming the method steps, making it take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices included within it for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0263] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can reside in local and remote computer-readable storage media, including storage devices.

[0264] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this specification can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of this specification can essentially be embodied in the form of a software product, which can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this specification.

[0265] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. This specification can be used in numerous general-purpose or special-purpose computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0266] Although this specification has been described through embodiments, those skilled in the art will understand that many variations and modifications are possible without departing from the spirit of this specification. It is intended that the appended claims encompass these variations and modifications without departing from the spirit of this specification. Instruction manual 25 / 25 pages 28 CN 121421406 A Figure 1 Figure 2 Figure 3 Instruction manual drawing 1 / 5 pages 29 CN 121421406 A Figure 4 Figure 5 Figure 6 Instruction manual drawing 2 / 5 pages 30 CN 121421406 A Figure 7 Figure 8 Figure 9 Instruction manual drawing 3 / 5 pages 31 CN 121421406 A Figure 10 Figure 11 Figure 12 Instruction manual drawing 4 / 5 pages 32 CN 121421406 A Figure 13 Instruction manual drawing 5 / 5 pages 33 CN 121421406 A Abstract The present invention provides a control methodfor a cleaning robot and a cleaning robot, and relates to the technical field of smart home. The method includes: acquiring the height of an obstacle and an observation angle of the cleaning robot relative to the obstacle through a sensor system when the obstacle is detected; when the height of the obstacle is greater than or equal to a first threshold and the observation angle is greater than a fourth threshold, acquiring the height, width, depth and type of the obstacle by means of a sensor system arranged on a mechanical arm; when the height of the obstacle is greater than or equal to the first threshold, the width and depth of the obstacle exceed a second threshold, and the type of the obstacle belongs to a preset pushable obstacle type, controlling the mechanical arm to push the obstacle. The first threshold is an upper limit value of the distance between the lower surface of the body of the cleaning robot and the ground, and the second threshold is an upper limit value of agrabbing range of a grabbing portion of the mechanical arm. The present solution can perform targeted processing on obstacles of different types under different conditions, and achieve an excellent cleaning effect.

Claims

1. A control method for a cleaning robot, characterized in that, Applied to a cleaning robot, the cleaning robot being equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information about obstacles, the method includes: During the movement of the cleaning robot, when an obstacle is detected, the robot obtains the height of the obstacle and the viewing angle of the cleaning robot relative to the obstacle through the sensor system. When the height of the obstacle is greater than or equal to the first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than the fourth threshold, the height, width, depth and type of the obstacle are obtained by the sensor system set on the robotic arm of the cleaning robot. When the height of the obstacle is greater than or equal to the first threshold, the width and depth of the obstacle exceed the second threshold, and the type of the obstacle belongs to the preset movable obstacle type, the robotic arm is controlled to move the obstacle. Wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the gripping range of the gripping part of the robotic arm.

2. The method according to claim 1, characterized in that, When the height of the obstacle is greater than or equal to a first threshold, the width and depth of the obstacle exceed a second threshold, and the type of the obstacle belongs to a preset movable obstacle type, the method further includes: The robotic arm is controlled to push the obstacle away from its original location. Adjust the position of the robotic arm so that at least a preset proportion of the robotic arm's projection on the ground is within the range of the cleaning robot's body projection on the ground, and clean the area where the obstacle was originally located.

3. The method according to claim 1, characterized in that, The observation angle of the cleaning robot relative to the obstacle is the angle formed by the first reference point of the cleaning robot and the tangent to the outer perimeter of the obstacle; The first reference point is the point closest to the obstacle along the current direction of travel, where the intersection of the robot's body boundary and its central axis is located. The central axis of the cleaning robot is parallel to its current direction of travel.

4. The method according to claim 3, characterized in that, When the observation angle includes a horizontal observation angle, the fourth threshold includes a horizontal field of view threshold; Furthermore, when the observation angle includes a vertical observation angle, the fourth threshold includes a vertical field of view threshold; when the observation angle includes both a horizontal and a vertical observation angle, the fourth threshold includes both a horizontal field of view threshold and a vertical field of view threshold.

5. The method according to claim 1, characterized in that, The method further includes: When the height of the obstacle is greater than or equal to the first threshold, the width and depth of the obstacle exceed the second threshold, and the type of the obstacle belongs to the preset non-movable obstacle type, a detour cleaning action is performed.

6. The method according to claim 1, characterized in that, The method further includes: When the height of the obstacle is greater than or equal to the first threshold, the width and / or depth of the obstacle does not exceed the second threshold, and the type of the obstacle belongs to the preset graspable obstacle type, the robotic arm is controlled to grasp the obstacle. When the height of the obstacle is greater than or equal to the first threshold, the width and / or depth of the obstacle does not exceed the second threshold, and the type of the obstacle belongs to the preset ungraspable obstacle type, a detour cleaning action is performed.

7. The method according to claim 1, characterized in that, The method further includes: When the height of the obstacle is less than the first threshold, if the type of the obstacle is a preset inhalable obstacle type, the vehicle moves along the current direction of travel and sucks the obstacle in through the main brush chamber. If the obstacle is classified as a pre-defined non-inhalable obstacle, a detour cleaning action will be performed.

8. The method according to claim 1, characterized in that, The method further includes: When the height of the obstacle is greater than or equal to a first threshold, the width and / or depth of the obstacle does not exceed a second threshold, and the type of obstacle is an obstacle that needs to be cleaned, the robotic arm is controlled to grab the obstacle and place the grabbed obstacle into the nearby waste recycling area.

9. The method according to claim 1, characterized in that, The cleaning robot is equipped with a trash can or trash bag; the method further includes: When the height of the obstacle is greater than or equal to a first threshold, the width and / or depth of the obstacle does not exceed a second threshold, and the type of obstacle is an obstacle that needs to be cleaned, the robotic arm is controlled to grab the obstacle and place the grabbed obstacle into a trash can or trash bag.

10. A cleaning robot, characterized in that, include: The machine body, a sensor system capable of acquiring three-dimensional information about obstacles, a robotic arm, a processor, and a memory for storing processor-executable instructions; During the movement of the cleaning robot, when the processor executes the instructions, it implements the steps of the control method for the cleaning robot according to any one of claims 1 to 9.

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