Movement control method of cleaning robot and cleaning robot

Abstract

To provide a movement control method of a cleaning robot and a cleaning robot.SOLUTION: During movement of a cleaning robot, three-dimensional information of an obstacle can be acquired by a sensor system. If the obstacle moves within a detection range of the sensor system, a distance D along a middle axial line of the cleaning robot between the obstacle and the cleaning robot is shorter than a first preset detection threshold, and a maximum value α1 of an included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and a current travel direction of the cleaning robot is greater than a third preset detection threshold, operation of going away from the obstacle is automatically executed. As a result, the sensor system of the cleaning robot can effectively acquire the three-dimensional information of the obstacle and achieve correct identification of the obstacle.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present specification belongs to the technical field of smart homes, and in particular relates to a method for controlling the movement of a cleaning robot and a cleaning robot. [Background technology]

[0002] As technology advances and becomes more widespread, more and more users are becoming accustomed to using cleaning robots to perform indoor and outdoor cleaning tasks.

[0003] According to the conventional method for controlling the movement of a cleaning robot, the cleaning robot needs to collect and process obstacle information in real time while moving, but due to various reasons, the cleaning robot may not be able to effectively obtain the obstacle information, which may further affect the movement and operation of the cleaning robot. Summary of the Invention

[0004] The present specification provides a cleaning robot and a movement control method for the cleaning robot, which allows the sensor system of the cleaning robot to effectively obtain three-dimensional information of an obstacle and realize accurate identification of the obstacle.

[0005] The present specification provides a cleaning robot movement control method applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of an obstacle, During the movement of the cleaning robot, an obstacle moves within the detection range of the sensor system, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, the maximum value of the included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and the current moving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the included angle between a line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current moving direction of the cleaning robot is greater than a third preset detection threshold. a step of performing an operation to move away from the obstacle when the detected difference is smaller than a preset detection threshold of 3, so that the sensor system acquires three-dimensional information of the obstacle; a central axis of the cleaning robot is parallel to a current traveling direction of the cleaning robot; the first reference point is a point of intersection of a body boundary of the cleaning robot and the central axis of the cleaning robot that is closest to the obstacle along the current traveling direction; and the second reference point is an intersection of an outer boundary of the obstacle and a reference line of the obstacle, the reference line being perpendicular to the central axis.

[0006] In one embodiment, the method comprises: The method further includes a step of not performing the action of moving away from the obstacle and continuing to move along the current moving path when the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold and the minimum value of the included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and the current moving direction of the cleaning robot is equal to or greater than the third preset detection threshold.

[0007] In one embodiment, the sensor system includes one or more sensors selected from the group consisting of a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor; The first preset detection threshold is a minimum effective detection distance of a sensor in the sensor system.

[0008] In one embodiment, the cleaning robot performs an operation of moving away from an obstacle until it moves to a first position, and the distance between the first position and the obstacle is less than the maximum effective detection distance of a sensor in the sensor system.

[0009] In one embodiment, after performing the action of moving away from the obstacle, the method further comprises: The method further includes performing a steering operation to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information of the obstacle.

[0010] In one embodiment, after performing the action of moving away from the obstacle, the method further comprises: performing a wait operation; During the waiting period, redetecting the obstacle area by the sensor system; If no obstacle is present in the obstacle area, performing a return cleaning operation.

[0011] In one embodiment, after redetection by the sensor system, the method comprises: If an obstacle is present in the obstacle area, the method further includes replanning the cleaning route and performing a detour operation.

[0012] In one embodiment, after redetection by the sensor system, the method comprises: If an obstacle exists in the obstacle area and the obstacle is a human user, the method further includes broadcasting related presentation information by voice.

[0013] The present specification provides a cleaning robot movement control method applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of an obstacle, The present invention further provides a method for controlling movement of a cleaning robot, which includes, when an obstacle moves within the detection range of the sensor system while the cleaning robot is moving, and the observation angle of the cleaning robot to the obstacle is greater than a fourth preset detection threshold, performing an operation to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle.

[0014] In one embodiment, the observation angle of the cleaning robot with respect to the obstacle is an included angle formed by a tangent line from a first reference point of the cleaning robot to the outer boundary of the obstacle.

[0015] In one embodiment, when the viewing angle comprises a horizontal viewing angle, the fourth preset detection threshold comprises a horizontal viewing angle threshold of a sensor system.

[0016] In one embodiment, when the viewing angle comprises a vertical viewing angle, the fourth preset detection threshold comprises a vertical viewing angle threshold of a sensor system.

[0017] In one embodiment, when the viewing angle includes a horizontal viewing angle and a vertical viewing angle, the fourth preset detection threshold includes a horizontal viewing angle threshold and a vertical viewing angle threshold of a sensor system.

[0018] In one embodiment, after performing the action of moving away from the obstacle, the method further comprises: The method may further include performing a standby operation when an observation angle of the cleaning robot with respect to the obstacle is smaller than a predetermined critical threshold.

[0019] In one embodiment, the sensor system includes one or more of the following sensors: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor.

[0020] In one embodiment, the cleaning robot performs an operation of moving away from an obstacle until it moves to a first position, and the distance between the first position and the obstacle is less than the maximum effective detection distance of a sensor in the sensor system.

[0021] In one embodiment, after performing the action of moving away from the obstacle, the method further comprises: The method further includes performing a steering operation to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information of an obstacle.

[0022] In one embodiment, after performing the action of moving away from the obstacle, the method further comprises: performing a wait operation; During the waiting period, redetecting the obstacle area by the sensor system; If no obstacle is present in the obstacle area, performing a return cleaning operation.

[0023] In one embodiment, after redetection by the sensor system, the method comprises: If an obstacle is present in the obstacle area, the method further includes replanning the cleaning route and performing a detour operation.

[0024] In one embodiment, after redetection by the sensor system, the method comprises: If an obstacle exists in the obstacle area and the obstacle is a human user, the method further includes broadcasting related presentation information by voice.

[0025] The present specification provides a cleaning robot movement control method applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of an obstacle, The present invention further provides a movement control method for a cleaning robot, the method including the step of: when an obstacle moves within a detection range of the sensor system while the cleaning robot is moving, and a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is smaller than a first preset detection threshold, and a maximum value of a vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and a minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than the second preset detection threshold, performing an operation to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle, and the central axis of the cleaning robot is parallel to a current traveling direction of the cleaning robot.

[0026] In one embodiment, the method comprises: The method further includes the step of not performing the action to move away from the obstacle and continuing to move along the current traveling path when the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is equal to or greater than the second preset detection threshold.

[0027] In one embodiment, the second preset detection threshold is greater than or equal to 0.45 times the maximum length of the cleaning robot's body along a direction perpendicular to the central axis of the cleaning robot, and is less than or equal to 0.55 times the maximum length of the cleaning robot's body along a direction perpendicular to the central axis of the cleaning robot.

[0028] In one embodiment, the sensor system includes a binocular vision sensor.

[0029] In one embodiment, the sensor system includes one or more sensors selected from the group consisting of a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor; The first preset detection threshold is a minimum effective detection distance of a sensor in the sensor system.

[0030] In one embodiment, the cleaning robot performs an operation of moving away from an obstacle until it moves to a first position, and the distance between the first position and the obstacle is less than the maximum effective detection distance of a sensor in the sensor system.

[0031] In one embodiment, after performing the action of moving away from the obstacle, the method further comprises: The method further includes performing a steering operation to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information of an obstacle.

[0032] In one embodiment, after performing the action of moving away from the obstacle, the method further comprises: performing a wait operation; During the waiting period, redetecting the obstacle area by the sensor system; If no obstacle is present in the obstacle area, performing a return cleaning operation.

[0033] In one embodiment, after redetection by the sensor system, the method comprises: If an obstacle is present in the obstacle area, the method further includes replanning the cleaning route and performing a detour operation.

[0034] In one embodiment, after redetection by the sensor system, the method comprises: If an obstacle exists in the obstacle area and the obstacle is a human user, the method further includes broadcasting related presentation information by voice.

[0035] The present specification provides a cleaning robot movement control method applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of an obstacle, The present invention further provides a movement control method for a cleaning robot, the method including the step of performing a steering operation when an obstacle moves within a detection range of the sensor system while the cleaning robot is moving, a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is equal to or greater than a first preset detection threshold, a maximum value of a vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and a minimum value of a vertical distance between the obstacle and the central axis of the cleaning robot is less than the second preset detection threshold, and the central axis of the cleaning robot is parallel to a current traveling direction of the cleaning robot.

[0036] In one embodiment, the second preset detection threshold is greater than or equal to 0.45 times the maximum length of the cleaning robot's body along a direction perpendicular to the central axis of the cleaning robot, and is less than or equal to 0.55 times the maximum length of the cleaning robot's body along a direction perpendicular to the central axis of the cleaning robot.

[0037] The present specification provides a cleaning robot movement control method applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of an obstacle, the first reference point is a point of intersection of a body boundary of the cleaning robot and the central axis of the cleaning robot that is closer to the obstacle along the current traveling direction, and the second reference point is a point of intersection of an outer periphery boundary of the obstacle and a reference line of the obstacle that is perpendicular to the central axis.

[0038] The present specification provides a method for detecting an obstacle, the method including: a main body; a sensor system provided on the main body, the sensor system being capable of obtaining three-dimensional information of an obstacle; a processor; and a memory for storing instructions executable by the processor; The present invention further provides a cleaning robot, wherein when the processor executes the instructions while the cleaning robot is moving, the relevant steps of the cleaning robot movement control method are realized so that the sensor system acquires three-dimensional information of the obstacle.

[0039] The present specification further provides a computer-readable storage medium including a program stored therein, the program executing related steps of the method for controlling movement of a cleaning robot.

[0040] Based on the cleaning robot movement control method and cleaning robot provided herein, a sensor system can acquire three-dimensional information of an obstacle while the cleaning robot is moving. When an obstacle is moving within the sensor system's detection range, and the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, and the maximum angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and the current moving direction of the cleaning robot is greater than a third preset detection threshold, the sensor system can automatically determine that the current sensor system cannot effectively acquire the required three-dimensional information of the obstacle, and intelligently perform an operation to move away from the obstacle. This allows the sensor system of the cleaning robot to effectively acquire the required three-dimensional information of the obstacle and achieve accurate obstacle identification. Furthermore, based on the three-dimensional information of the obstacle, the type, shape, size, and other characteristics of the obstacle can be accurately identified, resulting in highly accurate and effective obstacle identification results. Based on the obstacle identification results, the cleaning robot can take optimal obstacle avoidance and cleaning measures. [Brief explanation of the drawings]

[0041] In order to more clearly explain the embodiments of this specification, the drawings necessary for use in the embodiments will be briefly described below. The drawings in the following description are only a part of the embodiments described in this specification, and a person skilled in the art can derive other drawings from these drawings without any creative effort. [Figure 1] 1 is a schematic diagram of an embodiment of the structural configuration of a cleaning robot to which the cleaning robot movement control method provided in the embodiment of this specification is applied; [Figure 2] 1 is a flowchart of a movement control method for a cleaning robot provided in an embodiment of the present specification. [Figure 3] 1 is a schematic diagram of an embodiment of applying the cleaning robot movement control method provided in the embodiments of this specification in an example scene; [Figure 4]FIG. 10 is a schematic diagram of an embodiment of applying the cleaning robot movement control method provided in the embodiments of this specification in another example scene. [Figure 5] FIG. 10 is a schematic diagram of an embodiment of applying the cleaning robot movement control method provided in the embodiments of this specification in another example scene. [Figure 6] FIG. 10 is a schematic diagram of an embodiment of applying the cleaning robot movement control method provided in the embodiments of this specification in yet another example scene. [Figure 7] 1 is a structural diagram of a cleaning robot provided in an embodiment of the present specification; DETAILED DESCRIPTION OF THE INVENTION

[0042] In order to allow those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the drawings in the embodiments of this specification, and it should be understood that the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of this specification without any creative efforts shall all fall within the protection scope of this specification.

[0043] An embodiment of the present specification provides a cleaning robot, see FIG.

[0044] Specifically, the cleaning robot may be an autonomous robot that can autonomously move within a work area and autonomously perform cleaning tasks without external human input or control. The work area may include an indoor area and an outdoor area. The indoor area may include a family room, an office, a department store, a factory, etc. The outdoor area may include a lawn, a garden, a road, etc. The cleaning tasks may include cleaning (e.g., floor washing, mopping, sweeping, etc.), lawn trimming, snow removal, etc.

[0045] The cleaning robots include, but are not limited to, floor sweeping robots, floor washing robots, integrated sweeping and mopping robots, grass-cutting robots, snow removal robots, etc. The cleaning robots can clean by sweeping and mopping the floor, or by sweeping and mopping separately. Here, sweeping and mopping can improve cleaning efficiency by mopping the floor while sweeping. Sweeping and mopping separately can improve cleaning effectiveness by sweeping first and then mopping the floor after sweeping.

[0046] Specifically, as shown in FIG. 1, the cleaning robot includes at least a main body, a controller, one or more cleaning members, and a sensor system capable of obtaining three-dimensional information of an obstacle.

[0047] Here, the cleaning member may specifically include one or more of the following: a side brush, a main brush (also called a roller brush), a dust cloth tray (also called a mop tray), etc.

[0048] Specifically, the shape of the body may be circular, rectangular, or other shapes, for example, part of the body may be circular and other part may be rectangular.

[0049] The controller may include a microcontroller unit (MCU), although of course the controller may include other devices that may have control functions.

[0050] The cleaning member may be circular, rectangular, or other irregular shapes (e.g., semicircular, arc-shaped, triangular, etc.). The circular shape allows the cleaning member to easily perform rotational cleaning. The irregular shape allows the cleaning member to easily clean corner areas.

[0051] The side brushes can collect foreign matter and move it toward the center of the bottom of the cleaning robot. The roller brush can sweep up foreign matter at the bottom of the cleaning robot and allow the foreign matter to enter the dust box through the dust collection opening. The dust tray is used for wiping or mopping the floor.

[0052] Specifically, a cleaning cloth is placed in the cleaning cloth tray. A water tank is placed in the cleaning robot. Water in the water tank flows through holes into the cleaning cloth to wet the cleaning cloth. The wet cleaning cloth is used to mop the floor.

[0053] The main brush is installed in a main brush cavity at the bottom of the cleaning robot body. The main brush cavity is connected to the dust collection passage of the cleaning robot. Small particles such as dust and hair swept up by the main brush and / or side brushes are sucked into the main brush cavity by the cleaning robot.

[0054] The sensor system can acquire at least three-dimensional information of the obstacle, and the cleaning robot can detect and identify the obstacle based on the three-dimensional information of the obstacle acquired by the sensor system. Furthermore, the controller can correspondingly control the cleaning robot according to the detected and identified obstacle.

[0055] Here, the sensor system may specifically include one or more of a monocular visual sensor, a binocular visual sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor, and the like.

[0056] Specifically, the monocular vision sensor can capture a projected image of an object onto a two-dimensional plane using a single camera, which can carry information such as the object's shape, size, color, texture, etc. The binocular vision sensor can simulate the vision of the human eye and capture three-dimensional information of an object using two cameras.

[0057] The line laser sensor may be a sensor that realizes measurement using a line laser.The surface laser sensor may be a sensor that realizes measurement using a surface laser.

[0058] The LDS (Laser Direct Structuring, Laser Radar) sensor may be an optical sensor using laser triangulation. The Dtof (Direct Time of Flight) sensor is also called a depth time-of-flight sensor. Based on the Dtof sensor, depth sensing can be achieved by emitting an infrared laser pulse from a Dtof camera and measuring the time required for the pulse to travel from the camera to the target and return. The Itof (Indirect Time-of-Flight) sensor specifically refers to a long-distance, interference-resistant Itof depth image sensor. Based on the Itof sensor, a modulated infrared light signal is transmitted into a scene, and the light signal reflected and returned from a measurement object in the scene is received by the sensor. Depth information of the target can be obtained by calculating the phase difference between the transmitted signal and the received signal from the integrated charge within the exposure (integration) time.

[0059] Of course, it should be explained that the sensors listed above are merely exemplary illustrations, and in specific implementations, the sensor system may include other types of sensors, such as infrared sensors, depending on the particular situation and processing requirements.

[0060] Specifically, based on the above sensor system, two-dimensional information (e.g., planar images) and depth information of obstacles within a certain range can be collected. Furthermore, by combining the two-dimensional information and depth information of the obstacles, three-dimensional information of the corresponding obstacles can be obtained. Furthermore, based on the three-dimensional information of the obstacles, more accurate detection and identification of the obstacles can be achieved, and rich feature information about the obstacles, such as their shape, size, and texture, can be obtained.

[0061] Specifically, for example, by using an obstacle detection model that has been previously trained based on an artificial intelligence algorithm and processing the three-dimensional information of obstacles acquired by the sensor system, it is possible to intelligently detect and identify obstacles, determine the specific type of obstacle, and obtain characteristic information of the obstacle, such as shape, size, and texture.

[0062] As shown in Figure 2, an embodiment of the present specification provides a movement control method for a cleaning robot, where the method is applied to a cleaning robot, and the cleaning robot is provided with a sensor system that can obtain at least three-dimensional information of an obstacle. When specifically implemented, the method may include the following:

[0063] In step S201, if an obstacle moves within the detection range of the sensor system while the cleaning robot is moving, and the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and the current moving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the included angle between a line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current moving direction of the cleaning robot is smaller than the third preset detection threshold, the sensor system performs an action to move away from the obstacle to obtain three-dimensional information of the obstacle, where the central axis of the cleaning robot is parallel to the current moving direction of the cleaning robot. Here, the first reference point is a point of intersection between the boundary of the cleaning robot's body and the central axis of the cleaning robot that is closest to the obstacle along the current traveling direction, and the second reference point is a point of intersection between the outer boundary of the obstacle and a reference line of the obstacle, and the reference line is perpendicular to the central axis.

[0064] Specifically, the above-described progress of the cleaning robot may be a process in which the cleaning robot cleans while moving, or a process in which the cleaning robot moves without cleaning.

[0065] Furthermore, the above-mentioned progress may be, specifically, progress along a straight path, progress along an arc path, progress along a path with an irregular shape, etc.

[0066] Typically, while the cleaning robot is moving, a sensor system detects in real time or in timed relation whether or not an obstacle exists ahead.

[0067] When the presence of an obstacle is detected, the cleaning robot collects three-dimensional information of the obstacle by the sensor system, and further detects and identifies the obstacle based on the three-dimensional information of the obstacle.

[0068] However, most of the sensor systems have an effective detection range when in use. If the position of an obstacle relative to the cleaning robot is not within the effective detection range of the sensor system, the sensor system often cannot effectively collect the required 3D information of the obstacle, for example, it cannot directly collect the 3D information of the obstacle, or the collected 3D information of the obstacle is of low quality and noisy, which further affects the subsequent detection and identification of the obstacle.

[0069] Specifically, for example, if the cleaning robot is too close to the location of an obstacle, the location of the obstacle relative to the cleaning robot will exceed the effective detection range of the sensor system, and in this case, some or even all of the sensors in the sensor system will be unable to effectively collect signal data that meets the requirements (e.g., because the distance to the obstacle is too close, the binocular vision sensor will not be able to focus properly and will not be able to collect high-quality, clear, depth-containing image data), and the sensor system will not be able to effectively obtain three-dimensional information about the obstacle.

[0070] Furthermore, for example, if the size of the obstacle itself is too large (for example, the width of the obstacle is much larger than normal), the cleaning robot cannot collect three-dimensional information including the entire obstacle based on its current position. In this case, it may be understood that the sensor system cannot effectively acquire three-dimensional information about the obstacle because the position of the obstacle relative to the cleaning robot exceeds the effective detection range of the sensor system.

[0071] This specification focuses on the above problem, and in combination with the specific causes of the above problem, considers that a decision-making mechanism can be introduced that can automatically determine and discover while the cleaning robot is moving that the current sensor system cannot effectively obtain three-dimensional information of obstacles that meet the requirements, and in this case, can timely and intelligently control the cleaning robot to perform a matching operation so that the sensor system can effectively obtain three-dimensional information of obstacles that meet the requirements.

[0072] In one embodiment, the cleaning robot can detect the presence or absence of an obstacle while moving using a sensor system. Specifically, the cleaning robot can detect the presence or absence of an obstacle using a distance sensor in the sensor system.

[0073] For example, the cleaning robot can emit a line laser signal forward using a line laser sensor in the sensor system, collect the returned line laser signal, and based on that detect whether an obstacle exists.

[0074] Here, the above-mentioned obstacles specifically include obstacles that suddenly appear, such as a human user, a pet, a rolling ball, a toy car, etc., that suddenly enter a working area such as a guest room and block the cleaning robot's path of travel.

[0075] The detection range of the sensor system can be understood as the upper limit range within which the sensor system can detect the presence of an obstacle. Specifically, if the position of an obstacle relative to the cleaning robot is within the detection range of the sensor system, the cleaning robot can detect the presence of the obstacle through the sensor system, but it does not necessarily mean that the cleaning robot can effectively collect 3D information of the obstacle that meets the requirements of high quality and small error.

[0076] In specific implementation, the cleaning robot uses a sensor system to detect whether an obstacle exists within the detection range ahead in a timed or real-time manner, and compares the detection result at the current point in time with the detection result at the previous adjacent point in time to determine whether an obstacle is currently moving within the detection range of the sensor system.

[0077] Specifically, for example, if it is determined that an obstacle is currently present within the detection range of the sensor system based on the detection result at the current time, the detection result at the adjacent previous time point can be queried and obtained, and based on the detection result at the previous time point, it can be determined whether the obstacle is present in the same or a nearby position area at the previous time point, and if it is determined that the obstacle is not present in the same or a nearby position area at the previous time point based on the detection result at the previous time point, it can be determined that the obstacle is currently moving within the detection range of the sensor.

[0078] If an obstacle is detected to be moving within the detection range of the sensor system, it can be further determined whether the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system.

[0079] In one embodiment, the central axis of the cleaning robot can be understood as a central axis on a moving plane along the current moving direction of the cleaning robot, as shown in Fig. 3. Here, the central axis may specifically be parallel to the current moving direction of the cleaning robot.

[0080] Specifically, as shown in FIG. 3, the distance between the above-mentioned obstacle and the cleaning robot along the central axis of the cleaning robot can be understood as the projection length of the distance between the obstacle and the cleaning robot on the central axis, which can be referred to as the first distance and represented by D.

[0081] Specifically, the first reference point may be a point of intersection between the body boundary of the cleaning robot and the central axis of the cleaning robot that is closest to the obstacle along the current traveling direction, and can be represented as M.

[0082] The second reference point may be specifically an intersection point of the obstacle's outer boundary with the reference line, such as point p close to the central axis, point q far from the central axis, etc. Here, the reference line may be specifically understood as a line perpendicular to the central axis and located a first distance away from the current cleaning robot.

[0083] 3, the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle can be specifically represented as connecting line Mp and connecting line Mq. The maximum value of the included angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current traveling direction of the cleaning robot is referred to as the first included angle and can be represented by α1, i.e., the included angle between the connecting line Mq and the current traveling direction. The minimum value of the included angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current traveling direction of the cleaning robot is referred to as the second included angle and can be represented by α2, i.e., the included angle between the connecting line Mp and the current traveling direction.

[0084] In a specific implementation, first, the cleaning robot can measure and determine the first distance, the first included angle, and the second included angle through the sensor system.

[0085] Next, the cleaning robot can compare the detected first distance with a first preset detection threshold to obtain a corresponding first comparison result, and at the same time, can also compare the detected first included angle and second included angle with a third preset detection threshold to obtain a corresponding third comparison result.

[0086] Here, the third preset detection threshold can be specifically understood as an included angle threshold for avoiding contact between the cleaning robot and an obstacle, and can be specifically calculated based on a body size parameter of the cleaning robot and a current distance along the central axis of the cleaning robot between the obstacle and the cleaning robot.

[0087] Thereafter, the cleaning robot can determine whether the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system based on the first comparison result and the third comparison result.

[0088] In specific implementation, if it is determined based on the first comparison result and the third comparison result that the first distance is smaller than the first preset detection threshold, the first included angle is greater than the third preset detection threshold, and the second included angle is smaller than the third preset detection threshold, it can be determined that the current cleaning robot is too close to the obstacle, the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system, and the cleaning robot will come into contact with the obstacle if it continues to move along its current traveling direction. In this case, the cleaning robot needs to pay attention to the obstacle. In response, the cleaning robot can be automatically controlled to perform a corresponding action to move away from the obstacle so that the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system.

[0089] Accordingly, the cleaning robot can be automatically controlled to perform a corresponding action to move away from the obstacle so that the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system, thereby enabling the sensor system to effectively obtain three-dimensional information of the obstacle.

[0090] Here, the above-mentioned movement away from the obstacle may specifically include a movement back along a straight line, a movement back along a diagonal line, or a movement back along an arc line.

[0091] Specifically, for example, the cleaning robot can be controlled to perform a corresponding retreating movement so as to move away from the obstacle and increase the distance between the cleaning robot and the obstacle.

[0092] While performing the backward movement, the cleaning robot may also detect a first distance between the cleaning robot and the obstacle in real time or timing using the sensor system. If it is detected that the first distance is equal to or greater than a first preset detection threshold, it may be determined that the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system. In this case, the cleaning robot may be controlled to stop the backward movement and temporarily place the cleaning robot at its current position. Furthermore, the sensor system may also redetect the location area (which may be referred to as the obstacle area) where the presence of the obstacle was previously detected and reacquire three-dimensional information of the associated obstacle, thereby specifically detecting and identifying the obstacle based on the reacquired three-dimensional information of the obstacle.

[0093] Also, for example, the cleaning robot may be controlled to first perform a steering movement so that the orientation of the sensor system is as close as possible to or coincides with the direction of the obstacle, and / or so that the cleaning robot finds a reverse path as far as possible that is unblocked by other obstacles, and then perform a corresponding reverse movement away from the obstacle, stopping the reverse movement until a first distance between the cleaning robot and the obstacle is equal to or greater than a first preset detection threshold.

[0094] This allows the sensor system to effectively obtain three-dimensional information of the obstacle, and based on the three-dimensional information of the obstacle, accurately identify the type, shape and other characteristics of the obstacle; and further, based on the above characteristics, the cleaning robot can take optimal obstacle avoidance and cleaning measures.

[0095] In a specific example scene, as shown in FIG. 3, the body diameter of the cleaning robot is 40 cm, the first preset detection threshold is 10 cm, and the third preset detection threshold is 65 degrees.

[0096] Specifically, when an obstacle suddenly moves into the detection range of the sensor system while the cleaning robot is moving, the cleaning robot will detect through its sensor system that the distance D along the central axis of the cleaning robot between the obstacle and the cleaning robot is 8 cm. At the same time, the cleaning robot will also detect through its sensor system that the maximum angle α1 between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current moving direction of the cleaning robot is 71 degrees, and the minimum angle α2 between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current moving direction of the cleaning robot is 45 degrees. Further, by comparing the numerical values ​​with the first preset detection threshold and the third preset detection threshold, it is determined that the distance D is smaller than the first preset detection threshold, α1 is larger than the third preset detection threshold, and α2 is smaller than the third preset detection threshold, thereby determining that the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system, and further triggering the cleaning robot to automatically perform an action to move away from the obstacle.

[0097] In specific implementation, if it is determined based on the first comparison result and the third comparison result that the first distance is smaller than the first preset detection threshold and the first included angle is smaller than the third preset detection threshold, it can be determined that the current cleaning robot is too close to the obstacle, the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system, and the cleaning robot will come into contact with the obstacle if it continues to move along its current traveling direction. In this case, the cleaning robot needs to pay attention to the obstacle. The cleaning robot can then be controlled to move away from the obstacle accordingly. In this way, the sensor system can effectively obtain three-dimensional information of the obstacle, and the obstacle's characteristics, such as type and shape, can be accurately identified based on the three-dimensional information of the obstacle. Furthermore, these characteristics enable the cleaning robot to take optimal obstacle avoidance and cleaning measures.

[0098] In a specific implementation, if it is determined based on the first comparison result and the third comparison result that the first distance is smaller than the first preset detection threshold and the second included angle is greater than the third preset detection threshold, it can be determined that the current cleaning robot is too close to the obstacle, that the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system, but that the obstacle is far from the central axis of the cleaning robot and the cleaning robot will not come into contact with the obstacle even if it continues to move along its current direction of travel. In this case, the cleaning robot does not need to pay attention to the obstacle and does not need to perform an operation to move away from the obstacle. Specifically, for example, the cleaning robot can be controlled to continue moving and operating while the sensor system continues to collect three-dimensional information about the obstacle ahead. This avoids wasting resources and performing unnecessary operations to move away from the obstacle, avoiding any impact on the normal movement, cleaning, and other operations of the cleaning robot, and also reducing the data processing burden during operation of the cleaning robot.

[0099] In specific implementation, if it is determined based on the first comparison result and the third comparison result that the first distance is equal to or greater than the first preset detection threshold, it can be determined that the current position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system, or that the obstacle is currently too far from the cleaning robot and will not affect the progress or operation of the cleaning robot, so that the obstacle can be temporarily ignored. In this case, the cleaning robot does not need to perform an operation to move away from the obstacle. This avoids wasting resources by performing unnecessary operations to move away from the obstacle, avoiding any impact on the normal movement, cleaning, and other operations of the cleaning robot, and also reduces the data processing burden during operation of the cleaning robot.

[0100] In one embodiment, the sensor system may specifically include one or more sensors selected from the group consisting of a monocular visual sensor, a binocular visual sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor, etc., where the first preset detection threshold is a minimum value of an effective detection distance of a sensor in the sensor system.

[0101] In specific implementation, the minimum value of the effective detection distance of each sensor in the sensor system is determined, and the smallest value among the minimum values ​​of the effective detection distances can be determined as the first preset detection threshold.

[0102] Based on the above embodiment, by determining and using the first preset detection threshold as the relevant threshold to make a detection judgment, it is possible to accurately determine whether the current position of an obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system.

[0103] In one embodiment, the method is specifically implemented by: The method may further include not performing the action of moving away from the obstacle and continuing to move along the current moving path when a distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold and a minimum value of an included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and a current moving direction of the cleaning robot is equal to or greater than the third preset detection threshold.

[0104] This eliminates the need to waste processing resources and time by performing unnecessary operations to move away from obstacles, avoiding affecting the normal movement, cleaning, and other operations of the cleaning robot, saving the movement time of the cleaning robot, improving the cleaning efficiency of the cleaning robot, and also reducing the data processing burden while the cleaning robot is operating.

[0105] In one embodiment, the cleaning robot performs an operation of moving away from an obstacle until it moves to a first position, where the distance between the first position and the obstacle is less than the maximum effective detection distance of a sensor in the sensor system.

[0106] Based on the above embodiment, it is possible to avoid the cleaning robot retreating too far from the obstacle and being unable to obtain precise three-dimensional information about the obstacle, and it is also possible to effectively reduce the cleaning robot retreating too far and wasting energy.

[0107] In one embodiment, after performing an operation to move away from the obstacle, when the method is specifically implemented, it may further include performing a steering operation to adjust the detection direction of the sensor system so that the sensor system obtains three-dimensional information of the obstacle.

[0108] In a specific implementation, the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot are first determined, and then a direction deviation angle between the sensor system and the obstacle is determined based on the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot, and the cleaning robot is controlled to perform a steering operation based on the direction deviation angle so that the sensor system faces the obstacle as directly as possible, thereby allowing the sensor system to more effectively and accurately obtain required three-dimensional information of the obstacle.

[0109] In specific implementation, the cleaning robot can also obtain three-dimensional information of the obstacle behind, and then re-plan and determine a reverse path free of the obstacle based on the three-dimensional information of the obstacle behind, and then perform a corresponding steering operation so that the posture of the cleaning robot matches the reverse path, and then control the cleaning robot to perform a reverse movement along the reverse path, thereby effectively preventing the cleaning robot from contacting the obstacle behind while reversing.

[0110] In one embodiment, after performing the action of moving away from the obstacle, as shown in FIG. 4, when the method is specifically implemented, S1, which executes a standby operation; S2: during standby, redetecting the obstacle area by the sensor system; The method may further include a step S3 of performing a return cleaning operation if no obstacle is present in the obstacle area.

[0111] After the obstacle area is re-detected by the sensor system, when the method is specifically implemented, it may further include re-planning the cleaning route and performing a detour operation if the obstacle is present in the obstacle area.

[0112] Specifically, when the cleaning robot is moving away from an obstacle, if a first distance between the cleaning robot and the obstacle is equal to or greater than a first preset detection threshold, the cleaning robot may stop moving away from the obstacle, pause at a current position, and perform a standby operation. During standby, the cleaning robot may redetect, using the sensor system, an obstacle area in which the presence of an obstacle was previously detected, and determine whether the obstacle still exists in the obstacle area.

[0113] Here, the obstacle region can be specifically understood as a position region in which the presence of an obstacle is detected before an operation to move away from the obstacle is performed.

[0114] Specifically, for example, the obstacle area can be redetected by a distance measurement sensor in the sensor system to determine whether the obstacle still exists in the obstacle area.

[0115] When it is determined that the obstacle no longer exists in the obstacle area, the cleaning robot can re-plan the cleaning route and, based on the cleaning route, perform a return cleaning operation to return to the obstacle area and perform supplementary cleaning.

[0116] If it is determined that the obstacle still exists in the obstacle area, the cleaning robot can reacquire three-dimensional information about the obstacle using the sensor system, and detect and identify the obstacle based on the three-dimensional information to determine the specific type of the obstacle. Furthermore, it can re-plan a cleaning route tailored to the obstacle according to the specific type of the obstacle, and perform a detouring operation based on the cleaning route. This allows the cleaning robot to clean as much of the area as possible while detouring around the obstacle, thereby achieving a better cleaning effect.

[0117] In one embodiment, after re-detection by the sensor system, when the method is specifically implemented, if an obstacle exists in the obstacle area and the obstacle is a human user, the method may further include broadcasting related presentation information by voice.

[0118] Specifically, if the sensor system redetects and determines that an obstacle still exists in the obstacle area, the sensor system can effectively obtain high-quality, low-error, three-dimensional information of the obstacle that meets the requirements.

[0119] Then, the 3D information of the obstacles can be processed using a pre-trained obstacle detection model to obtain corresponding obstacle detection results. Here, the obstacle detection model can be specifically understood as a neural network model that is trained in advance using a large amount of sample 3D information of obstacles and can automatically identify and determine obstacle types.

[0120] If it is determined based on the obstacle detection result that the obstacle is a human user, relevant presentation information can be broadcast to the human user by voice, for example, informing the human user by voice that they should make way to facilitate cleaning.

[0121] After the relevant information is broadcast by voice, the sensor system will re-detect the obstacle area after a preset time (e.g., 1 minute), and if there is no obstacle in the obstacle area, it will perform a return cleaning operation.

[0122] As can be seen from the above, the cleaning robot movement control method provided in the embodiments of the present specification can acquire three-dimensional information of an obstacle by a sensor system while the cleaning robot is moving. When an obstacle moves within the detection range of the sensor system, and the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the included angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current traveling direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the included angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current traveling direction of the cleaning robot is smaller than the third preset detection threshold, it can be automatically determined that the current sensor system cannot effectively acquire three-dimensional information of the obstacle that meets high quality requirements, and can intelligently perform an operation to move away from the obstacle. This allows the sensor system of the cleaning robot to effectively obtain three-dimensional information of obstacles that meet the requirements, and realize accurate identification of obstacles. Furthermore, based on the obstacle identification results, the cleaning robot can take optimal obstacle avoidance and cleaning measures.

[0123] The present specification further provides another movement control method for a cleaning robot, which is applied to a cleaning robot provided with a sensor system capable of acquiring three-dimensional information of an obstacle, as shown in Fig. 5. When specifically implemented, the method may include, when an obstacle moves within a detection range of the sensor system while the cleaning robot is moving, and an observation angle of the cleaning robot with respect to the obstacle is greater than a fourth preset detection threshold, performing an operation to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle.

[0124] Furthermore, based on the three-dimensional information of the obstacle, the type, shape, size, and other characteristics of the obstacle can be accurately identified, resulting in highly accurate and effective obstacle identification results, and the cleaning robot can then take optimal obstacle avoidance and cleaning measures based on these obstacle identification results.

[0125] In one embodiment, as shown in FIG. 5, the observation angle of the cleaning robot with respect to an obstacle can be specifically understood as the included angle formed by the tangent from the first reference point of the cleaning robot to the outer boundary of the obstacle, and can be represented by β.

[0126] The fourth preset detection threshold can be specifically understood as the maximum field of view angle of the sensor system. Here, the field of view angle can be specifically the angle formed by two edges of the maximum range through which the object image of the measurement target can pass, with the lens of the sensor system as the vertex. This angle determines the field of view range of the sensor system. Usually, the larger the field of view angle, the larger the field of view.

[0127] Specifically, the fourth preset detection threshold can be determined based on performance parameters such as the field of view range of the sensor in the sensor system.

[0128] In a specific implementation, first, the cleaning robot can measure and determine the observation angle of the cleaning robot with respect to the obstacle through the sensor system.

[0129] Then, the cleaning robot may compare the detected observation angle with a fourth preset detection threshold to obtain a corresponding fourth comparison result.

[0130] If the fourth comparison result determines that the observation angle of the cleaning robot relative to the obstacle is greater than a fourth preset detection threshold, it can be determined that the cleaning robot is currently too close to the obstacle and / or the obstacle itself is too large, so that the sensor system cannot currently obtain complete three-dimensional information of the obstacle, i.e., the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system. In this case, the cleaning robot performs an operation to move away from the obstacle so that the sensor system can obtain three-dimensional information of the obstacle that meets the requirements. Furthermore, the three-dimensional information of the obstacle can then be used to accurately identify the type, shape, size, and other characteristics of the obstacle, resulting in highly accurate and effective obstacle identification results, allowing the cleaning robot to take optimal obstacle avoidance and cleaning measures based on the obstacle identification results.

[0131] In specific implementation, if it is determined based on the fourth comparison result that the observation angle of the cleaning robot to the obstacle is smaller than a fourth preset detection threshold, the sensor system can obtain complete three-dimensional information of the obstacle, i.e., it can be determined that the current position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system, in which case the cleaning robot does not need to perform an action to move away from the obstacle, thereby avoiding the cleaning robot from performing meaningless actions to move away from the obstacle, saving the moving time of the cleaning robot and improving the cleaning efficiency of the cleaning robot.

[0132] In one embodiment, when the viewing angle comprises a vertical viewing angle, the fourth preset detection threshold comprises a vertical viewing angle threshold of a sensor system.

[0133] Here, the vertical observation angle can be specifically understood as an observation angle along the vertical direction, and the vertical viewing angle threshold can be specifically understood as a viewing angle threshold along the vertical direction.

[0134] Accordingly, in specific implementation, when the cleaning robot's vertical observation angle to an obstacle is greater than the corresponding vertical viewing angle threshold, it can perform an action to move away from the obstacle so that the sensor system can effectively obtain three-dimensional information of the obstacle that meets the requirements.

[0135] Conversely, if the cleaning robot's vertical observation angle to the obstacle is smaller than the corresponding vertical viewing angle threshold, it does not need to perform an action to move away from the obstacle, which saves the cleaning robot's movement time and improves the cleaning efficiency of the cleaning robot.

[0136] In one embodiment, when the viewing angle comprises a horizontal viewing angle, the fourth preset detection threshold comprises a horizontal viewing angle threshold of a sensor system.

[0137] Here, the horizontal observation angle can be specifically understood as an observation angle along the horizontal direction, and the horizontal viewing angle threshold can be specifically understood as a viewing angle threshold along the horizontal direction.

[0138] Accordingly, in specific implementation, when the horizontal observation angle of the cleaning robot to an obstacle is greater than the corresponding horizontal viewing angle threshold, the sensor system can perform an action to move away from the obstacle so that the sensor system can effectively obtain the required 3D information of the obstacle. Then, based on the 3D information of the obstacle, the type, shape, size, and other characteristics of the obstacle can be accurately identified, and a highly accurate and effective obstacle identification result can be obtained, and the obstacle identification result can enable the cleaning robot to take optimal obstacle avoidance and cleaning measures.

[0139] Conversely, if the cleaning robot's horizontal observation angle to the obstacle is smaller than the corresponding horizontal viewing angle threshold, it does not need to perform an action to move away from the obstacle, which saves the cleaning robot's movement time and improves the cleaning efficiency of the cleaning robot.

[0140] In one embodiment, when the viewing angle includes a horizontal viewing angle and a vertical viewing angle, the fourth preset detection threshold includes a horizontal viewing angle threshold and a vertical viewing angle threshold of a sensor system.

[0141] Accordingly, in a specific implementation, when the vertical observation angle of the cleaning robot with respect to an obstacle is greater than the corresponding vertical viewing angle threshold and the horizontal observation angle is greater than the corresponding horizontal viewing angle threshold, the sensor system can perform an action to move away from the obstacle so that the sensor system can effectively obtain the required 3D information of the obstacle. Then, based on the 3D information of the obstacle, the type, shape, size, and other characteristics of the obstacle can be accurately identified, and a highly accurate and effective obstacle identification result can be obtained. Furthermore, based on the obstacle identification result, the cleaning robot can take optimal obstacle avoidance and cleaning measures.

[0142] Conversely, if the cleaning robot's vertical observation angle to the obstacle is smaller than the corresponding vertical viewing angle threshold and / or the horizontal observation angle is smaller than the corresponding horizontal viewing angle threshold, it does not need to perform an action to move away from the obstacle, which saves the cleaning robot's movement time and improves the cleaning efficiency of the cleaning robot.

[0143] In one embodiment, the sensor system includes one or more of the following sensors: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor.

[0144] In one embodiment, the cleaning robot performs an operation of moving away from an obstacle until it moves to a first position, where the distance between the first position and the obstacle is less than the maximum effective detection distance of a sensor in the sensor system.

[0145] In one embodiment, after performing an operation to move away from the obstacle, the method further includes performing a steering operation to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information of the obstacle.

[0146] In one embodiment, after performing the operation to move away from the obstacle, the method further includes the steps of performing a waiting operation, and during waiting, re-detecting the obstacle area by the sensor system, and performing a return cleaning operation if the obstacle is not present in the obstacle area.

[0147] In one embodiment, after re-detection by the sensor system, the method further comprises the step of re-planning the cleaning route and performing a detour action if an obstacle is present in the obstacle area.

[0148] In one embodiment, after re-detection by the sensor system, the method further includes broadcasting relevant presentation information by voice if an obstacle exists in the obstacle area and the obstacle is a human user.

[0149] As can be seen from the above, the cleaning robot movement control method provided in the embodiments of this specification can acquire three-dimensional information of an obstacle using a sensor system while the cleaning robot is moving. When an obstacle moves within the detection range of the sensor system and the observation angle of the cleaning robot relative to the obstacle is detected to be greater than a fourth preset detection threshold, the method can automatically determine that the current sensor system cannot effectively acquire three-dimensional information of the obstacle that meets high-quality requirements, and can intelligently perform an operation to move away from the obstacle. This allows the sensor system of the cleaning robot to effectively acquire three-dimensional information of the obstacle that meets the requirements and achieve accurate obstacle identification. Specifically, based on the three-dimensional information of the obstacle, the type, shape, size, and other characteristics of the obstacle can be accurately identified, resulting in highly accurate and effective obstacle identification results. Furthermore, the obstacle identification results enable the cleaning robot to take optimal obstacle avoidance and cleaning measures.

[0150] As shown in Fig. 6, the present specification further provides another movement control method for a cleaning robot, which is applied to a cleaning robot provided with a sensor system capable of obtaining three-dimensional information of an obstacle. When the method is specifically implemented, if an obstacle moves within a detection range of the sensor system while the cleaning robot is moving, and a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is smaller than a first preset detection threshold, and a maximum value of a vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and a minimum value of a vertical distance between the obstacle and the central axis of the cleaning robot is smaller than the second preset detection threshold, the method further includes performing an action to move away from the obstacle so that the sensor system obtains three-dimensional information of the obstacle, wherein the central axis of the cleaning robot is parallel to a current traveling direction of the cleaning robot.

[0151] In one embodiment, as shown in Fig. 6, the central axis of the cleaning robot can be understood as a central axis on a moving plane along the current moving direction of the cleaning robot, where the central axis may specifically be parallel to the current moving direction of the cleaning robot.

[0152] Specifically, as shown in FIG. 6, the distance between the above-mentioned obstacle and the cleaning robot along the central axis of the cleaning robot can be understood as the projection length of the distance between the obstacle and the cleaning robot on the central axis, which can be referred to as the first distance and represented by D.

[0153] The vertical distance between the above-mentioned obstacle and the central axis of the cleaning robot can be specifically understood as the length of the perpendicular line of a point on the outer boundary of the obstacle relative to the central axis, which can be referred to as the second distance and represented by d.

[0154] It should be noted that the second distance determined based on different points on the outer boundary of the obstacle may be different values. Here, the maximum value of the second distance, i.e., the maximum value of the perpendicular distance between the obstacle and the central axis of the cleaning robot, can be represented by d1. The minimum value of the second distance, i.e., the minimum value of the perpendicular distance between the obstacle and the central axis of the cleaning robot, can be represented by d2.

[0155] In one embodiment, as shown in FIG. 6, when an obstacle moves within the detection range of the sensor system, the cleaning robot can use the sensor system (e.g., a distance measuring sensor in the sensor system) to measure and determine the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot (the first distance, abbreviated as D), the maximum vertical distance between the obstacle and the central axis of the cleaning robot (the maximum second distance, abbreviated as d1), and the minimum vertical distance between the obstacle and the central axis of the cleaning robot (the minimum second distance, abbreviated as d2).

[0156] In a specific implementation, for example, first, the cleaning robot can independently measure and obtain the corresponding first distance, maximum value of the second distance, and minimum value of the second distance using a line laser sensor in the sensor system.

[0157] Next, the cleaning robot can compare the detected first distance with a first preset detection threshold to obtain a corresponding first comparison result, and can also compare the maximum value of the detected second distance and the minimum value of the detected second distance with second preset detection thresholds, respectively, to obtain a corresponding second comparison result.

[0158] Here, the first preset detection threshold can be specifically understood as the minimum effective detection distance of the sensor system. Generally, if the first distance between the cleaning robot and an obstacle is smaller than the first preset detection threshold, the entire sensor system will be unable to effectively acquire three-dimensional information of the object due to reasons such as inability to focus.

[0159] The second preset detection threshold can be specifically understood as a threshold distance perpendicular to the central axis for avoiding contact between the cleaning robot and an obstacle, and can be specifically determined based on a size parameter of the body of the cleaning robot.

[0160] Thereafter, the cleaning robot can determine whether the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system based on the first comparison result and the second comparison result.

[0161] In specific implementation, if it is determined based on the first comparison result and the second comparison result that the first distance is smaller than the first preset detection threshold, the maximum value of the second distance is greater than the second preset detection threshold, and the minimum value of the second distance is smaller than the second preset detection threshold, it can be determined that the current cleaning robot is too close to an obstacle, the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system, and the cleaning robot will come into contact with the obstacle if it continues to move along its current traveling direction, in which case the cleaning robot needs to pay attention to the obstacle.

[0162] Accordingly, the cleaning robot can be automatically controlled to perform a corresponding action to move away from the obstacle so that the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system, thereby enabling the sensor system to effectively obtain three-dimensional information of the obstacle.

[0163] Here, the above-mentioned movement away from the obstacle may specifically include a movement back along a straight line, a movement back along a diagonal line, or a movement back along an arc line.

[0164] Specifically, for example, the cleaning robot can be controlled to perform a corresponding retreating movement so as to move away from the obstacle and increase the distance between the cleaning robot and the obstacle.

[0165] While performing the backward movement, the cleaning robot may also detect a first distance between the cleaning robot and the obstacle in real time or timing using the sensor system. If it is detected that the first distance is equal to or greater than a first preset detection threshold, it may be determined that the position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system. In this case, the cleaning robot may be controlled to stop the backward movement and temporarily place the cleaning robot at its current position. Furthermore, the sensor system may also redetect the location area (which may be referred to as the obstacle area) where the presence of the obstacle was previously detected and reacquire three-dimensional information of the associated obstacle, thereby specifically detecting and identifying the obstacle based on the reacquired three-dimensional information of the obstacle.

[0166] Also, for example, the cleaning robot may be controlled to first perform a steering movement so that the orientation of the sensor system is as close as possible to or coincides with the direction of the obstacle, and / or so that the cleaning robot finds a reverse path as far as possible that is unblocked by other obstacles, and then perform a corresponding reverse movement away from the obstacle, stopping the reverse movement until a first distance between the cleaning robot and the obstacle is equal to or greater than a first preset detection threshold.

[0167] In specific implementation, if it is determined based on the first comparison result and the second comparison result that the first distance is smaller than the first preset detection threshold and the maximum value of the second distance is equal to or smaller than the second preset detection threshold, it can be determined that the current cleaning robot is too close to the obstacle, the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system, and the cleaning robot will come into contact with the obstacle if it continues to move along its current traveling direction. In this case, the cleaning robot needs to pay attention to the obstacle. In response, the cleaning robot can be controlled to move away from the obstacle.

[0168] In a specific implementation, based on the first comparison result and the second comparison result, if the first distance is smaller than the first preset detection threshold and the minimum value of the second distance is greater than the second preset detection threshold, it can be determined that the current cleaning robot is too close to the obstacle, the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system, and the cleaning robot will not come into contact with the obstacle even if it continues to move along its current traveling direction. In this case, the cleaning robot does not need to pay attention to the obstacle and does not need to perform an operation to move away from the obstacle. Specifically, for example, the cleaning robot can be controlled to continue moving and performing an operation (e.g., cleaning) while the sensor system continues to collect three-dimensional information about the obstacle ahead.

[0169] In specific implementation, if it is determined based on the first comparison result and the second comparison result that the first distance is equal to or greater than the first preset detection threshold, it can be determined that the current position of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system, or that the obstacle is currently too far from the cleaning robot and will not affect the progress or operation of the cleaning robot, so that the obstacle does not need to be noticed temporarily, and in this case, the cleaning robot does not need to perform an operation to move away from the obstacle.

[0170] In one embodiment, the specific value of the second preset detection threshold may be greater than or equal to 0.45 times the maximum length of the cleaning robot's body along a direction perpendicular to the central axis of the cleaning robot, and less than or equal to 0.55 times the maximum length of the cleaning robot's body along a direction perpendicular to the central axis of the cleaning robot.

[0171] Specifically, the second preset detection threshold may be, for example, 0.51 or 0.53 times the maximum length of the body of the cleaning robot along a direction perpendicular to the central axis of the cleaning robot, or 180 mm or 200 mm.

[0172] Based on the above embodiment, by determining and using the second preset detection threshold as the related threshold to perform detection judgment, it is possible to accurately determine whether the cleaning robot will come into contact with an obstacle while moving forward.

[0173] In one embodiment, the sensor system may specifically include one or more sensors selected from the group consisting of a monocular visual sensor, a binocular visual sensor, a line laser sensor, a plane laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor, etc., where the first preset detection threshold is a minimum value of an effective detection distance of the sensor.

[0174] In specific implementation, the minimum value of the effective detection distance of each sensor in the sensor system is determined, and the smallest value among the minimum values ​​of the effective detection distances can be determined as the first preset detection threshold.

[0175] Based on the above embodiment, by determining and using the first preset detection threshold as the relevant threshold to make a detection judgment, it is possible to accurately determine whether the current position of an obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system.

[0176] In one embodiment, the cleaning robot performs an operation of moving away from an obstacle until it moves to a first position, where the distance between the first position and the obstacle is less than the maximum effective detection distance of a sensor in the sensor system.

[0177] In one embodiment, after performing an operation to move away from the obstacle, when the method is specifically implemented, it may further include performing a steering operation to adjust the detection direction of the sensor system so that the sensor system obtains three-dimensional information of the obstacle.

[0178] In specific implementation, the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot are first determined, and then a direction deviation angle between the sensor system and the obstacle is determined based on the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot, and the cleaning robot is controlled to perform a steering operation based on the direction deviation angle so that the sensor system faces the obstacle as directly as possible, thereby allowing the sensor system to more effectively obtain required three-dimensional information of the obstacle.

[0179] In specific implementation, the cleaning robot can obtain three-dimensional information of the obstacle behind, and then re-plan and determine a reverse path free of the obstacle based on the three-dimensional information of the obstacle behind, and then perform a steering operation to match the reverse path, and then perform a reverse operation along the reverse path, thereby effectively preventing the cleaning robot from contacting the obstacle behind while reversing.

[0180] In one embodiment, after performing the operation of moving away from the obstacle, when the method is specifically implemented, it may further include performing a waiting operation, and during waiting, re-detecting the obstacle area by the sensor system, and performing a return cleaning operation if the obstacle is not present in the obstacle area.

[0181] After re-detection by the sensor system, the method, when specifically implemented, may further include re-planning the cleaning route and performing a detour operation if an obstacle is present in the obstacle area.

[0182] Specifically, for example, the obstacle area can be redetected by a distance measurement sensor in the sensor system to determine whether or not an obstacle still exists in the obstacle area.

[0183] When it is determined that the obstacle no longer exists in the obstacle area, the cleaning robot can re-plan the cleaning route and, based on the cleaning route, perform a return cleaning operation to return to the obstacle area and perform supplementary cleaning.

[0184] If it is determined that the obstacle still exists in the obstacle area, the cleaning robot can reacquire three-dimensional information about the obstacle using the sensor system, and detect and identify the obstacle based on the three-dimensional information to determine the specific type of the obstacle. Furthermore, it can re-plan a cleaning route tailored to the obstacle according to the specific type of the obstacle, and perform a detouring operation based on the cleaning route. This allows the cleaning robot to clean as much of the area as possible while detouring around the obstacle, thereby achieving a better cleaning effect.

[0185] In one embodiment, after re-detection by the sensor system, when the method is specifically implemented, if an obstacle exists in the obstacle area and the obstacle is a human user, the method may further include broadcasting related presentation information by voice.

[0186] Specifically, if the sensor system redetects and determines that an obstacle still exists in the obstacle area, the sensor system can effectively obtain high-quality, required 3D information of the obstacle.

[0187] Then, the 3D information of the obstacles can be processed using a pre-trained obstacle detection model to obtain corresponding obstacle detection results. Here, the obstacle detection model can be specifically understood as a neural network model that is trained in advance using a large amount of sample 3D information of obstacles and can automatically identify and determine obstacle types.

[0188] If it is determined based on the obstacle detection result that the obstacle is a human user, relevant presentation information can be broadcast to the human user by voice, for example, informing the human user by voice that they should make way to facilitate cleaning.

[0189] After the relevant information is broadcast by voice, the sensor system will re-detect the obstacle area after a preset time (e.g., 1 minute), and if there is no obstacle in the obstacle area, it will perform a return cleaning operation.

[0190] As can be seen from the above, the cleaning robot movement control method provided in the embodiments of this specification can acquire three-dimensional information of an obstacle using a sensor system while the cleaning robot is moving. When an obstacle moves within the detection range of the sensor system and the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, the maximum vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum vertical distance between the obstacle and the central axis of the cleaning robot is smaller than the second preset detection threshold, it can automatically determine that the current sensor system cannot effectively acquire three-dimensional information of the obstacle that meets high-quality requirements, and can intelligently perform an operation to move away from the obstacle. This allows the sensor system of the cleaning robot to effectively acquire three-dimensional information of the obstacle that meets the requirements, thereby achieving accurate obstacle identification. Specifically, based on the three-dimensional information of the obstacle, the type, shape, size, and other characteristics of the obstacle can be accurately identified, resulting in highly accurate and effective obstacle identification results.Furthermore, this obstacle identification result enables the cleaning robot to take optimal obstacle avoidance and cleaning measures.

[0191] The present specification further provides another cleaning robot movement control method, which is applied to a cleaning robot equipped with a sensor system capable of obtaining three-dimensional information of an obstacle. When the method is specifically implemented, the method includes: The method further includes performing a steering operation when an obstacle moves within a detection range of a sensor system while the cleaning robot is moving, a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is equal to or greater than a first preset detection threshold, a maximum value of a vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and a minimum value of a vertical distance between the obstacle and the central axis of the cleaning robot is less than the second preset detection threshold, wherein the central axis of the cleaning robot is parallel to a current traveling direction of the cleaning robot.

[0192] In specific implementation, if the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is equal to or greater than a first preset detection threshold, and the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is less than the second preset detection threshold, it can be determined that the current detection direction of the sensor system does not match the current location direction of the obstacle relative to the cleaning robot, there is a certain deviation angle, and if the cleaning robot continues to move along the current traveling path, there is a high probability of it colliding with the obstacle.

[0193] In the above situation, by performing a steering operation, the deviation angle between the detection direction of the sensor system and the direction in which the obstacle is located relative to the cleaning robot can be effectively reduced so that the sensor system can face the obstacle as directly as possible, thereby better collecting three-dimensional information about the obstacle; or by performing a steering operation, the cleaning robot can avoid the obstacle ahead and prevent the cleaning robot from colliding with the obstacle.

[0194] Specifically, for example, the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot are first determined, and then a directional deviation angle between the sensor system and the obstacle is determined based on the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot. Based on the directional deviation angle, the cleaning robot can be controlled to perform a steering operation and adjust the detection direction of the sensor system so that the sensor system faces the obstacle as directly as possible. This allows the sensor system to more effectively obtain three-dimensional information of the obstacle that meets requirements. Furthermore, based on the three-dimensional information of the obstacle, characteristics such as the type, shape, and size of the obstacle can be accurately identified, resulting in highly accurate and effective obstacle identification results. Based on the obstacle identification results, the cleaning robot can take optimal obstacle avoidance and cleaning measures.

[0195] In one embodiment, the second preset detection threshold is greater than or equal to 0.45 times the maximum length of the cleaning robot's body along a direction perpendicular to the central axis of the cleaning robot, and is less than or equal to 0.55 times the maximum length of the cleaning robot's body along a direction perpendicular to the central axis of the cleaning robot.

[0196] The present specification further provides another cleaning robot movement control method, which is applied to a cleaning robot equipped with a sensor system capable of obtaining three-dimensional information of an obstacle. When the method is specifically implemented, the method includes: The method may further include performing a steering operation when an obstacle is present while the cleaning robot is moving, a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is equal to or greater than a first preset detection threshold, a maximum value of an included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and a current moving direction of the cleaning robot is greater than a third preset detection threshold, and a minimum value of an included angle between a line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current moving direction of the cleaning robot is less than the third preset detection threshold, wherein the central axis of the cleaning robot is parallel to the current moving direction of the cleaning robot, the first reference point is a point of intersection between a body boundary of the cleaning robot and the central axis of the cleaning robot that is closer to the obstacle along the current moving direction, and the second reference point is an intersection between an outer periphery boundary of the obstacle and a reference line of the obstacle, the reference line being perpendicular to the central axis.

[0197] In specific implementation, if the distance along the central axis of the cleaning robot between the obstacle and the cleaning robot is equal to or greater than a first preset detection threshold, and the maximum value of the included angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current traveling direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the included angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current traveling direction of the cleaning robot is less than the third preset detection threshold, it can be determined that the current detection direction of the sensor system does not match the current location direction of the obstacle relative to the cleaning robot, there is a certain deviation angle, and if the cleaning robot continues to travel along the current traveling path, there is a high probability of it colliding with the obstacle.

[0198] In the above situation, by performing a steering operation, the deviation angle between the detection direction of the sensor system and the direction in which the obstacle is located relative to the cleaning robot can be effectively reduced so that the sensor system can face the obstacle as directly as possible, thereby better collecting three-dimensional information about the obstacle; or by performing a steering operation, the cleaning robot can avoid the obstacle ahead and prevent the cleaning robot from colliding with the obstacle.

[0199] As shown in Fig. 7, an embodiment of the present specification further provides a cleaning robot, wherein the cleaning robot includes a main body 701, a sensor system 702 provided on the main body and capable of obtaining three-dimensional information of obstacles, a processor 703 (or controller), and a memory 704 for storing instructions executable by the processor, wherein, during the movement of the cleaning robot, the processor 703 executes the relevant instructions in the memory 704 to realize the relevant steps of the above-mentioned cleaning robot movement control method, thereby enabling the sensor system 702 to effectively obtain three-dimensional information of obstacles that meet requirements.

[0200] In specific implementation, when the sensor system 702 detects that an obstacle has moved within the detection range of the sensor system, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than the second preset detection threshold, the processor 703 can control the cleaning robot to move away from the obstacle so that the sensor system obtains three-dimensional information of the obstacle, where the central axis of the cleaning robot is parallel to the current moving direction of the cleaning robot.

[0201] In specific implementation, when the processor 703 detects through the sensor system 702 that an obstacle has moved within the detection range of the sensor system, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, the maximum value of the included angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current moving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the included angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current moving direction of the cleaning robot is smaller than the third preset detection threshold, the processor 703 controls the cleaning robot to move away from the obstacle so that the sensor system obtains three-dimensional information of the obstacle, where the central axis of the cleaning robot is parallel to the current moving direction of the cleaning robot. Here, the first reference point is a point of intersection between the boundary of the cleaning robot's body and the central axis of the cleaning robot that is closest to the obstacle along the current traveling direction, and the second reference point is a point of intersection between the outer boundary of the obstacle and a reference line of the obstacle, and the reference line is perpendicular to the central axis.

[0202] In specific implementation, when the processor 703 detects through the sensor system 702 that an obstacle has moved into the detection range of the sensor system and the observation angle of the cleaning robot to the obstacle is greater than a fourth preset detection threshold, the processor 703 controls the cleaning robot to perform an operation to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle.

[0203] In specific implementation, when the processor 703 detects via the sensor system 702 that an obstacle has moved within the detection range of the sensor system, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is equal to or greater than a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is less than the second preset detection threshold, the central axis of the cleaning robot being parallel to the current moving direction of the cleaning robot.

[0204] In specific implementation, when the processor 703 detects via the sensor system 702 that an obstacle has moved within the detection range of the sensor system, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is equal to or greater than a first preset detection threshold, the maximum value of the included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and the current traveling direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the included angle between a line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current traveling direction of the cleaning robot is less than the third preset detection threshold, the processor 703 controls the cleaning robot to perform a steering operation, where the central axis of the cleaning robot is parallel to the current traveling direction of the cleaning robot, the first reference point is a point of intersection between the boundary of the body of the cleaning robot and the central axis of the cleaning robot that is closest to the obstacle along the current traveling direction, and the second reference point is a point of intersection between the outer boundary of the obstacle and a reference line of the obstacle, the reference line being perpendicular to the central axis.

[0205] In this embodiment, the processor 703 may be implemented in any suitable manner, for example, a processor may take the form of a microprocessor or a computer-readable medium storing a processor and computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, an embedded microcontroller, etc., and is not limited thereto herein.

[0206] In this embodiment, the memory 704 may include multiple layers. In a digital system, anything that can store binary data can be called a memory. In an integrated circuit, circuits with intangible storage functions, such as RAM and FIFO, are also called memories. In a system, tangible storage devices, such as memory banks and TF cards, are also called memories.

[0207] An embodiment of the present specification further provides a computer-readable storage medium based on the above-mentioned cleaning robot movement control method. The computer-readable storage medium stores computer program instructions, which, when executed, achieve the following steps: When an obstacle moves within a detection range of a sensor system while the cleaning robot is moving, and the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, and the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than the second preset detection threshold, the sensor system performs an action to move away from the obstacle so as to obtain three-dimensional information of the obstacle, wherein the central axis of the cleaning robot is parallel to the current moving direction of the cleaning robot.

[0208] An embodiment of the present specification further provides another computer-readable storage medium based on the above-mentioned cleaning robot movement control method. The computer-readable storage medium stores computer program instructions, which, when executed, achieve the following steps: When an obstacle is present during the cleaning robot's movement, and the distance between the obstacle and the cleaning robot along its central axis is smaller than a first preset detection threshold, and the maximum value of the included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and the current moving direction of the cleaning robot is greater than a third preset detection threshold, and the minimum value of the included angle between a line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current moving direction of the cleaning robot is smaller than the third preset detection threshold, the sensor system performs an operation to move away from the obstacle so as to obtain three-dimensional information of the obstacle, wherein the central axis of the cleaning robot is parallel to the current moving direction of the cleaning robot. Here, the first reference point is a point of intersection between the boundary of the cleaning robot's body and the central axis of the cleaning robot that is closest to the obstacle along the current traveling direction, and the second reference point is a point of intersection between the outer boundary of the obstacle and a reference line of the obstacle, and the reference line is perpendicular to the central axis.

[0209] An embodiment of the present specification further provides another computer-readable storage medium based on the above-mentioned cleaning robot movement control method. The computer-readable storage medium stores computer program instructions, which, when executed, achieve the following steps: If an obstacle is present while the cleaning robot is moving and an observation angle of the cleaning robot with respect to the obstacle is greater than a fourth preset detection threshold, the sensor system performs an operation to move away from the obstacle so as to obtain three-dimensional information of the obstacle.

[0210] An embodiment of the present specification further provides another computer-readable storage medium based on the above-mentioned cleaning robot movement control method. The computer-readable storage medium stores computer program instructions, which, when executed, achieve the following steps: When an obstacle moves within the detection range of a sensor system while the cleaning robot is moving, and the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is equal to or greater than a first preset detection threshold, and the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is less than the second preset detection threshold, a steering operation is performed, where the central axis of the cleaning robot is parallel to the current traveling direction of the cleaning robot.

[0211] An embodiment of the present specification further provides another computer-readable storage medium based on the above-mentioned cleaning robot movement control method. The computer-readable storage medium stores computer program instructions, which, when executed, achieve the following steps: When an obstacle moves within a detection range of a sensor system while the cleaning robot is moving, a distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is equal to or greater than a first preset detection threshold, a maximum value of an included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and a current traveling direction of the cleaning robot is greater than a third preset detection threshold, and a minimum value of an included angle between a line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and a current traveling direction of the cleaning robot is smaller than the third preset detection threshold, a steering operation is performed. Here, the central axis of the cleaning robot is parallel to the current moving direction of the cleaning robot, the first reference point is a point of intersection between the body boundary of the cleaning robot and the central axis of the cleaning robot that is closest to the obstacle along the current moving direction, and the second reference point is an intersection between the outer boundary of the obstacle and a reference line of the obstacle, and the reference line is perpendicular to the central axis.

[0212] In this embodiment, the storage medium includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk drive (HDD), or a memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface for network-connected communication, configured according to a standard defined by a communication protocol.

[0213] In this embodiment, the functions and effects specifically realized by the program instructions stored in the computer-readable storage medium can be interpreted in light of other embodiments, and a description thereof will be omitted here.

[0214] An embodiment of the present specification further provides a computer program product, which includes at least a computer program, which, when executed by a processor, realizes relevant steps of the method for controlling movement of a cleaning robot.

[0215] In terms of software, the embodiments herein further provide a movement control device for a cleaning robot, which may specifically include a control module.

[0216] Specifically, when an obstacle moves within a detection range of a sensor system while the cleaning robot is moving, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, the maximum value of the vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and the minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than the second preset detection threshold, the control module can be used to control the cleaning robot to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle, where the central axis of the cleaning robot is parallel to the current traveling direction of the cleaning robot.

[0217] It should be noted that the units, devices, or modules described in the above embodiments can be specifically realized by computer chips or entities, or by products having certain functions. For ease of explanation, the above devices will be described by dividing them into various modules according to their functions. Naturally, when implementing this specification, the functions of each module may be realized by the same or multiple pieces of software and / or hardware, or a module achieving the same function may be realized by a combination of multiple submodules or subunits. The above-described device embodiments are merely illustrative. For example, the division of the units is merely a division of logical functions. In actual implementation, the division may be made in a different form. For example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. Furthermore, the couplings, direct couplings, or communication connections between the illustrated or described elements may be indirect couplings or communication connections via several interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0218] As can be seen from the above, the movement control device for a cleaning robot provided in the embodiments of this specification can effectively obtain three-dimensional information of an obstacle, and can accurately identify the obstacle. Furthermore, based on the three-dimensional information of the obstacle, the type, shape, size, and other characteristics of the obstacle can be accurately identified, and a highly accurate and effective obstacle identification result can be obtained. Furthermore, based on the obstacle identification result, the cleaning robot can take optimal obstacle avoidance and cleaning measures.

[0219] While the present specification provides operational steps for methods as described in the examples or flowcharts, more or fewer operational steps may be included based on conventional or inventive means. The order of steps listed in the examples is merely one of many possible execution orders and does not represent a unique execution order. When implemented in an actual device or client product, the methods shown in the examples or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multithreaded processing environment, or even in a distributed data processing environment). The terms "comprise," "consist," or any other variant thereof are intended to include a non-exclusive inclusion, whereby a process, method, product, or device that includes a set of elements includes not only those elements but also other elements not explicitly stated or elements inherent in such process, method, product, or device. Unless otherwise specified, this does not exclude the presence of additional identical or equivalent elements in a process, method, product, or device that includes the elements. Words such as "first," "second," etc. are intended to denote names and do not represent any particular order.

[0220] Those skilled in the art will recognize that, in addition to implementing a controller purely in the form of computer-readable program code, method steps can also be logically programmed to cause the controller to implement the same functions in the form of logic gates, switches, dedicated integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, such a controller can be considered a hardware element, and the devices for implementing various functions contained therein can also be considered structures within the hardware element. Alternatively, the devices for implementing various functions can also be considered to be software modules that implement a method, or structures within the hardware element.

[0221] The specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may reside in both local and remote computer-readable storage media, including memory storage devices.

[0222] From the above description of the embodiments, it can be clearly understood by those skilled in the art that the present specification can be realized in the form of a combination of software and a necessary common hardware platform. Based on this view, the technical solutions of the present specification can be substantially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions for causing a computer device (which may be a personal computer, a mobile terminal, a server, a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments of the present specification.

[0223] Although the embodiments in this specification have been described in a step-by-step manner, reference may be made to identical or similar parts between the embodiments, and each embodiment will be described with an emphasis on the differences from other embodiments. This specification can be used in many general-purpose or specialized computer system environments or configurations, such as personal computers, server computers, handheld or mobile devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, small computers, large computers, and distributed computing environments including any of the above systems or devices.

[0224] Although the present specification has been described by way of example, it is known to those skilled in the art that the present specification has many modifications and variations without departing from the spirit thereof, and it is desirable that the appended claims include these modifications and variations without departing from the spirit of the present specification.

Claims

1. A cleaning robot movement control method applied to a cleaning robot provided with a sensor system capable of acquiring three-dimensional information of an obstacle, comprising: During the movement of the cleaning robot, an obstacle moves within the detection range of the sensor system, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is smaller than a first preset detection threshold, the maximum value of the included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and the current moving direction of the cleaning robot is larger than a third preset detection threshold, and the minimum value of the included angle between a line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current moving direction of the cleaning robot is larger than a third preset detection threshold. a step of performing an operation of moving away from the obstacle when the difference is smaller than a predetermined detection threshold, so that the sensor system acquires three-dimensional information of the obstacle; a central axis of the cleaning robot is parallel to a current traveling direction of the cleaning robot; the first reference point is a point of intersection of a body boundary of the cleaning robot and the central axis of the cleaning robot that is closest to the obstacle along the current traveling direction; and the second reference point is an intersection of an outer boundary of the obstacle and a reference line of the obstacle, the reference line being perpendicular to the central axis.

2. 2. The method for controlling movement of a cleaning robot according to claim 1, further comprising: when a distance along a central axis of the cleaning robot between the obstacle and the cleaning robot is smaller than a first preset detection threshold, and a minimum value of an included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and a current traveling direction of the cleaning robot is equal to or greater than the third preset detection threshold, not performing the action of moving away from the obstacle and continuing to move along the current traveling path.

3. the sensor system includes one or more sensors of a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor; The method for controlling movement of a cleaning robot according to claim 1 , wherein the first preset detection threshold is a minimum value of an effective detection distance of a sensor in the sensor system.

4. 4. The method for controlling movement of a cleaning robot according to claim 3, wherein the cleaning robot performs an action of moving away from an obstacle until the cleaning robot moves to a first position, and a distance between the first position and the obstacle is smaller than a maximum value of an effective detection distance of a sensor in the sensor system.

5. After moving away from the obstacle, The method of claim 1 , further comprising: performing a steering operation to adjust a detection direction of the sensor system so that the sensor system obtains three-dimensional information of an obstacle.

6. After moving away from the obstacle, performing a wait operation; During the waiting period, redetecting the obstacle area by the sensor system; The movement control method for a cleaning robot according to claim 1 , further comprising: performing a return cleaning operation when no obstacle is present in the obstacle area.

7. After being re-detected by the sensor system, The method for controlling movement of a cleaning robot according to claim 6, further comprising the step of re-planning the cleaning route and performing a detour operation when an obstacle is present in the obstacle area.

8. After being re-detected by the sensor system, The method for controlling movement of a cleaning robot according to claim 6, further comprising the step of broadcasting related presentation information by voice when an obstacle exists in the obstacle area and the obstacle is a human user.

9. A cleaning robot movement control method applied to a cleaning robot provided with a sensor system capable of acquiring three-dimensional information of an obstacle, comprising: a step of performing an operation to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle when an obstacle moves within a detection range of the sensor system while the cleaning robot is moving and an observation angle of the cleaning robot with respect to the obstacle is greater than a fourth preset detection threshold.

10. The method of claim 9, wherein the observation angle of the cleaning robot with respect to the obstacle is an included angle formed by a tangent line from a first reference point of the cleaning robot to a periphery boundary of the obstacle.

11. The method of claim 10, wherein when the observation angle includes a horizontal observation angle, the fourth preset detection threshold includes a horizontal viewing angle threshold of a sensor system.

12. The method of claim 10, wherein when the observation angle includes a vertical observation angle, the fourth preset detection threshold includes a vertical viewing angle threshold of a sensor system.

13. 11. The method of claim 10, wherein when the observation angle includes a horizontal observation angle and a vertical observation angle, the fourth preset detection threshold includes a horizontal viewing angle threshold and a vertical viewing angle threshold of a sensor system.

14. After moving away from the obstacle, The method of claim 9, further comprising: performing a standby operation when an observation angle of the cleaning robot with respect to the obstacle is smaller than a predetermined critical threshold.

15. 10. The method for controlling movement of a cleaning robot according to claim 9, wherein the sensor system includes one or more sensors selected from the group consisting of a monocular visual sensor, a binocular visual sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

16. 16. The movement control method for a cleaning robot according to claim 15, wherein the cleaning robot performs an action of moving away from an obstacle until it moves to a first position, and a distance between the first position and the obstacle is smaller than a maximum value of an effective detection distance of a sensor in the sensor system.

17. After moving away from the obstacle, The method of claim 9, further comprising: performing a steering operation to adjust a detection direction of the sensor system so that the sensor system obtains three-dimensional information of the obstacle.

18. After moving away from the obstacle, performing a wait operation; During the waiting period, redetecting the obstacle area by the sensor system; The movement control method for a cleaning robot according to claim 9, further comprising: performing a return cleaning operation when no obstacle is present in the obstacle area.

19. After being re-detected by the sensor system, The movement control method for a cleaning robot according to claim 18, further comprising the step of re-planning the cleaning route and performing a detour operation when an obstacle exists in the obstacle area.

20. After being re-detected by the sensor system, 20. The method for controlling movement of a cleaning robot according to claim 18, further comprising: broadcasting related presentation information by voice when an obstacle exists in the obstacle area and the obstacle is a human user.

21. A cleaning robot movement control method applied to a cleaning robot provided with a sensor system capable of acquiring three-dimensional information of an obstacle, comprising: a step of: when an obstacle moves within a detection range of the sensor system while the cleaning robot is moving, and a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is smaller than a first preset detection threshold, and a maximum value of a vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and a minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is smaller than the second preset detection threshold, performing an operation to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle, and the central axis of the cleaning robot is parallel to a current traveling direction of the cleaning robot.

22. 22. The movement control method of claim 21, further comprising: when a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is smaller than a first preset detection threshold and a minimum value of a vertical distance between the obstacle and the central axis of the cleaning robot is equal to or greater than the second preset detection threshold, not performing the action to move away from the obstacle and continuing to move along a current traveling path.

23. 22. The method for controlling movement of a cleaning robot according to claim 21, wherein the second preset detection threshold is greater than or equal to 0.45 times the maximum length of the body of the cleaning robot along a direction perpendicular to the central axis of the cleaning robot and is less than or equal to 0.55 times the maximum length of the body of the cleaning robot along a direction perpendicular to the central axis of the cleaning robot.

24. The method for controlling movement of a cleaning robot according to claim 21, wherein the sensor system includes a binocular vision sensor.

25. the sensor system includes one or more sensors of a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor; The method of claim 21, wherein the first preset detection threshold is a minimum value of an effective detection distance of a sensor in the sensor system.

26. 22. The method for controlling movement of a cleaning robot according to claim 21, wherein the cleaning robot performs an action of moving away from an obstacle until it moves to a first position, and a distance between the first position and the obstacle is smaller than a maximum value of an effective detection distance of a sensor in the sensor system.

27. After moving away from the obstacle, The method of claim 21 , further comprising: performing a steering operation to adjust a detection direction of the sensor system so that the sensor system obtains three-dimensional information about the obstacle.

28. After moving away from the obstacle, performing a wait operation; During the waiting period, redetecting the obstacle area by the sensor system; 22. The movement control method for a cleaning robot according to claim 21, further comprising: performing a return cleaning operation when no obstacle is present in the obstacle area.

29. After being re-detected by the sensor system, The method for controlling movement of a cleaning robot according to claim 28, further comprising the step of re-planning the cleaning route and performing a detour operation when an obstacle exists in the obstacle area.

30. After being re-detected by the sensor system, 29. The method for controlling movement of a cleaning robot according to claim 28, further comprising: broadcasting related presentation information by voice when an obstacle exists in the obstacle area and the obstacle is a human user.

31. A cleaning robot movement control method applied to a cleaning robot provided with a sensor system capable of acquiring three-dimensional information of an obstacle, comprising: a step of performing a steering operation when an obstacle moves within a detection range of the sensor system while the cleaning robot is moving, a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is equal to or greater than a first preset detection threshold, a maximum value of a vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and a minimum value of the vertical distance between the obstacle and the central axis of the cleaning robot is less than the second preset detection threshold, and the central axis of the cleaning robot is parallel to a current traveling direction of the cleaning robot.

32. 32. The method for controlling movement of a cleaning robot according to claim 31, wherein the second preset detection threshold is greater than or equal to 0.45 times the maximum length of the body of the cleaning robot along a direction perpendicular to the central axis of the cleaning robot and is less than or equal to 0.55 times the maximum length of the body of the cleaning robot along a direction perpendicular to the central axis of the cleaning robot.

33. A cleaning robot movement control method applied to a cleaning robot provided with a sensor system capable of acquiring three-dimensional information of an obstacle, comprising: and when an obstacle moves within a detection range of the sensor system while the cleaning robot is moving, a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is equal to or greater than a first preset detection threshold, a maximum value of an included angle between a line connecting a first reference point of the cleaning robot and a second reference point of the obstacle and a current traveling direction of the cleaning robot is greater than a third preset detection threshold, and a minimum value of an included angle between a line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current traveling direction of the cleaning robot is less than the third preset detection threshold, the central axis of the cleaning robot is parallel to the current traveling direction of the cleaning robot, the first reference point is a point of intersection of a body boundary of the cleaning robot and the central axis of the cleaning robot that is closest to the obstacle along the current traveling direction, and the second reference point is an intersection of an outer periphery boundary of the obstacle and a reference line of the obstacle, the reference line being perpendicular to the central axis.

34. a main body, a sensor system provided on the main body that can acquire three-dimensional information of an obstacle, a processor, and a memory for storing instructions executable by the processor; A cleaning robot, characterized in that when the processor executes the instructions while the cleaning robot is moving, the steps of the cleaning robot movement control method described in any one of claims 1 to 33 are realized so that the sensor system acquires three-dimensional information of the obstacle.

35. 34. A computer-readable storage medium having a program stored therein, the program executing the method for controlling movement of a cleaning robot according to any one of claims 1 to 33.

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