Method for controlling the movement of a cleaning robot and cleaning robot

Abstract

This specification provides a method for controlling the movement of a cleaning robot and a cleaning robot. [Solution] Based on this method, while the cleaning robot is moving, the sensor system can acquire three-dimensional information of obstacles. If the obstacle is moving within the detection range of the sensor system, the distance D between the obstacle and the cleaning robot along the central axis of the cleaning robot is less than a first preset detection threshold, and the maximum value α1 of the angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current direction of travel of the cleaning robot is greater than a third preset detection threshold, the robot automatically performs an action to move away from the obstacle. This allows the cleaning robot's sensor system to effectively acquire three-dimensional information of obstacles and achieve accurate identification of obstacles.

Claims

1. A method for controlling the movement of a cleaning robot, which is applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of obstacles, While the cleaning robot is moving, 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 less than a first preset detection threshold, the maximum angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current direction of movement of the cleaning robot is greater than a third preset detection threshold, and the minimum angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current direction of movement of the cleaning robot is greater than a third preset detection threshold. A method for controlling the movement of a cleaning robot, comprising the step of performing an action to move away from an obstacle so that the sensor system acquires three-dimensional information of the obstacle when the detection threshold is smaller than a preset threshold, wherein the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot, the first reference point is the point closest to the obstacle along the current direction of movement at the intersection of the body boundary of the cleaning robot and the central axis of the cleaning robot, and the second reference point is the intersection of the outer boundary of the obstacle and the reference line of the obstacle, the reference line being perpendicular to the central axis.

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

3. The sensor system includes one or more sensors from among a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a DtoF sensor, and an ItoF sensor. The method for controlling the movement of a cleaning robot according to claim 1, characterized in that the first preset detection threshold is the minimum effective detection distance of the sensor in the sensor system.

4. The method for controlling the movement of a cleaning robot according to claim 3, characterized in that the cleaning robot performs an action to move 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 the sensor in the sensor system.

5. After performing an action to move away from the obstacle, A method for controlling the movement of a cleaning robot according to claim 1, further comprising the step of 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.

6. After performing an action to move away from the obstacle, The steps include: performing a waiting operation, During standby, the sensor system re-detects the obstacle area, A method for controlling the movement of a cleaning robot according to claim 1, further comprising the step of performing a return cleaning operation if no obstacles are present in the obstacle area.

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

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

9. A method for controlling the movement of a cleaning robot, which is applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of obstacles, A method for controlling the movement of a cleaning robot, characterized in that, while the cleaning robot is in motion, if the obstacle moves within the detection range of the sensor system, and the observation angle of the cleaning robot with respect to the obstacle is greater than a fourth preset detection threshold, the cleaning robot performs an action to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle.

10. The method for controlling the movement of a cleaning robot according to claim 9, characterized in that the observation angle of the cleaning robot with respect to the obstacle is the angle formed by the tangent line from the first reference point of the cleaning robot to the outer boundary of the obstacle.

11. The method for controlling the movement of a cleaning robot according to claim 10, characterized in that when the observation angle includes a horizontal observation angle, the fourth preset detection threshold includes a horizontal field of view threshold of the sensor system.

12. The method for controlling the movement of a cleaning robot according to claim 10, characterized in that, when the observation angle includes a vertical observation angle, the fourth preset detection threshold includes the vertical field of view threshold of the sensor system.

13. The method for controlling the movement of a cleaning robot according to claim 10, characterized in that, when the observation angle includes a horizontal observation angle and a vertical observation angle, the fourth preset detection threshold includes a horizontal field of view threshold and a vertical field of view threshold of the sensor system.

14. After performing an action to move away from the obstacle, The method for controlling the movement of a cleaning robot according to claim 9, further comprising the step of performing a standby operation if the observation angle of the cleaning robot with respect to the obstacle is smaller than a preset critical threshold.

15. The method for controlling the movement of a cleaning robot according to claim 9, characterized in that the sensor system includes one or more sensors selected from a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

16. The method for controlling the movement of a cleaning robot according to claim 15, characterized in that the cleaning robot performs an action to move 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 the sensor in the sensor system.

17. After performing an action to move away from the obstacle, A method for controlling the movement of a cleaning robot according to claim 9, further comprising the step of 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.

18. After performing an action to move away from the obstacle, The steps include: performing a waiting operation, During standby, the sensor system re-detects the obstacle area, A method for controlling the movement of a cleaning robot according to claim 9, further comprising the step of performing a return cleaning operation if no obstacles are present in the obstacle area.

19. After being re-detected by the sensor system, A method for controlling the movement of a cleaning robot according to claim 18, further comprising the step of replanning the cleaning route and performing a detour if an obstacle is present in the obstacle area.

20. After being re-detected by the sensor system, A method for controlling the movement of a cleaning robot according to claim 18, further comprising the step of broadcasting relevant presentation information by voice if the obstacle is present in the obstacle area and the obstacle is a human user.

21. A method for controlling the movement of a cleaning robot, which is applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of obstacles, A method for controlling the movement of a cleaning robot, characterized in that, while the cleaning robot is in motion, 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 less than a first preset detection threshold, and 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 less than a second preset detection threshold, the cleaning robot performs an action to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle, wherein the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot.

22. A method for controlling the movement of a cleaning robot according to claim 21, further comprising the step of not performing the action of moving away from an obstacle and continuing to move along the current path of movement if the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot is less 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 greater than or equal to the second preset detection threshold.

23. The method for controlling the movement of a cleaning robot according to claim 21, characterized in that the second preset detection threshold is 0.45 times or more the maximum length of the cleaning robot body in a direction perpendicular to the central axis of the cleaning robot, and 0.55 times or less the maximum length of the cleaning robot body in a direction perpendicular to the central axis of the cleaning robot.

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

25. The sensor system includes one or more sensors from among a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a DtoF sensor, and an ItoF sensor. The method for controlling the movement of a cleaning robot according to claim 21, characterized in that the first preset detection threshold is the minimum effective detection distance of the sensor in the sensor system.

26. The method for controlling the movement of a cleaning robot according to claim 21, characterized in that the cleaning robot performs an action to move 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 the sensor in the sensor system.

27. After performing an action to move away from the obstacle, The method for controlling the movement of a cleaning robot according to claim 21, further comprising the step of 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.

28. After performing an action to move away from the obstacle, The steps include: performing a waiting operation, During standby, the sensor system re-detects the obstacle area, A method for controlling the movement of a cleaning robot according to claim 21, further comprising the step of performing a return cleaning operation if no obstacles are present in the obstacle area.

29. After being re-detected by the sensor system, A method for controlling the movement of a cleaning robot according to claim 28, further comprising the step of replanning the cleaning route and performing a detour if an obstacle is present in the obstacle area.

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

31. A method for controlling the movement of a cleaning robot, which is applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of obstacles, A method for controlling the movement of a cleaning robot, comprising the step of performing a steering operation if, while the cleaning robot is moving, 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 greater than or equal to 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 less than a second preset detection threshold, wherein the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot.

32. The method for controlling the movement of a cleaning robot according to claim 31, characterized in that the second preset detection threshold is 0.45 times or more the maximum length of the cleaning robot body in a direction perpendicular to the central axis of the cleaning robot, and 0.55 times or less the maximum length of the cleaning robot body in a direction perpendicular to the central axis of the cleaning robot.

33. A method for controlling the movement of a cleaning robot, which is applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of obstacles, A method for controlling the movement of a cleaning robot, comprising the step of performing a steering operation if, while the cleaning robot is moving, 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 greater than or equal to a first preset detection threshold, the maximum angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current direction of movement of the cleaning robot is greater than a third preset detection threshold, and the minimum angle between the line connecting the first reference point of the cleaning robot and the second reference point of the obstacle and the current direction of movement of the cleaning robot is less than a third preset detection threshold, wherein the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot, the first reference point is the point closest to the obstacle along the current direction of movement at the intersection of the body boundary of the cleaning robot and the central axis of the cleaning robot, the second reference point is the intersection of the outer boundary of the obstacle and the reference line of the obstacle, and the reference line is perpendicular to the central axis.

34. The system includes a main unit, a sensor system provided on the main unit that can acquire three-dimensional information of obstacles, a processor, and a memory for storing instructions that can be executed by the processor. A cleaning robot, characterized in that, while the cleaning robot is in motion, the processor executes the instruction, thereby realizing a step of the method for controlling the movement of the cleaning robot according to any one of claims 1 to 33, such that the sensor system acquires three-dimensional information of the obstacle.

35. A computer-readable storage medium that includes a stored program, and when the program is executed, the method for controlling the movement of a cleaning robot according to any one of claims 1 to 33 is executed.

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