Method for controlling the movement of a 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] This specification belongs to the technical field of smart homes, and particularly relates to a method for controlling the movement of a sweeping robot and a sweeping robot.

Background Art

[0002] With the development and popularization of technology, the number of users who are accustomed to using sweeping robots to perform indoor and outdoor cleaning operations has been increasing.

[0003] Based on the conventional method for controlling the movement of a sweeping robot, the sweeping robot needs to collect and process obstacle information in real time during movement. However, due to various reasons, the sweeping robot may not be able to effectively obtain obstacle information, which may further affect the movement and operation of the sweeping robot.

Summary of the Invention

[0004] This specification provides a method for controlling the movement of a sweeping robot and a sweeping robot, in which the sensor system of the sweeping robot can effectively obtain the three-dimensional information of an obstacle and achieve accurate identification of the obstacle.

[0005] This specification is a method for controlling the movement of a sweeping robot applied to a sweeping robot provided with a sensor system capable of obtaining three-dimensional information of an obstacle, 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, and 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 is provided, 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 if the detection threshold is smaller than 3, wherein the central axis of the cleaning robot is parallel to the current direction of travel of the cleaning robot, the first reference point is the point closest to the obstacle along the current direction of travel 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.

[0006] In one embodiment, the method is 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 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, the cleaning robot will not perform the action of moving away from the obstacle and will continue to move along its current path.

[0007] In one embodiment, 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 first preset detection threshold is the minimum effective detection distance of the sensor in the sensor system.

[0008] In one embodiment, the cleaning robot performs an action to move away from the 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.

[0009] In one embodiment, after performing an action to move away from an obstacle, the method is as follows: The further step includes performing a steering maneuver to adjust the detection direction of the sensor system so that the sensor system acquires three-dimensional information of an obstacle.

[0010] In one embodiment, after performing an action to move away from an obstacle, the method is as follows: Steps to perform a waiting operation, During standby, the sensor system re-detects the obstacle area, The method further includes the step of performing a return cleaning operation if no obstacle is present in the obstacle area.

[0011] In one embodiment, after re-detection by the sensor system, the method is as follows: If an obstacle is present in the obstacle area, the process further includes the step of replanning the cleaning route and performing a detour.

[0012] In one embodiment, after re-detection by the sensor system, the method is as follows: The further step includes broadcasting relevant presentation information by voice if the obstacle is present in the obstacle area and the obstacle is a human user.

[0013] This specification relates to 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, Further, the present invention provides a method for controlling the movement of a cleaning robot, which includes the step of performing an action to move away from an obstacle so that the sensor system acquires three-dimensional information of the obstacle if, while the cleaning robot is in motion, 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.

[0014] In one embodiment, 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.

[0015] In one embodiment, if the observation angle includes the horizontal observation angle, the fourth preset detection threshold includes the horizontal field of view threshold of the sensor system.

[0016] In one embodiment, if the observation angle includes the vertical observation angle, the fourth preset detection threshold includes the vertical field of view threshold of the sensor system.

[0017] In one embodiment, if the observation angle includes a horizontal observation angle and a vertical observation angle, the fourth preset detection threshold includes the horizontal field of view threshold and the vertical field of view threshold of the sensor system.

[0018] In one embodiment, after performing an action to move away from an obstacle, the method is as follows: The method further includes 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.

[0019] In one embodiment, 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.

[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 smaller than the maximum value of the effective detection distance of the sensor in the sensor system.

[0021] In one embodiment, after performing the operation of moving 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.

[0022] In one embodiment, after performing the operation of moving away from the obstacle, the method further includes: performing a standby operation; during the standby, redetecting the obstacle area by the sensor system; and if the obstacle does not exist in the obstacle area, performing a return cleaning operation. <00,00087>

[0023] In one embodiment, after redetection by the sensor system, the method further includes: if the obstacle exists in the obstacle area, replanning a cleaning route and performing a detour operation. \n

[0024] In one embodiment, after redetection by the sensor system, the method further includes: if the obstacle exists in the obstacle area and the obstacle is a human user, broadcasting relevant prompt information by voice.

[0025] This specification discloses a method for controlling the movement of a cleaning robot applied to a cleaning robot provided with a sensor system capable of acquiring three-dimensional information of an obstacle, The present invention provides a method for controlling the movement of a cleaning robot, wherein, while the cleaning robot is in motion, an obstacle is moving 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 method further provides a step of performing 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.

[0026] In one embodiment, the method is 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 vertical distance between the obstacle and the central axis of the cleaning robot is greater than or equal to the second preset detection threshold, the robot will not perform the action of moving away from the obstacle and will continue to proceed along its current path.

[0027] In one embodiment, the second preset detection threshold is 0.45 times or more the maximum length of the cleaning robot body along 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 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 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 first preset detection threshold is the minimum effective detection distance of the sensor in the sensor system.

[0030] In one embodiment, the cleaning robot performs an action to move away from the 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.

[0031] In one embodiment, after performing an action to move away from an obstacle, the method is as follows: The further step includes performing a steering maneuver 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 an action to move away from an obstacle, the method is as follows: Steps to perform a waiting operation, During standby, the sensor system re-detects the obstacle area, The method further includes the step of performing a return cleaning operation if no obstacle is present in the obstacle area.

[0033] In one embodiment, after re-detection by the sensor system, the method is as follows: If an obstacle is present in the obstacle area, the process further includes the step of replanning the cleaning route and performing a detour.

[0034] In one embodiment, after re-detection by the sensor system, the method is as follows: The further step includes broadcasting relevant presentation information by voice if the obstacle is present in the obstacle area and the obstacle is a human user.

[0035] This specification relates to 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, The present invention provides a method for controlling the movement of a cleaning robot, further comprising the step of performing a steering action if, while the cleaning robot is in motion, an obstacle is moving 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.

[0036] In one embodiment, the second preset detection threshold is 0.45 times or more the maximum length of the cleaning robot body along 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 along a direction perpendicular to the central axis of the cleaning robot.

[0037] This specification relates to 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, The present invention provides 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 is moving 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, and the maximum angle between the line connecting a first reference point of the cleaning robot and a 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 a first reference point of the cleaning robot and a 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, 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.

[0038] This specification 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. The present invention further provides a cleaning robot in which, while the cleaning robot is in motion, the processor executes the instruction, thereby realizing a relevant step of the method for controlling the movement of the cleaning robot so that the sensor system acquires three-dimensional information of the obstacle.

[0039] This specification further provides a computer-readable storage medium that includes a stored program, and when the program is executed, relevant steps of a method for controlling the movement of the cleaning robot are performed.

[0040] Based on the robotic movement control method and robot provided herein, the robotic movement of a cleaning robot can be controlled by a sensor system to acquire three-dimensional information of obstacles. When an obstacle is moving within the detection range of the sensor system, and the distance between the robotic movement and the obstacle along the central axis of the robotic movement is less than a first preset detection threshold, and the maximum angle between the line connecting the first reference point of the robotic movement and the second reference point of the obstacle, and the current direction of movement of the robotic movement is greater than a third preset detection threshold, the sensor system can automatically determine that it cannot effectively acquire the required three-dimensional information of the obstacle and can intelligently perform actions to move further away from the obstacle. As a result, the sensor system of the robotic movement of a cleaning robot can effectively acquire the required three-dimensional information of the obstacle and achieve accurate identification of the obstacle. Furthermore, based on the three-dimensional information of the obstacle, the characteristics of the obstacle, such as its type, shape, and size, can be accurately identified, and highly accurate and effective obstacle identification results can be obtained. Based on these obstacle identification results, the robotic movement of the cleaning robot can take the optimal obstacle avoidance and cleaning measures. [Brief explanation of the drawing]

[0041] To more clearly illustrate the embodiments described herein, the drawings necessary for use in the embodiments are briefly described below. The drawings in the following description represent only a portion of the embodiments described herein, and those skilled in the art will be able to conceive of other drawings from these drawings without requiring any creative effort. [Figure 1] This is a schematic diagram of one embodiment of the structural configuration of a cleaning robot that applies the cleaning robot movement control method provided in the embodiments of this specification. [Figure 2] This is a flowchart of a movement control method for a cleaning robot provided in one embodiment of this specification. [Figure 3] This is a schematic diagram of an embodiment in which the movement control method for a cleaning robot provided in the embodiments of this specification is applied in one example scene. [Figure 4]This is a schematic diagram of an embodiment in which the movement control method for a cleaning robot provided in the embodiments of this specification is applied in another scene example. [Figure 5] This is a schematic diagram of an embodiment in which the movement control method for a cleaning robot provided in the embodiments of this specification is applied in another scene example. [Figure 6] Furthermore, in another example scene, this is a schematic diagram of an embodiment in which the movement control method for the cleaning robot provided in the embodiments of this specification is applied. [Figure 7] This is a schematic diagram of the structural configuration of a cleaning robot provided in one embodiment of this specification. [Modes for carrying out the invention]

[0042] To enable those skilled in the art to favorably understand the technical solutions described herein, the technical solutions in the embodiments described herein will be clearly and completely described below with reference to the drawings of the embodiments herein. Naturally, the embodiments described are only a part of the embodiments described herein, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments described herein without requiring any creative effort are all within the scope of this specification.

[0043] The embodiments described herein provide a cleaning robot. See Figure 1.

[0044] The cleaning robot described above may specifically be an autonomous robot capable of moving autonomously within a work area and performing cleaning tasks autonomously without external human input or control. The work area may include both indoor and outdoor areas. The indoor area may include family rooms, offices, department stores, factories, etc. The outdoor area may include lawns, gardens, roads, etc. Cleaning tasks may include cleaning (e.g., floor washing, mopping, sweeping), lawn trimming, snow removal, etc.

[0045] The cleaning robots mentioned above include, but are not limited to, floor sweeping robots, floor washing robots, integrated sweeping and mopping robots, lawn mowing robots, and snow removal robots. Cleaning robots can clean by sweeping and mopping the floor, or by sweeping and mopping separately. Sweeping and mopping allows for mopping while sweeping, increasing cleaning efficiency. Sweeping and mopping separately allows for sweeping first, followed by mopping, which also enhances cleaning effectiveness.

[0046] Specifically, as shown in Figure 1, the cleaning robot includes at least a main unit, a controller, one or more cleaning components, and a sensor system capable of acquiring three-dimensional information of obstacles.

[0047] Here, the cleaning components mentioned above may specifically include one or more of the following: side brushes, main brushes (or roller brushes), rag trays (or mop trays), etc.

[0048] Specifically, the shape of the main body may be circular, square, or other shapes. For example, part of the main body may be circular, and other parts may be square.

[0049] The above controller may include a microcontroller unit (MCU). Naturally, the above controller may also include other devices that have control functions.

[0050] The shape of the cleaning member described above may be circular, square, or other shapes (for example, semicircular, arc-shaped, triangular, or other irregular shapes). In the case of a circular shape, the cleaning member can easily perform rotational cleaning. In the case of an irregular shape, the cleaning member can easily clean corner areas.

[0051] Here, the side brushes can collect foreign objects and move them towards the center of the bottom of the cleaning robot. The roller brushes can sweep up foreign objects from the bottom of the cleaning robot so that they pass through the dust collection port and into the dust box. The rag tray is used for wiping or mopping the floor.

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

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

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

[0055] Here, the sensor system described above may specifically include one or more of the following: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor, etc.

[0056] Specifically, the monocular vision sensor described above can acquire 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, and texture. The binocular vision sensor described above simulates human vision and can acquire three-dimensional information of an object using two cameras.

[0057] The line laser sensor described above may be a sensor that performs measurements using a line laser. The surface laser sensor described above may be a sensor that performs measurements using a surface laser.

[0058] The above-mentioned LDS (Laser Direct Structuring, laser radar) sensor may be an optical sensor using laser triangulation. The above-mentioned Dtof (Direct Time of Flight) sensor is also called a depth time flight sensor. Based on the above-mentioned Dtof sensor, depth sensing can be achieved by emitting infrared laser pulses from a Dtof camera, measuring the time required for the pulses to reach the target from the camera and return. The above-mentioned Itof (indirect Time-of-Flight, indirect optical time-of-flight) sensor specifically refers to a long-range interference-resistant Itof depth image sensor. Based on the above-mentioned Itof sensor, a modulated infrared light signal is transmitted to the scene, and the light signal reflected back from the object to be measured in the scene is received by the sensor. By calculating the phase difference between the transmitted signal and the received signal from the accumulated charge during the exposure (integration) time, depth information of the target can be obtained.

[0059] It should be noted, of course, that the sensors listed above are merely illustrative examples. In actual implementation, the sensor system may include other types of sensors, such as infrared sensors, depending on the specific situation and processing requirements.

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

[0061] Specifically, for example, by using an obstacle detection model that has been pre-trained based on an artificial intelligence algorithm, and processing the 3D 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, embodiments of this specification provide a method for controlling the movement of a cleaning robot. Here, the method is applied to a cleaning robot, which is equipped with a sensor system capable of acquiring at least three-dimensional information of obstacles. When the method is specifically implemented, it may include the following:

[0063] In S201, while the cleaning robot is moving, if 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 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, the sensor system performs an action to move away from the obstacle so as to acquire three-dimensional information of the obstacle. Here, the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot. Here, the first reference point is the point closest to the obstacle along the current direction of travel at the intersection of the main 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.

[0064] Specifically, the process described above for the cleaning robot could be a process in which the cleaning robot moves while cleaning, or a process in which the cleaning robot moves without cleaning, etc.

[0065] Furthermore, the above-mentioned process may specifically involve a process along a straight path, an arc path, or a path of an irregular shape, among other things.

[0066] Typically, cleaning robots use sensor systems to detect in real time or on an ad-hoc basis whether or not there are obstacles ahead as they move.

[0067] If an obstacle is detected, the cleaning robot collects three-dimensional information about the obstacle using its sensor system, and then further detects and identifies the obstacle based on that three-dimensional information.

[0068] However, many of the above 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 fails to effectively collect 3D information of the obstacle that meets the requirements. For example, it may not be able to collect 3D information of the obstacle directly, or the collected 3D information of the obstacle may be of low quality, noisy, and further affect the detection and identification of subsequent obstacles.

[0069] Specifically, for example, if a cleaning robot gets too close to an obstacle, the obstacle's position relative to the robot will exceed the effective detection range of the sensor system. In this case, some, or even all, of the sensors in the sensor system will be unable to effectively collect the required signal data (for example, the binocular vision sensors may not be able to focus properly due to the close distance to the obstacle, and will not be able to collect high-quality, clear image data that includes depth information), and consequently, the sensor system will be unable to effectively acquire three-dimensional information about the obstacle.

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

[0071] This specification focuses precisely on the above problem and, in connection with the specific causes of the above problem, considers the possibility of introducing a decision-making mechanism that can automatically determine and detect when the current sensor system is unable to effectively acquire 3D information of obstacles that meet the requirements while the cleaning robot is in operation, and in this case, can intelligently and promptly control the cleaning robot to perform matching operations so that the sensor system can effectively acquire 3D information of obstacles that meet the requirements.

[0072] In one embodiment, the cleaning robot can detect the presence or absence of obstacles during operation using a sensor system. Specifically, the cleaning robot can detect the presence or absence of obstacles using distance measuring sensors in the sensor system.

[0073] For example, a cleaning robot can emit a line laser signal forward using a line laser sensor in its sensor system, collect the returned line laser signal, and detect whether or not an obstacle is present based on that signal.

[0074] Here, the above-mentioned obstacles specifically include obstacles that suddenly appear, such as human users who suddenly enter a work area such as a living room and block the path of the cleaning robot, pets, rolling balls, and toy cars.

[0075] The detection range of the sensor system described above can be understood as the upper limit range in which the sensor system can detect the presence of an obstacle. Specifically, if the location 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 using the sensor system, but this does not necessarily mean that it can effectively collect high-quality, low-error 3D information of the obstacle that meets the requirements.

[0076] In practice, the cleaning robot can use its sensor system to detect whether or not an obstacle exists within its forward detection range, either on a timely or in real time. It can then compare the current detection result with the detection result from an adjacent previous point in time to determine whether or not the obstacle has moved within the sensor system's detection range.

[0077] Specifically, for example, if it is determined that an obstacle is currently within the detection range of the sensor system based on the detection result for the current time, the detection result for the adjacent previous time can be queried and obtained. Based on the detection result for the previous time, it can be determined whether the obstacle exists in the same or nearby location area at the previous time. If it is determined that the obstacle does not exist in the same or nearby location area at the previous time based on the detection result for the previous time, it can be determined that the obstacle has now moved within the sensor's detection range.

[0078] If it is detected that an obstacle has moved within the detection range of the sensor system, it is possible to determine whether the location of the obstacle relative to the cleaning robot is within the effective detection range of the sensor system.

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

[0080] Specifically, as shown in Figure 3, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot can be understood as the projected length of the distance between the obstacle and the cleaning robot on the central axis, and can be denoted as the first distance and represented by D.

[0081] Specifically, the first reference point described above may be the point closest to an obstacle along the current direction of travel, at the intersection of the main body boundary of the cleaning robot and the central axis of the cleaning robot, and can be represented as M.

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

[0083] Accordingly, as shown in Figure 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 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 denoted as the first angle and can be represented by α1, i.e., the angle between connecting line MQ and the current direction of travel. 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 travel of the cleaning robot is denoted as the second angle and can be represented by α2, i.e., the angle between connecting line Mp and the current direction of travel.

[0084] In practical implementation, the cleaning robot can first measure and determine a first distance, a first angle, and a second angle using its 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 simultaneously compare the detected first and second included angles with third preset detection thresholds to obtain a corresponding third comparison result.

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

[0087] Subsequently, based on the first and third comparison results, 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.

[0088] When actually implementing the system, if, based on the first and third comparison results, it is determined that the first distance is smaller than the first preset detection threshold, the first included angle is larger than the third preset detection threshold, and the second included angle is smaller than the third preset detection threshold, then it can be determined that the cleaning robot is currently 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 if the cleaning robot continues to move in the current direction, it will come into contact with the obstacle. In this case, the cleaning robot needs to pay attention to the obstacle. Accordingly, the cleaning robot can be automatically controlled to perform corresponding actions 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 corresponding actions to move away from the obstacle so that the obstacle's position is within the effective detection range of the sensor system, thereby allowing the sensor system to effectively acquire three-dimensional information about the obstacle.

[0090] Here, the actions of moving away from the aforementioned obstacles may specifically include backward movement along a straight line, backward movement along a diagonal line, or backward movement along an arc line.

[0091] Specifically, for example, the cleaning robot can be controlled to perform a corresponding backward movement, moving away from the obstacle and increasing the distance between the cleaning robot and the obstacle.

[0092] While performing a backward movement, the cleaning robot can also detect a first distance between the cleaning robot and the obstacle in real time or on a timely basis using its sensor system. If the first distance is detected to be greater than or equal to a first preset detection threshold, it can 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 can be controlled to stop the backward movement and temporarily place it in its current position. Furthermore, the sensor system can re-detect the location area (which can be referred to as the obstacle area) where the presence of the obstacle was previously detected, and re-acquire the three-dimensional information of the associated obstacle, thereby specifically detecting and identifying the obstacle based on the re-acquired three-dimensional information of the obstacle.

[0093] Furthermore, the cleaning robot can be controlled to first perform a steering maneuver, for example, 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 unobstructed as possible by other obstacles. Then, it can be controlled to perform a corresponding reverse maneuver to move away from the obstacle, and the reverse maneuver can be stopped until a first distance between the cleaning robot and the obstacle is greater than or equal to a first preset detection threshold.

[0094] This allows the sensor system to effectively acquire three-dimensional information about the obstacle, and to accurately identify the type, shape, and other characteristics of the obstacle based on that three-dimensional information. Furthermore, these characteristics enable the cleaning robot to take optimal obstacle avoidance and cleaning actions.

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

[0096] Specifically, if an obstacle suddenly moves within the detection range of the sensor system while the cleaning robot is moving, the cleaning robot detects that the distance D between the obstacle and the cleaning robot along the central axis of the cleaning robot is 8 cm. At the same time, the cleaning robot also detects 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 cleaning robot's current direction of movement 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 cleaning robot's current direction of movement is 45 degrees. Furthermore, by comparing the values ​​of 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. This allows the system to determine that the current position of the obstacle relative to the cleaning robot is outside the effective detection range of the sensor system, and it is possible to trigger the cleaning robot to automatically move away from the obstacle.

[0097] When implementing the system, if, based on the first and third comparison results, it is determined that the first distance is smaller than the first preset detection threshold and the first angle is smaller than the third preset detection threshold, it can be determined that the cleaning robot is currently too close to the obstacle, the obstacle's current position relative to the cleaning robot is beyond the effective detection range of the sensor system, and that if the cleaning robot continues to move in its current direction, it will come into contact with the obstacle. In this case, the cleaning robot needs to pay attention to the obstacle. Accordingly, the cleaning robot can be controlled to move away from the obstacle. This allows the sensor system to effectively acquire three-dimensional information about the obstacle, and based on this three-dimensional information, it can accurately identify the type, shape, and other characteristics of the obstacle. Furthermore, based on these characteristics, the cleaning robot can take the optimal obstacle avoidance and cleaning measures.

[0098] In specific implementation, based on the first and third comparison results, if it is determined that the first distance is smaller than the first preset detection threshold and the second included angle is larger than the third preset detection threshold, it can be determined that the cleaning robot is currently too close to the obstacle, and the current position of the obstacle relative to the cleaning robot is beyond the effective detection range of the sensor system. However, since the obstacle is far from the central axis of the cleaning robot, it can be determined that 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 focus on the obstacle, and it does not need to perform any actions 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 3D information about the obstacle ahead. This avoids wasting resources by not performing actions to move away from unnecessary obstacles, prevents interference with the normal movement and cleaning operations of the cleaning robot, and also reduces the data processing burden on the cleaning robot during operation.

[0099] When implementing the system, if, based on the first and third comparison results, it is determined that the first distance is greater than or equal to 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 away from the cleaning robot and does not affect the robot's movement or operation, and therefore does not need to pay attention to the obstacle temporarily. In this case, the cleaning robot does not need to perform an action to move away from the obstacle. This avoids wasting resources by not performing an action to move away from an unnecessary obstacle, prevents the cleaning robot from affecting its normal movement and cleaning operations, and also reduces the data processing burden on the cleaning robot during operation.

[0100] In one embodiment, the sensor system may specifically include one or more sensors such as 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. Here, the first preset detection threshold is the minimum effective detection distance of the sensors in the sensor system.

[0101] In practical implementation, the minimum effective detection distance of each sensor in the sensor system can be determined, and then the smallest value among multiple minimum effective detection distances can be determined as the first pre-set detection threshold.

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

[0103] In one embodiment, when the above method is specifically carried out, 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 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, the cleaning robot may further include not performing the action of moving away from the obstacle and continuing to move along its current path.

[0104] This eliminates the need to waste processing resources and time by avoiding unnecessary obstacles, thus preventing interference with the normal movement and cleaning operations of the cleaning robot. This saves the cleaning robot's travel time, improves its cleaning efficiency, and reduces the data processing burden on the cleaning robot during operation.

[0105] In one embodiment, the cleaning robot performs an action to move 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 the sensor in the sensor system.

[0106] Based on the above embodiment, it is possible to avoid the cleaning robot moving too far back and becoming too far away from the obstacle, thus preventing it from acquiring detailed 3D information about the obstacle. It is also possible to effectively reduce the energy wasted by the cleaning robot moving too far back.

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

[0108] 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. Then, based on the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot, the directional deviation angle between the sensor system and the obstacle is determined. Furthermore, based on this directional deviation angle, the cleaning robot can be controlled to perform steering maneuvers so that the sensor system faces the obstacle as directly as possible. This allows the sensor system to acquire 3D information of the obstacle that meets the requirements more effectively and accurately.

[0109] In practice, the cleaning robot can acquire three-dimensional information of obstacles behind it, and based on this information, it can replan and determine a reverse path free of obstacles. It can then perform corresponding steering maneuvers to ensure the robot's posture matches the reverse path, and finally control the robot to perform the reverse movement along the chosen path. This effectively prevents the cleaning robot from contacting obstacles behind it while reversing.

[0110] In one embodiment, after performing an action to move away from an obstacle, as shown in Figure 4, when the method is specifically implemented, S1 performs a waiting operation, During standby, S2 re-detects the obstacle area using the sensor system, The system may further include S3, which performs a return cleaning operation if no obstacle is present in the obstacle area.

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

[0112] Specifically, when the cleaning robot is performing an action to move away from an obstacle, if the first distance between the cleaning robot and the obstacle is greater than or equal to a first preset detection threshold, it can stop moving away from the obstacle, pause at its current position, and perform a standby action. While standby, the cleaning robot can use its sensor system to re-detect the obstacle area where the presence of an obstacle was previously detected and determine whether the obstacle is still present in that area.

[0113] Here, the obstacle region can be specifically understood as the region where the presence of an obstacle is detected before an action is taken to move away from the obstacle.

[0114] Specifically, for example, the obstacle area can be re-detected by distance-measuring sensors in the sensor system, and it can be determined whether or not the obstacle still exists in the obstacle area.

[0115] If the cleaning robot determines that there are no longer any obstacles in the obstacle area, it can replan its cleaning route and, based on that route, perform a return cleaning operation to return to the obstacle area and perform supplemental cleaning.

[0116] If the cleaning robot determines that the obstacle is still present in the obstacle area, it can reacquire 3D information about the obstacle using its sensor system, detect and identify the obstacle based on that 3D information, and determine the specific type of obstacle. Furthermore, depending on the specific type of obstacle, it can replan its cleaning route to accommodate the obstacle and perform a detour based on that cleaning route. This allows the cleaning robot to clean as much area as possible while bypassing obstacles, resulting in a better cleaning effect.

[0117] In one embodiment, if, after re-detection by the sensor system, the method is specifically carried out, the method may further include broadcasting relevant presentation information by voice if the obstacle is present in the obstacle area and the obstacle is a human user.

[0118] Specifically, if the sensor system re-detects an obstacle and determines that an obstacle still exists in the obstacle area, it can effectively acquire high-quality, low-error 3D information of the obstacle that matches the requirements.

[0119] Next, the 3D information of the obstacles can be processed using a pre-trained obstacle detection model to obtain the corresponding obstacle detection result. Specifically, the obstacle detection model can be understood as a neural network model that can automatically identify and determine the type of obstacle, which is obtained by training it in advance using a large amount of 3D information of obstacles as samples.

[0120] Based on the above obstacle detection results, if it is determined that the obstacle is a human user, relevant information can be broadcast to the human user via voice. For example, the human user may be verbally informed to move aside to facilitate cleaning.

[0121] After broadcasting relevant information via audio, the sensor system re-detects the obstacle area after a predetermined time (e.g., 1 minute). If the obstacle is no longer present in the obstacle area, the system performs a return cleaning operation.

[0122] As can be seen from the above, the motion control method for a cleaning robot provided in the embodiments of this specification allows the sensor system to acquire three-dimensional information of obstacles while the cleaning robot is moving. When an obstacle is moving 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 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, 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 travel of the cleaning robot is less than a third preset detection threshold, the system 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 action to move away from the obstacle. As a result, the cleaning robot's sensor system can effectively acquire 3D information of obstacles that meet the requirements, enabling accurate obstacle identification. Furthermore, based on the obstacle identification results, the cleaning robot can take the optimal obstacle avoidance and cleaning measures.

[0123] As shown in Figure 5, this specification further provides another 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. When the method is specifically implemented, if, while the cleaning robot is moving, the obstacle is moving 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 may perform an action 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 obstacles, the system can accurately identify the characteristics of the obstacles, such as their type, shape, and size, obtaining highly accurate and effective obstacle identification results. These results also allow the cleaning robot to adopt optimal obstacle avoidance and cleaning methods.

[0125] In one embodiment, as shown in Figure 5, the observation angle can be specifically understood as the angle between the cleaning robot and the obstacle, and is defined as the angle formed by the tangent line 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 described above can be specifically understood as the maximum field of view of the sensor system. Here, the field of view may specifically be the angle formed by the two edges that make up the maximum range through which the image of the object being measured can pass through the lens of the sensor system, with the lens as the vertex. This angle determines the field of view of the sensor system. Generally, the larger the field of view, 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 of the sensor in the sensor system.

[0128] In practical implementation, the cleaning robot can first measure and determine its observation angle relative to obstacles using its sensor system.

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

[0130] Subsequently, based on the fourth comparison result, if it is determined that the observation angle of the cleaning robot relative to the obstacle is greater than the fourth preset detection threshold, it can be determined that the sensor system is currently unable to acquire complete 3D information of the obstacle because the cleaning robot is too close to the obstacle and / or the obstacle itself is too large; in other words, 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 action to move away from the obstacle so that the sensor system can acquire 3D information of the obstacle that meets the requirements. Furthermore, based on the 3D information of the obstacle, the characteristics of the obstacle, such as its type, shape, and size, can be accurately identified, and a highly accurate and effective obstacle identification result can be obtained. Based on this obstacle identification result, the cleaning robot can take the optimal obstacle avoidance and cleaning measures.

[0131] When actually implementing the system, if, based on the fourth comparison result, it is determined that the observation angle of the cleaning robot with respect to the obstacle is smaller than the fourth preset detection threshold, the sensor system can acquire complete three-dimensional information about the obstacle, that is, 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 this case, the cleaning robot does not need to perform an action to move away from the obstacle, thereby avoiding the cleaning robot performing an action to move away from a meaningless obstacle, saving the cleaning robot's travel time and improving the cleaning efficiency of the cleaning robot.

[0132] In one embodiment, if the observation angle includes the vertical observation angle, the fourth preset detection threshold includes the vertical field of view threshold of the sensor system.

[0133] Here, the above-mentioned vertical observation angle can be specifically understood as the observation angle along the vertical direction, and the above-mentioned vertical field of view threshold can be specifically understood as the field of view threshold along the vertical direction.

[0134] Accordingly, when actually implementing this, if the vertical observation angle of the cleaning robot relative to the obstacle is greater than the corresponding vertical field of view threshold, the robot can perform an action to move away from the obstacle so that the sensor system can effectively acquire three-dimensional information of the obstacle that meets the requirements.

[0135] Conversely, if the cleaning robot's vertical observation angle relative to an obstacle is smaller than the corresponding vertical field of view threshold, it does not need to move away from the obstacle, saving the cleaning robot's travel time and improving its cleaning efficiency.

[0136] In one embodiment, if the observation angle includes the horizontal observation angle, the fourth preset detection threshold includes the horizontal field of view threshold of the sensor system.

[0137] Here, the above horizontal observation angle can be specifically understood as the observation angle along the horizontal direction, and the above horizontal field of view threshold can be specifically understood as the field of view threshold along the horizontal direction.

[0138] Accordingly, when the cleaning robot is actually implemented, if the horizontal observation angle of the cleaning robot relative to the obstacle is greater than the corresponding horizontal field of view threshold, it can perform an action to move away from the obstacle so that the sensor system can effectively acquire 3D information of the obstacle that matches the requirements. Furthermore, based on the 3D information of the obstacle, it is then possible to accurately identify the characteristics of the obstacle, such as its type, shape, and size, and obtain highly accurate and effective obstacle identification results. Based on these obstacle identification results, the cleaning robot can then take the optimal obstacle avoidance and cleaning method.

[0139] Conversely, if the horizontal observation angle of the cleaning robot relative to an obstacle is smaller than the corresponding horizontal field of view threshold, it does not need to move away from the obstacle, saving the cleaning robot's travel time and improving its cleaning efficiency.

[0140] In one embodiment, if the observation angle includes a horizontal observation angle and a vertical observation angle, the fourth preset detection threshold includes the horizontal field of view threshold and the vertical field of view threshold of the sensor system.

[0141] Accordingly, when the cleaning robot is actually implemented, if the vertical observation angle of the cleaning robot relative to the obstacle is greater than the corresponding vertical field of view threshold, and the horizontal observation angle is greater than the corresponding horizontal field of view threshold, the robot can perform an action to move away from the obstacle so that the sensor system can effectively acquire 3D information of the obstacle that matches the requirements. Furthermore, based on the 3D information of the obstacle, the robot can then accurately identify the characteristics of the obstacle, such as its type, shape, and size, and obtain highly accurate and effective obstacle identification results. Based on these obstacle identification results, the cleaning robot can then take the optimal obstacle avoidance and cleaning measures.

[0142] Conversely, if the cleaning robot's vertical observation angle relative to the obstacle is smaller than the corresponding vertical field of view threshold, and / or the horizontal observation angle is smaller than the corresponding horizontal field of view threshold, it does not need to move away from the obstacle, saving the cleaning robot's travel time and improving its cleaning efficiency.

[0143] In one embodiment, 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.

[0144] In one embodiment, the cleaning robot performs an action to move 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 the sensor in the sensor system.

[0145] In one embodiment, after performing an action to move away from an obstacle, the method further includes the step of performing a steering action 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 an action to move away from an obstacle, the method further includes the steps of: performing a standby action; during standby, re-detecting the obstacle area with a sensor system; and, if the obstacle is not present in the obstacle area, performing a return cleaning action.

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

[0148] In one embodiment, after re-detection by the sensor system, the method further includes 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.

[0149] As can be seen from the above, the movement control method for a cleaning robot provided in the embodiments of this specification allows the sensor system to acquire three-dimensional information of obstacles while the cleaning robot is moving. If an obstacle is moving within the detection range of the sensor system and the observation angle of the cleaning robot with respect to the obstacle is detected to be greater than a fourth preset detection threshold, the system can automatically determine that the current sensor system cannot effectively acquire three-dimensional information of the obstacle that meets the high-quality requirements, and can intelligently perform an action to move further away from the obstacle. As a result, the sensor system of the cleaning robot can effectively acquire three-dimensional information of obstacles that meet the requirements, and can achieve accurate identification of obstacles. Specifically, based on the three-dimensional information of the obstacle, the system can accurately identify the characteristics of the obstacle, such as its type, shape, and size, and obtain highly accurate and effective obstacle identification results. Furthermore, based on these obstacle identification results, the cleaning robot can take the optimal obstacle avoidance and cleaning measures.

[0150] As shown in Figure 6, this specification further provides another 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 an obstacle. When the method is specifically implemented, it further includes, while the cleaning robot is moving, performing an action away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle, 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 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 central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot.

[0151] In one embodiment, as shown in Figure 6, the central axis of the cleaning robot described above can be understood as the central axis on the plane of travel along the current direction of travel of the cleaning robot. Here, the central axis may specifically be parallel to the current direction of travel of the cleaning robot.

[0152] Specifically, as shown in Figure 6, the distance between the obstacle and the cleaning robot along the central axis of the cleaning robot can be understood as the projected length of the distance between the obstacle and the cleaning robot on the central axis, and can be denoted as the first distance and represented by D.

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

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

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

[0156] In practical implementation, for example, the cleaning robot can first measure the corresponding first distance, the maximum value of the second distance, and the minimum value of the second distance using a line laser sensor in its 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. It can also compare the maximum value and minimum value of the detected second distance with a second preset detection threshold, 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. Normally, if the first distance between the cleaning robot and the 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 for reasons such as inability to focus.

[0159] The second preset detection threshold described above can be specifically understood as a threshold distance perpendicular to the central axis to avoid contact between the cleaning robot and the obstacle. Here, the second preset detection threshold can specifically be determined based on the size parameters of the cleaning robot's body.

[0160] Subsequently, based on the first and second comparison results, 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.

[0161] When actually implementing the system, if, based on the first and second comparison results, it is determined that the first distance is smaller than the first preset detection threshold, the maximum value of the second distance is larger than the second preset detection threshold, and the minimum value of the second distance is smaller than the second preset detection threshold, then it can be determined that the cleaning robot is currently 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 if the cleaning robot continues to move in its current direction, it will come into contact with the obstacle. In this case, the cleaning robot needs to pay attention to the obstacle.

[0162] Accordingly, the cleaning robot can be automatically controlled to perform corresponding actions to move away from the obstacle so that the obstacle's position is within the effective detection range of the sensor system, thereby allowing the sensor system to effectively acquire three-dimensional information about the obstacle.

[0163] Here, the actions of moving away from the aforementioned obstacles may specifically include backward movement along a straight line, backward movement along a diagonal line, or backward movement along an arc line.

[0164] Specifically, for example, the cleaning robot can be controlled to perform a corresponding backward movement, moving away from the obstacle and increasing the distance between the cleaning robot and the obstacle.

[0165] While performing a backward movement, the cleaning robot can also detect a first distance between the cleaning robot and the obstacle in real time or on a timely basis using its sensor system. If the first distance is detected to be greater than or equal to a first preset detection threshold, it can 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 can be controlled to stop the backward movement and temporarily place it in its current position. Furthermore, the sensor system can re-detect the location area (which can be referred to as the obstacle area) where the presence of the obstacle was previously detected, and re-acquire the three-dimensional information of the associated obstacle, thereby specifically detecting and identifying the obstacle based on the re-acquired three-dimensional information of the obstacle.

[0166] Furthermore, the cleaning robot can be controlled to first perform a steering maneuver, for example, 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 unobstructed as possible by other obstacles. Then, it can be controlled to perform a corresponding reverse maneuver to move away from the obstacle, and the reverse maneuver can be stopped until a first distance between the cleaning robot and the obstacle is greater than or equal to a first preset detection threshold.

[0167] When actually implementing the system, if, based on the first and second comparison results, it is determined that the first distance is smaller than the first preset detection threshold, and the maximum value of the second distance is less than or equal to the second preset detection threshold, then it can be determined that the cleaning robot is currently too close to the obstacle, the obstacle's current position relative to the cleaning robot is beyond the effective detection range of the sensor system, and if the cleaning robot continues to move in its current direction, it will come into contact with the obstacle. In this case, the cleaning robot needs to pay attention to the obstacle. Accordingly, the cleaning robot can be controlled to move away from the obstacle.

[0168] When implementing this specifically, based on the first and second comparison results, 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 cleaning robot is currently 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 in the current direction of travel. In this case, the cleaning robot does not need to pay attention to the obstacle, and the cleaning robot does not need to perform any actions to move away from the obstacle. Specifically, for example, the cleaning robot can be controlled to continue moving and operating (e.g., cleaning), while the sensor system continues to collect 3D information about the obstacle ahead.

[0169] When actually implementing the system, if, based on the first and second comparison results, it is determined that the first distance is greater than or equal to 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 away from the cleaning robot and does not affect the robot's movement or operation, and therefore does not need to pay attention to the obstacle temporarily. In this case, the cleaning robot does not need to perform any action to move away from the obstacle.

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

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

[0172] Based on the above embodiment, by determining the second preset detection threshold as a related threshold and using it to make a detection decision, it is possible to accurately determine whether or not the cleaning robot will come into contact with an obstacle while it is moving.

[0173] In one embodiment, the sensor system may specifically include one or more sensors such as 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. Here, the first preset detection threshold is the minimum effective detection distance of the sensor.

[0174] In practical implementation, the minimum effective detection distance of each sensor in the sensor system can be determined, and then the smallest value among multiple minimum effective detection distances can be determined as the first pre-set detection threshold.

[0175] Based on the above embodiment, by determining the first preset detection threshold as a related threshold and using it to make a detection decision, it is possible to accurately determine whether the current position of the 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 action to move 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 the sensor in the sensor system.

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

[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. Then, based on the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot, the directional deviation angle between the sensor system and the obstacle is determined. Furthermore, based on this directional deviation angle, the cleaning robot can be controlled to perform steering maneuvers so that the sensor system faces the obstacle as directly as possible. This allows the sensor system to more effectively acquire 3D information of the obstacle that meets the requirements.

[0179] In practice, the system can acquire 3D information of obstacles behind the robot, then replan and determine a reverse path free of obstacles based on that information, perform steering maneuvers to match the reverse path, and then perform reverse maneuvers along that path. This effectively avoids the cleaning robot coming into contact with obstacles behind it while reversing.

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

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

[0182] Specifically, for example, the obstacle area can be re-detected using distance measuring sensors in the sensor system to determine whether or not an obstacle still exists in the obstacle area.

[0183] If the cleaning robot determines that there are no longer any obstacles in the obstacle area, it can replan its cleaning route and, based on that route, perform a return cleaning operation to return to the obstacle area and perform supplemental cleaning.

[0184] If the cleaning robot determines that the obstacle is still present in the obstacle area, it can reacquire 3D information about the obstacle using its sensor system, detect and identify the obstacle based on that 3D information, and determine the specific type of obstacle. Furthermore, depending on the specific type of obstacle, it can replan its cleaning route to accommodate the obstacle and perform a detour based on that cleaning route. This allows the cleaning robot to clean as much area as possible while bypassing obstacles, resulting in a better cleaning effect.

[0185] In one embodiment, if, after re-detection by the sensor system, the method is specifically carried out, the method may further include broadcasting relevant presentation information by voice if the obstacle is present in the obstacle area and the obstacle is a human user.

[0186] Specifically, if the sensor system re-detects an obstacle and determines that an obstacle still exists in the obstacle area, the sensor system can effectively acquire high-quality, requirement-compliant 3D information about the obstacle.

[0187] Next, the 3D information of the obstacles can be processed using a pre-trained obstacle detection model to obtain the corresponding obstacle detection result. Specifically, the obstacle detection model can be understood as a neural network model that can automatically identify and determine the type of obstacle, which is obtained by training it in advance using a large amount of 3D information of obstacles as samples.

[0188] Based on the above obstacle detection results, if it is determined that the obstacle is a human user, relevant information can be broadcast to the human user via voice. For example, the human user may be verbally informed to move aside to facilitate cleaning.

[0189] After broadcasting relevant information via audio, the sensor system re-detects the obstacle area after a predetermined time (e.g., 1 minute). If the obstacle is no longer present in the obstacle area, the system performs a return cleaning operation.

[0190] As can be seen from the above, the motion control method for a cleaning robot provided in the embodiments of this specification allows the sensor system to acquire three-dimensional information of obstacles while the cleaning robot is moving. When it is detected that an obstacle is moving 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 sensor system can automatically determine that it cannot effectively acquire three-dimensional information of the obstacle that meets the high-quality requirements, and can intelligently perform an action to move further away from the obstacle. As a result, the sensor system of the cleaning robot can effectively acquire three-dimensional information of obstacles that meet the requirements, and can achieve accurate identification of obstacles. Specifically, based on the three-dimensional information of the obstacles mentioned above, the characteristics of the obstacles, such as type, shape, and size, can be accurately identified, resulting in highly accurate and effective obstacle identification results. Furthermore, these obstacle identification results allow the cleaning robot to take the most appropriate obstacle avoidance and cleaning measures.

[0191] This specification further provides a method for controlling the movement of another cleaning robot, which is applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of obstacles. When the method is specifically implemented, The system further includes performing a steering maneuver 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.

[0192] In specific implementation, if 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, 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, then it can be determined that the current detection direction of the sensor system does not coincide with the current direction of the obstacle relative to the cleaning robot, a certain deviation angle exists, and that there is a high probability of collision with the obstacle if the cleaning robot continues to move along its current path.

[0193] In response to the above situation, by performing a steering motion, the angle of deviation between the detection direction of the sensor system and the direction of the obstacle relative to the cleaning robot can be effectively reduced so that the sensor system faces the obstacle as directly as possible, thereby better collecting three-dimensional information about the obstacle. Alternatively, by performing a steering motion, the cleaning robot can avoid the obstacle in front of it and prevent it 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. Then, based on the current detection direction of the sensor system and the current direction of the obstacle relative to the cleaning robot, the directional deviation angle between the sensor system and the obstacle is determined. Furthermore, based on this directional deviation angle, the cleaning robot is controlled to perform steering movements so that the sensor system faces the obstacle as directly as possible, thereby adjusting the detection direction of the sensor system. This allows the sensor system to more effectively acquire 3D information of obstacles that meet the requirements. In addition, based on the 3D information of the obstacle, the characteristics of the obstacle, such as its type, shape, and size, can be accurately identified, resulting in highly accurate and effective obstacle identification results. Based on these obstacle identification results, the cleaning robot can take the optimal obstacle avoidance and cleaning measures.

[0195] In one embodiment, the second preset detection threshold is 0.45 times or more the maximum length of the cleaning robot body along 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 along a direction perpendicular to the central axis of the cleaning robot.

[0196] This specification further provides a method for controlling the movement of another cleaning robot, which is applied to a cleaning robot equipped with a sensor system capable of acquiring three-dimensional information of obstacles. When the method is specifically implemented, If an obstacle exists while the cleaning robot is moving, and the distance between the obstacle and the cleaning robot along the cleaning robot's central axis is greater than or equal to a first preset detection threshold, and 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 cleaning robot's current direction of travel 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 cleaning robot's current direction of travel is less than a third preset detection threshold, then the cleaning robot may perform a steering operation. Here, the cleaning robot's central axis is parallel to the cleaning robot's current direction of travel, the first reference point is the point closest to the obstacle along the current direction of travel at the intersection of the cleaning robot's body boundary and the cleaning robot's central axis, and the second reference point is the intersection of the obstacle's outer boundary and the obstacle's reference line, the reference line being perpendicular to the central axis.

[0197] When implementing the system, if 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, and 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 travel 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 travel of the cleaning robot is less than a third preset detection threshold, then it can be determined that the current detection direction of the sensor system does not coincide with the current direction of the obstacle relative to the cleaning robot, a certain deviation angle exists, and there is a high probability of collision with the obstacle if the cleaning robot continues to move along its current path.

[0198] In response to the above situation, by performing a steering motion, the angle of deviation between the detection direction of the sensor system and the direction of the obstacle relative to the cleaning robot can be effectively reduced so that the sensor system faces the obstacle as directly as possible, thereby better collecting three-dimensional information about the obstacle. Alternatively, by performing a steering motion, the cleaning robot can avoid the obstacle in front of it and prevent it from colliding with the obstacle.

[0199] As shown in Figure 7, embodiments of this specification further provide a cleaning robot, which includes a body 701, a sensor system 702 capable of acquiring three-dimensional information of obstacles provided on the body, a processor 703 (or controller), and a memory 704 for storing instructions that can be executed by the processor, wherein, during the movement of the cleaning robot, the processor 703 enables the sensor system 702 to effectively acquire three-dimensional information of obstacles that meet the requirements by implementing the relevant steps of the cleaning robot movement control method described above when executing relevant instructions in the memory 704.

[0200] In specific implementation, the processor 703 can control the cleaning robot to move away from the obstacle if the sensor system 702 detects that an obstacle has moved within the detection range of the sensor system, that 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, that the maximum vertical distance between the obstacle and the central axis of the cleaning robot is greater than a second preset detection threshold, and that the minimum vertical distance between the obstacle and the central axis of the cleaning robot is less than a second preset detection threshold, so that the sensor system can acquire three-dimensional information about the obstacle. Here, the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot.

[0201] In specific implementation, the processor 703 controls the cleaning robot to move away from the obstacle if the sensor system 702 detects that the obstacle has moved within the detection range of the sensor system, that 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, that 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 travel of the cleaning robot is greater than a third preset detection threshold, and that 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 travel of the cleaning robot is less than a third preset detection threshold, so that the sensor system can acquire three-dimensional information about the obstacle. Here, the central axis of the cleaning robot is parallel to the current direction of travel of the cleaning robot. Here, the first reference point is the point closest to the obstacle along the current direction of travel at the intersection of the main 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.

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

[0203] In specific implementation, the processor 703 controls the cleaning robot to perform a steering operation if the sensor system 702 detects that an obstacle has moved within the detection range of the sensor system, that 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, and that 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. Here, the central axis of the cleaning robot is parallel to the current direction of travel of the cleaning robot.

[0204] In specific implementation, the processor 703 controls the cleaning robot to perform a steering operation if 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 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 travel 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 travel of the cleaning robot is less than a third preset detection threshold. Here, the central axis of the cleaning robot is parallel to the current direction of travel of the cleaning robot, the first reference point is the point closest to the obstacle along the current direction of travel 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, and the reference line is perpendicular to the central axis.

[0205] In this embodiment, the processor 703 may be implemented in any suitable manner. For example, the processor may take the form of a microprocessor, a processor and a computer-readable medium for storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. This specification does not limit the scope of implementation.

[0206] In this embodiment, the memory 704 may include multiple layers. In digital systems, anything that can store binary data may be called memory, and in integrated circuits, circuits with storage functions that do not have a physical form, such as RAM and FIFO, are also called memory, and in systems, storage devices that have a physical form, such as memory banks and TF cards, are also called memory.

[0207] Embodiments of this specification further provide a computer-readable storage medium based on the above-described method for controlling the movement of a cleaning robot. The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are performed: While the cleaning robot is moving, an obstacle moves within the detection range of a 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. Here, the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot.

[0208] Embodiments of this specification further provide another computer-readable storage medium based on the above-described method for controlling the movement of a cleaning robot. The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are performed: If, while the cleaning robot is moving, an obstacle is present, 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 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, then the cleaning robot performs an action to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle. Here, the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot. Here, the first reference point is the point closest to the obstacle along the current direction of travel at the intersection of the main 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.

[0209] Embodiments of this specification further provide another computer-readable storage medium based on the above-described method for controlling the movement of a cleaning robot. The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are performed: If an obstacle is present during the movement of the cleaning robot and the observation angle of the cleaning robot with respect to the obstacle is greater than a fourth preset detection threshold, the robot performs an action to move away from the obstacle so that the sensor system acquires three-dimensional information of the obstacle.

[0210] Embodiments of this specification further provide another computer-readable storage medium based on the above-described method for controlling the movement of a cleaning robot. The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are performed: If, while the cleaning robot is moving, an obstacle is moving within the detection range of a sensor system, and 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, 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, then a steering operation is performed. Here, the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot.

[0211] Embodiments of this specification further provide another computer-readable storage medium based on the above-described method for controlling the movement of a cleaning robot. The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are performed: If, while the cleaning robot is moving, an obstacle is moving within the detection range of a 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, and 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, then a steering operation is performed. Here, 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.

[0212] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), Cache, Hard Disk Drive (HDD), or Memory Card. The memory can be used to store computer program instructions. The network communication unit may be an interface for network connection communication, configured according to standards defined by the 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 comparison with other embodiments, and therefore, a detailed explanation is omitted here.

[0214] Embodiments of this specification further provide a computer program product comprising at least a computer program, which, when executed by a processor, realizes the relevant steps of a method for controlling the movement of the cleaning robot.

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

[0216] Here, the control module can be used to control the cleaning robot to move away from an obstacle so that the sensor system acquires three-dimensional information about the obstacle, when, while the cleaning robot is moving, the 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 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. Here, the central axis of the cleaning robot is parallel to the current direction of movement of the cleaning robot.

[0217] It should be explained that the units, devices, or modules described in the above embodiments can be specifically implemented by computer chips or entities, or by products having certain functions. For the sake of simplicity, when describing the above devices, they will be divided into various modules according to their function and described accordingly. Naturally, when implementing this specification, the functions of each module may be implemented by the same or multiple software and / or hardware, or modules that implement the same function may be implemented by a combination of multiple submodules or subunits. The embodiments of the devices described above are merely illustrative; for example, the division of the units is merely a division of logical functions, and in actual implementation, they may be divided in a different form, for example, multiple units or components may be combined, integrated into another system, or some features may be omitted or not implemented. Furthermore, the coupling, direct coupling, or communication connection between the illustrated or described elements may be an indirect coupling or communication connection via several interfaces, devices, or units, and may be in an electrical, mechanical, or other form.

[0218] As can be seen from the above, according to the motion control device for a cleaning robot provided in the embodiments of this specification, the sensor system of the cleaning robot can effectively acquire three-dimensional information of obstacles and achieve accurate identification of obstacles. Furthermore, based on the three-dimensional information of the obstacles, the characteristics of the obstacles, such as type, shape, and size, can be accurately identified, and highly accurate and effective obstacle identification results can be obtained. Based on these obstacle identification results, the cleaning robot can take the optimal obstacle avoidance and cleaning measures.

[0219] This specification provides operational steps described in the examples or flowcharts, but more or fewer operational steps may be included based on conventional or non-creative means. The step order given in the examples is only one of many possible execution orders and does not represent a unique execution order. When implemented in actual devices or client products, the steps may be executed sequentially or in parallel according to the methods shown in the examples or drawings (e.g., in parallel processor or multithreaded processing environments, or even distributed data processing environments). The terms “including,” “consisting of,” or any other variations are intended to include non-exclusive inclusion, thereby including not only those elements but also other elements not explicitly stated, or elements specific to such process, method, product, or device. Unless otherwise noted, this does not preclude the existence of other identical or equivalent elements in a process, method, product, or device containing such elements. Words such as “first,” “second,” etc., are for nominal purposes only and do not represent any particular order.

[0220] Besides implementing a controller in the form of pure computer-readable program code, it is also known to those skilled in the art that the same functions can be implemented in the form of logic gates, switches, dedicated integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Thus, such a controller can be considered a hardware component, and the devices for implementing the various functions contained within it can be considered structures within the hardware component. Alternatively, the devices for implementing the various functions can be considered to be software modules that implement the methods, or structures within the hardware component.

[0221] This specification can be written in the general context of computer executable instructions executed by computers, such as program modules. Generally, a program module includes routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This specification can also be put into practice in distributed computing environments, in which tasks are executed by remote processing devices connected via a communication network. In a distributed computing environment, program modules may reside in local and remote computer-readable storage media, including storage devices.

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

[0223] Each embodiment in this specification is described progressively, but any identical or similar parts between embodiments may be referenced to one another, and each embodiment focuses on describing the differences from the other embodiments. This specification can be used in many general-purpose or dedicated computer system environments or configurations, such as personal computers, server computers, handheld or portable 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 this specification is described by examples, it is known to those skilled in the art that this specification can be modified and changed in many ways without departing from the spirit of this specification, and it is desirable that the appended claims include these modifications and changes without departing from the spirit of this specification.

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, Based on the detection results from the previous point in time, if it is determined that the obstacle does not exist in the same or nearby location area as at the previous point in time, it can be determined that the obstacle has now moved within the sensor's detection range. 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 monocular vision sensors, binocular vision sensors, line laser sensors, area laser sensors, LDS sensors, DtoF sensors, and ItoF sensors. 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, Steps to perform 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, Based on the detection results from the previous point in time, if it is determined that the obstacle does not exist in the same or nearby location area as at the previous point in time, it can be determined that the obstacle has now moved within the sensor's detection range. 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.

10. 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 9, such that the sensor system acquires three-dimensional information of the obstacle.

11. 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 9 is executed.

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