Cleaning robot detour control method and cleaning robot

Abstract

A cleaning robot detour control method and a cleaning robot. In the process of a cleaning robot detouring around an object, it is detected whether the cleaning robot satisfies a turning back condition, and when the turning back condition is satisfied, it is further verified whether a current object has a blocking portion (step 102). If a blocking portion exists, the cleaning robot is controlled to first rotate and then retreat back in a direction consistent with a detour direction to supplement object information (step 104). If no blocking portion exists, the cleaning robot is controlled to retreat back while rotating in the direction consistent with the detour direction to supplement the object information (step 106), and, finally, the cleaning robot is controlled to continue detouring around the object by using the supplemented object information.

Description

Cleaning robot bypass control method and cleaning robot

[0001] Related applications

[0002] This application claims priority to Chinese patent application number 202311787544.2, filed on December 22, 2023, entitled “Cleaning Robot Bypass Control Method and Cleaning Robot,” the entire text of which is hereby incorporated by reference. Technical Field

[0003] The present application relates to the technical field of cleaning robots, and in particular to a cleaning robot circumvention control method and a cleaning robot. Background Art

[0004] With the development of science and technology, cleaning robots are increasingly used in daily production and life, bringing great convenience to people. Cleaning robots are generally equipped with sensing sensors to detect objects in the direction of travel of the cleaning robot and avoid these objects by detouring.

[0005] However, in the related art, it is difficult for the cleaning robot to obtain accurate object information when circling, which can easily lead to collisions with objects during the circling process.

[0006] Application Contents

[0007] Based on this, it is necessary to provide a cleaning robot circumvention control method and a cleaning robot to improve the accuracy of object information obtained by the cleaning robot when circumventing an object and reduce the possibility of collision with the object during the circumvention process.

[0008] In the first aspect, the present application provides a method for controlling the bypass of a cleaning robot, comprising: when the cleaning robot bypasses an object that meets the turning-back condition, checking whether there is an obstructing part of the current object; if there is an obstructing part, controlling the cleaning robot to turn back and supplement the object information by first rotating and then retreating; if there is no obstructing part, controlling the cleaning robot to turn back and supplement the object information by rotating and retreating at the same time; wherein the rotation direction of the cleaning robot is consistent with the bypass direction, and the rotation direction is clockwise or counterclockwise, and the supplemented object information is used to control the cleaning robot to continue bypassing the object.

[0009] In one of the embodiments, when the cleaning robot circumnavigates an object and meets the turning-back condition, before checking whether the current object has an obstructing part, it also includes: if the cleaning robot detects an object during operation, determining the initial object information; and controlling the cleaning robot to circumvent the object based on the initial object information and the real-time position information of the cleaning robot.

[0010] In one embodiment, the cleaning robot is controlled to circle around the object based on the initial object information and the real-time position information of the cleaning robot, including: determining the real-time distance between the object and the cleaning robot based on the initial object information and the real-time position information of the cleaning robot; and controlling the cleaning robot to circle around the object based on the real-time distance and a preset circle interval distance.

[0011] In one embodiment, the cleaning robot is controlled to circle around an object based on the real-time distance and the preset circle interval distance, including: determining the distance difference based on the real-time distance and the preset circle interval distance; determining the real-time angular velocity of the cleaning robot based on the distance difference; determining the real-time linear velocity of the cleaning robot based on the real-time angular velocity; and controlling the cleaning robot to circle around the object based on the real-time angular velocity and the real-time linear velocity.

[0012] In one embodiment, when the cleaning robot circumnavigates an object and meets the turning-back condition, it checks whether the current object has an obstructing part, including: when the cleaning robot circumnavigates a distance greater than or equal to a preset distance, it checks whether the current object has an obstructing part.

[0013] In one embodiment, when the cleaning robot circumnavigates an object and meets the turning-back condition, it checks whether the current object has an obstructing part, including: when the cleaning robot circumnavigates an angle greater than or equal to a preset angle, it checks whether the current object has an obstructing part.

[0014] In one embodiment, when the cleaning robot circumnavigates an object and meets the turning-back condition, it verifies whether the current object has an obstructing part, including: when the cleaning robot circumnavigates an object and meets the turning-back condition, it verifies whether the current object has an obstructing part based on multi-sensor fusion.

[0015] In one embodiment, when the cleaning robot circumnavigates an object and meets the turning-back condition, it checks whether the current object has an obstructing part, including: when the cleaning robot circumnavigates an object and meets the turning-back condition, it checks whether the current object has a higher part obstructing a lower part.

[0016] In one embodiment, the cleaning robot is controlled to rotate first and then retreat to supplement object information, including: controlling the cleaning robot to rotate to collect object information; if the cleaning robot rotates to a preset rotation angle, controlling the cleaning robot to retreat and collect object information; if the cleaning robot retreats to a preset retreat distance, controlling the cleaning robot to stop retreating and complete the object information supplement.

[0017] In one embodiment, if there is an obstructed area, after controlling the cleaning robot to first rotate and then retreat to supplement the object information, it also includes: controlling the cleaning robot to first move forward and then rotate to return to the initial position corresponding to the start of supplementing the object information; controlling the cleaning robot to continue to circle the object based on the supplemented object information and the real-time position information of the cleaning robot.

[0018] In one embodiment, the cleaning robot is controlled to rotate and retreat at the same time to supplement the object information, including: controlling the cleaning robot to rotate and retreat at the same time to collect the object information; if the cleaning robot rotates to a preset rotation angle and retreats to a preset retreat distance, controlling the cleaning robot to stop rotating and retreating to complete the object information supplement.

[0019] In one embodiment, if there is no obstruction, then after controlling the cleaning robot to rotate and retreat to supplement the object information, it also includes: controlling the cleaning robot to move forward and rotate to return to the initial position corresponding to the start of supplementing the object information; controlling the cleaning robot to continue to circle the object based on the supplemented object information and the real-time position information of the cleaning robot.

[0020] On the second aspect, the present application also provides a cleaning robot, including a cleaning robot body and a detection device, the detection device is arranged at the front end of the moving direction of the cleaning robot body, the cleaning robot body includes a memory and a processor, the detection device is connected to the processor, the memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned cleaning robot bypass control method are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0022] FIG1 is a flow chart of a method for controlling a cleaning robot's circumvention according to an embodiment of the present application;

[0023] FIG2 is a flow chart of a method for controlling a cleaning robot's circumvention according to another embodiment of the present application;

[0024] FIG3 is a schematic diagram of the movement of a cleaning robot according to an embodiment of the present application;

[0025] FIG4 is a schematic diagram of a cleaning robot moving around according to an embodiment of the present application;

[0026] FIG5 is a flow chart of a method for controlling a cleaning robot's circumvention according to another embodiment of the present application;

[0027] FIG6 is a schematic diagram of a detour process according to an embodiment of the present application;

[0028] FIG7 is a schematic diagram of a cleaning robot turning back according to an embodiment of the present application;

[0029] FIG8 is a schematic diagram of a cleaning robot turning back according to another embodiment of the present application;

[0030] FIG9 is a flow chart of a method for controlling a cleaning robot's circumvention according to another embodiment of the present application;

[0031] FIG10 is a schematic diagram of the return of a cleaning robot according to an embodiment of the present application;

[0032] FIG11 is a flow chart of a method for controlling a cleaning robot's circumvention according to another embodiment of the present application;

[0033] FIG12 is a schematic diagram of the return of a cleaning robot according to another embodiment of the present application;

[0034] FIG13 is a schematic diagram of a cleaning robot circling an object according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0036] The cleaning robot bypass control method of the embodiment of the present application is applied to a cleaning robot, and can be applied to a cleaning robot of the type with autonomous motion function. The type of cleaning robot is not limited, such as a sweeper, a mop, a sweeper and mop all-in-one machine, etc., which will not be repeated here.

[0037] It should be noted that the cleaning robot bypass control method of the embodiment of the present application can be executed when the cleaning robot encounters an obstacle during its actual operation, that is, the cleaning robot bypass control method can be used for obstacle avoidance. In another embodiment, the cleaning robot bypass control method of the present application can also be applied during the process of the cleaning robot building a map (such as 3D map building), that is, the cleaning robot bypass control method can be used to build a 3D map of the cleaning robot.

[0038] The cleaning robot provided by the present application has a detection device on its head, and the detection device can perform object detection and object information collection under a certain transmitting and receiving viewing angle, so as to realize the tasks such as obstacle avoidance and map construction of the cleaning robot. Its type is not unique, and it can be a camera or other image sensor, or an infrared detector, a TOF (Time-Of-Flight, time of flight) sensor, a laser sensor, a visual sensor, or it can also include at least two of a camera, an infrared detector, a TOF sensor, a laser sensor and a visual sensor at the same time, which is not limited here. The detection device can be arranged at the front end of the cleaning robot, or it can protrude from the top of the upper cover of the cleaning robot, or it can be embedded in the fuselage of the cleaning robot, and a window is provided on the fuselage to enable the detection device to work smoothly.

[0039] In one embodiment, the detection device includes at least a camera and a laser sensor, wherein the camera is used to collect object information at a certain field of view angle, and the laser sensor is used to detect objects at a certain field of view angle. Finally, the processor performs a multi-sensor fusion algorithm analysis based on the object information collected by the camera and the detection results of the laser sensor to detect whether there is any obstructed part of the object at this time.

[0040] Please refer to FIG. 1 . The present application provides a cleaning robot bypass control method, including step 102 , step 104 and step 106 .

[0041] Step 102 : When the cleaning robot circumnavigates an object and meets the turning-back condition, it is checked whether there is any obstructing part of the current object.

[0042] The cleaning robot circling an object means that the cleaning robot runs around an object. In actual scenarios, the cleaning robot circling an object may be to perform obstacle avoidance operations, and the object at this time is an obstacle in the operation of the cleaning robot; the cleaning robot circling an object may also be to perform 3D map construction operations, and the object at this time is any object in the working environment of the cleaning robot, such as walls, tables, chairs, cabinets, etc., without specific limitations.

[0043] The cleaning robot's circumvention direction includes clockwise and counterclockwise directions, which can be selected based on actual needs. Normally, when the cleaning robot is along the right side of the edge, the direction of its circumvention of the object is clockwise, and when the cleaning robot is along the left side of the edge, the direction of its circumvention of the object is counterclockwise. Turning back means that the cleaning robot retreats a certain distance so that the cleaning robot can collect object information from the object to complete the object information. The blocked part is the part where the object is blocked by other parts of itself or by other objects in the current detection direction, and the object information cannot be collected by the detection device at present. Normally, the cleaning robot performs the turning action mostly at the turning part of the object, that is, the position where the circumferential outer contour line of the object is bent.

[0044] The cleaning robot's head is equipped with a detection device that senses objects in its direction of travel with a certain field of view (the specific size is not unique and varies depending on the detection device, for example, 110 degrees). Because the detection device cannot penetrate objects, the specific shape of the side and back areas of the object is not clear. When the cleaning robot is circling an object, in order to avoid collision with the object, it often needs to look back and collect object information multiple times to complete the object information.

[0045] And when the cleaning robot is circling an object, the object is on the side of the cleaning robot, such as the right or left side (depending on the circling direction). At this time, due to the limitation of the field of view angle, the detection device of the cleaning robot cannot recognize the full picture of the object. That is, it can be understood that part of the object is in the blind spot of the cleaning robot's field of view. Therefore, in the process of turning back, it is necessary not only to control the cleaning robot to retreat, but also to control the cleaning robot to rotate in the same direction as the circling direction to ensure that the cleaning robot can accurately identify other parts of the object.

[0046] There are many ways to block a part. It can be caused by height, width, or other objects. Height occlusion occurs when the higher part of an object blocks the lower part. Width occlusion occurs when the wider part of an object blocks the narrower part. Other object occlusion occurs when the object that needs to be circumvented is close to the cleaning robot and is blocked by other objects.

[0047] For ease of understanding, let's take high and low occlusion as an example to explain. For low objects (such as books, scales, flat clothes and socks, etc.), since their top surfaces are generally flat, the height difference at each position is not much, and there is no obstruction. The cleaning robot collects object information while rotating and retreating, and the collection of object information at the position to be supplemented will not be affected by occlusion. For objects of different heights, such as long boots, stools with backrests, etc., there are lower parts that are obstructed by higher parts. If the object information is collected while rotating and retreating, it is easy for the cleaning robot to retreat before the field of view of the detection device rotates to cover the position to be supplemented. Even if the field of view is subsequently rotated to cover the position to be supplemented, the detection device has missed the best collection opportunity due to occlusion at the high part, which ultimately leads to inaccurate object information collected.

[0048] Therefore, the solution of the embodiment of the present application configures the cleaning robot with different turning methods. When the cleaning robot detects that the turning condition is met while circumventing an object, it needs to check whether the current object is blocked. In other words, it needs to check whether the object in the current position is blocked and thus affects the supplementation of object information. Finally, based on the verification results, the cleaning robot is controlled to turn back in different ways to complete the object information.

[0049] Step 104: If there is an obstructed area, the cleaning robot is controlled to first rotate and then move back to supplement the object information.

[0050] The rotation direction of the cleaning robot is consistent with the circling direction, and the rotation direction is clockwise or counterclockwise. The supplemented object information is used to control the cleaning robot to continue circling the object.

[0051] When the cleaning robot detects that there is an obstructed part of the object at its current position, in order to ensure that it can accurately obtain the object information at the position to be supplemented, the cleaning robot will realize the turning back function by first rotating and then retreating, so as to collect the object information and supplement the object information.

[0052] It should be noted that when there is an obstruction, the cleaning robot rotates in place. The specific implementation method is not unique. Depending on the direction of the cleaning robot's orbit, the rotation implementation method will also be different. In one embodiment, taking clockwise orbiting as an example, in order to achieve the cleaning robot's in-place rotation, the left wheel of the cleaning robot needs to rotate forward (that is, in the direction of travel), and the right wheel of the cleaning robot needs to rotate backward (in the direction opposite to the direction of travel) at the same wheel speed. If the cleaning robot needs to perform a backward movement, it only needs to rotate the left and right wheels of the cleaning robot backward at the same wheel speed.

[0053] Step 106: If there is no blocked area, the cleaning robot is controlled to rotate and move backward to replenish the object information.

[0054] Similarly, the rotation direction of the cleaning robot is consistent with the circling direction, which is clockwise or counterclockwise. The supplemented object information is used to control the cleaning robot to continue circling the object.

[0055] If the cleaning robot detects its current location and there's no obstruction, there's no need to worry about obstructions during object information collection. Therefore, in this situation, the robot rotates and moves backwards simultaneously to collect and supplement object information. Compared to rotating first and then moving backwards, this method eliminates the need for rotation waiting time and offers higher return efficiency.

[0056] It should be noted that there is not a single method for implementing the cleaning robot to rotate and move backward, and the implementation method may vary depending on the direction of the cleaning robot's movement. In one embodiment, for example, taking the cleaning robot moving counterclockwise around an object, rotating and moving backward requires controlling the cleaning robot's left wheel to rotate backward at a first wheel speed and the cleaning robot's right wheel to rotate backward at a second wheel speed, where the first wheel speed is greater than the second wheel speed.

[0057] The above-mentioned cleaning robot circumnavigation control method detects whether the cleaning robot meets the turning-around conditions during the process of circumnavigating an object. If the turning-around conditions are met, the method further verifies whether the current object has any obstructing parts. If there is an obstructing part, the cleaning robot is controlled to rotate in a direction consistent with the circumnavigation direction and then back up to supplement the object information. If there is no obstructing part, the cleaning robot is controlled to rotate in a direction consistent with the circumnavigation direction while backing up to supplement the object information. Finally, the cleaning robot is controlled to continue circumnavigating the object based on the supplemented object information. In the above scheme, when there is an obstructing part, the object information is supplemented by first rotating and then backing up, thereby avoiding the cleaning robot's field of view being unable to collect object information while rotating and backing up. When there is no obstructing part, the object information is supplemented by rotating and backing up, thereby ensuring the efficiency of object information collection. Through this scheme, accurate object information can be supplemented during the cleaning robot's circumnavigation of an object, improving the accuracy of the object information and effectively reducing the possibility of collision with the object during the circumnavigation process.

[0058] Please refer to FIG. 2 . In one embodiment, before step 102 , the method further includes steps 202 and 204 .

[0059] Step 202: If the cleaning robot detects an object during operation, initial object information is determined.

[0060] Step 204 : Control the cleaning robot to go around the object based on the initial object information and the real-time position information of the cleaning robot.

[0061] Initial object information refers to the initial position information of an object determined when the cleaning robot first recognizes it. The specific form of initial position information is not unique. In one embodiment, it can be represented as the coordinate parameters of the local part of the object corresponding to the initial object information in a map coordinate system. As shown in Figure 3, while the cleaning robot is moving, the detection device activates real-time object detection. If an object is detected, partial information about the object is identified, thus obtaining the initial object information.

[0062] The cleaning robot uses map information and collected information about the surrounding environment to determine its current location within the map, i.e., its real-time location. Refer to Figure 4 , which illustrates clockwise detours. After determining the initial object information and real-time location information, the cleaning robot begins detours based on these initial object information and real-time location information.

[0063] Through this solution, the cleaning robot can detect objects in real time while it is moving, and start detouring in time when an object is found, avoiding collisions between the cleaning robot and the object and improving the operational reliability of the cleaning robot.

[0064] It should be noted that in one embodiment, after the cleaning robot detects an object during operation, since the distance to the object is generally far at this time, it may first maintain its direction of operation and approach the object. When the distance to the object reaches a certain range, it may then start to detour. In other embodiments, the cleaning robot may also directly detour the object based on the initial object information and the real-time position information after detecting the object during operation. The specific selection can be based on actual needs.

[0065] Please refer to FIG. 5 , in one embodiment, step 204 includes step 502 and step 504 .

[0066] Step 502 : Determine the real-time distance between the object and the cleaning robot based on the initial object information and the real-time position information of the cleaning robot.

[0067] Step 504: Control the cleaning robot to go around the object according to the real-time distance and the preset detour interval distance.

[0068] The real-time position information and initial object information of the cleaning robot can be represented by coordinate parameters in the map coordinate system. In this way, the cleaning robot can calculate the coordinates based on the acquired real-time position information and initial object information to obtain the real-time distance between the object and the cleaning robot.

[0069] The preset circumvention distance is the preset distance that the cleaning robot needs to maintain between itself and an object when circumventing it. The cleaning robot can adjust its circumvention distance in real time based on the current distance and the preset circumvention distance, ensuring that the cleaning robot maintains the preset circumvention distance from the object.

[0070] This method combines the preset detour interval with the real-time distance for detour control, ensuring that the cleaning robot maintains a certain distance from the object, avoiding collisions and improving detour accuracy. It also ensures that the distance between the cleaning robot and the object is not too large, resulting in large areas of missed cleaning, and ensures that the cleaning robot effectively cleans the edges of the object.

[0071] It should be noted that the preset bypass distance is not a single value and can be set differently based on actual needs. For example, in one embodiment, the preset bypass distance can be set to 4 centimeters, etc., without limitation. Different preset bypass distances can also be set based on object type. For example, the preset bypass distance set for fragile objects can be larger than the preset bypass distance set for non-fragile objects.

[0072] Please refer to FIG. 6 , in one embodiment, step 504 includes step 602 , step 604 , step 606 and step 608 .

[0073] Step 602: Determine the distance difference based on the real-time distance and the preset detour interval distance.

[0074] Step 604: Determine the real-time angular velocity of the cleaning robot according to the distance difference.

[0075] Step 606: Determine the real-time linear velocity of the cleaning robot according to the real-time angular velocity.

[0076] Step 608: Control the cleaning robot to go around the object according to the real-time angular velocity and the real-time linear velocity.

[0077] In step 604, the real-time angular velocity can be determined using the Proportional Integral Differential (PID) method. PID is a control method that uses the proportional, integral, and differential control of the error generated by comparing the real-time data collected from the controlled object with a given value. In the solution of this embodiment, after the cleaning robot detects an object, it first moves in the direction close to the object until it is close to the object (i.e., after the distance from the object reaches a certain range), then controls the cleaning robot to rotate in place so that the direction of travel of the cleaning robot is parallel to the edge of the object (or parallel to the tangent of the edge of the object), and then performs the orbiting action using the PID algorithm.

[0078] The cleaning robot makes a difference between the real-time distance and the preset detour interval distance to obtain a distance difference, substitutes the distance difference into the PID algorithm for analysis, and calculates the real-time angular velocity required for the current operation of the cleaning robot, that is, the rotation speed. Negative feedback calculation is performed based on the real-time angular velocity to determine the real-time linear velocity of the cleaning robot. The linear velocity of the cleaning robot is configured as a negative feedback function of the angular velocity and stored inside the cleaning robot. When the cleaning robot obtains the real-time angular velocity through PID algorithm analysis, it substitutes it into the negative feedback function for calculation to obtain the real-time linear velocity, that is, the forward speed. Finally, the cleaning robot solves the real-time linear velocity and real-time angular velocity into the steering and rotation speed of the left and right wheels to control the left and right wheels so that the cleaning robot maintains the preset detour interval distance from the object to achieve detour.

[0079] The above scheme adopts PID algorithm to perform the bypass control of the cleaning robot, ensuring that the cleaning robot maintains a preset bypass interval distance from the object and bypasses it, with high bypass control accuracy.

[0080] It should be pointed out that the specific type of negative feedback function is not unique. As long as it can characterize the relationship between the angular velocity and linear velocity of the cleaning robot when it maintains a preset spacing between the cleaning robot and the object, for example, in a more detailed embodiment, the negative feedback function is: v = 0.2-w^2, where v represents linear velocity, w represents angular velocity, and ^ represents power.

[0081] In one embodiment, step 102 includes: when the cleaning robot's detour distance is greater than or equal to a preset distance, checking whether there is an obstruction on the current object.

[0082] Alternatively, in one embodiment, step 102 includes: when the cleaning robot's detour angle is greater than or equal to a preset angle, checking whether there is an obstruction on the current object.

[0083] Alternatively, in one embodiment, step 102 includes: when the cleaning robot walks to a position corresponding to an end point of the initial object information, checking whether there is an obstructed part of the current object.

[0084] While circling an object, the cleaning robot needs to detect in real time whether the turning condition is met. If so, the robot can be controlled to turn back and provide more information about the object. There are many ways for the cleaning robot to detect whether the turning condition is met. This can be achieved by detecting the robot's rotation angle or travel distance, or based on the object information currently collected. There is no specific limitation.

[0085] In one embodiment, using distance detection as an example, the cleaning robot pre-stores a preset distance. This preset distance is not unique and can be selected based on the size of the object. For example, in one embodiment, the preset distance can be set to 8 centimeters. During the detour, the cleaning robot analyzes the real-time position information and the initial position at the start of the detour to accumulate the cleaning robot's cumulative distance. When the distance traveled in a single detour is greater than or equal to the preset distance, the return condition is considered to be met, and the robot needs to return to supplement the object information.

[0086] In another embodiment, using rotation angle detection as an example, the cleaning robot pre-stores a preset angle. The preset angle is not unique and is not specifically limited. For example, in one embodiment, the preset angle can be set to 70 degrees. During the circumnavigation process, the cleaning robot can collect the rotation angle of a single circumnavigation in real time, i.e., the cleaning robot's circumnavigation angle. When the circumnavigation angle of a single circumnavigation is greater than or equal to the preset angle, the turning back condition is considered to be met, and the robot needs to turn back to supplement the object information.

[0087] In another embodiment, the position of the cleaning robot relative to the object is determined in real time. When the cleaning robot moves to a position corresponding to the end point of the initial object information, it means that the cleaning robot has completed circumventing the known part of the object. At this time, it is considered that the turning back condition is met. At this time, it is necessary to turn back to supplement the object information to confirm whether there is still a part of the object to be circumvented.

[0088] In one embodiment, step 102 includes: when the cleaning robot circumvents an object and meets the turning-back condition, checking whether there is an obstructed part of the current object based on multi-sensor fusion.

[0089] In the solution of this embodiment, the cleaning robot is provided with a detection device, and the detection device includes at least two of a camera, an infrared detector, a time-of-flight sensor, a laser sensor, and a visual sensor. The infrared detector, the time-of-flight sensor, the laser sensor, and other sensors are capable of emitting detection signals along the direction of travel of the cleaning robot, and the camera, the visual sensor, and other sensors are capable of capturing images in the direction of travel of the cleaning robot. The detection reflection signals and / or images reflected by the objects from each detection signal are fused and analyzed to ultimately determine whether the object has an obstruction.

[0090] For example, in one embodiment, the detection device includes at least a camera and a laser sensor. In a real-world scenario, the camera collects object information at a specific field of view, while the laser sensor detects objects at a specific field of view. Ultimately, the processor uses a multi-sensor fusion algorithm to analyze the object information collected by the camera and the detection results of the laser sensor to determine whether any part of the object is obstructed.

[0091] The above solution uses a multi-sensor fusion analysis method to detect whether there are any obstructed parts of the object, which has high detection accuracy.

[0092] In one embodiment, step 102 includes: when the cleaning robot circumnavigates an object and meets the turning-back condition, checking whether a higher part of the current object blocks a lower part.

[0093] The higher part blocking the lower part is called high-low occlusion. In this embodiment, it is detected whether the higher part of the current object blocks the lower part, so that the object information in the lower part cannot be identified in the current detection direction.

[0094] Through this solution, the height and low occlusion of the object can be detected, so that when the object is occluded by height and low occlusion, the object information can be supplemented by first rotating and then retreating, thereby improving the accuracy of object information supplementation during height and low occlusion.

[0095] It is understood that there is not only one way to verify whether the current object has any obstructed parts. In the above-mentioned embodiments, a multi-sensor fusion verification method can be used to obtain the detection results of the object from different sensors and perform algorithmic analysis to determine whether the object is obstructed. In other embodiments, occlusion detection can also be performed using a single sensor. For example, a visual sensor can be used to collect object image data in the direction of the object, and the object image data can be analyzed to verify whether the current object has any obstructed parts, etc. The details will not be repeated here.

[0096] In one embodiment, the cleaning robot is controlled to rotate first and then retreat to supplement object information, including: controlling the cleaning robot to rotate to collect object information; if the cleaning robot rotates to a preset rotation angle, controlling the cleaning robot to retreat and collect object information; if the cleaning robot retreats to a preset retreat distance, controlling the cleaning robot to stop retreating and complete the object information supplement.

[0097] Please refer to Figure 7. When the cleaning robot meets the turning-back conditions, if it turns back while rotating and retreating (the turning-back path is a curve), when the field of view angle of the detection device rotates to cover the position to be supplemented 701, the position to be supplemented 701 will be partially blocked by the high part of the object. At this time, when collecting the object position information, accurate and complete object information cannot be obtained.

[0098] Therefore, the solution of this embodiment utilizes a rotation-then-retraction method to supplement object information. For details, please refer to Figure 8 . First, the cleaning robot, while circling a location that meets the turning-around condition, rotates in place by a preset angle and collects object information in real time during this rotation. After this rotation, the detection device's field of view covers the position to be supplemented 701, and in this state, the position to be supplemented 701 is not obscured by the upper portion of the object. After this, the cleaning robot retreats in a straight line a preset distance, collecting object information in real time during this retreat. Finally, the cleaning robot uses the collected object information to supplement the object information.

[0099] In this way, by first rotating and then moving backward, object information is collected in real time to achieve object information supplementation, further improving the accuracy of object information supplementation.

[0100] Please refer to FIG. 9 . In one embodiment, after step 104 , the method further includes steps 902 and 904 .

[0101] Step 902: Control the cleaning robot to advance and then rotate, and return to the initial position corresponding to the start of replenishing object information.

[0102] Step 904 : Control the cleaning robot to continue circling the object based on the supplemented object information and the real-time position information of the cleaning robot.

[0103] With reference to FIG10 , corresponding to the cleaning robot rotating first and then retreating, after the cleaning robot completes the object information replenishment, it will return to the position where the return action began by first advancing and then rotating. After the cleaning robot returns to the initial position, it will begin the next circling action. During the next circling process, the cleaning robot uses the replenished object information as the new initial object information and uses the same method as described above to control the cleaning robot to continue circling the object at a preset circling distance. If the circling continues until the return condition is met, it is necessary to determine again whether there is an obstructed part of the object. Based on the judgment result, the circling operation is executed again until the object is finally circumvented (i.e., the cleaning robot's circling angle reaches 360 degrees) or the object reaches the end of the circumventable part, completing the circling operation. It should be noted that some objects do not support the cleaning robot circling a full circle. These objects only allow the cleaning robot to circumvent certain parts. For example, for some objects placed against a wall, the cleaning robot cannot circumvent the side closest to the wall. For these objects placed against the wall, the circumventable part refers to the other side except the side closest to the wall. Of course, the prerequisite for the cleaning robot to go around an object is that the range of the drivable area around the object is at least larger than the body width of the cleaning robot.

[0104] In one embodiment, the cleaning robot's rotation direction should be opposite to the direction of the detour, with the forward distance consistent with the backward distance during the reversal, and the rotation angle consistent with the previous reversal. This allows the cleaning robot to return to its previous position after completing the object information reversal and continue the detour in the same state as before. This approach further improves detour reliability.

[0105] In one embodiment, the cleaning robot is controlled to rotate and retreat at the same time to supplement the object information, including: controlling the cleaning robot to rotate and retreat at the same time to collect the object information; if the cleaning robot rotates to a preset rotation angle and retreats to a preset retreat distance, controlling the cleaning robot to stop rotating and retreating to complete the object information supplement.

[0106] When the robot detects that there are no obstructions, it simply collects object information while rotating and retreating. Accordingly, the robot has pre-set rotation angles and retreat distances. In real-world scenarios, the robot simply rotates to the preset angle and retreats the preset distance to complete object information replenishment. This method, by collecting object information in real time while rotating and retreating, further improves the accuracy of object information replenishment.

[0107] Please refer to FIG. 11 , in one embodiment, after step 106 , the method further includes steps 112 and 114 .

[0108] Step 112 , controlling the cleaning robot to move forward and rotate at the same time, and return to the initial position corresponding to the start of replenishing the object information.

[0109] Step 114 , controlling the cleaning robot to continue circling the object based on the supplemented object information and the real-time position information of the cleaning robot.

[0110] Please refer to Figure 12. Corresponding to the cleaning robot rotating and retreating, after the cleaning robot completes the object information supplement, it will return to the position where the turning back action started by moving forward and rotating. After the cleaning robot returns to the initial position, it will start the next circling action. During the next circling process, the cleaning robot will use the supplemented object information as the new initial object information and use the same method as above to control the cleaning robot to continue circling the object at a preset circling distance. If the circling continues until the turning back condition is met, it is necessary to determine whether there is an obstructed part of the object again, and the circling will be executed again according to the judgment result until the object is finally circled once (that is, the cleaning robot's circling angle reaches 360 degrees in total) or it reaches the end point of the circling part of the object, completing the circling operation.

[0111] In one embodiment, the cleaning robot's rotation direction should be opposite to the direction of the detour, with the forward distance consistent with the backward distance during the reversal, and the rotation angle consistent with the previous reversal. This allows the cleaning robot to return to its previous position after completing the object information reversal and continue the detour in the same state as before. This approach further improves detour reliability.

[0112] In order to facilitate understanding of the technical solution of the present application, please refer to Figure 13. The present application will be explained below in conjunction with an embodiment.

[0113] During the operation of the cleaning robot, the detection device is turned on to detect in real time whether there is an object in the direction of travel. If an object is detected, the object information of the current object portion is identified and matched in the map coordinate system to obtain the initial object information. At this time, the cleaning robot first moves in the direction of approaching the object. After approaching the object within a certain area (for example, a preset detour distance from the object), it rotates so that the cleaning robot's travel direction is parallel to the edge of the object (or parallel to the tangent of the object's edge), and the detour operation begins.

[0114] When performing a detour, the cleaning robot collects and acquires its real-time position information, analyzes it in combination with the initial object information, determines the real-time distance between the object and the cleaning robot, and subtracts this distance from the preset detour interval to obtain a distance difference. A PID algorithm is then used to analyze the distance difference to determine the real-time angular velocity of the cleaning robot during the detour. This is then combined with the negative feedback function v = 0.2 - w^2 to calculate the real-time linear velocity of the cleaning robot during the detour. Ultimately, the real-time linear velocity and real-time angular velocity are resolved into the steering and rotational speed of the left and right wheels, respectively, to control the left and right wheels and achieve detour.

[0115] During the detour, the robot detects in real time whether the detour distance has reached a preset distance, whether the detour angle has reached a preset angle, or the real-time position of the cleaning robot. When the detour distance is greater than or equal to the preset distance, or the detour angle is greater than or equal to the preset angle, or when the cleaning robot reaches the position corresponding to the end point of the initial object information, the current detour is completed and the return operation begins.

[0116] During the turning-back operation, the cleaning robot detects based on the camera, laser sensor, etc. in the detection device, and performs sensor fusion algorithm analysis based on the detection results to determine whether there is any obstruction in the object at this time, that is, whether there is any high obstruction, wide or narrow obstruction, or obstruction by other objects.

[0117] If there is an obstruction, the cleaning robot needs to be controlled to rotate to a preset rotation angle first, and collect object information in real time during the rotation. After that, the cleaning robot retreats in a straight line for a preset retreat distance, and collects object information in real time during the retreat. Finally, the cleaning robot uses the collected object information to supplement the object information. After the cleaning robot completes the object information supplement, it will return to the position where the return action started by moving forward and then rotating. Start the next detour. During the next detour, the cleaning robot will use the supplemented object information as the new initial object information, and use the same method as above to control the cleaning robot to continue detour at a preset detour distance from the object. If the detour continues until the return condition is met, it is necessary to determine again whether the object has an obstruction, and perform the detour again based on the judgment result until the detour is completed.

[0118] If there is no obstruction, the cleaning robot is controlled to collect object information while rotating and retreating, and the object information is supplemented while the cleaning robot is controlled to rotate at a preset rotation angle and retreat a preset distance. After the cleaning robot completes the object information supplement, it will return to the position where the turning back action started by moving forward and rotating. The next detour action begins. During the next detour, the cleaning robot uses the supplemented object information as the new initial object information, and uses the same method as above to control the cleaning robot to continue detour at a preset detour distance from the object. If the detour continues until the turning back condition is met, it is necessary to determine again whether there is an obstruction on the object, and perform the detour again based on the judgment result until the detour is completed.

[0119] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0120] The present application also provides a cleaning robot, including a cleaning robot body and a detection device. The detection device is disposed at the front end of the cleaning robot body in the direction of travel. The cleaning robot body includes a memory and a processor. The detection device is connected to the processor. The memory stores a computer program. When the processor executes the computer program, the following steps of the cleaning robot bypass control method are implemented:

[0121] When the cleaning robot circumnavigates an object and meets the turning-back condition, it checks whether there is an obstruction on the current object; if there is an obstruction, the cleaning robot is controlled to turn back by first rotating and then retreating to supplement the object information; if there is no obstruction, the cleaning robot is controlled to turn back by rotating and retreating at the same time to supplement the object information.

[0122] In one embodiment, when the processor executes the computer program, it also implements the following steps: if the cleaning robot detects an object during operation, it determines the initial object information; based on the initial object information and the real-time position information of the cleaning robot, it controls the cleaning robot to go around the object.

[0123] In one embodiment, when the processor executes the computer program, it also implements the following steps: determining the real-time distance between the object and the cleaning robot based on the initial object information and the real-time position information of the cleaning robot; and controlling the cleaning robot to bypass the object based on the real-time distance and the preset bypass interval distance.

[0124] In one embodiment, when the processor executes the computer program, it also implements the following steps: determining the distance difference based on the real-time distance and the preset detour interval distance; determining the real-time angular velocity of the cleaning robot based on the distance difference; determining the real-time linear velocity of the cleaning robot based on the real-time angular velocity; and controlling the cleaning robot to detour the object based on the real-time angular velocity and the real-time linear velocity.

[0125] In one embodiment, the processor further implements the following steps when executing the computer program: when the cleaning robot's detour distance is greater than or equal to a preset distance, checking whether the current object has an obstruction; or, when the cleaning robot's detour angle is greater than or equal to a preset angle, checking whether the current object has an obstruction; or, when the cleaning robot walks to a position corresponding to the end point of the initial object information, checking whether the current object has an obstruction.

[0126] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the cleaning robot circumnavigates an object and meets the turning-back condition, checking whether there is an obstructed part of the current object based on multi-sensor fusion.

[0127] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the cleaning robot circumnavigates an object and meets the turning-back condition, checking whether a higher part of the current object blocks a lower part.

[0128] In one embodiment, when the processor executes the computer program, it also implements the following steps: controlling the cleaning robot to rotate to collect object information; if the cleaning robot rotates to a preset rotation angle, controlling the cleaning robot to retreat and collect object information; if the cleaning robot retreats to a preset retreat distance, controlling the cleaning robot to stop retreating and complete the object information supplement.

[0129] In one embodiment, when the processor executes the computer program, it also implements the following steps: controlling the cleaning robot to advance and then rotate, returning to the initial position corresponding to when the object information was replenished; controlling the cleaning robot to continue to circle the object based on the replenished object information and the real-time position information of the cleaning robot.

[0130] In one embodiment, when the processor executes the computer program, it also implements the following steps: controlling the cleaning robot to rotate and retreat to collect object information; if the cleaning robot rotates to a preset rotation angle and retreats to a preset retreat distance, controlling the cleaning robot to stop rotating and retreating to complete the object information supplement.

[0131] In one embodiment, when the processor executes the computer program, it also implements the following steps: controlling the cleaning robot to move forward and rotate at the same time, and return to the initial position corresponding to when the object information is replenished; controlling the cleaning robot to continue to circle the object based on the replenished object information and the real-time position information of the cleaning robot.

[0132] It should be pointed out that the specific implementation methods of the various steps of the cleaning robot bypass control method implemented when the above processor executes the computer program are as described in the various embodiments of the above cleaning robot bypass control method, and will not be repeated here.

[0133] The above-mentioned cleaning robot, while circling an object, detects whether the cleaning robot meets the turning-around conditions. If the turning-around conditions are met, it further verifies whether the current object has any obstructing parts. If there is an obstructing part, the cleaning robot is controlled to rotate in a direction consistent with the circling direction, then back off to supplement the object information. If there is no obstructing part, the cleaning robot is controlled to rotate in a direction consistent with the circling direction, back off while rotating, and back off to supplement the object information. Finally, the cleaning robot is controlled to continue circling the object with the supplemented object information. In the above scheme, when there is an obstructing part, the object information is supplemented by first rotating and then back off, thereby avoiding the cleaning robot's field of view being unable to collect object information while rotating and back off. When there is no obstructing part, the object information is supplemented by rotating and back off, thereby ensuring the efficiency of collecting object information. Through this scheme, accurate object information can be supplemented while the cleaning robot is circling an object, improving the accuracy of the object information and effectively reducing the possibility of collision with the object during the circling process.

[0134] In one embodiment, the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the following steps are implemented:

[0135] When the cleaning robot circumnavigates an object and meets the turning-back condition, it checks whether there is an obstruction on the current object; if there is an obstruction, the cleaning robot is controlled to turn back by first rotating and then retreating to supplement the object information; if there is no obstruction, the cleaning robot is controlled to turn back by rotating and retreating at the same time to supplement the object information.

[0136] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: if the cleaning robot detects an object during operation, initial object information is determined; based on the initial object information and the real-time position information of the cleaning robot, the cleaning robot is controlled to bypass the object.

[0137] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the real-time distance between the object and the cleaning robot based on the initial object information and the real-time position information of the cleaning robot; and controlling the cleaning robot to bypass the object based on the real-time distance and the preset bypass interval distance.

[0138] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the distance difference based on the real-time distance and the preset detour interval distance; determining the real-time angular velocity of the cleaning robot based on the distance difference; determining the real-time linear velocity of the cleaning robot based on the real-time angular velocity; and controlling the cleaning robot to detour the object based on the real-time angular velocity and the real-time linear velocity.

[0139] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the cleaning robot's detour distance is greater than or equal to a preset distance, checking whether the current object has an obstruction; or, when the cleaning robot's detour angle is greater than or equal to a preset angle, checking whether the current object has an obstruction; or, when the cleaning robot walks to a position corresponding to the end point of the initial object information, checking whether the current object has an obstruction.

[0140] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: when the cleaning robot circumnavigates an object and meets the turning-back condition, checking whether there is an obstructed part of the current object based on multi-sensor fusion.

[0141] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the cleaning robot circumnavigates an object and meets the turning-back condition, checking whether a higher part of the current object blocks a lower part.

[0142] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: controlling the cleaning robot to rotate to collect object information; if the cleaning robot rotates to a preset rotation angle, controlling the cleaning robot to retreat and collect object information; if the cleaning robot retreats to a preset retreat distance, controlling the cleaning robot to stop retreating and complete the object information supplement.

[0143] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: controlling the cleaning robot to advance and then rotate, returning to the initial position corresponding to when the object information was replenished; controlling the cleaning robot to continue to circle the object based on the replenished object information and the real-time position information of the cleaning robot.

[0144] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: controlling the cleaning robot to rotate and retreat at the same time to collect object information; if the cleaning robot rotates to a preset rotation angle and retreats to a preset retreat distance, controlling the cleaning robot to stop rotating and retreating to complete the object information supplement.

[0145] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: controlling the cleaning robot to move forward and rotate at the same time, and return to the initial position corresponding to when the object information is supplemented; controlling the cleaning robot to continue to circle the object based on the supplemented object information and the real-time position information of the cleaning robot.

[0146] In one embodiment, the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the following steps:

[0147] When the cleaning robot circumnavigates an object and meets the turning-back condition, it checks whether there is an obstruction on the current object; if there is an obstruction, the cleaning robot is controlled to turn back by first rotating and then retreating to supplement the object information; if there is no obstruction, the cleaning robot is controlled to turn back by rotating and retreating at the same time to supplement the object information.

[0148] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: if the cleaning robot detects an object during operation, initial object information is determined; based on the initial object information and the real-time position information of the cleaning robot, the cleaning robot is controlled to bypass the object.

[0149] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the real-time distance between the object and the cleaning robot based on the initial object information and the real-time position information of the cleaning robot; and controlling the cleaning robot to bypass the object based on the real-time distance and the preset bypass interval distance.

[0150] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the distance difference based on the real-time distance and the preset detour interval distance; determining the real-time angular velocity of the cleaning robot based on the distance difference; determining the real-time linear velocity of the cleaning robot based on the real-time angular velocity; and controlling the cleaning robot to detour the object based on the real-time angular velocity and the real-time linear velocity.

[0151] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the cleaning robot's detour distance is greater than or equal to a preset distance, checking whether the current object has an obstruction; or, when the cleaning robot's detour angle is greater than or equal to a preset angle, checking whether the current object has an obstruction; or, when the cleaning robot walks to a position corresponding to the end point of the initial object information, checking whether the current object has an obstruction.

[0152] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: when the cleaning robot circumnavigates an object and meets the turning-back condition, checking whether there is an obstructed part of the current object based on multi-sensor fusion.

[0153] In one embodiment, when the processor executes the computer program, the following steps are further implemented: when the cleaning robot circumnavigates an object and meets the turning-back condition, checking whether a higher part of the current object blocks a lower part.

[0154] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: controlling the cleaning robot to rotate to collect object information; if the cleaning robot rotates to a preset rotation angle, controlling the cleaning robot to retreat and collect object information; if the cleaning robot retreats to a preset retreat distance, controlling the cleaning robot to stop retreating and complete the object information supplement.

[0155] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: controlling the cleaning robot to advance and then rotate, returning to the initial position corresponding to when the object information was replenished; controlling the cleaning robot to continue to circle the object based on the replenished object information and the real-time position information of the cleaning robot.

[0156] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: controlling the cleaning robot to rotate and retreat at the same time to collect object information; if the cleaning robot rotates to a preset rotation angle and retreats to a preset retreat distance, controlling the cleaning robot to stop rotating and retreating to complete the object information supplement.

[0157] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: controlling the cleaning robot to move forward and rotate at the same time, and return to the initial position corresponding to when the object information is supplemented; controlling the cleaning robot to continue to circle the object based on the supplemented object information and the real-time position information of the cleaning robot.

[0158] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0159] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A cleaning robot bypass control method, comprising: When the cleaning robot circumvents an object and meets the turning-back condition, checking whether there is an obstruction in the object; If there is an obstructed part, the cleaning robot is controlled to turn back and supplement the object information in a manner of first rotating and then retreating; If there is no obstructed part, the cleaning robot is controlled to turn back and supplement the object information in a rotating and backward manner; The rotation direction of the cleaning robot is consistent with the circling direction, and the rotation direction is clockwise or counterclockwise. The supplemented object information is used to control the cleaning robot to continue circling the object.

2. The cleaning robot circumvention control method according to claim 1, wherein: When the cleaning robot circumvents an object and meets the turning-back condition, before checking whether the object currently has an obstructing part, the method further includes: If the cleaning robot detects an object during operation, initial object information is determined; According to the initial object information and the real-time position information of the cleaning robot, the cleaning robot is controlled to go around the object.

3. The cleaning robot circumvention control method according to claim 2, wherein: The step of controlling the cleaning robot to go around the object according to the initial object information and the real-time position information of the cleaning robot comprises: Determining a real-time distance between the object and the cleaning robot according to the initial object information and the real-time position information of the cleaning robot; The cleaning robot is controlled to bypass the object according to the real-time distance and the preset bypass interval distance.

4. The cleaning robot circumvention control method according to claim 3, wherein: The step of controlling the cleaning robot to bypass the object according to the real-time distance and the preset bypass interval distance comprises: Determining a distance difference according to the real-time distance and a preset detour interval distance; Determining the real-time angular velocity of the cleaning robot according to the distance difference; Determining the real-time linear velocity of the cleaning robot according to the real-time angular velocity; The cleaning robot is controlled to go around the object according to the real-time angular velocity and the real-time linear velocity.

5. The cleaning robot circumvention control method according to claim 1, wherein: When the cleaning robot circumvents an object and meets the turning-back condition, checking whether there is an obstructing part of the object includes: When the cleaning robot's detour distance is greater than or equal to a preset distance, it is checked whether there is any obstructing part of the object.

6. The cleaning robot circumvention control method according to claim 1, wherein: When the cleaning robot circumvents an object and meets the turning-back condition, checking whether there is an obstructing part of the object includes: When the cleaning robot's detour angle is greater than or equal to a preset angle, it is checked whether there is an obstruction at the current object.

7. The cleaning robot circumvention control method according to claim 2, wherein: When the cleaning robot circumvents an object and meets the turning-back condition, checking whether there is an obstructing part of the object includes: When the cleaning robot walks to a position corresponding to an end point of the initial object information, it is checked whether there is an obstructed part of the object.

8. The cleaning robot circumvention control method according to claim 1, wherein: When the cleaning robot circumvents an object and meets the turning-back condition, checking whether there is an obstructing part of the object includes: When the cleaning robot circumvents an object and meets the turning-back condition, it checks whether there is an obstructed part of the object based on multi-sensor fusion.

9. The cleaning robot circumvention control method according to claim 1, wherein: When the cleaning robot circumvents an object and meets the turning-back condition, checking whether there is an obstructing part of the object includes: When the cleaning robot circumvents an object and meets the turning-back condition, it checks with a single sensor whether there is an obstructing part of the object.

10. The detour control method according to claim 1, wherein: When the cleaning robot circumvents an object and meets the turning-back condition, checking whether the object currently has an obstructing part includes: When the cleaning robot circumvents an object and meets the turning-back condition, it is checked whether a higher part of the object currently blocks a lower part.

11. The cleaning robot circumvention control method according to claim 1, wherein: The controlling the cleaning robot to first rotate and then move backward to return and supplement the object information comprises: Controlling the cleaning robot to rotate and collect object information; If the cleaning robot rotates to a preset rotation angle, the cleaning robot is controlled to move backward and collect object information; If the cleaning robot retreats to a preset retreat distance, the cleaning robot is controlled to stop retreating, and the object information supplement is completed.

12. The cleaning robot circumvention control method according to any one of claims 1 to 11, wherein: If there is an obstructed part, after controlling the cleaning robot to first rotate and then retreat to return and supplement the object information, the method further includes: Controlling the cleaning robot to advance and then rotate, and return to the initial position corresponding to when the object information is supplemented; The cleaning robot is controlled to continue to circle the object according to the supplemented object information and the real-time position information of the cleaning robot.

13. The cleaning robot circumvention control method according to claim 12, wherein: When returning to the initial position corresponding to the start of supplementing object information, the cleaning robot rotates in the opposite direction to the detour direction, the forward distance is consistent with the backward distance when performing the turning back action, and the rotation angle is consistent with the rotation angle when performing the turning back action.

14. The cleaning robot circumvention control method according to claims 1-11, wherein: Controlling the cleaning robot to turn back and supplement the object information in a rotating and backward manner, including: Controlling the cleaning robot to rotate and retreat to collect object information; If the cleaning robot rotates to a preset rotation angle and retreats to a preset retreat distance, the cleaning robot is controlled to stop rotating and retreating, and the object information is supplemented.

15. The cleaning robot circumvention control method according to any one of claims 1 to 11, wherein: If there is no obstructed part, after controlling the cleaning robot to turn back and supplement the object information in a rotating and backward manner, the method further includes: Controlling the cleaning robot to move forward and rotate at the same time, and return to the initial position corresponding to the start of supplementing the object information; The cleaning robot is controlled to continue to circle the object according to the supplemented object information and the real-time position information of the cleaning robot.

16. The cleaning robot circumvention control method according to any one of claims 1 to 11, wherein: The blocking methods of the blocked part include high and low blocking, wide and narrow blocking, or blocking by other objects.

17. A cleaning robot, comprising a cleaning robot body and a detection device, wherein the detection device is arranged at the front end of the moving direction of the cleaning robot body, the cleaning robot body comprises a memory and a processor, the detection device is connected to the processor, the memory stores a computer program, and the processor implements the steps of the cleaning robot bypass control method described in any one of claims 1 to 16 when executing the computer program.

18. The cleaning robot according to claim 17, wherein: The detection device includes at least two of a camera, an infrared detector, a TOF sensor, a laser sensor and a visual sensor.

Images