Control method for cleaning robot, and cleaning robot and electronic device

Abstract

The present application relates to the technical field of cleaning devices, and particularly relates to a control method for a cleaning robot, and a cleaning robot and an electronic device. The method comprises: during the traveling of a cleaning robot, a sensor system collecting three-dimensional information of an obstacle within a valid detection range; when the obstacle indicated by means of the three-dimensional information is a cat-type obstacle, a shoe-type obstacle, animal excrement, a bottle-type obstacle or a paper-type obstacle, executing a matched obstacle-avoidance behavior, such that the body of the cleaning robot keeps a safe distance from the cat-type obstacle, the shoe-type obstacle, the animal excrement, the bottle-type obstacle or the paper-type obstacle. The problem of existing cleaning robots performing a single obstacle-avoidance behavior on an obstacle and thus failing to meet diversified, refined and intelligent obstacle-avoidance requirements for a specific type of obstacle in a cleaning environment is solved.

Description

A control method of a cleaning robot, the cleaning robot and an electronic device TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, and in particular relates to a control method of a cleaning robot, the cleaning robot and an electronic device. BACKGROUND

[0002] The cleaning robot is a device capable of automatic cleaning while moving, which can replace manual cleaning to a certain extent, reduce manual labor intensity, and has high cleaning efficiency.

[0003] During the movement of the cleaning robot, various types of obstacles may be encountered, such as cat obstacles, shoe obstacles, animal excrement, bottle obstacles, paper obstacles, etc. The current cleaning robot has a single obstacle avoidance action, which cannot meet the diversified, refined and intelligent obstacle avoidance requirements for specific types of obstacles in the cleaning environment, which may interfere with the normal operation of the cleaning robot and affect the user experience.

[0004] SUMMARY

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a control method of a cleaning robot, the cleaning robot and an electronic device to solve the problem that the current cleaning robot has a single obstacle avoidance action, which cannot meet the diversified, refined and intelligent obstacle avoidance requirements for specific types of obstacles in the cleaning environment.

[0006] The embodiments of the present application provide a control method of a cleaning robot, wherein the cleaning robot comprises a body, a cleaning component and a sensor system capable of acquiring three-dimensional information of an obstacle, the cleaning component comprises a main brush, the main brush is arranged in a main brush cavity at the bottom of the body, and the main brush cavity is in communication with a dust suction channel of the cleaning robot;

[0007] The method comprises:

[0008] During the movement of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle in an effective detection range;

[0009] When the obstacle indicated by the three-dimensional information is a cat obstacle comprising a main body part and a tail part, a matched obstacle avoidance action is performed, so that the distance between the body of the cleaning robot and the main body part of the cat obstacle is greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and the distance between the main brush and the tail part of the cat obstacle is greater than or equal to a third distance threshold and less than or equal to a fourth distance threshold, and the first distance threshold is less than the third distance threshold, wherein the main body part is a part of the cat obstacle other than the tail part.

[0010] Thus, the obstacle can be identified as a feline obstacle including a body part and a tail part, and a targeted obstacle avoidance action can be performed. The identified body part can avoid the cleaning robot from startling the feline obstacle and affecting the physical and mental health of the feline obstacle. The identified tail part can avoid the tail of the feline obstacle from being wrapped into the interior of the cleaning robot, for example, being sucked into the main brush, so that the feline obstacle is injured. By setting the first distance threshold, the distance between the body and the body part can be avoided to be too close, so that the feline obstacle is startled and the physical and mental health of the feline obstacle is affected. By setting the second distance threshold, the distance between the body and the body part can be avoided to be too far, so that cleaning is missed and the cleaning effect is affected. By setting the third distance threshold, the main brush and the tail part of the feline obstacle can be kept at a reasonable distance, so that the tail of the feline obstacle is avoided from being sucked into the main brush cavity where the main brush is located, and the tail is further injured and the main brush rotation is abnormal. By setting the fourth distance threshold, the distance between the main brush and the tail part can be avoided to be too far, so that cleaning is missed.

[0011] In addition, the first distance threshold is set to be less than the third distance threshold, so that the main brush can be set closer to the inside of the contour of the body, thereby facilitating the position distribution of the main brush on the body and ensuring the dust collection effect of the main brush cavity. Further, by setting the fourth distance threshold, missing scanning is avoided.

[0012] Another method for controlling a cleaning robot is provided in the embodiments of the present specification. The cleaning robot includes a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of an obstacle. The method includes:

[0013] During the travel of the cleaning robot, the sensor system acquires three-dimensional information of the obstacle in an effective detection range;

[0014] When the obstacle indicated by the three-dimensional information is a feline obstacle including a body part and a tail part, and the positional relationship between the feline obstacle and the cleaning robot satisfies a preset obstacle avoidance condition, a matched obstacle avoidance action is performed, so that the distance between the body of the cleaning robot and the body part of the feline obstacle is greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and the first distance threshold is a value greater than or equal to 0, wherein the body part is a part of the feline obstacle other than the tail part.

[0015] Thus, by identifying the body part and tail part of the feline obstacle, when the cleaning robot contacts the body part of the feline obstacle, the feline obstacle is more likely to be startled, while the tail part of the feline obstacle is relatively insensitive to contact with the cleaning robot. By specifically making the distance between the body of the cleaning robot and the body part of the feline obstacle greater than or equal to a first distance threshold, and the first distance threshold greater than or equal to 0, the cleaning robot does not contact the body part of the feline obstacle, thereby avoiding injury or startling the feline obstacle; by making the distance between the body of the cleaning robot and the body part of the feline obstacle less than or equal to a second threshold, the cleaning robot does not miss the feline obstacle because the body of the cleaning robot is too far from the body part of the feline obstacle.

[0016] Another method for controlling a cleaning robot is provided in the embodiments of the present specification, where the cleaning robot includes a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of an obstacle, and the cleaning component includes a side brush, the method comprising:

[0017] During the travel of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle within an effective detection range;

[0018] When the obstacle indicated by the three-dimensional information is a feline obstacle including a body part and a tail part, a matching obstacle avoidance action is performed to make the distance between the body of the cleaning robot and the body part of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and the distance between the side brush and the feline obstacle greater than or equal to a fifth distance threshold and less than or equal to a sixth distance threshold, where the body part is a part of the feline obstacle other than the tail part.

[0019] Thus, the obstacle can be identified as a feline obstacle including a body part and a tail part, and a targeted obstacle avoidance action can be performed. The identified body part can avoid the cleaning robot from startling the feline obstacle and affecting the physical and mental health of the feline obstacle. The identified tail part can avoid the tail of the feline obstacle from being wrapped into the cleaning robot. By setting the first distance threshold, the distance between the robot body and the body part can be avoided to be too close, so that the feline obstacle is startled and the physical and mental health of the feline obstacle is affected. By setting the second distance threshold, the distance between the robot body and the body part can be avoided to be too far, so that cleaning is missed and the cleaning effect is affected. The edge brush generally rotates around the edge brush rotation shaft to perform rotary cleaning. The distance between the edge brush and the feline obstacle is greater than or equal to a fifth distance threshold, so that the cat hair of the feline obstacle is avoided from being wrapped into the edge brush, for example, the rotation shaft of the edge brush, causing damage to the edge brush, or causing the feline obstacle to be injured or startled. Optionally, the end of the edge brush is a flexible structure. Reasonable setting of the fifth distance threshold is conducive to making the edge brush close to the feline obstacle for cleaning, improving the cleaning coverage, and further avoiding the edge brush from being too far away from the feline obstacle to cause missed cleaning.

[0020] Another method for controlling a cleaning robot is provided in the embodiments of the present specification. The cleaning robot includes a robot body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of an obstacle. The cleaning component includes a first cloth disc having a retracted state and an extended state. In the extended state, the first cloth disc is located outside the part of the robot body, which is greater than the part of the robot body in the retracted state.

[0021] The method includes:

[0022] During the travel of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle in an effective detection range;

[0023] When the obstacle indicated by the three-dimensional information is a feline obstacle including a body part and a tail part, a matching obstacle avoidance action is performed to make the distance between the robot body of the cleaning robot and the body part of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and to make the distance between the first cloth disc and the feline obstacle greater than or equal to a seventh distance threshold and less than or equal to an eighth distance threshold. The body part is a part of the feline obstacle other than the tail part.

[0024] Thus, the obstacle can be identified as a feline obstacle including a body part and a tail part, and a targeted obstacle avoidance action can be performed. The identified body part can avoid the cleaning robot from startling the feline obstacle and affecting the physical and mental health of the feline obstacle. The identified tail part can avoid the tail of the feline obstacle from being wrapped into the cleaning robot. By setting the first distance threshold, the distance between the body and the body part can be avoided to be too close, so that the feline obstacle is startled and the physical and mental health of the feline obstacle is affected. By setting the second distance threshold, the distance between the body and the body part can be avoided to be too far, so that cleaning is missed and the cleaning effect is affected. The first cloth disc is configured to rotate around the cloth rotating shaft for cleaning. When the cleaning robot is working, there can be an edge area between the first cloth disc of the cleaning robot and the obstacle that cannot be cleaned. When the first cloth disc moves from the inwardly retracted state to the outwardly swinging state, the first cloth disc can be closer to the edge of the obstacle for cleaning, thereby ensuring the cleaning coverage of the cleaning robot. Further, the distance between the first cloth disc and the feline obstacle is greater than or equal to a seventh distance threshold, so that the cat hair of the feline obstacle is not wrapped into the first cloth disc, for example, the cloth rotating shaft of the first cloth disc, causing the first cloth disc to be damaged, or causing the feline obstacle to be injured or startled. Reasonably setting the seventh distance threshold is conducive to allowing the first cloth disc to clean close to the feline obstacle and improving the cleaning coverage. Further, by the eighth distance threshold, the first cloth disc is prevented from being too far away from the feline obstacle, thereby causing missed cleaning.

[0025] Another method for controlling a cleaning robot is provided in the embodiments of the present specification. The cleaning robot includes a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of an obstacle. The cleaning component includes a first cloth disc and a second cloth disc. The diameter of the second cloth disc is smaller than the diameter of the first cloth disc. The second cloth disc protrudes beyond the body profile of the cleaning robot.

[0026] The method includes:

[0027] During the travel of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle within an effective detection range;

[0028] When the obstacle indicated by the three-dimensional information is a feline obstacle including a body part and a tail part, a matching obstacle avoidance action is performed to make the distance between the body of the cleaning robot and the body part of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and to make the distance between the first cloth disc and the feline obstacle greater than or equal to a seventh distance threshold and less than or equal to an eighth distance threshold, and to make the distance between the second cloth disc and the feline obstacle greater than or equal to a ninth distance threshold and less than or equal to a tenth distance threshold. The body part is a part of the feline obstacle other than the tail part.

[0029] Thus, by protruding out of the body profile of the cleaning robot, the second cleaning cloth tray can enhance the cleaning effect of the first cleaning cloth tray when the cleaning robot cleans the edge of the obstacle, or can at least partially supplement the cleaning of the missed cleaning area of the first cleaning cloth tray. By keeping a reasonable distance between the body and the main part of the feline obstacle, the body can be close to the feline obstacle for cleaning without harming the feline obstacle; by keeping the distance between the first cleaning cloth tray and the feline obstacle greater than or equal to the seventh distance threshold and less than or equal to the eighth distance threshold, the cleaning coverage of the first cleaning cloth tray can be ensured, the cat hair of the feline obstacle can be prevented from being wound around the cleaning cloth shaft of the first cleaning cloth tray, and missed cleaning can be avoided or reduced; by providing the second cleaning cloth tray, the cleaning effect of the first cleaning cloth tray can be enhanced, or the first cleaning cloth tray can be supplemented for cleaning, the cleaning effect and coverage of the first cleaning cloth tray can be enhanced by the second cleaning cloth tray, and the second cleaning cloth tray can be prevented from harming the feline obstacle and reducing or avoiding missed scanning.

[0030] Another method for controlling a cleaning robot is provided in the embodiments of the present disclosure. The cleaning robot includes a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of an obstacle. The method includes:

[0031] During the travel of the cleaning robot, the sensor system acquires three-dimensional information of the obstacle within an effective detection range;

[0032] When the obstacle indicated by the three-dimensional information is a feline obstacle including a main part and a tail part, a matching obstacle avoidance action is performed to keep the distance between the body of the cleaning robot and the main part of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, wherein the main part is a part of the feline obstacle other than the tail part.

[0033] Thus, by identifying the main part and the tail part of the feline obstacle, the feline obstacle is more likely to be startled when the cleaning robot contacts the main part of the feline obstacle, while the tail part of the feline obstacle is relatively insensitive to the contact of the cleaning robot. By keeping the distance between the body of the cleaning robot and the main part of the feline obstacle greater than or equal to the first distance threshold, the cleaning robot is prevented from colliding with the main part of the feline obstacle, thereby avoiding harming or startling the feline obstacle; by keeping the distance between the body of the cleaning robot and the main part of the feline obstacle less than or equal to the second distance threshold, the cleaning robot is prevented from being too far away from the main part of the feline obstacle to cause missed scanning.

[0034] In one example embodiment, the cleaning component includes a main brush disposed in a main brush cavity at the bottom of the body, the main brush cavity being in communication with a suction passage of the cleaning robot; the performing the matched obstacle avoidance action further includes making the distance between the main brush and the tail of the feline obstacle greater than or equal to a third distance threshold and less than or equal to a fourth distance threshold.

[0035] The control method of the cleaning robot of the embodiments of the present specification is provided. The cleaning robot is provided with a sensor system capable of acquiring three-dimensional information of an obstacle. During the travel of the cleaning robot, the three-dimensional information of the obstacle within the effective detection range can be collected by the sensor system. When the obstacle indicated by the three-dimensional information is a feline obstacle, a matched obstacle avoidance action can be performed to make the distance between the body of the cleaning robot and the main body part of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold. In this way, the specific type of the obstacle can be identified by the sensor system, and the feline obstacle can be subjected to fine obstacle avoidance. The distance between the body and the main body part of the feline obstacle is greater than or equal to the first distance threshold, which can avoid startling the feline obstacle and affecting the physical and mental health of the feline obstacle. The distance between the body and the main body part of the feline obstacle is less than or equal to the second distance threshold, which can avoid the distance between the body and the feline obstacle being too far, resulting in missed cleaning and thus affecting the cleaning effect. Through the first distance threshold and the second distance threshold, the body and the main body part of the feline obstacle can maintain an appropriate distance during obstacle avoidance, thereby achieving fine obstacle avoidance of the feline obstacle.

[0036] Another control method of a cleaning robot is provided in the embodiments of the present specification, and is applied to a cleaning robot provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component including a side brush. The method includes: during the travel of the cleaning robot, collecting three-dimensional information of the obstacle within an effective detection range by the sensor system; when the obstacle indicated by the three-dimensional information is a footwear obstacle including a shoe body and a shoelace, performing a matched obstacle avoidance action to make the distance between the side brush of the cleaning robot and the shoe body of the footwear obstacle greater than or equal to an eleventh distance threshold and less than or equal to a twelfth distance threshold, and the performing the matched obstacle avoidance action further includes, when the footwear obstacle has a shoelace falling to the ground, making the distance between the side brush of the cleaning robot and the shoelace of the footwear obstacle greater than or equal to a thirteenth distance threshold and less than or equal to a fourteenth distance threshold; wherein the shoe body is a part of the footwear obstacle other than the shoelace.

[0037] In some embodiments, the eleventh distance threshold is 0, and the twelfth distance threshold is 40 cm; the thirteenth distance threshold is 0, and the fourteenth distance threshold is 20 cm.

[0038] The embodiment of the present specification provides another control method of a cleaning robot, applied to a cleaning robot provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component, the cleaning component comprising a first cloth disc; the method comprises: in the process of the cleaning robot traveling, collecting three-dimensional information of the obstacle in the effective detection range by the sensor system; when the obstacle indicated by the three-dimensional information is a shoe obstacle, performing a matched obstacle avoidance action to make the distance between the first cloth disc of the cleaning robot and the shoe obstacle greater than or equal to a fifteenth distance threshold and less than or equal to a sixteenth distance threshold.

[0039] In some embodiments, the fifteenth distance threshold is 1 cm, and the sixteenth distance threshold is 40 cm.

[0040] The embodiment of the present specification provides another control method of a cleaning robot, applied to a cleaning robot provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component, the cleaning component comprising a first cloth disc, the first cloth disc having a first position state and a second position state on the cleaning robot; the second position state extends outward relative to the first position state; the method comprises: in the process of the cleaning robot traveling, collecting three-dimensional information of the obstacle in the effective detection range by the sensor system; when the obstacle indicated by the three-dimensional information is a shoe obstacle, performing a matched obstacle avoidance action to make the distance between the first cloth disc of the cleaning robot and the shoe obstacle greater than or equal to a seventeenth distance threshold and less than or equal to an eighteenth distance threshold.

[0041] In some embodiments, the seventeenth distance threshold is 1 cm, and the eighteenth distance threshold is 40 cm.

[0042] The embodiment of the present specification provides another control method of a cleaning robot, applied to a cleaning robot provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component, the cleaning component comprising a first cloth disc and a second cloth disc, the diameter of the second cloth disc being smaller than that of the first cloth disc, and the second cloth disc protruding out of the profile of the body of the cleaning robot; the method comprises: in the process of the cleaning robot traveling, collecting three-dimensional information of the obstacle in the effective detection range by the sensor system; when the obstacle indicated by the three-dimensional information is a shoe obstacle, performing a matched obstacle avoidance action to make the distance between the first cloth disc of the cleaning robot and the shoe obstacle greater than or equal to a nineteenth distance threshold and less than or equal to a twentieth distance threshold, and / or the distance between the second cloth disc of the cleaning robot and the shoe obstacle greater than or equal to a twenty-first distance threshold and less than or equal to a twenty-second distance threshold.

[0043] In some embodiments, the nineteenth distance threshold is 1 cm, the twentieth distance threshold is 40 cm; the twenty-first distance threshold is 1 cm, and the twenty-second distance threshold is 40 cm.

[0044] The embodiment of the present specification provides another control method of a cleaning robot, applied to a cleaning robot provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component; the cleaning robot comprises a main brush cavity arranged at the bottom of the robot body, one side opening of the main brush cavity being communicated with a dust suction channel of the cleaning robot, and the other side opening of the main brush cavity serving as a dust suction port of the cleaning robot; the method comprises: acquiring three-dimensional information of an obstacle in an effective detection range by the sensor system during the travel of the cleaning robot; when the obstacle indicated by the three-dimensional information is a shoe obstacle including a shoelace and a shoe body, performing a matched obstacle avoidance action to make the distance between the dust suction port of the cleaning robot and the shoelace greater than or equal to a twenty-third distance threshold and less than or equal to a twenty-fourth distance threshold.

[0045] In some embodiments, the twenty-third distance threshold is 2 cm, and the twenty-fourth distance threshold is 40 cm.

[0046] In some embodiments, the performing the matched obstacle avoidance action further comprises: in the case that the shoelace of the shoe obstacle has an interference state with the robot body of the cleaning robot, controlling the distance between the dust suction port of the cleaning robot and the shoelace to be greater than or equal to a twenty-fifth distance threshold.

[0047] In some embodiments, the twenty-fifth distance threshold is 2 cm.

[0048] In some embodiments, in the case that the shoelace of the shoe obstacle has an interference state with the robot body of the cleaning robot, the dust suction wind power of the cleaning robot is reduced.

[0049] The embodiment of the specification provides another control method of a cleaning robot, which is applied to a cleaning robot provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle, and the method comprises the following steps: acquiring, by the sensor system, three-dimensional information of an obstacle in an effective detection range during the travel of the cleaning robot; when the obstacle indicated by the three-dimensional information is a shoe obstacle, detecting height information of the shoe obstacle; when the height information of the shoe obstacle reaches a preset height threshold, performing a matched obstacle avoidance action, so that the distance between the body of the cleaning robot and the shoe obstacle is greater than or equal to a twenty-sixth distance threshold and less than or equal to a twenty-seventh distance threshold, and the distance between the first cloth disc of the cleaning robot and the shoe obstacle is greater than or equal to a twenty-eighth distance threshold and less than or equal to a twenty-ninth distance threshold.

[0050] In some embodiments, the twenty-sixth distance threshold is 1 cm, and the twenty-seventh distance threshold is 40 cm; the twenty-eighth distance threshold is 1 cm, and the twenty-ninth distance threshold is 40 cm.

[0051] In some embodiments, the sensor system comprises at least one of a monocular vision sensor, a binocular vision sensor, a line laser sensor, a plane laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

[0052] In some embodiments, the performing of the matched obstacle avoidance action comprises any one of the following actions: the cleaning robot turns around at the edge of the shoe obstacle; the cleaning robot detours at the edge of the shoe obstacle; the cleaning robot turns after retreating; or the cleaning robot performs edge cleaning along the edge of the shoe obstacle.

[0053] In some embodiments, before the performing of the obstacle avoidance action, the method further comprises: detecting, by the sensor system, position change information of the shoe obstacle within a first predetermined time length; and in the case that it is detected that the shoe obstacle is not removed from the center region of the field of view angle of the sensor system within the first predetermined time length, the performing of the obstacle avoidance action.

[0054] In some embodiments, the method further comprises: after the performing of the matched obstacle avoidance action, in the case that the sensor system detects that the shoe obstacle no longer exists in a second original region where the shoe obstacle is located, the cleaning robot is controlled to perform supplementary cleaning on the second original region.

[0055] The application provides a control method of a cleaning robot and a cleaning robot, which can effectively reduce the range of missed cleaning and obtain a better cleaning effect while avoiding the pollution of the cleaning robot and affecting the normal work and operation of the cleaning robot.

[0056] The embodiment of the present specification provides another control method of a cleaning robot, applied to a cleaning robot provided with a cleaning component and a sensor system capable of acquiring at least three-dimensional information of an obstacle, the cleaning component comprising a side brush, the side brush being arranged at the bottom of the body of the cleaning robot and at least partially exposed to the body of the cleaning robot; the method comprising:

[0057] During the movement of the cleaning robot, acquiring three-dimensional information of an obstacle in an effective detection range by the sensor system;

[0058] In the case that the obstacle indicated by the three-dimensional information is animal excrement, performing a matched avoidance operation, so that the minimum distance between the side brush and the obstacle is greater than a thirtieth distance threshold and less than a thirty-first distance threshold, and the distance between the body of the cleaning robot and the obstacle is greater than or equal to a thirty-second distance threshold and less than or equal to a thirty-third distance threshold.

[0059] In one embodiment, the thirtieth distance threshold is greater than 0 cm and less than 20 cm, and the thirty-first distance threshold is greater than 0 cm and less than 50 cm; the thirty-second distance threshold is greater than 0 cm and less than 20 cm, and the thirty-third distance threshold is greater than 0 cm and less than 50 cm.

[0060] In one embodiment, the thirtieth distance threshold is 5 mm to 5 cm, and the thirty-first distance threshold is 5 cm to 20 cm; the thirty-second distance threshold is 1 cm to 5 cm, and the thirty-third distance threshold is 5 cm to 20 cm.

[0061] In one embodiment, the cleaning component further comprises a main brush, the main brush being arranged in a main brush cavity at the bottom of the body of the cleaning robot, the main brush cavity being in communication with a dust suction channel of the cleaning robot;

[0062] The performing of the matched avoidance operation further comprises: making the minimum distance between the main brush and the obstacle greater than a thirty-fourth distance threshold and less than a thirty-fifth distance threshold.

[0063] The present specification also provides a control method of a cleaning robot, applied to a cleaning robot provided with a cleaning component and a sensor system capable of acquiring at least three-dimensional information of an obstacle, the cleaning component comprising a side brush arranged at the bottom of the body of the cleaning robot, the side brush being at least partially exposed to the body of the cleaning robot, the cleaning component comprising a first cloth tray having a retracted state and an extended state; wherein the part of the first cloth tray located outside the periphery of the body when in the extended state is larger than the part of the first cloth tray located outside the periphery of the body when in the retracted state; the method comprising:

[0064] acquiring, by the sensor system, three-dimensional information of an obstacle within an effective detection range during movement of the cleaning robot;

[0065] in the case where the obstacle indicated by the three-dimensional information is animal excrement, performing a matched avoidance operation so that the minimum distance between the side brush and the obstacle is greater than a thirtieth distance threshold and less than a thirty-first distance threshold, and the distance between the body of the cleaning robot and the obstacle is greater than or equal to a second distance threshold and less than or equal to the second distance threshold;

[0066] in the case where the first cloth tray is currently in the extended state, performing a matched avoidance operation so that the minimum distance between the cloth tray of the cleaning robot currently in the extended state and the obstacle is greater than a thirty-sixth distance threshold and less than a thirty-seventh distance threshold.

[0067] In one embodiment, the thirty-sixth distance threshold is greater than 0 cm and less than 20 cm, and the thirty-seventh distance threshold is greater than 0 cm and less than 50 cm.

[0068] In one embodiment, the thirty-sixth distance threshold is 5 mm to 5 cm, and the thirty-seventh distance threshold is 5 cm to 20 cm.

[0069] In one embodiment, in the case where the first cloth tray is currently in the extended state and the side brush is currently in the extended state, performing a matched avoidance operation further comprises: making the minimum distance between the side brush of the cleaning robot currently in the extended state and the obstacle greater than a thirty-eighth distance threshold and less than a thirty-ninth distance threshold; and making the minimum distance between the first cloth tray of the cleaning robot currently in the extended state and the obstacle greater than the thirty-sixth distance threshold and less than the thirty-seventh distance threshold.

[0070] In one embodiment, the cleaning component further comprises a second cloth tray; wherein the diameter of the second cloth tray is smaller than the diameter of the first cloth tray, and the second cloth tray protrudes beyond the profile of the body of the cleaning robot;

[0071] Correspondingly, performing the matched avoidance operation also includes: making the minimum distance between the second cloth disc and the obstacle greater than a forty-first distance threshold and less than a forty-second distance threshold.

[0072] The present specification also provides a control method of a cleaning robot, applied to a cleaning robot provided with a cleaning component and a sensor system capable of at least acquiring obstacle three-dimensional information, the cleaning component including a side brush arranged at the bottom of the body of the cleaning robot, the side brush being at least partially exposed to the body of the cleaning robot, the side brush having a retracted state and an extended state; wherein the part of the side brush located outside the periphery of the body when in the extended state is greater than the part of the side brush located outside the periphery of the body when in the retracted state; the method including:

[0073] During movement of the cleaning robot, acquiring obstacle three-dimensional information within an effective detection range by the sensor system;

[0074] In the case where the obstacle indicated by the three-dimensional information is animal excrement, performing a matched avoidance operation to make the minimum distance between the side brush and the obstacle greater than a thirtieth distance threshold and less than a thirty-first distance threshold, and the distance between the body of the cleaning robot and the obstacle greater than or equal to a second distance threshold and less than or equal to the second distance threshold;

[0075] In the case where the side brush is currently in the extended state, performing a matched avoidance operation to make the minimum distance between the side brush of the cleaning robot currently in the extended state and the obstacle greater than a forty-second distance threshold and less than a forty-third distance threshold.

[0076] In one embodiment, the forty-second distance threshold is greater than 0 cm and less than 20 cm, and the forty-third distance threshold is greater than 0 cm and less than 50 cm.

[0077] In one embodiment, the forty-second distance threshold is 5 mm to 5 cm, and the forty-third distance threshold is 5 cm to 20 cm.

[0078] The present specification also provides a control method of a cleaning robot, applied to a cleaning robot provided with a cleaning component and a sensor system capable of at least acquiring obstacle three-dimensional information, the cleaning component including a side brush arranged at the bottom of the body of the cleaning robot, the side brush being at least partially exposed to the body of the cleaning robot, the sensor system being a stereo binocular vision system, the stereo binocular vision system acquiring object three-dimensional information through left and right parallax images; the method including:

[0079] The three-dimensional information of the obstacle within the effective detection range is collected by the stereoscopic binocular vision system during the movement of the cleaning robot.

[0080] In a case where the obstacle indicated by the three-dimensional information is animal excrement, a matched avoidance operation is performed, so that the minimum distance between the edge brush and the obstacle is greater than a thirtieth distance threshold and less than a thirty-first distance threshold, and the distance between the body of the cleaning robot and the obstacle is greater than or equal to a thirty-second distance threshold and less than or equal to a thirty-third distance threshold.

[0081] In an embodiment, the thirtieth distance threshold is greater than 0 cm and less than 20 cm, and the thirty-first distance threshold is greater than 0 cm and less than 50 cm; the thirty-second distance threshold is greater than 0 cm and less than 20 cm, and the thirty-third distance threshold is greater than 0 cm and less than 50 cm.

[0082] In an embodiment, the thirtieth distance threshold is 5 mm to 5 cm, and the thirty-first distance threshold is 5 cm to 20 cm; the thirty-second distance threshold is 1 cm to 5 cm, and the thirty-third distance threshold is 5 cm to 20 cm.

[0083] In an embodiment, the method further comprises, after performing the matched avoidance operation, when the sensor system detects that there is no longer animal excrement in a third original area where the animal excrement is located, performing supplementary cleaning on the third original area.

[0084] In an embodiment, the animal excrement includes at least one of the following: animal vomit, animal feces, animal urine, and animal sputum.

[0085] In an embodiment, the performing the matched avoidance operation includes at least one of the following:

[0086] The cleaning robot turns around at the safe distance boundary of the obstacle.

[0087] The cleaning robot detours at the safe distance boundary of the obstacle.

[0088] The cleaning robot backs up and then turns.

[0089] The cleaning robot performs edge cleaning along the safe distance boundary of the obstacle.

[0090] In an embodiment, after performing the matched avoidance operation, the method further comprises:

[0091] Broadcasting voice prompt information about cleaning the obstacle.

[0092] The present specification also provides a control method of a cleaning robot, applied to a cleaning robot provided with a cloth tray and a sensor system capable of acquiring three-dimensional information of an obstacle, the cloth tray being arranged at the bottom of the body of the cleaning robot; the method comprising:

[0093] acquiring three-dimensional information of an obstacle within an effective detection range by the sensor system during movement of the cleaning robot;

[0094] in the case that the obstacle indicated by the three-dimensional information is animal excrement, performing a matched avoidance operation, so that the minimum distance between the cloth tray of the cleaning robot and the obstacle is greater than a forty-fourth distance threshold and less than a forty-fifth distance threshold, and the distance between the body of the cleaning robot and the obstacle is greater than or equal to a forty-sixth distance threshold and less than or equal to a forty-seventh distance threshold.

[0095] In one embodiment, the forty-fourth distance threshold is greater than 0 cm and less than 20 cm, and the forty-fifth distance threshold is greater than 0 cm and less than 50 cm; the forty-sixth distance threshold is greater than 0 cm and less than 20 cm, and the forty-seventh distance threshold is greater than 0 cm and less than 50 cm.

[0096] In one embodiment, the forty-fourth distance threshold is 5 mm to 5 cm, and the forty-fifth distance threshold is 5 cm to 20 cm; the forty-sixth distance threshold is 1 cm to 5 cm, and the forty-seventh distance threshold is 5 cm to 20 cm.

[0097] Based on the control method of the cleaning robot and the cleaning robot provided in the specification, during the movement of the cleaning robot, the three-dimensional information of the obstacles in the effective detection range can be collected by the sensor system. In the case where the three-dimensional information of the obstacles is detected and the obstacles are animal excrement, the matched avoidance action can be performed to make the minimum distance between the side brush of the cleaning robot and the obstacles greater than the thirtieth distance threshold and less than the thirty-first distance threshold, and to make the distance between the body of the cleaning robot and the obstacles greater than or equal to the thirty-second distance threshold and less than or equal to the thirty-third distance threshold. By the sensor system capable of acquiring the three-dimensional information of the obstacles, the obstacles can be accurately identified, and very complex and special obstacles can be identified. In particular, the cleaning robot may encounter special obstacle scenarios such as animal excrement during movement, thereby effectively avoiding the situation that the cleaning robot touches the animal excrement and the body and related cleaning components are contaminated. In addition, the further pollution of the contaminated cleaning robot to the cleaning environment during continuous work is also avoided. Thus, the diversified, refined and intelligent obstacle avoidance requirements of the cleaning robot in the cleaning environment for specific types of obstacles are met, the interference that causes the normal operation of the cleaning robot is reduced, the mobility of the autonomous operation of the cleaning robot is improved, and the user experience is improved. In addition, on the basis of the accurate identification of the obstacles by the sensor system, the cleaning environment can be clearly and specifically identified, and even a three-dimensional mapping of the entire cleaning environment is realized. Thus, the cleaning strategy generated by the cleaning robot based on the three-dimensional mapping is more accurate and intelligent, the cleaning environment is more finely and comprehensively cleaned, and the range of missed cleaning is effectively reduced, and a better cleaning effect is obtained.

[0098] The specification also provides a control method of a cleaning robot, applied to a cleaning robot, the cleaning robot comprising a sensor system capable of acquiring three-dimensional information of obstacles, and a cleaning component comprising a cloth tray; the method comprises: detecting three-dimensional information of obstacles by the sensor system during movement of the cleaning robot; in the case where the obstacle indicated by the three-dimensional information is a first bottle-shaped obstacle, controlling the cleaning robot to avoid obstacles, and performing a specific obstacle avoidance action during obstacle avoidance to make the horizontal distance between the cloth tray of the cleaning robot and the first bottle-shaped obstacle greater than or equal to a forty-eighth distance threshold and less than or equal to a forty-ninth distance threshold, and the minimum horizontal distance between the body of the cleaning robot and the first bottle-shaped obstacle greater than or equal to a fiftieth distance threshold, so that the cleaning robot sweeps the edge of the first bottle-shaped obstacle without knocking it down or contaminating it.

[0099] The bottle-shaped obstacle usually has a feature of a height greater than a width, for example, the height is 1.2-3 times the width, and the difference between the height and the width causes the bottom of the bottle-shaped obstacle to be unstable after being hit, and thus the bottle-shaped obstacle is tilted or even broken. The first bottle-shaped obstacle contains a fragile material, and is easily damaged if it is knocked down.

[0100] The control method of the cleaning robot provided in the present application detects the three-dimensional information of the obstacle through the sensor system during the travel of the cleaning robot, and can more accurately determine the type of the obstacle and the actual horizontal distance between each part on the cleaning robot and the obstacle according to the three-dimensional information of the obstacle, so as to more accurately control the cleaning robot to maintain a specific distance from the first bottle-shaped obstacle, and prevent the cleaning robot from knocking down or even breaking the first bottle-shaped obstacle.

[0101] Specifically, in the case where the obstacle indicated by the three-dimensional information of the obstacle is the first bottle-shaped obstacle, the cleaning robot is controlled to perform a specific obstacle avoidance action. On the one hand, the specific obstacle avoidance action causes the horizontal distance between the cleaning robot's mop tray and the first bottle-shaped obstacle to be greater than or equal to the forty-eighth distance threshold, and the horizontal distance between the cleaning robot's body and the first bottle-shaped obstacle to be greater than or equal to the fiftieth distance threshold, and this setting of the obstacle avoidance action causes the first bottle-shaped obstacle to not be knocked down or broken by the cleaning robot during cleaning. On the other hand, the specific obstacle avoidance action causes the horizontal distance between the cleaning robot's mop tray and the first bottle-shaped obstacle to be less than or equal to the forty-ninth distance threshold, and this setting of the obstacle avoidance action causes the ground around the first bottle-shaped obstacle to be cleaned, i.e., more ground area can be cleaned as much as possible, achieving fine obstacle avoidance of the first bottle-shaped obstacle, reducing hygiene dead angles, and improving the ground cleaning effect. The entire cleaning process does not require the user to move the bottle-shaped obstacle, reducing the user's burden, improving the user experience, and avoiding property loss.

[0102] In addition, in the case where the mop tray rotates around its own axis while working, the specific obstacle avoidance action "causes the horizontal distance between the cleaning robot's mop tray and the first bottle-shaped obstacle to be greater than or equal to the forty-eighth distance threshold" can also avoid the water on the rotating mop tray from being thrown to the bottom surface of the first bottle-shaped obstacle due to centrifugal force, thereby polluting the first bottle-shaped obstacle.

[0103] The present specification also provides a control method of a cleaning robot, applied to a cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component comprising a cloth tray; the method comprises: detecting three-dimensional information of an obstacle by the sensor system during travel of the cleaning robot; in the case that the obstacle indicated by the detected three-dimensional information is a second bottle-shaped obstacle, controlling the cleaning robot to avoid the obstacle, and performing a specific obstacle-avoiding action during obstacle avoidance, so that the horizontal distance between the cloth tray of the cleaning robot and the second bottle-shaped obstacle is greater than or equal to a fifty-first distance threshold and less than or equal to a fifty-second distance threshold, and the minimum horizontal distance between the body of the cleaning robot and the second bottle-shaped obstacle is greater than or equal to a fifty-third distance threshold, so that the cleaning robot cleans the edge of the second bottle-shaped obstacle without knocking it down or contaminating it; wherein the second bottle-shaped obstacle refers to a bottle-shaped obstacle that does not contain fragile materials.

[0104] Bottle-shaped obstacles generally have a feature that the height is greater than the width, for example, the height is 1.2-3 times the width. This difference in height and width causes the bottom of the bottle-shaped obstacle to be unstable after being hit, and thus to be knocked over or even broken. Although the second bottle-shaped obstacle does not contain fragile materials, some second bottle-shaped obstacles are either light and easy to push, or heavy and hard, and make a loud noise when knocked over.

[0105] The control method of the cleaning robot provided in the present application can detect three-dimensional information of an obstacle by a sensor system during travel of the cleaning robot, and can more accurately determine the type of the obstacle and the actual horizontal distance between each part of the cleaning robot and the obstacle according to the three-dimensional information of the obstacle, so as to more accurately control the cleaning robot to maintain a specific distance from the second bottle-shaped obstacle, prevent the cleaning robot from knocking over or even breaking the second bottle-shaped obstacle, and thus avoid the second bottle-shaped obstacle from being placed in disorder due to collision, and making a loud noise during cleaning.

[0106] In the case that the three-dimensional information of the obstacle is a second bottle-shaped obstacle, the cleaning robot is controlled to perform a specific obstacle avoidance action. On the one hand, the specific obstacle avoidance action causes the horizontal distance between the cleaning robot's mop tray and the second bottle-shaped obstacle to be greater than or equal to a fifty-first distance threshold, and the horizontal distance between the cleaning robot's body and the second bottle-shaped obstacle to be greater than or equal to a fifty-third distance threshold. This arrangement of the obstacle avoidance action causes the second bottle-shaped obstacle not to be touched or knocked down by the cleaning robot during cleaning, resulting in the bottle-shaped obstacle being placed in disarray and generating a large noise. On the other hand, the specific obstacle avoidance action causes the horizontal distance between the cleaning robot's mop tray and the second bottle-shaped obstacle to be less than a fifty-second distance threshold. This arrangement of the obstacle avoidance action causes the ground around the second bottle-shaped obstacle to be cleaned during cleaning, i.e., more ground area can be cleaned as much as possible, achieving fine obstacle avoidance of the second bottle-shaped obstacle, reducing hygiene dead angles, and improving the ground cleaning effect. The entire cleaning process does not require the user to move the bottle-shaped obstacle, reducing the user's burden, improving the user experience, and not causing property damage.

[0107] In addition, in the case that the mop tray rotates around its own axis while working, the specific obstacle avoidance action "causes the horizontal distance between the cleaning robot's mop tray and the first bottle-shaped obstacle to be greater than or equal to a forty-eighth distance threshold". This arrangement can also prevent water on the rotating mop tray from being thrown to the bottom surface of the first bottle-shaped obstacle due to centrifugal force, thereby contaminating the first bottle-shaped obstacle.

[0108] Due to the fragile nature of the first bottle-shaped obstacle, the cleaning robot needs to leave more distance thresholds to avoid the cleaning robot colliding with the first bottle-shaped obstacle and damaging it in the case that the cleaning robot does not travel according to the planned path due to external factors such as self-control errors of the cleaning robot, external foreign object impacts, etc. The collision requirement of the second bottle-shaped obstacle is relatively low, i.e., even a slight scratch between the mop tray, the body, and the second bottle-shaped obstacle is acceptable. Based on this, in one case, the control method of the cleaning robot provided by the present application sets the forty-eighth distance threshold to be greater than or equal to the fifty-first distance threshold, and the fiftieth distance threshold to be greater than or equal to the fifty-third distance threshold, in order to clean as much area as possible.

[0109] The present specification also provides a control method of a cleaning robot, applied to a cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component comprising a dust suction port arranged at the bottom of the cleaning robot; the method comprises: detecting three-dimensional information of an obstacle by the sensor system during the travel of the cleaning robot; in the case that the obstacle indicated by the detected three-dimensional information is a bottle-shaped obstacle and the bottle-shaped obstacle has a strip-shaped object falling to the ground, controlling the cleaning robot to avoid the obstacle, and performing a specific obstacle avoidance action during the obstacle avoidance to make the horizontal distance between the dust suction port of the cleaning robot and the strip-shaped object falling to the ground greater than or equal to a fifty-fourth distance threshold, and the maximum distance between the cleaning cloth disc of the cleaning robot and the strip-shaped object falling to the ground less than or equal to a fifty-fifth distance threshold, so as to avoid the strip-shaped object falling to the ground being sucked into the dust suction port while sweeping the edge of the strip-shaped object falling to the ground.

[0110] The bottle-shaped obstacle generally has a feature that the height is greater than the width, for example, the height is 1.2-3 times the width, and the difference between the height and the width causes the bottom of the bottle-shaped obstacle to be unstable after being hit, so as to be tilted or even broken. In an indoor environment, if the strip-shaped object of the bottle-shaped obstacle (such as a flowerpot with green plants) is rolled into the dust suction port of the cleaning robot and moves with the cleaning robot, the bottle-shaped obstacle is easily pulled, causing the bottle-shaped obstacle to be tilted or even broken.

[0111] The control method of the cleaning robot provided in the present application can detect three-dimensional information of an obstacle by a sensor system during the travel of the cleaning robot, and can more accurately determine the type of the obstacle and the actual horizontal distance between each part of the cleaning robot and the obstacle according to the three-dimensional information of the obstacle, so as to more accurately control the cleaning robot to maintain a specific distance from the strip-shaped object falling to the ground, and prevent the cleaning robot from rolling the strip-shaped object into the dust suction port and pulling the bottle-shaped obstacle, thereby preventing the bottle-shaped obstacle from being tilted or even broken.

[0112] In the case that the obstacle indicated by the three-dimensional information of the obstacle is a bottle-shaped obstacle and has a strip vertically to the ground, the cleaning robot is controlled to perform a specific obstacle avoidance action. On the one hand, since the horizontal distance between the dust suction port of the cleaning robot and the strip vertically to the ground during obstacle avoidance is greater than or equal to the fifty-fourth distance threshold, this setting of the obstacle avoidance action makes it difficult for the strip to be sucked during cleaning, so that the bottle-shaped obstacle is not pulled by the strip, causing the bottle-shaped obstacle to be tilted or damaged. On the other hand, the maximum horizontal distance between the cleaning cloth disc of the cleaning robot and the strip vertically to the ground during obstacle avoidance is less than or equal to the fifty-fifth distance threshold, which makes the cleaning cloth disc not too far away from the strip vertically to the ground during cleaning, so that the ground around the strip can be cleaned, that is, more ground area can be cleaned as much as possible, achieving fine obstacle avoidance for the first bottle-shaped obstacle, reducing the dead angle of cleaning, and improving the ground cleaning effect. The entire cleaning process does not require the user to move the bottle-shaped obstacle, reducing the burden on the user, improving the user experience, and avoiding property damage.

[0113] The present specification also provides a control method of a cleaning robot, applied to a cleaning robot, the cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component, the cleaning component comprising a first cleaning cloth disc and a second cleaning cloth disc, the second cleaning cloth disc protruding out of the profile of the body of the cleaning robot, the first cleaning cloth disc and the second cleaning cloth disc are both disc-shaped, and the radius of the second cleaning cloth disc is smaller than that of the first cleaning cloth disc; the method comprises: detecting three-dimensional information of an obstacle by the sensor system during the travel of the cleaning robot; in the case that the obstacle indicated by the three-dimensional information is a bottle-shaped obstacle, controlling the cleaning robot to perform obstacle avoidance, and performing a specific obstacle avoidance action during obstacle avoidance, so that the distance between the body of the cleaning robot and the bottle-shaped obstacle is greater than or equal to a fifty-sixth distance threshold, the horizontal distance between the first cleaning cloth disc and the bottle-shaped obstacle and the horizontal distance between the second cleaning cloth disc and the bottle-shaped obstacle are both greater than or equal to a fifty-seventh distance threshold, and the horizontal distance between at least one of the first cleaning cloth disc and the second cleaning cloth disc and the bottle-shaped obstacle is less than or equal to a fifty-eighth distance threshold.

[0114] The bottle-shaped obstacle usually has a feature that the height is greater than the width, for example, the height is 1.2-3 times the width. This difference in height and width causes the bottom of the bottle-shaped obstacle to be unstable after being hit, thereby tilting or even breaking.

[0115] The control method of the cleaning robot provided in the application detects the three-dimensional information of the obstacle through the sensor system during the travel of the cleaning robot, can more accurately determine the type of the obstacle and the actual horizontal distance between each part on the cleaning robot and the obstacle according to the three-dimensional information of the obstacle, and thus can more accurately control the cleaning robot to keep a specific distance from the bottle-shaped obstacle, prevent the cleaning robot from knocking down or even knocking over the bottle-shaped obstacle, and thus avoid the disorder of the placement of the bottle-shaped obstacle and the relatively large noise in the cleaning process.

[0116] In the case that the three-dimensional information of the obstacle is the bottle-shaped obstacle, the cleaning robot is controlled to perform a specific obstacle avoidance action. On the one hand, the specific obstacle avoidance action makes the horizontal distance between the body of the cleaning robot and the bottle-shaped obstacle greater than or equal to a fifty-sixth distance threshold, and the horizontal distance between the first and second cloth plates and the bottle-shaped obstacle greater than or equal to a fifty-seventh distance threshold. This setting of the obstacle avoidance action makes the bottle-shaped obstacle not be knocked by the cleaning robot during the cleaning process, so as to prevent the disorder of the placement of the bottle-shaped obstacle. On the other hand, the specific obstacle avoidance action makes the horizontal distance between at least one of the first and second cloth plates of the cleaning robot and the bottle-shaped obstacle less than a fifty-eighth distance threshold. This setting of the obstacle avoidance action makes the ground around the bottle-shaped obstacle be cleaned during the cleaning process, that is, more ground area can be cleaned as much as possible, the fine obstacle avoidance for the bottle-shaped obstacle is realized, the health dead angle is reduced, and the ground cleaning effect is improved. The entire cleaning process does not need the user to move the bottle-shaped obstacle, the burden of the user is reduced, the user experience is improved, and property loss is avoided.

[0117] The present specification also provides a control method of a cleaning robot, applied to a cleaning robot, the cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component, the cleaning component comprising a cloth tray, the cloth tray having a third position state, a fourth position state, and the fourth position state extending outward relative to the third position state; the method comprising: detecting three-dimensional information of an obstacle by the sensor system during travel of the cleaning robot; in the case that the obstacle indicated by the three-dimensional information is a bottle-shaped obstacle, controlling the cleaning robot to avoid the obstacle, and performing a specific obstacle avoidance action during obstacle avoidance, so that the horizontal distance between the body of the cleaning robot and the bottle-shaped obstacle is greater than or equal to a fifty-ninth distance threshold, and the horizontal distance between the cloth tray of the cleaning robot and the bottle-shaped obstacle is greater than or equal to a sixtieth distance threshold and less than or equal to a sixty-first distance threshold; if the bottle-shaped obstacle is outwardly expanded from bottom to top within a predetermined height on the ground, the specific obstacle avoidance action comprises maintaining the cloth tray in the fourth position state when the cleaning robot is located at the edge of the bottle-shaped obstacle; wherein the predetermined height is less than or equal to the height of the body of the cleaning robot.

[0118] The bottle-shaped obstacle generally has a feature that the height is greater than the width, for example, the height is 1.2-3 times the width, and the difference between the height and the width causes the bottom of the bottle-shaped obstacle to be unstable after being hit, thereby tilting and even breaking. For an obstacle that is outwardly expanded from bottom to top within the height of the body of the cleaning robot, in the case that the cloth tray is in the third position state, the body of the cleaning robot may have hit the bottle-shaped obstacle, but the distance between the cloth tray and the bottle-shaped obstacle is far, and in this case, the bottle-shaped obstacle cannot be cleaned within a long distance range around the edge.

[0119] The control method of the cleaning robot provided in the present application, when detecting that the obstacle in front is outwardly expanded from bottom to top within a predetermined height on the ground, controls the cleaning robot to maintain the cloth tray of the cleaning robot in the fourth position state when the cleaning robot is located at the edge of the bottle-shaped obstacle. This setting makes the cleaning robot suitable for the special structure of the bottle-shaped obstacle to determine the state of the cloth tray, and can clean more ground area around the edge of the bottle-shaped obstacle when the cleaning robot cannot travel to the edge of the bottle-shaped obstacle, maintain the body from hitting the bottle-shaped obstacle, and reduce the sanitary dead angle and improve the ground cleanliness.

[0120] The control method of the cleaning robot provided in the application detects the three-dimensional information of the obstacle through the sensor system during the travel of the cleaning robot, can more accurately determine the type of the obstacle and the actual horizontal distance between each part on the cleaning robot and the obstacle according to the three-dimensional information of the obstacle, and thus can more accurately control the cleaning robot to keep a specific distance from the bottle-shaped obstacle and prevent the cleaning robot from knocking down or even damaging the bottle-shaped obstacle.

[0121] In the case where the three-dimensional information of the obstacle is a bottle-shaped obstacle, the cleaning robot is controlled to perform a specific obstacle avoidance action. On the one hand, the specific obstacle avoidance action makes the horizontal distance between the body of the cleaning robot and the bottle-shaped obstacle greater than or equal to a fifty-ninth distance threshold and the horizontal distance between the cleaning cloth tray and the bottle-shaped obstacle greater than or equal to a sixtieth distance threshold, and this setting of the obstacle avoidance action makes the bottle-shaped obstacle not be touched or knocked down by the cleaning robot during cleaning, so as to cause the bottle-shaped obstacle to be placed in disorder. On the other hand, the specific obstacle avoidance action makes the horizontal distance between the cleaning cloth tray of the cleaning robot and the bottle-shaped obstacle less than or equal to a sixty-first distance threshold, and this setting of the obstacle avoidance action makes the ground around the bottle-shaped obstacle be cleaned during cleaning, that is, more ground area can be cleaned as much as possible, the fine obstacle avoidance of the bottle-shaped obstacle is realized, the sanitary dead angle is reduced, and the ground cleaning effect is improved. The entire cleaning process does not need the user to move the bottle-shaped obstacle, reduces the burden of the user, improves the user experience, and does not cause property loss.

[0122] The present specification also provides a control method of a cleaning robot, applied to a cleaning robot, the cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component, the cleaning component comprising a cleaning cloth tray; the method comprising: detecting three-dimensional information of an obstacle through the sensor system during travel of the cleaning robot; in the case where the obstacle indicated by the three-dimensional information is a bottle-shaped obstacle, controlling the cleaning robot to avoid obstacles, and performing a specific obstacle avoidance action during obstacle avoidance, so as to make the horizontal distance between the body of the cleaning robot and the bottle-shaped obstacle greater than or equal to a sixty-second distance threshold and less than or equal to a sixty-third distance threshold, and / or make the horizontal distance between the cleaning cloth tray of the cleaning robot and the bottle-shaped obstacle greater than or equal to a sixty-fourth distance threshold and less than or equal to a sixty-fifth distance threshold.

[0123] The control method of the cleaning robot provided in the application detects the three-dimensional information of the obstacle through the sensor system during the travel of the cleaning robot, can more accurately determine the type of the obstacle and the actual horizontal distance between each part on the cleaning robot and the obstacle according to the three-dimensional information of the obstacle, can more accurately control the cleaning robot to keep a specific distance from the bottle-shaped obstacle, prevent the cleaning robot from knocking down or even knocking over the bottle-shaped obstacle, and clean more ground area as much as possible, realize fine obstacle avoidance for the bottle-shaped obstacle, reduce the sanitary dead angle, and improve the ground cleaning effect. The entire cleaning process does not require the user to move the bottle-shaped obstacle, reduces the burden of the user, improves the user experience, and does not cause property loss.

[0124] The present specification also provides a control method of a cleaning robot, wherein a cleaning component including a main brush and a sensor system capable of acquiring three-dimensional information of an obstacle are arranged on the cleaning robot, the main brush is arranged in a main brush cavity at the bottom of the body of the cleaning robot, and the main brush cavity is in communication with a dust suction channel of the cleaning robot; the method comprises:

[0125] During the travel of the cleaning robot, the three-dimensional information of the obstacle in the effective detection range is collected by the sensor system;

[0126] When the obstacle indicated by the three-dimensional information is a paper-based obstacle or a plastic bag with a specific size, a matching obstacle avoidance action is performed to make the distance between the main brush and the paper-based obstacle or plastic bag greater than or equal to a sixty-eighth distance threshold and less than or equal to a sixty-ninth distance threshold, and the distance between the body of the cleaning robot and the paper-based obstacle or plastic bag is greater than or equal to a seventieth distance threshold and less than or equal to a seventy-first distance threshold,

[0127] In the process of performing the matching obstacle avoidance action, the body of the cleaning robot and the paper-based obstacle or plastic bag have an interference state, and the interference amount in the interference state is less than the absolute value of the seventieth distance threshold.

[0128] The control method of the cleaning robot in the embodiments of the present specification can identify the specific type of the obstacle through the sensor system, and perform fine obstacle avoidance on paper obstacles or plastic bags. When the distance between the main brush and the paper obstacle or the plastic bag is greater than or equal to the sixty-eighth distance threshold, the distance between the main brush and the paper obstacle or the plastic bag can be prevented from being too close, so that the paper obstacle or the plastic bag is not wound around the main brush or blocked in the air duct, thereby ensuring the normal cleaning action of the main brush and the air duct. When the distance between the main brush and the paper obstacle or the plastic bag is less than or equal to the sixty-ninth distance threshold, the distance between the main brush and the paper obstacle or the plastic bag can be prevented from being too far, thereby affecting the cleaning effect. When the distance between the body and the paper obstacle or the plastic bag is greater than or equal to the seventieth distance threshold, the distance between the body or the driving wheel and the paper obstacle or the plastic bag can be prevented from being too close, so that the paper obstacle or the plastic bag is not wound around the body or the driving wheel, thereby ensuring the normal travel of the cleaning robot. When the distance between the body and the paper obstacle or the plastic bag is less than or equal to the seventy-first distance threshold, the distance between the body and the paper obstacle or the plastic bag can be prevented from being too far, thereby causing missed cleaning and affecting the cleaning effect. Through the sixty-eighth distance threshold, the sixty-ninth distance threshold, the seventieth distance threshold, and the seventy-first distance threshold, the paper obstacle or the plastic bag can be kept at an appropriate distance from the main brush and the body at the same time. The interference between the body and the paper obstacle or the plastic bag is also considered, and the interference amount in the interference state is less than the absolute value of the seventieth distance threshold. In this way, the horizontal projection of the body and the horizontal projection of the paper obstacle or the plastic bag can be in contact or partially overlapped, thereby further improving the cleaning effect. Since the main brush and the body are considered at the same time, and the interference between the body and the paper obstacle or the plastic bag is also considered, more fine obstacle avoidance can be achieved.

[0129] The embodiments of the present specification also provide another control method of a cleaning robot, wherein a cleaning component including a main brush and an edge brush is arranged on the cleaning robot, and a sensor system capable of acquiring three-dimensional information of an obstacle is arranged on the cleaning robot, the main brush is arranged in a main brush cavity at the bottom of the body of the cleaning robot, the main brush cavity is in communication with a dust suction channel of the cleaning robot, the edge brush has an inner retracted state and an outer swinging state, and the part of the edge brush located outside the body in the outer swinging state is larger than the part of the edge brush located outside the body in the inner retracted state; the method comprises:

[0130] In the travel process of the cleaning robot, the sensor system acquires the three-dimensional information of the obstacle in the effective detection range;

[0131] When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag, a matching obstacle avoidance action is performed to make the distance between the main brush and the paper obstacle or the plastic bag greater than or equal to a sixty-eighth distance threshold and less than or equal to a sixty-ninth distance threshold, and the distance between the side brush and the paper obstacle or the plastic bag greater than or equal to a seventy-second distance threshold and less than or equal to a seventy-third distance threshold.

[0132] The control method of the cleaning robot can identify the specific type of the obstacle through the sensor system, and perform fine obstacle avoidance on the paper obstacle or the plastic bag. When the distance between the main brush and the paper obstacle or the plastic bag is greater than or equal to the sixty-eighth distance threshold, the distance between the main brush and the paper obstacle or the plastic bag can be prevented from being too close, so that the paper obstacle or the plastic bag is not wound around the main brush or blocked in the air duct, and the main brush and the air duct can perform normal cleaning actions. When the distance between the main brush and the paper obstacle or the plastic bag is less than or equal to the sixty-ninth distance threshold, the distance between the main brush and the paper obstacle or the plastic bag can be prevented from being too far, which affects the cleaning effect. When the distance between the side brush and the paper obstacle or the plastic bag is greater than or equal to the seventy-second distance threshold, the distance between the side brush and the paper obstacle or the plastic bag can be prevented from being too close, so that the paper obstacle or the plastic bag is not wound around the side brush, and the side brush can perform normal cleaning actions. When the distance between the side brush and the paper obstacle or the plastic bag is less than or equal to the seventy-third distance threshold, the distance between the side brush and the paper obstacle or the plastic bag can be prevented from being too far, which causes missed cleaning and affects the cleaning effect. Through the sixty-eighth distance threshold, the sixty-ninth distance threshold, the seventy-second distance threshold, and the seventy-third distance threshold, the paper obstacle or the plastic bag can be kept at an appropriate distance from the main brush and the side brush. By considering the distance between the main brush and the outwardly extending or inwardly retracting side brush and other cleaning components, more fine obstacle avoidance can be achieved.

[0133] The control method of the cleaning robot can identify the specific type of the obstacle through the sensor system, and perform fine obstacle avoidance on the paper obstacle or the plastic bag. When the distance between the main brush and the paper obstacle or the plastic bag is greater than or equal to the sixty-eighth distance threshold, the distance between the main brush and the paper obstacle or the plastic bag can be prevented from being too close, so that the paper obstacle or the plastic bag is not wound around the main brush or blocked in the air duct, and the main brush and the air duct can perform normal cleaning actions. When the distance between the main brush and the paper obstacle or the plastic bag is less than or equal to the sixty-ninth distance threshold, the distance between the main brush and the paper obstacle or the plastic bag can be prevented from being too far, which affects the cleaning effect. When the distance between the side brush and the paper obstacle or the plastic bag is greater than or equal to the seventy-second distance threshold, the distance between the side brush and the paper obstacle or the plastic bag can be prevented from being too close, so that the paper obstacle or the plastic bag is not wound around the side brush, and the side brush can perform normal cleaning actions. When the distance between the side brush and the paper obstacle or the plastic bag is less than or equal to the seventy-third distance threshold, the distance between the side brush and the paper obstacle or the plastic bag can be prevented from being too far, which causes missed cleaning and affects the cleaning effect. Through the sixty-eighth distance threshold, the sixty-ninth distance threshold, the seventy-second distance threshold, and the seventy-third distance threshold, the paper obstacle or the plastic bag can be kept at an appropriate distance from the main brush and the side brush. By considering the distance between the main brush and the outwardly extending or inwardly retracting side brush and other cleaning components, more fine obstacle avoidance can be achieved.

[0134] During the travel of the cleaning robot, the sensor system collects three-dimensional information of the obstacle in the effective detection range;

[0135] When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag, a matching obstacle avoidance action is performed to make the distance between the main brush and the paper obstacle or the plastic bag greater than or equal to a sixty-eighth distance threshold and less than or equal to a sixty-ninth distance threshold, and the distance between the first cloth disc and the paper obstacle or the plastic bag greater than or equal to a seventy-fourth distance threshold and less than or equal to a seventy-fifth distance threshold.

[0136] The control method of the cleaning robot can identify the specific type of the obstacle through the sensor system, and perform fine obstacle avoidance on the paper obstacle or the plastic bag. The distance between the main brush and the paper obstacle or the plastic bag is greater than or equal to the sixty-eighth distance threshold, which can prevent the distance between the main brush and the paper obstacle or the plastic bag from being too close, so that the paper obstacle or the plastic bag is not wound around the main brush or blocked in the air duct, ensuring that the main brush and the air duct can perform normal cleaning actions. The distance between the main brush and the paper obstacle or the plastic bag is less than or equal to the sixty-ninth distance threshold, which can prevent the distance between the main brush and the paper obstacle or the plastic bag from being too far, affecting the cleaning effect. The distance between the first cloth disc and the paper obstacle or the plastic bag is greater than or equal to the seventy-fourth distance threshold, which can prevent the distance between the first cloth disc and the paper obstacle or the plastic bag from being too close, so that the paper obstacle or the plastic bag is not wound around the first cloth disc in the outwardly extended or inwardly retracted state, ensuring that the first cloth disc can perform normal cleaning actions. The distance between the first cloth disc and the paper obstacle or the plastic bag is less than or equal to the seventy-fifth distance threshold, which can prevent the distance between the first cloth disc and the paper obstacle or the plastic bag from being too far, causing missed cleaning and affecting the cleaning effect. The sixty-eighth distance threshold, the sixty-ninth distance threshold, the seventy-fourth distance threshold, and the seventy-fifth distance threshold can make the paper obstacle or the plastic bag maintain an appropriate distance from the main brush and the first cloth disc. By considering the distance between the main brush and the outwardly extended or inwardly retracted first cloth disc and other cleaning components, more fine obstacle avoidance can be achieved.

[0137] The control method of the cleaning robot can identify the specific type of the obstacle through the sensor system, and perform fine obstacle avoidance on the paper obstacle or the plastic bag. The distance between the main brush and the paper obstacle or the plastic bag is greater than or equal to the sixty-eighth distance threshold, which can prevent the distance between the main brush and the paper obstacle or the plastic bag from being too close, so that the paper obstacle or the plastic bag is not wound around the main brush or blocked in the air duct, ensuring that the main brush and the air duct can perform normal cleaning actions. The distance between the main brush and the paper obstacle or the plastic bag is less than or equal to the sixty-ninth distance threshold, which can prevent the distance between the main brush and the paper obstacle or the plastic bag from being too far, affecting the cleaning effect. The distance between the first cloth disc and the paper obstacle or the plastic bag is greater than or equal to the seventy-fourth distance threshold, which can prevent the distance between the first cloth disc and the paper obstacle or the plastic bag from being too close, so that the paper obstacle or the plastic bag is not wound around the first cloth disc in the outwardly extended or inwardly retracted state, ensuring that the first cloth disc can perform normal cleaning actions. The distance between the first cloth disc and the paper obstacle or the plastic bag is less than or equal to the seventy-fifth distance threshold, which can prevent the distance between the first cloth disc and the paper obstacle or the plastic bag from being too far, causing missed cleaning and affecting the cleaning effect. The sixty-eighth distance threshold, the sixty-ninth distance threshold, the seventy-fourth distance threshold, and the seventy-fifth distance threshold can make the paper obstacle or the plastic bag maintain an appropriate distance from the main brush and the first cloth disc. By considering the distance between the main brush and the outwardly extended or inwardly retracted first cloth disc and other cleaning components, more fine obstacle avoidance can be achieved.

[0138] During the travel of the cleaning robot, the sensor system collects the three-dimensional information of the obstacle within the effective detection range;

[0139] When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag, a matching obstacle avoidance action is performed to make the distance between the main brush and the paper obstacle or the plastic bag greater than or equal to a sixty-eighth distance threshold and less than or equal to a sixty-ninth distance threshold, the distance between the first cloth disc and the paper obstacle or the plastic bag greater than or equal to a seventy-fourth distance threshold and less than or equal to a seventy-fifth distance threshold, and the distance between the second cloth disc and the paper obstacle or the plastic bag greater than or equal to a seventy-sixth distance threshold and less than or equal to a seventy-seventh distance threshold.

[0140] The control method of the cleaning robot can identify the specific type of the obstacle through the sensor system, and perform fine obstacle avoidance on the paper obstacle or the plastic bag. The distance between the main brush and the paper obstacle or the plastic bag is greater than or equal to the sixty-eighth distance threshold, which can avoid the distance between the main brush and the paper obstacle or the plastic bag being too close, so that the paper obstacle or the plastic bag is not wound around the main brush or blocked in the air duct, and the main brush and the air duct can perform normal cleaning actions. The distance between the main brush and the paper obstacle or the plastic bag is less than or equal to the sixty-ninth distance threshold, which can avoid the distance between the main brush and the paper obstacle or the plastic bag being too far, affecting the cleaning effect. The distance between the first cloth disc and the paper obstacle or the plastic bag is greater than or equal to the seventy-fourth distance threshold, which can avoid the distance between the first cloth disc and the paper obstacle or the plastic bag being too close, so that the paper obstacle or the plastic bag is not wound around the first cloth disc, and the first cloth disc can perform normal cleaning actions. The distance between the first cloth disc and the paper obstacle or the plastic bag is less than or equal to the seventy-fifth distance threshold, which can avoid the distance between the first cloth disc and the paper obstacle or the plastic bag being too far, causing missed cleaning and affecting the cleaning effect. The distance between the second cloth disc and the paper obstacle or the plastic bag is greater than or equal to the seventy-sixth distance threshold, which can avoid the distance between the second cloth disc and the paper obstacle or the plastic bag being too close, so that the paper obstacle or the plastic bag is not wound around the second cloth disc, and the second cloth disc can perform normal cleaning actions. The distance between the second cloth disc and the paper obstacle or the plastic bag is less than or equal to the seventy-seventh distance threshold, which can avoid the distance between the second cloth disc and the paper obstacle or the plastic bag being too far, causing missed cleaning and affecting the cleaning effect. The sixty-eighth distance threshold, the sixty-ninth distance threshold, the seventy-fourth distance threshold, the seventy-fifth distance threshold, the seventy-sixth distance threshold, and the seventy-seventh distance threshold can make the paper obstacle or the plastic bag maintain an appropriate distance from the main brush, the first cloth disc, and the second cloth disc. By considering the distances between the main brush, the first cloth disc, the second cloth disc, and other cleaning components, more fine obstacle avoidance can be achieved.

[0141] The embodiments of the present specification also provide another control method of a cleaning robot, wherein a cleaning component including a main brush is arranged on the cleaning robot, and a sensor system capable of acquiring three-dimensional information of an obstacle is arranged on the cleaning robot; the main brush is arranged in a main brush cavity at the bottom of a body of the cleaning robot, and the main brush cavity is in communication with a dust suction channel of the cleaning robot; and the method comprises the following steps:

[0142] In the process of traveling of the cleaning robot, the three-dimensional information of the obstacle in the effective detection range is acquired by the sensor system.

[0143] When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag with a specific size, a matched obstacle avoidance action is performed to make the distance between the main brush and the paper obstacle or the plastic bag greater than or equal to a sixty-eighth distance threshold and less than or equal to a sixty-ninth distance threshold.

[0144] The control method of the cleaning robot of the embodiments of the present specification, wherein a cleaning component including a main brush is arranged on the cleaning robot, and a sensor system capable of acquiring three-dimensional information of an obstacle is arranged on the cleaning robot. In the process of traveling of the cleaning robot, the three-dimensional information of the obstacle in the effective detection range can be acquired by the sensor system. When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag with a specific size, a matched obstacle avoidance action can be performed to make the distance between the main brush and the paper obstacle or the plastic bag greater than or equal to a sixty-eighth distance threshold and less than or equal to a sixty-ninth distance threshold. In this way, the specific type of the obstacle can be identified by the sensor system, and the paper obstacle or the plastic bag can be subjected to fine obstacle avoidance. The distance between the main brush and the paper obstacle or the plastic bag greater than or equal to the sixty-eighth distance threshold can avoid the distance between the main brush and the paper obstacle or the plastic bag being too close, so that the paper obstacle or the plastic bag is not wound around the main brush or blocked in the air duct, and the normal cleaning action of the main brush and the air duct is ensured. The distance between the main brush and the paper obstacle or the plastic bag less than or equal to the sixty-ninth distance threshold can avoid the distance between the main brush and the paper obstacle or the plastic bag being too far, which affects the cleaning effect. Through the sixty-eighth distance threshold and the sixty-ninth distance threshold, the main brush can maintain an appropriate distance from the paper obstacle or the plastic bag in the obstacle avoidance process, so that more fine obstacle avoidance can be achieved.

[0145] The embodiments of the present specification also provide a cleaning robot, comprising: a body; a cleaning component arranged on the body and used for sweeping the ground in the process of traveling of the cleaning robot; a sensor system arranged on the body and used for acquiring three-dimensional information of an obstacle in the process of traveling of the cleaning robot; and a controller used for executing the control method of the cleaning robot according to any one of the first aspect to the sixth aspect.

[0146] The embodiments of the present specification also provide an electronic device, comprising a memory and a processor, which are in communication connection with each other, and the memory stores computer program instructions, and the processor implements the control method of the cleaning robot according to any one of the first aspect to the sixth aspect by executing the computer program instructions.

[0147] The embodiments of the present specification also provide a computer storage medium, which stores computer program instructions, and the computer program instructions are executed by a processor to implement the control method of the cleaning robot according to any one of the first aspect to the sixth aspect.

[0148] The embodiments of the present specification also provide a computer program product, which contains a computer program, and the computer program is executed by a processor to implement the control method of the cleaning robot according to any one of the first aspect to the sixth aspect. BRIEF DESCRIPTION OF DRAWINGS

[0149] FIG. 1 is a schematic diagram of an embodiment of the structural composition of a cleaning robot to which the control method of the cleaning robot according to the embodiments of the present specification is applied;

[0150] FIG. 2 is a structural schematic diagram of a cleaning component in the embodiments of the present specification;

[0151] FIG. 3 is a schematic diagram of the retracted state and the outward swinging state of a first cloth tray in the embodiments of the present specification;

[0152] FIG. 4 is a schematic diagram of a sensor system in the embodiments of the present specification;

[0153] FIG. 5 is a flowchart of a travel control method in the embodiments of the present specification;

[0154] FIG. 6 is a schematic diagram of an obstacle avoidance process in the embodiments of the present specification;

[0155] FIG. 7 is a schematic diagram of an obstacle avoidance process in the embodiments of the present specification;

[0156] FIG. 8 is a flowchart of a travel control method in the embodiments of the present specification;

[0157] FIG. 9 is a flowchart of a travel control method in the embodiments of the present specification;

[0158] FIG. 10 is a flowchart of a travel control method in the embodiments of the present specification;

[0159] FIG. 11 is a flowchart of a travel control method in the embodiments of the present specification;

[0160] FIG. 12 is a flowchart of a travel control method in the embodiments of the present specification;

[0161] FIG. 13 shows a schematic diagram of an obstacle avoidance process in an embodiment of the present specification;

[0162] FIG. 14 shows a schematic diagram of an obstacle avoidance process in an embodiment of the present specification;

[0163] FIG. 15 shows a schematic diagram of an obstacle avoidance process in an embodiment of the present specification;

[0164] FIG. 16 shows a schematic diagram of an obstacle avoidance process in an embodiment of the present specification;

[0165] FIG. 17 is a flowchart of a control method of a cleaning robot according to an embodiment of the present specification;

[0166] FIG. 18 is a schematic diagram of an embodiment of the control method of a cleaning robot according to an embodiment of the present specification in a scenario example;

[0167] FIG. 19 is a schematic diagram of an embodiment of the control method of a cleaning robot according to an embodiment of the present specification in a scenario example;

[0168] FIG. 20 is a schematic diagram of an embodiment of the control method of a cleaning robot according to an embodiment of the present specification in a scenario example;

[0169] FIG. 21 is a schematic diagram of an embodiment of the control method of a cleaning robot according to an embodiment of the present specification in a scenario example;

[0170] FIG. 22 to FIG. 26 are schematic diagrams of a control method of a cleaning robot according to an embodiment of the present specification;

[0171] FIG. 27 is a schematic diagram of a position relationship between a bottle-shaped obstacle and a cleaning robot in a predetermined height on the ground;

[0172] FIG. 28 is a schematic diagram of a control method of a cleaning robot according to an embodiment of the present specification;

[0173] FIG. 29 is a flowchart of a travel control method according to an embodiment of the present specification;

[0174] FIG. 30 is a schematic diagram of an obstacle avoidance process according to an embodiment of the present specification;

[0175] FIG. 31 is a schematic diagram of an obstacle avoidance process according to an embodiment of the present specification;

[0176] FIG. 32 is a flowchart of a travel control method according to an embodiment of the present specification;

[0177] FIG. 33 is a flowchart of a travel control method according to an embodiment of the present specification;

[0178] FIG. 34 is a flowchart of a travel control method according to an embodiment of the present specification;

[0179] FIG. 35 is a flowchart of a traveling control method according to an embodiment of the present specification;

[0180] FIG. 36 is a schematic diagram of a structure of a cleaning robot according to an embodiment of the present specification;

[0181] FIG. 37 is a schematic diagram of a structure of a control device of a cleaning robot according to an embodiment of the present specification. DETAILED DESCRIPTION

[0182] The technical solutions in the embodiments of the present specification will be described clearly and completely below in conjunction with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some of the embodiments of the present specification, rather than all the embodiments. The specific embodiments described herein are only used to explain the present disclosure, rather than limit the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present disclosure. In addition, the relationship terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. In addition, terms such as greater than or equal to can be understood as greater than or equal to. Terms such as less than or equal to can be understood as less than or equal to.

[0183] The embodiments of the present specification provide a cleaning robot.

[0184] The cleaning robot can be an autonomous robot capable of autonomously moving and autonomously completing a cleaning task in a working area without external human information input and control. The working area can include indoor areas and outdoor areas. The indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. The outdoor areas include lawns, gardens, roads, etc. The cleaning task can include cleaning (such as washing, mopping, sweeping, etc.), mowing lawns, snow removal, etc.

[0185] The cleaning robot includes but is not limited to a sweeping robot, a washing robot, a robot integrating sweeping and mopping, a mowing robot, a snow sweeping robot, etc. The cleaning robot can clean by a front-sweeping and rear-mopping method or a sweeping and mopping separation method. The front-sweeping and rear-mopping method can sweep and mop at the same time, which can improve the cleaning efficiency. The sweeping and mopping separation method can sweep first and then mop after the sweeping is completed, which can improve the cleaning effect.

[0186] In the prior art, a cleaning robot often adopts a unified obstacle avoidance strategy to avoid obstacles of different types. For example, for cat obstacles, the cleaning robot often adopts the same or similar obstacle avoidance actions as other obstacles such as table legs and chair legs. The inventors have found through research that the cleaning robot in the prior art does not have the ability to identify the type of obstacle and cannot identify the specific type of obstacle. Therefore, for cat obstacles, the cleaning robot adopts the same or similar obstacle avoidance actions as other obstacles such as table legs and chair legs. Since the cleaning robot cannot implement fine obstacle avoidance for cat obstacles, the cat obstacles may be startled, affecting the physical and mental health of the cat obstacles. There is also a possibility that the tail of the cat obstacle will be wrapped inside the cleaning robot, such as being sucked into the main brush, causing the cat obstacle to be injured. The tail wrapped inside the cleaning robot may affect the operation of the cleaning robot, even causing the cleaning robot to malfunction, affecting the user experience.

[0187] To this end, please refer to FIG. 1. The cleaning robot provided by the embodiments of the present specification can include a body, a controller, one or more cleaning components, a sensor system composed of one or more sensors, and the like. The shape of the body can be circular, square, or other shapes, such as semi-circular, arc-shaped, triangular, and the like. The above-mentioned circular shape facilitates the rotation of the cleaning components. The above-mentioned special shape facilitates the cleaning of the corner area by the cleaning components. The controller can include a microcontroller unit (MCU). Of course, the controller can also include other devices that can have control functions. The cleaning components can include an edge brush, a main brush (also known as a roller brush), a mop tray (also known as a mop tray), and the like. The edge brush can gather foreign matter, causing the foreign matter to move towards the center of the bottom of the cleaning robot. The main brush is rotatably arranged in the main brush cavity at the bottom of the body of the cleaning robot. The main brush cavity is in communication with the dust suction channel of the cleaning robot, and the dust suction channel is in communication with the dust collection box. The edge brush can gather foreign matter to the bottom of the cleaning robot, and the main brush can sweep up the foreign matter at the bottom of the cleaning robot, and then the foreign matter enters the dust collection box through the dust suction port by the negative pressure generated by the fan. The mop tray is used for mopping or mopping the floor. The mop tray is provided with a mop. The cleaning robot is provided with a water tank. The water in the water tank flows to the mop through the hole to wet the mop. The wet mop is used for mopping the floor. The foreign matter cleaned by the cleaning robot includes but is not limited to dust, hair, and the like. The controller is used to control the cleaning robot, such as controlling the travel of the cleaning robot.

[0188] Specifically, in some embodiments, the sensor system can include a binocular camera disposed at the front of the cleaning robot. On one hand, the cleaning robot can acquire image information of objects in the environment where the cleaning robot is located in visible light and / or infrared light and other wave bands by the camera, so as to identify the type and boundary range of the objects. On the other hand, the cleaning robot can calculate the three-dimensional shape and distance of the objects by the parallax of the two cameras. Further, obstacle avoidance can be performed according to the information of the type of the obstacle, the boundary range, the three-dimensional shape, the distance, etc., and functions such as dirt detection, cleaning surface material detection, threshold step detection, room & furniture recognition, human or pet recognition, etc. can be realized. In some other embodiments, the sensor system can also include a monocular camera and a structured light sensor (such as a line laser sensor, a cross light sensor, etc.) disposed at the front of the cleaning robot. In this way, the cleaning robot can acquire image information of objects in the environment where the cleaning robot is located in visible light and / or infrared light and other wave bands by the monocular camera, so as to identify the type and boundary range of the objects. Further, the cleaning robot can detect the three-dimensional shape and distance of the objects by the structured light sensor, in combination with the motion scanning of the robot, or in combination with the rotation or movement of the LDS sensor. Further, obstacle avoidance can be performed according to the information of the type of the obstacle, the boundary range, the three-dimensional shape, the distance, etc., and functions such as dirt detection, cleaning surface material detection, threshold step detection, room & furniture recognition, human or pet recognition, etc. can be realized.

[0189] In one example embodiment, the cleaning robot can include one or more side brushes. For example, the cleaning robot can include two side brushes. The one or more side brushes can be the same or different. For example, the one or more side brushes can have the same or different shapes. The one or more side brushes can be configured to both be able to swing out. Alternatively, the one or more side brushes can be configured to both be fixed. Alternatively, the one or more side brushes can be configured to have one portion able to swing out and another portion fixed. The swinging out can include swinging out to the outside of the cleaning robot and / or retracting in to the inside of the cleaning robot. In this way, during cleaning of a corner, the side brushes can be controlled to swing out to the outside of the cleaning robot to provide higher coverage and reduce missed cleaning. In addition, given the increased risk of the side brushes swinging out to the outside of the cleaning robot causing the cleaning robot to get stuck, touch an obstacle (be contaminated by the obstacle or contaminate the obstacle), the side brushes can also be controlled to retract in to the inside of the cleaning robot to improve the passability of the cleaning robot. The side brushes can have an in-retracted state and an out-swinged state. The out-swinged state can be a state in which at least a portion of the side brushes swings out to the outside of the cleaning robot. The in-retracted state can be a state in which at least a portion of the side brushes retracts in to the inside of the cleaning robot. In the out-swinged state, the portion of the side brushes that is outside the perimeter of the body is greater than the portion of the side brushes that is outside the perimeter of the body in the in-retracted state. Specifically, in the out-swinged state, at least a portion of the side brushes extends beyond the maximum width position of the edge of the body, or the side brushes can extend beyond the edge of the body of the cleaning robot but not beyond the maximum width position of the edge of the body. In the in-retracted state, the side brushes do not extend beyond the edge of the body of the cleaning robot, or the side brushes can extend beyond the edge of the body of the cleaning robot but not beyond the maximum width position of the edge of the body.

[0190] For example, optionally, the side brushes are one, and the one side brush is disposed on the right side of the cleaning robot or on the left side of the cleaning robot in the advancing direction of the cleaning robot, and the one side brush is a swingable side brush or a non-swingable side brush. Alternatively, the side brushes are two, and the two side brushes are disposed on the left side and the right side of the cleaning robot, and one of the two side brushes is swingable, or both are swingable, or neither is swingable.

[0191] In one example embodiment, please refer to FIG. 2. The cleaning cloth disc can include one or more first cleaning cloth discs. For example, the cleaning cloth disc can include two first cleaning cloth discs. The one or more first cleaning cloth discs can be the same or different. For example, the one or more first cleaning cloth discs can have the same or different diameters. The one or more first cleaning cloth discs can be configured to be able to swing out or be configured to be fixed. Alternatively, the one or more first cleaning cloth discs can be configured to be able to swing out or be configured to be fixed. Alternatively, the one or more first cleaning cloth discs can be configured to be able to swing out or be configured to be fixed. The swing out can include swinging out to the outside of the cleaning robot and / or retracting into the inside of the cleaning robot. In this way, during the edge cleaning process, the first cleaning cloth disc can be controlled to swing out to the outside of the cleaning robot to provide higher coverage and reduce the risk of missed cleaning. In addition, considering the risk of the first cleaning cloth disc swinging out to the outside of the cleaning robot, causing the cleaning robot to be trapped, touching obstacles (being contaminated by obstacles or contaminating obstacles), the first cleaning cloth disc can also be controlled to retract into the inside of the cleaning robot to improve the passability of the cleaning robot. Thus, the first cleaning cloth disc can have a retracted state and a swung-out state. The swung-out state can be a state in which at least part of the first cleaning cloth disc swings out to the outside of the cleaning robot. The retracted state can be a state in which at least part of the first cleaning cloth disc retracts into the inside of the cleaning robot. In the swung-out state, the part of the first cleaning cloth disc located outside the side of the body is greater than the part of the first cleaning cloth disc located outside the side of the body in the retracted state. Specifically, in the swung-out state, at least part of the first cleaning cloth disc exceeds the maximum width position of the edge of the body, or the first cleaning cloth disc can exceed the edge of the body of the cleaning robot, but not exceed the maximum width position of the edge of the body, or the first cleaning cloth disc can exceed the maximum width position of the edge of the body of the cleaning robot or be flush with the maximum width position of the edge of the body. In the retracted state, the first cleaning cloth disc does not exceed the edge of the body of the cleaning robot, or the first cleaning cloth disc can exceed the edge of the body of the cleaning robot, but not exceed the maximum width position of the edge of the body.

[0192] For example, the first cleaning cloth disc can be at least two. At least one of the at least two first cleaning cloth discs can swing out and retract; alternatively, the at least two first cleaning cloth discs can all swing out or none can swing out. Alternatively, the cleaning robot includes two first cleaning cloth discs with the same diameter, and the two first cleaning cloth discs are symmetrically arranged relative to the central axis of the forward direction of the body, so that the cleaning robot has better coverage cleaning effect through the two first cleaning cloth discs.

[0193] The first wiping cloth tray comprises a wiping cloth support and a first wiping cloth, the wiping cloth support comprises a tray structure, and the first wiping cloth is detachably attached to the wiping cloth support. The wiping cloth support comprises a rigid support portion to provide better support performance for the first wiping cloth, and a flexible support portion arranged at the periphery of the rigid support portion, so that when the first wiping cloth tray contacts an obstacle, the flexible support portion can be deformed under force to achieve collision buffering.

[0194] The wiping cloth tray can further comprise one or more second wiping cloth trays. For example, the wiping cloth tray can further comprise two second wiping cloth trays. The one or more second wiping cloth trays can be the same or different. For example, the one or more second wiping cloth trays can have the same or different diameters. The one or more second wiping cloth trays can be arranged to be able to swing. Alternatively, the one or more second wiping cloth trays can also be arranged to be fixed. Alternatively, the plurality of second wiping cloth trays can also be arranged to have a part able to swing and another part fixed. The swinging can include swinging out to the outside of the cleaning robot and / or retracting into the inside of the cleaning robot. In this way, during the edge cleaning process, the second wiping cloth tray can be controlled to swing out to the outside of the cleaning robot to provide higher coverage and reduce the risk of missed cleaning. In addition, considering that the second wiping cloth tray swinging out to the outside increases the risk of the cleaning robot being trapped, touching the obstacle (being contaminated by the obstacle or contaminating the obstacle), the second wiping cloth tray can also be controlled to retract into the inside of the cleaning robot. The second wiping cloth tray can have an inner retracted state and an outer swung state. The outer swung state can be a state in which at least part of the second wiping cloth tray swings out to the outside of the cleaning robot. The inner retracted state can be a state in which at least part of the second wiping cloth tray retracts into the inside of the cleaning robot. The part of the second wiping cloth tray located outside the periphery of the robot body in the outer swung state is greater than the part of the second wiping cloth tray located outside the periphery of the robot body in the inner retracted state. Specifically, in the outer swung state, at least part of the second wiping cloth tray can exceed the maximum width position of the edge of the robot body, or the second wiping cloth tray can exceed the edge of the robot body but not the maximum width position of the edge of the robot body, or the second wiping cloth tray can exceed or be flush with the maximum width position of the edge of the robot body. In the inner retracted state, the second wiping cloth tray does not exceed the edge of the robot body, or the second wiping cloth tray can exceed the edge of the robot body but not the maximum width position of the edge of the robot body.

[0195] The second wiping disc can protrude out of the body profile of the cleaning robot. For example, the second wiping disc can be fixed, and the fixed second wiping disc can protrude out of the body profile of the cleaning robot. For another example, the second wiping disc can swing, and thus has a retracted state and a swung-out state. In the retracted state and / or the swung-out state, the second wiping disc can protrude out of the body profile of the cleaning robot. By providing the second wiping disc, higher coverage can be provided, and the cleaning robot can have a reduced cleaning omission. Further, the first wiping disc can not need to swing, and thus the cleaning robot can have a reduced manufacturing cost while providing higher coverage.

[0196] For example, the wiping disc can include one or two first wiping discs and one or two second wiping discs. The one or two first wiping discs can be fixed. The one or two second wiping discs can also be fixed. The one or two second wiping discs can be used to supplement cleaning of areas that cannot be covered by the first wiping disc during edge cleaning. For example, in the edge area of the cleaning robot, the first wiping disc can be difficult to cover the edge area, and the second wiping disc can protrude out of the body profile of the cleaning robot, and thus can supplement cleaning and reduce cleaning omission. At the same time, the cleaning robot can clean a larger area in one cleaning, and thus can provide higher cleaning efficiency. In this way, since the first wiping disc and the second wiping disc are fixed and do not need to swing, the cleaning robot can have a reduced manufacturing cost while providing higher coverage, and the reliability of the cleaning robot can be improved.

[0197] Optionally, the second wiping disc includes a flexible support and a second wiping cloth connected to the flexible support. When the second wiping disc contacts an obstacle and the obstacle exerts a force on the second wiping disc, the flexible support of the second wiping disc can be deformed under the force to avoid damage and maintain good passability of the cleaning robot.

[0198] For example, the edge brush can be located in front of the main brush along the advancing direction of the cleaning robot, and the main brush can be located in front of the first wiping disc. The cleaning robot can further include a walking system including a walking component. The walking component can be located in front of the first wiping disc along the advancing direction of the cleaning robot; and / or, the first wiping disc and the second wiping disc can be located behind the walking component, and the first wiping disc can be located behind the second wiping disc.

[0199] It should be noted that a center point can be selected on the robot body. For example, the shape of the robot body of the cleaning robot can be circular, and the center point can include the center of the circle. For another example, the shape of the robot body of the cleaning robot can be square, and the center point can include the center point of the square. For another example, the cleaning robot can include two drive wheels, and the center point can include the center point of the line connecting the two drive wheels, for example, the center point can be the center point of the line connecting the rotation centers of the two drive wheels. Then, the position of the maximum width of the edge of the robot body can include the position of the edge of the robot body farthest from the center point in the width direction of the robot body. In addition, the distance between the robot body and the obstacle includes the minimum distance between the outline of the robot body and the obstacle.

[0200] In an example embodiment, referring to FIG. 3. The sensor system can include a monocular sensor, a binocular sensor, a line laser sensor, a plane laser sensor, an LDS sensor (Laser Distance Sensor), a Dtof sensor (Direct Time-of-Flight Sensor), an Itof sensor (Indirect Time-of-Flight Sensor), and any combination thereof. The monocular sensor can include a monocular vision sensor, such as a monocular camera, etc. The binocular sensor can include a binocular vision sensor, such as a binocular camera, etc.

[0201] The sensor system is used to obtain three-dimensional information of the obstacle. The three-dimensional information is used to represent the information of the obstacle in three-dimensional space, including but not limited to three-dimensional ranging, three-dimensional size, three-dimensional shape, etc. Through the three-dimensional information, the cleaning robot can accurately and comprehensively perceive the obstacle, thereby helping the cleaning robot to perform more refined and intelligent obstacle crossing according to the specific type of the obstacle, and avoiding causing obstacle crossing abnormalities. Through the three-dimensional information, not only the cleaning efficiency is improved, but also more possibilities are provided for future cleaning robots. The three-dimensional ranging can include the distance between any part of the obstacle in the three-dimensional space and any part of the cleaning robot. The part of the cleaning robot can include the robot body, the roller brush, the side brush, the cloth tray, etc. of the cleaning robot. The three-dimensional size can include the height information, the width information, the depth information, etc. of the obstacle in the three-dimensional space. The three-dimensional shape can include the outline information of the obstacle in the three-dimensional space. The three-dimensional shape can be used to determine the specific type of the obstacle, and can also be used to determine the pose of the obstacle, etc.

[0202] The sensor system can be installed at a specific position of the cleaning robot. The specific position is used to make the sensor system have a wide field of view so as to capture sufficient surrounding environment information. For example, the specific position can include a charging port position of the cleaning robot, a front of a body of the cleaning robot. Of course, the specific position can also be other positions of the cleaning robot.

[0203] In the process of traveling of the cleaning robot, the sensor system can collect surrounding environment information, and can send the collected information to the controller. The controller can determine three-dimensional information of an obstacle according to the received information. Alternatively, the controller can also send the received information to a server in the background. The server can determine three-dimensional information of the obstacle according to the received information, and can send the three-dimensional information of the obstacle to the controller. The server can be a background-oriented device, and can be a server or a distributed server cluster containing multiple servers. The controller can send the information collected by the sensor system through wireless communication modes such as Bluetooth, IrDA, WI-FI, Ultra Wide Band, Zigbee, Near Field Communication (NFC), etc. The collected information includes but is not limited to image data, contour data, point cloud data, etc. of an object.

[0204] The following examples will be used to illustrate the specific implementation of the sensor system in the embodiments of the present specification.

[0205] In an exemplary embodiment, the sensor system can include a binocular sensor. Through the binocular sensor, three-dimensional information of an object can be obtained. The binocular sensor can be installed at a specific position of the cleaning robot. The specific position is used to make the binocular sensor have a wide field of view so as to capture sufficient surrounding environment information. For example, the specific position can include a charging port position of the cleaning robot, a front of a body of the cleaning robot. Based on the binocular sensor, the structural complexity of the cleaning robot can be reduced, and the cost can be reduced. The internal space of the cleaning robot can also be reduced. The saved space can be used to place a larger dust collection box to improve the cleaning ability. Alternatively, a larger battery can be placed to improve the endurance. The binocular sensor captures image data of two different views of the same scene through multiple (for example, two) cameras. According to the difference between the two image data, the three-dimensional information of the object can be determined. Thus, high-precision three-dimensional scanning of the surrounding environment of the cleaning robot can be realized, and high-resolution perception of the surrounding environment can be realized, for example, perception of objects with a size of 5mm or less.

[0206] The binocular sensor collects two disparity images of different perspectives of the same scene. The matching pixel points in the two disparity images can be obtained by a binocular matching algorithm (such as SAD, SIFT, ORB, BM, etc.). The three-dimensional information of the object can be obtained by a triangulation algorithm according to the matching pixel points, combined with the baseline (the physical distance between the two cameras) and the focal length of the binocular sensor. Of course, the three-dimensional information of the object can also be obtained by using a trained deep learning model according to the two disparity images. The deep learning model can include a convolutional neural network, etc.

[0207] Specifically, the controller can determine the three-dimensional information of the object according to the difference between the two image data. Alternatively, a server facing the background can also determine the three-dimensional information of the object according to the difference between the two image data.

[0208] In an exemplary embodiment, the sensor system can also include any combination of monocular sensors, line laser sensors, LDS sensors, and Dtof sensors. The three-dimensional information of the object can also be obtained by using any combination of the sensors. In this way, the power consumption of the cleaning robot can be reduced compared to the binocular sensor. The plurality of sensors can be installed at a specific position of the cleaning robot. The specific position is used to make the sensor have a wide field of view so as to capture sufficient surrounding environment information. For example, the specific position can include the charging port position of the cleaning robot, the front of the body of the cleaning robot. The combination of the plurality of sensors can be as follows.

[0209] For example, the sensor system can include a monocular sensor and a line laser sensor. The line laser sensor is a ranging sensor based on line laser technology, which realizes ranging by emitting a thin line laser beam and receiving the reflected laser beam, using the scattering principle of laser. Since it can only sense obstacles on the laser line, at least two line laser sensors can be symmetrically arranged at the front of the cleaning robot, and a monocular sensor can be arranged between the at least two line laser sensors. The monocular sensor can collect image data of the object. By registering the data collected by the monocular sensor with the data collected by the line laser sensor, depth information can be added to the image data, so that the three-dimensional information of the object can be obtained.

[0210] For another example, the sensor system can include a monocular sensor and an LDS sensor. The monocular sensor can collect image data of the object. The image data is used to identify the shape, texture, color, and other feature data of the object. The LDS sensor can collect point cloud data of the object. When used in combination, the image data collected by the monocular sensor and the point cloud data collected by the LDS sensor can be fused. The image data is used to assist in analyzing the object in the point cloud to obtain the three-dimensional information of the object.

[0211] Of course, the sensor system can also include two or more of monocular sensor, line laser sensor, LDS sensor, Dtof sensor. Through the combined use of the two or more sensors, three-dimensional information of the object can be obtained. The embodiments of the present specification will not be enumerated one by one here.

[0212] Please refer to FIG. 5, FIG. 6 and FIG. 7. The embodiments of the present specification also provide a control method of the cleaning robot, including the following steps.

[0213] S111: In the process of traveling of the cleaning robot, three-dimensional information of the obstacle in the effective detection range is collected by the sensor system.

[0214] In an example embodiment, the cleaning robot can clean the working area in an arch shape. The cleaning robot can collect three-dimensional information of the obstacle by the sensor system in the process of arch cleaning. Alternatively, the cleaning robot can also collect three-dimensional information of the obstacle by the sensor system in the process of edge cleaning. Alternatively, the cleaning robot can also collect three-dimensional information of the obstacle by the sensor system in the process of returning to the base station. The base station is used for disassembling and / or installing and / or cleaning the cleaning components on the cleaning robot, and can also charge the cleaning robot, and can also clean the sundries in the dust collection box of the cleaning robot.

[0215] In an example embodiment, the effective detection range can include the front area range of the cleaning robot. Specifically, the effective detection range can include at least one of the following: the effective field of view angle range of the monocular vision sensor, the effective field of view angle range of the binocular vision sensor, the effective detection distance range of the line laser sensor, the effective detection distance range of the plane laser sensor, the effective detection distance range of the LDS sensor, the effective detection distance range of the Dtof sensor.

[0216] In the process of traveling, the cleaning robot can detect whether there is an obstacle by the sensor system. For example, the cleaning robot can detect whether there is an obstacle by the ranging type sensor in the sensor system. Specifically, for example, the cleaning robot can emit line laser signals forward by the line laser sensor in the sensor system, and collect and detect whether there is an obstacle according to the returned line laser signals.

[0217] The detection range of the sensor system can be understood as an upper limit range in which the sensor system can detect the presence of an obstacle. For example, when the position of an obstacle relative to the cleaning robot is within the detection range of the sensor system, the cleaning robot can detect the presence of the obstacle through the sensor system; but it may not necessarily be able to effectively collect high-quality, low-error, and required three-dimensional information of the obstacle. In a specific implementation, the cleaning robot can also detect whether there is an obstacle in the detection range in front of the cleaning robot at a regular time or in real time through the sensor system, and compare the detection result at the current time point with the detection result at the adjacent previous time point to determine whether there is an obstacle moving into the detection range of the sensor system at the current time.

[0218] Specifically, for example, according to the detection result at the current time, when it is determined that there is an obstacle in the detection range of the sensor system at the current time, the detection result at the adjacent previous time point can be queried and obtained; according to the detection result at the previous time point, it is determined whether the obstacle exists at the same or similar position region at the previous time point; when it is determined according to the detection result at the previous time point that the obstacle does not exist at the same or similar position region at the previous time point, it can be determined that there is an obstacle moving into the detection range of the sensor at the current time.

[0219] In an exemplary embodiment, during the travel of the cleaning robot, the surrounding environment information in the front region can be collected through the sensor system; and the collected information can be sent to the controller. The controller can determine the three-dimensional information of the obstacle according to the received information. Alternatively, the controller can also send the received information to a server in the background. The server can determine the three-dimensional information of the obstacle according to the received information; and can send the three-dimensional information of the obstacle to the controller.

[0220] For example, the sensor system can include a binocular sensor. The binocular sensor captures image data of two different perspectives of the same scene through multiple (for example, two) cameras. The controller or the server can input the two image data into a trained deep learning model to obtain the three-dimensional information of the obstacle.

[0221] For another example, the sensor system can include a monocular sensor and a line laser sensor. The controller or the server can register the data collected by the monocular sensor with the data collected by the line laser sensor, and can add depth information to the image data collected by the monocular sensor, so as to obtain the three-dimensional information of the obstacle.

[0222] S112: when the obstacle indicated by the three-dimensional information is a feline obstacle including a main body part and a tail part, performing a matching obstacle avoidance action to make the distance between the main body part of the feline obstacle and the body of the cleaning robot greater than or equal to a first distance threshold and less than or equal to a second distance threshold, wherein the main body part is a part of the feline obstacle other than the tail part.

[0223] The feline obstacle generally includes a cat head, a cat body, cat limbs, and a cat tail, and the cat head, the cat limbs, and the cat tail are connected to the cat body. The main body part includes a part of the feline obstacle other than the tail part, that is, the main body part includes the cat head, the cat body, and the cat limbs of the feline obstacle.

[0224] In an example embodiment, when the obstacle indicated by the three-dimensional information is a feline obstacle including a main body part and a tail part, and the positional relationship between the feline obstacle and the cleaning robot meets a preset obstacle avoidance condition, the obstacle avoidance action is performed. The preset obstacle avoidance condition can include at least one of the following: the distance between the cleaning robot and the feline obstacle is within a preset distance range, the feline obstacle is within a preset field of view angle range of the cleaning robot, the feline obstacle is on the travel path of the cleaning robot, there is currently a space that enables the cleaning robot to avoid obstacles, and the like. The distance between the cleaning robot and the feline obstacle includes the minimum distance between the cleaning robot and the feline obstacle. The space that enables the cleaning robot to avoid obstacles currently can include a retreating space, a turning space, and the like. The three-dimensional environmental information can be collected by a sensor system. Whether the preset obstacle avoidance condition is met can be determined by the three-dimensional environmental information. For example, whether there is a space that enables the cleaning robot to avoid obstacles currently can be determined by the three-dimensional environmental information. When the positional relationship between the feline obstacle and the cleaning robot meets the preset obstacle avoidance condition, the obstacle avoidance is performed, which can improve the success rate of obstacle avoidance and avoid abnormality during obstacle avoidance.

[0225] Optionally, the performed obstacle avoidance action can make the distance between the main body part of the feline obstacle and the body of the cleaning robot greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and the first distance threshold is greater than or equal to 0.

[0226] In an example embodiment, the cleaning robot can determine the specific type of the obstacle according to the three-dimensional information of the obstacle. For example, the three-dimensional information can include a three-dimensional shape, and the three-dimensional shape can include contour information of the obstacle in a three-dimensional space. The cleaning robot can identify the specific type of the obstacle according to the contour information of the obstacle.

[0227] In an example embodiment, the feline obstacle is a pet living obstacle. The feline obstacle has a body part and a tail part. When the obstacle is identified as a feline obstacle including a body part and a tail part, a specific obstacle avoidance action can be performed to make the distance between the body of the cleaning robot and the body part of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold. The identified body part can avoid the cleaning of the cleaning robot causing the feline obstacle to be startled, affecting the physical and mental health of the feline obstacle. The identified tail part can avoid the tail of the feline obstacle being wrapped into the inside of the cleaning robot, such as being sucked into the main brush, causing the feline obstacle to be injured. The first distance threshold is used to avoid the distance between the body and the body part being too close, causing the feline obstacle to be startled and affecting the physical and mental health of the feline obstacle. The first distance threshold can be in the range of 0cm to 1cm. For example, the first distance threshold can be 0cm, 0.1cm, 0.2cm, 0.3cm, 0.4cm, 0.5cm, 0.6cm, 0.7cm, 0.8cm, 0.9cm, 1cm, etc., so that the cleaning robot can approach the body of the feline obstacle for cleaning without touching the body of the feline obstacle, thereby causing the feline obstacle to be startled. The second distance threshold is used to avoid the distance between the body and the body part being too far, causing missed cleaning and affecting the cleaning effect. The second distance threshold can be in the range of 30cm to 40cm. For example, the second distance threshold can be 30cm, 31cm, 32cm, 33cm, 34cm, 35cm, 36cm, 37cm, 38cm, 39cm, 40cm, etc., so that the cleaning robot can avoid being too far from the body part of the feline obstacle when performing the obstacle avoidance action, causing missed cleaning. The obstacle avoidance action makes the distance between the body and the body part greater than or equal to the first distance threshold and less than or equal to the second distance threshold. Thus, the body and the body part can maintain an appropriate distance during obstacle avoidance.

[0228] The three-dimensional information can include three-dimensional ranging. The three-dimensional ranging can include the distance between any part of the obstacle and any part of the cleaning robot in three-dimensional space. According to the three-dimensional ranging, the distance between the body and the body part of the feline obstacle can be determined. The distance between the body and the body part of the feline obstacle can include the minimum distance between the body and the body part of the feline obstacle.

[0229] In the process of performing the obstacle avoidance action, the horizontal projection of the machine body and the horizontal projection of the main body part can not contact, contact or overlap. The overlap can form an interference. The interference amount in the interference state is less than the absolute value of the first distance threshold. The interference amount can be less than the distance between the drive wheel and the edge of the machine body. Too much interference can easily affect the normal travel of the cleaning robot, such as the hair or tail of the cat obstacle winding around the drive wheel, affecting the rotation of the drive wheel, so that the cleaning robot cannot travel normally. Wherein, the horizontal projection of the machine body and the horizontal projection of the main body part do not contact, and the first distance threshold can be greater than 0. The horizontal projection of the machine body and the horizontal projection of the main body part contact, and the first distance threshold can be 0. The horizontal projection of the machine body and the horizontal projection of the main body part overlap, and the first distance can be less than 0. For example, in the interference state, the first distance threshold can be -3cm.

[0230] In one example embodiment, when the obstacle is identified as a cat obstacle including a main body part and a tail, a specific obstacle avoidance action can be performed to make the distance between the main brush and the tail of the cat obstacle greater than or equal to a third distance threshold and less than or equal to a fourth distance threshold. Thus, the tail of the cat obstacle is prevented from being sucked into the main brush, and the cat obstacle is prevented from being injured, and the normal operation of the cleaning robot is affected. Wherein, the third distance threshold is used to prevent the main brush from being too close to the tail of the cat obstacle, so that the tail of the cat obstacle is sucked into the main brush, the cat obstacle is injured, and the normal operation of the cleaning robot is affected. The third distance threshold can be in the range of 3cm to 5cm. For example, the third distance threshold can be 3cm, 4cm, 5cm, etc. The fourth distance threshold is used to prevent the main brush from being too far away from the tail of the cat obstacle, causing missed cleaning and affecting cleaning effect. The fourth distance threshold can be in the range of 40cm to 50cm. For example, the fourth distance threshold can be 40cm, 41cm, 42cm, 43cm, 44cm, 45cm, 46cm, 47cm, 48cm, 49cm, 50cm, etc. The obstacle avoidance action makes the distance between the main brush and the tail greater than or equal to the third distance threshold and less than or equal to the fourth distance threshold. Thus, the main brush and the tail can maintain an appropriate distance during obstacle avoidance.

[0231] The three-dimensional information can include three-dimensional ranging. The three-dimensional ranging can include a distance between any part of the obstacle and any part of the cleaning robot in three-dimensional space. According to the three-dimensional ranging, a distance between the main brush and the tail of the feline obstacle can be determined. The distance between the main brush and the tail of the feline obstacle can include a minimum distance between the main brush and the tail of the feline obstacle. Considering that the main brush is arranged in the main brush cavity at the bottom of the body of the cleaning robot, the first distance threshold is smaller than the third distance threshold. The second distance threshold can be greater than or less than the fourth distance threshold.

[0232] In an example embodiment, when the obstacle is identified as a feline obstacle including a body part and a tail part, a specific obstacle avoidance action can be performed to keep the distance between the side brush and the feline obstacle greater than or equal to a fifth distance threshold and less than or equal to a sixth distance threshold. Thus, the rotation of the side brush does not cause the feline obstacle to be startled and affect the physical and mental health of the feline obstacle. The fifth distance threshold is used to avoid the distance between the side brush and the feline obstacle being too close, causing the feline obstacle to be startled. The fifth distance threshold can be in the range of -3 cm to 3 cm. For example, the fifth distance threshold can be -3 cm, -2 cm, -1 cm, 0 cm, 1 cm, 2 cm, 3 cm, etc. By selecting an appropriate fifth distance threshold, the hair of the feline obstacle is less likely to be wound around the rotating shaft of the side brush, thereby harming the feline obstacle or interfering with the operation of the side brush. Optionally, the length of the side brush is usually selected to be greater than 3 cm. By setting the fifth distance threshold to be greater than or equal to -3 cm, the hair of the feline obstacle is less likely to be wound around the rotating shaft of the side brush. The outer end of the side brush is usually a flexible structure, such as flexible bristles. When the side brush and the feline obstacle have a small interference, the impact of the side brush on the feline obstacle is limited and the feline obstacle is less likely to be harmed. The sixth distance threshold is used to avoid the distance between the side brush and the feline obstacle being too far, causing missed cleaning and affecting the cleaning effect. The sixth distance threshold can be in the range of 0 cm to 40 cm. For example, the sixth distance threshold can be 0 cm, 5 cm, 10 cm, 15 cm, 16 cm, 20 cm, 25 cm, etc. The distance between the side brush and the feline obstacle is greater than or equal to the fifth distance threshold and less than or equal to the sixth distance threshold. Thus, the side brush and the feline obstacle can maintain an appropriate distance during obstacle avoidance.

[0233] The main brush is arranged in a main brush cavity at the bottom of the body of the cleaning robot. The main brush cavity is in communication with a suction channel of the cleaning robot. There is a suction force near the main brush. The side brush includes a brush arm and bristles. The bristles are soft. The side brush is a flexible component. Therefore, compared to the distance between the main brush and the tail of the feline obstacle, the distance between the side brush and the feline obstacle can be arranged to be closer. Therefore, the fifth distance threshold can be greater than the third distance threshold. The sixth distance threshold can be greater than the fourth distance threshold, or less than the fourth distance threshold.

[0234] The three-dimensional information can include three-dimensional ranging. The three-dimensional ranging can include the distance between any part of the obstacle and any part of the cleaning robot in a three-dimensional space. According to the three-dimensional ranging, the distance between the side brush and the feline obstacle can be determined. The distance between the side brush and the feline obstacle can specifically include the minimum distance between the side brush and the feline obstacle. The distance between the side brush and the feline obstacle can include the distance between the side brush in the retracted state and the feline obstacle, and the distance between the side brush in the extended state and the feline obstacle.

[0235] During the execution of the obstacle avoidance action, the horizontal projection of the side brush and the horizontal projection of the feline obstacle can not contact, contact or overlap. The overlap can form an interference. The amount of interference in the interference state is less than the absolute value of the fifth distance threshold. The amount of interference can be less than half the total length of the brush arm and the bristles of the side brush. Too much interference can easily cause the rotation of the side brush to cause harm to the feline obstacle. Through the amount of interference, the feline obstacle is not harmed, while the cleaning coverage rate is also ensured. When the horizontal projection of the side brush and the horizontal projection of the feline obstacle do not contact, the fifth distance threshold can be greater than 0. When the horizontal projection of the side brush and the horizontal projection of the feline obstacle contact, the fifth distance threshold can be 0. When the horizontal projection of the side brush and the horizontal projection of the feline obstacle overlap, the fifth distance can be less than 0. For example, in the interference state, the fifth distance threshold can be -3 cm, and the sixth distance threshold can be 40 cm.

[0236] In an example embodiment, when the obstacle is identified as a feline obstacle including a body part and a tail part, a specific obstacle avoidance action can be performed to make the distance between the first cloth disc and the feline obstacle greater than or equal to a seventh distance threshold and less than or equal to an eighth distance threshold. Thus, the rotation of the first cloth disc does not cause the feline obstacle to be startled, affecting the physical and mental health of the feline obstacle. The seventh distance threshold is used to avoid the first cloth disc being too close to the feline obstacle, causing the feline obstacle to be startled. The value of the seventh distance threshold can be in the range of -5cm to 5cm. For example, the seventh distance threshold can be -5cm, -4cm, -3cm, -2cm, -1cm, 0cm, 1cm, 2cm, 3cm, 4cm, 5cm, etc. The eighth distance threshold is used to avoid the first cloth disc being too far from the feline obstacle, causing missed cleaning and affecting the cleaning effect. The value of the eighth distance threshold can be in the range of 0cm to 40cm. For example, the eighth distance threshold can be 0cm, 5cm, 10cm, 25cm, 30cm, 35cm, 40cm, etc. The distance between the first cloth disc and the feline obstacle is greater than or equal to the seventh distance threshold and less than or equal to the eighth distance threshold. Thus, the first cloth disc can maintain an appropriate distance from the feline obstacle during obstacle avoidance.

[0237] As previously described, the first cloth disc includes a cloth support and a first cloth, the cloth support includes a disc structure, the cloth support includes a rigid support part, and a flexible support part is provided on the periphery of the rigid support part. When the first cloth disc contacts the feline, the flexible support part can be deformed under force to achieve collision cushioning. Thus, the selection of the seventh distance threshold can allow the first cloth disc to partially interfere with the feline obstacle, and the flexible support part can cushion the interference with the feline obstacle, so that the first cloth disc does not harm the feline obstacle when it interferes with the feline obstacle.

[0238] The three-dimensional information can include three-dimensional ranging. The three-dimensional ranging can include the distance between any part of the obstacle and any part of the cleaning robot in three-dimensional space. According to the three-dimensional ranging, the distance between the first cloth disc and the feline obstacle can be determined. The distance between the first cloth disc and the feline obstacle can specifically include the minimum distance between the first cloth disc and the feline obstacle. The distance between the first cloth disc and the feline obstacle can include the distance between the first cloth disc in the retracted state and the feline obstacle. The distance between the first cloth disc and the feline obstacle can also include the distance between the first cloth disc in the outward swinging state and the feline obstacle.

[0239] In the process of performing the obstacle avoidance action, the horizontal projection of the first cloth disc and the horizontal projection of the cat obstacle can not contact, contact or overlap. The overlap can form an interference. The interference amount in the interference state is less than the absolute value of the seventh distance threshold. The interference amount can be less than the radius of the first cloth disc. The first cloth disc can include a disc body and a cloth disposed on the disc body. The cloth can extend beyond the disc body. The radius can include the sum of the disc body radius of the first cloth disc and the length of the cloth extending beyond the disc body. Too much interference can easily cause the rotation of the first cloth disc to cause harm to the cat obstacle. By reasonably setting the interference amount, the cat obstacle can not be harmed, while the cleaning coverage rate can be minimized. When the horizontal projection of the first cloth disc and the horizontal projection of the cat obstacle do not contact, the seventh distance threshold can be greater than 0. When the horizontal projection of the first cloth disc and the horizontal projection of the cat obstacle contact, the seventh distance threshold can be 0. When the horizontal projection of the first cloth disc and the horizontal projection of the cat obstacle overlap, the seventh distance can be less than 0. For example, in the interference state, the seventh distance threshold can be -2 cm, and the eighth distance threshold can be 40 cm.

[0240] In one example embodiment, when the obstacle is identified as a cat obstacle including a main body and a tail, a specific obstacle avoidance action can be performed to make the distance between the second cloth disc and the cat obstacle greater than or equal to a ninth distance threshold and less than or equal to a tenth distance threshold. Thus, the rotation of the second cloth disc can avoid causing the cat obstacle to be startled, affecting the physical and mental health of the cat obstacle. The ninth distance threshold is used to avoid the distance between the second cloth disc and the cat obstacle being too close, causing the cat obstacle to be startled. The ninth distance threshold can be in the range of -2 cm to 5 cm. For example, the ninth distance threshold can be -2 cm, -1 cm, 0 cm, 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, etc. The tenth distance threshold is used to avoid the distance between the second cloth disc and the cat obstacle being too far, causing missed cleaning and affecting the cleaning effect. The tenth distance threshold can be in the range of 0 cm to 40 cm. For example, the tenth distance threshold can be 0 cm, 5 cm, 10 cm, 25 cm, 30 cm, 40 cm, etc. The distance between the second cloth disc and the cat obstacle is greater than or equal to the ninth distance threshold and less than or equal to the tenth distance threshold. Thus, the second cloth disc can maintain an appropriate distance from the cat obstacle during the obstacle avoidance process.

[0241] The three-dimensional information can include three-dimensional ranging. The three-dimensional ranging can include a distance between any part of the obstacle and any part of the cleaning robot in a three-dimensional space. The distance between the second cloth disc and the feline obstacle can be determined according to the three-dimensional ranging. The distance between the second cloth disc and the feline obstacle can specifically include a minimum distance between the second cloth disc and the feline obstacle. In addition, the distance between the second cloth disc and the feline obstacle can include a distance between the second cloth disc in a retracted state and the feline obstacle. The distance between the second cloth disc and the feline obstacle can also include a distance between the second cloth disc in an extended state and the feline obstacle.

[0242] In the process of performing the obstacle avoidance action, a horizontal projection of the second cloth disc and a horizontal projection of the feline obstacle can not contact, contact, or overlap. The overlap can form interference. An interference amount in the interference state is less than an absolute value of a ninth distance threshold. The interference amount can be less than a radius of the second cloth disc. The second cloth disc can include a disc body and a cloth disposed on the disc body. The cloth can extend beyond the disc body. The radius can include a sum of a disc body radius of the second cloth disc and a length of the cloth extending beyond the disc body. Too much interference can easily cause rotation of the second cloth disc to cause injury to the feline obstacle. By the interference amount, the feline obstacle is not injured, while the cleaning coverage is also ensured as much as possible. When the horizontal projection of the second cloth disc and the horizontal projection of the feline obstacle do not contact, the ninth distance threshold can be greater than 0. When the horizontal projection of the second cloth disc and the horizontal projection of the feline obstacle contact, the ninth distance threshold can be 0. When the horizontal projection of the second cloth disc and the horizontal projection of the feline obstacle overlap, the ninth distance can be less than 0. For example, in the interference state, the ninth distance threshold can be -2 cm, and the tenth distance threshold can be 40 cm.

[0243] In an example embodiment, in the process of performing the obstacle avoidance action, a distance between the main brush and the feline obstacle can be adjusted according to a suction force of the cleaning robot, so that the distance between the main brush and the feline obstacle is greater than or equal to a third distance threshold and less than or equal to a fourth distance threshold. The suction force is used to cause foreign matter to enter the dust collection box through the suction port. The suction force can be a constant value. Of course, the suction force can also be variable. The distance between the main brush and the feline obstacle and the suction force are positively correlated. For example, the distance between the main brush and the feline obstacle and the suction force can follow a linear function or other function. For example, when the suction force is 5000 Pa, the distance between the main brush and the feline obstacle can be greater than or equal to 5 cm. When the suction force is 7000 Pa, the distance between the main brush and the feline obstacle can be greater than or equal to 8 cm. In this way, fine obstacle avoidance can be performed according to the suction force.

[0244] In an example embodiment, after performing the obstacle avoidance action, the first original area where the feline obstacle is located can also be re-cleaned when the sensor system detects that the feline obstacle no longer exists in the first original area. For example, during or after the cleaning process, the sensor system can re-collect three-dimensional environmental information of the first original area. When the three-dimensional environmental information indicates that the feline obstacle no longer exists in the first original area, the first original area can be re-cleaned. By re-cleaning the first original area, the cleaning effect can be improved.

[0245] Optionally, there is a high probability that excrement exists in the first original area where the feline obstacle is located. The excrement can include feline excrement, including but not limited to urine, feces, etc. Therefore, when the three-dimensional environmental information indicates that the feline obstacle no longer exists in the first original area and there is no excrement, the first original area can be re-cleaned. In this way, the first original area is re-cleaned when the feline obstacle no longer exists and there is no excrement, which can prevent the cleaning robot from being contaminated by the excrement.

[0246] Optionally, there is a high probability that particulate matter exists in the first original area where the feline obstacle is located. The particulate matter can include cat food, cat litter, etc. Therefore, when the three-dimensional environmental information indicates that the feline obstacle no longer exists in the first original area but particulate matter exists, the suction force can be increased; under the condition of increasing the suction force, the first original area can be re-cleaned. In this way, the first original area is re-cleaned by increasing the suction force when particulate matter exists, which can improve the cleaning effect.

[0247] Optionally, there is a high probability that a container obstacle exists around the first original area where the feline obstacle is located. The container obstacle is related to cats, such as being used to contain cat food, cat litter, etc. Therefore, when the three-dimensional environmental information indicates that the feline obstacle no longer exists in the first original area but a container obstacle exists within a predetermined range of the first original area, the suction force can be increased; under the condition of increasing the suction force, the first original area can be re-cleaned. In this way, the first original area is re-cleaned by increasing the suction force when a container obstacle exists within the predetermined range of the first original area, which can improve the cleaning effect.

[0248] The preset range of the first original area can include the first original area or include an area increased by extending to the periphery on the basis of the first original area. For example, assuming that there is an original rectangular area with a length of a and a width of b, if d is added to each of the left and right sides, the length of the preset range of the first original area can be (a+2d) and the width remains b. If h is added to each of the upper and lower sides, the height of the preset range of the first original area can be (h+2b) and the length remains a.

[0249] For example, one or more work areas to be cleaned can be provided. The one or more work areas can include a bedroom, a balcony, a dining room, a guest room, a conference room, etc. The work area can include a feline obstacle. In the process of cleaning the current work area, three-dimensional information of the obstacle within the effective detection range can be collected by the sensor system. When the obstacle indicated by the three-dimensional information is a feline obstacle, the cleaning robot can perform an obstacle avoidance action to make the distance between the body of the cleaning robot and the main body of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold. The current work area can be a work area being cleaned in the one or more work areas.

[0250] After the current work area is completed, the three-dimensional environmental information of the first original area can be re-collected by the sensor system. When the three-dimensional environmental information indicates that there is no longer a feline obstacle in the first original area, the first original area can be cleaned. Alternatively, after performing the obstacle avoidance action and before the current work area is completed, the three-dimensional environmental information of the first original area can be re-collected by the sensor system at intervals of a set time during the subsequent cleaning of the area that has not yet been cleaned. When the three-dimensional environmental information indicates that there is no longer a feline obstacle in the first original area, the first original area can be cleaned. Alternatively, after the one or more work areas to be cleaned are all cleaned, the three-dimensional environmental information of the first original area can be re-collected by the sensor system. When the three-dimensional environmental information indicates that there is no longer a feline obstacle in the first original area, the first original area can be cleaned.

[0251] In an example embodiment, when the three-dimensional information indicates that there are multiple cat obstacles and the multiple cat obstacles have different angles relative to the cleaning robot, the travel direction of the cleaning robot can be adjusted so that the travel direction of the cleaning robot points to an area where there is no cat obstacle. Further, the travel direction of the cleaning robot can be adjusted so that the travel direction of the cleaning robot points to an area where there is no cat obstacle and has not been cleaned. In this way, the travel direction of the cleaning robot can be adjusted according to the surrounding environment of the cleaning robot, and the impact of the cleaning robot on the cat obstacle can be avoided, and the cleaning efficiency can be improved.

[0252] In an example embodiment, the obstacle avoidance action performed by the cleaning robot can include at least one of the following: the cleaning robot turning around at the edge of the cat obstacle, the cleaning robot detouring at the edge of the cat obstacle, the cleaning robot turning after retreating, and the cleaning robot edge cleaning along the edge of the cat obstacle.

[0253] For example, during the cleaning of a working area containing a cat obstacle, the cleaning robot can turn around at the edge of the cat obstacle, and after turning around, the cleaning robot can clean an area in the working area that has not been cleaned. For another example, during the cleaning of a working area containing a cat obstacle, the cleaning robot can retreat and turn after retreating, thereby cleaning an area in the working area that has not been cleaned. For another example, during the cleaning of a working area containing a cat obstacle, the cleaning robot can perform edge cleaning along the edge of the cat obstacle.

[0254] The control method of the cleaning robot of the embodiments of the present disclosure is provided with a sensor system capable of acquiring three-dimensional information of an obstacle. During the travel of the cleaning robot, the sensor system can collect three-dimensional information of an obstacle within an effective detection range. When the obstacle indicated by the three-dimensional information is a cat obstacle including a main body and a tail, a matching obstacle avoidance action can be performed so that the distance between the main body of the cat obstacle and the body of the cleaning robot is greater than or equal to a first distance threshold and less than or equal to a second distance threshold. In this way, the specific type of the obstacle can be identified by the sensor system, and the cat obstacle can be avoided by the cleaning robot, for example, the cat obstacle can be avoided by the cleaning robot to avoid the impact of the operation of the cleaning robot on the cat obstacle, such as the cat obstacle being startled by the operation of the cleaning robot.

[0255] Referring to FIG. 8, the embodiments of the present disclosure also provide another control method of a cleaning robot, including the following steps.

[0256] S121: During the travel of the cleaning robot, the sensor system collects three-dimensional information of an obstacle within an effective detection range.

[0257] S122: when the obstacle indicated by the three-dimensional information is a cat obstacle including a main body part and a tail part, a matching obstacle avoidance action is performed to make the distance between the main body part of the cat obstacle and the robot body greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and the distance between the main brush and the tail part of the cat obstacle greater than or equal to a third distance threshold and less than or equal to a fourth distance threshold, the first distance threshold less than the third distance threshold, wherein the main body part is the part of the cat obstacle other than the tail part.

[0258] In the embodiment, the cleaning robot includes a robot body and a cleaning component, the cleaning component at least including a main brush arranged in a main brush cavity at the bottom of the robot body. The main brush cavity is in communication with the suction passage of the cleaning robot. There is suction force near the main brush.

[0259] In an example embodiment, the cat obstacle is a pet living obstacle, or the cat obstacle can also be a stuffed toy obstacle. The cat obstacle has a main body part and a tail part. When the obstacle is identified as a cat obstacle including a main body part and a tail part, a specific obstacle avoidance action can be performed to make the distance between the main body part of the cat obstacle and the robot body greater than or equal to a first distance threshold and less than or equal to a second distance threshold. The identified main body part can avoid the cleaning of the robot causing the cat obstacle to be startled, affecting the physical and mental health of the cat obstacle. The identified tail part can avoid the tail of the cat obstacle being wrapped into the interior of the cleaning robot, such as being sucked into the main brush cavity, or being entangled by the main brush, causing the cat obstacle to be injured. The first distance threshold is used to avoid the distance between the robot body and the main body part being too close, causing the cat obstacle to be startled and affecting the physical and mental health of the cat obstacle. The second distance threshold is used to avoid the distance between the robot body and the main body part being too far, causing missed cleaning and affecting the cleaning effect. The obstacle avoidance action makes the distance between the robot body and the main body part greater than or equal to the first distance threshold and less than or equal to the second distance threshold. Thus, the robot body and the main body part can maintain an appropriate distance during obstacle avoidance.

[0260] Further, there is suction force near the main brush to make the distance between the main brush and the tail part of the cat obstacle greater than or equal to a third distance threshold, so that the tail part of the cat obstacle will not be injured by being sucked into the main brush cavity due to the suction force of the main brush; and the first distance threshold is set to be less than the third distance threshold, so that the main brush can be arranged closer to the inside of the contour of the robot body, facilitating the distribution of the main brush on the robot body and ensuring the suction effect of the main brush cavity. Further, by setting the fourth distance threshold, missed scanning is avoided.

[0261] Optionally, the cleaning robot can further comprise a side brush, which can be arranged in the manner described in the foregoing embodiments.

[0262] Optionally, the cleaning robot can further comprise a first cloth tray, which can be arranged in the manner described in the foregoing embodiments.

[0263] Optionally, the cleaning robot can further comprise a second cloth tray, which can be arranged in the manner described in the foregoing embodiments.

[0264] Optionally, the cleaning robot can further comprise a second cloth tray, which can be arranged in the manner described in the foregoing embodiments.

[0265] Optionally, the cleaning robot can further comprise a second cloth tray, which can be arranged in the manner described in the foregoing embodiments.

[0266] Optionally, the sensor system of the cleaning robot can be arranged in the manner described in the foregoing embodiments.

[0267] Optionally, after performing the obstacle avoidance action, when the sensor system detects that there is no longer a cat obstacle in the first original area where the cat obstacle is located, the first original area can be additionally cleaned, and the additional cleaning can be performed in the manner described in the foregoing embodiments.

[0268] Optionally, when the three-dimensional information indicates that there are multiple cat obstacles, the control method of the cleaning robot can be arranged in the manner described in the foregoing embodiments.

[0269] Optionally, the obstacle avoidance action performed by the cleaning robot can be arranged in the manner described in the foregoing embodiments.

[0270] The control method of the cleaning robot in the embodiments of the present specification can identify the specific type of the obstacle through the sensor system, and perform fine obstacle avoidance on the feline obstacle. When the distance between the robot body and the main part of the feline obstacle is greater than or equal to the first distance threshold, the feline obstacle can be prevented from being frightened and affecting the physical and mental health of the feline obstacle. When the distance between the robot body and the main part of the feline obstacle is less than or equal to the second distance threshold, the robot body and the feline obstacle can be prevented from being too far apart, causing missed cleaning and thus affecting the cleaning effect. When the distance between the main brush and the tail of the feline obstacle is greater than or equal to the third distance threshold, the main brush and the tail of the feline obstacle can be prevented from being too close, so that the tail of the feline obstacle is sucked into the main brush, causing the feline obstacle to be injured and affecting the normal operation of the cleaning robot. When the distance between the main brush and the tail of the feline obstacle is less than or equal to the fourth distance threshold, the main brush and the tail of the feline obstacle can be prevented from being too far apart, causing missed cleaning and thus affecting the cleaning effect. Through the first distance threshold, the second distance threshold, the third distance threshold, and the fourth distance threshold, the feline obstacle can be kept at an appropriate distance from the robot body and the main brush. Since the distances from the robot body and the main brush are considered, more fine obstacle avoidance can be achieved.

[0271] Referring to FIG. 9, the present specification also provides another control method of a cleaning robot, including the following steps.

[0272] S131: In the process of traveling of the cleaning robot, three-dimensional information of an obstacle in an effective detection range is collected through a sensor system.

[0273] S132: When the obstacle indicated by the three-dimensional information is a feline obstacle including a main part and a tail, and the positional relationship between the feline obstacle and the cleaning robot satisfies a preset obstacle avoidance condition, a matching obstacle avoidance action is performed to make the distance between the robot body of the cleaning robot and the main part of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and the first distance threshold is a value greater than or equal to 0, wherein the main part is a part of the feline obstacle other than the tail.

[0274] In the present embodiment, the cleaning robot includes a robot body and a cleaning component, and the feline obstacle includes a main part and a tail.

[0275] The cat obstacle has a main body and a tail. When the obstacle is identified as a cat obstacle including a main body and a tail, a specific obstacle avoidance action can be performed to make the distance between the robot body and the main body of the cat obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold. The identified main body can avoid the cleaning robot's cleaning from startling the cat obstacle and affecting the physical and mental health of the cat obstacle. The first distance threshold is used to avoid the robot body being too close to the main body, startling the cat obstacle and affecting the physical and mental health of the cat obstacle. The second distance threshold is used to avoid the robot body being too far from the main body, causing missed cleaning and affecting the cleaning effect. The obstacle avoidance action makes the distance between the robot body and the main body greater than or equal to the first distance threshold and less than or equal to the second distance threshold. Thus, the robot body and the main body can maintain an appropriate distance during obstacle avoidance.

[0276] The main body and tail of the cat obstacle are identified. When the cleaning robot contacts the main body of the cat obstacle, the cat obstacle is likely to be startled, while the tail of the cat obstacle is relatively insensitive to contact from the cleaning robot. By making the distance between the robot body and the main body of the cat obstacle greater than or equal to the first distance threshold, which is greater than or equal to 0, the cleaning robot does not contact the main body of the cat obstacle, avoiding harm or startling the cat obstacle. By making the distance between the robot body and the main body of the cat obstacle less than or equal to the second threshold, the robot body is not too far from the main body of the cat obstacle, avoiding missed cleaning.

[0277] Optionally, the cleaning robot can also include a main brush, which can be arranged in the manner described in the foregoing embodiments.

[0278] Optionally, the cleaning robot can also include a side brush, which can be arranged in the manner described in the foregoing embodiments.

[0279] Optionally, the cleaning robot can also include a first cloth disc, which can be arranged in the manner described in the foregoing embodiments.

[0280] Optionally, the cleaning robot can also include a second cloth disc, which can be arranged in the manner described in the foregoing embodiments.

[0281] Optionally, in the cat obstacle, the size threshold can be set in the manner described in the foregoing embodiments.

[0282] Optionally, the distance between the main brush and the feline obstacle can be adjusted according to the suction force of the cleaning robot, and the adjustment manner and the setting of the distance between the main brush and the feline obstacle can adopt the manners described in the foregoing embodiments.

[0283] Optionally, the sensor system of the cleaning robot can adopt the manners described in the foregoing embodiments.

[0284] Optionally, after the obstacle avoidance action is performed, when the sensor system detects that there is no feline obstacle in the first original area where the feline obstacle is located, the first original area can also be subjected to supplementary cleaning, and the supplementary cleaning manner can adopt the manners described in the foregoing embodiments.

[0285] Optionally, when the three-dimensional information indicates that there are multiple feline obstacles, the control method of the cleaning robot can adopt the manners described in the foregoing embodiments.

[0286] Optionally, the obstacle avoidance action performed by the cleaning robot can adopt the manners described in the foregoing embodiments.

[0287] Referring to FIG. 10, the embodiments of the present specification also provide another control method of a cleaning robot, including the following steps.

[0288] S141: During the travel of the cleaning robot, three-dimensional information of obstacles in the effective detection range is collected by the sensor system.

[0289] S142: When the obstacle indicated by the three-dimensional information is a feline obstacle including a main body part and a tail part, a matched obstacle avoidance action is performed to make the distance between the main body of the cleaning robot and the main body part of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and the distance between the side brush and the feline obstacle greater than or equal to a fifth distance threshold and less than or equal to a sixth distance threshold, wherein the main body part is a part of the feline obstacle other than the tail part.

[0290] In the present embodiment, the cleaning robot includes a cleaning robot and a cleaning component, and the cleaning component at least includes a side brush for stirring up garbage in front or side of the travel route of the cleaning robot to the bottom of the cleaning robot to clean.

[0291] Wherein, by identifying the obstacle as a feline obstacle including a body part and a tail part, a targeted obstacle avoidance action is performed. The identified body part can avoid the cleaning robot's cleaning from startling the feline obstacle and affecting the physical and mental health of the feline obstacle. The identified tail part can avoid the tail of the feline obstacle from being wrapped into the cleaning robot. By setting the first distance threshold, the distance between the robot body and the body part can be avoided to be too close, so that the feline obstacle is startled and the physical and mental health of the feline obstacle is affected. By setting the second distance threshold, the distance between the robot body and the body part can be avoided to be too far, causing missed cleaning and affecting the cleaning effect. The edge brush usually rotates around the edge brush rotation shaft to perform rotary cleaning. The distance between the edge brush and the feline obstacle is greater than or equal to the fifth distance threshold, so that the cat hair of the feline obstacle is avoided from being wrapped into the edge brush, for example, being wrapped into the rotation shaft of the edge brush, causing damage to the edge brush, or causing the feline obstacle to be injured or startled. Optionally, the end of the edge brush is a flexible structure. Reasonable setting of the fifth distance threshold is beneficial to make the edge brush close to the feline obstacle for cleaning, improve the cleaning coverage, and further avoid the edge brush from being too far away from the feline obstacle to cause missed cleaning.

[0292] Optionally, the cleaning robot can further include a main brush. The main brush can be arranged in the manner described in the foregoing embodiments.

[0293] Optionally, the cleaning robot can further include a first cloth disc. The first cloth disc can be arranged in the manner described in the foregoing embodiments.

[0294] Optionally, the cleaning robot can further include a second cloth disc. The second cloth disc can be arranged in the manner described in the foregoing embodiments.

[0295] Optionally, the size threshold can be set in the manner described in the foregoing embodiments when the feline obstacle performs a matching obstacle avoidance action.

[0296] Optionally, the distance between the main brush and the feline obstacle can be adjusted according to the suction force of the cleaning robot. The adjustment manner and the setting of the distance between the main brush and the feline obstacle can be in the manner described in the foregoing embodiments.

[0297] Optionally, the sensor system of the cleaning robot can be in the manner described in the foregoing embodiments.

[0298] Optionally, after performing the obstacle avoidance action, when the sensor system detects that there is no longer a feline obstacle in the first original area where the feline obstacle is located, the first original area can be additionally cleaned. The additional cleaning manner can be in the manner described in the foregoing embodiments.

[0299] Optionally, when the three-dimensional information indicates that there are multiple cat-like obstacles, the control method of the cleaning robot can adopt the manner described in the foregoing embodiments.

[0300] Optionally, the obstacle avoidance action performed by the cleaning robot can adopt the manner described in the foregoing embodiments.

[0301] The control method of the cleaning robot of the embodiment can identify the specific type of the obstacle through the sensor system and perform refined obstacle avoidance on the cat-like obstacle. When the distance between the robot body and the main part of the cat-like obstacle is greater than or equal to the first distance threshold, the cat-like obstacle can be prevented from being frightened and the physical and mental health of the cat-like obstacle can be protected. When the distance between the robot body and the main part of the cat-like obstacle is less than or equal to the second distance threshold, the robot body can be prevented from being too far away from the cat-like obstacle, so that cleaning is missed and the cleaning effect is affected. When the distance between the side brush and the cat-like obstacle is greater than or equal to the fifth distance threshold, the side brush can be prevented from being too close to the cat-like obstacle, so that the cat-like obstacle is frightened. When the distance between the side brush and the cat-like obstacle is less than or equal to the sixth distance threshold, the side brush can be prevented from being too far away from the cat-like obstacle, so that cleaning is missed and the cleaning effect is affected. Through the first distance threshold, the second distance threshold, the fifth distance threshold and the sixth distance threshold, the cat-like obstacle can be kept at an appropriate distance from the robot body and the side brush. Since the distances from the robot body and the side brush are considered, more refined obstacle avoidance can be achieved.

[0302] Please refer to FIG. 11. The embodiment of the present specification also provides another control method of a cleaning robot, including the following steps.

[0303] S151: In the process of traveling of the cleaning robot, three-dimensional information of an obstacle in an effective detection range is collected through a sensor system.

[0304] S152: When the obstacle indicated by the three-dimensional information is a cat-like obstacle including a main part and a tail part, a matched obstacle avoidance action is performed to make the distance between the robot body of the cleaning robot and the main part of the cat-like obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and to make the distance between the first cleaning cloth disc and the cat-like obstacle greater than or equal to a seventh distance threshold and less than or equal to an eighth distance threshold, wherein the main part is a part of the cat-like obstacle other than the tail part.

[0305] In the embodiment, the cleaning robot comprises a body and a cleaning component, the cleaning component at least comprises a cloth disc, the cloth disc can comprise one or more first cloth discs. For example, the cloth disc can comprise two first cloth discs. The one or more first cloth discs can be the same or different. For example, the one or more first cloth discs can have the same or different diameters. The one or more first cloth discs can be arranged to be able to swing. Alternatively, the one or more first cloth discs can also be arranged to be fixed. Alternatively, the plurality of first cloth discs can also be arranged to be part of them able to swing and part of them fixed.

[0306] Optionally, the cleaning robot can further comprise a main brush, and the main brush can be arranged in the manner described in the foregoing embodiments.

[0307] Optionally, the cleaning robot can further comprise a side brush, and the side brush can be arranged in the manner described in the foregoing embodiments.

[0308] Optionally, the cleaning robot can further comprise a second cloth disc, and the second cloth disc can be arranged in the manner described in the foregoing embodiments.

[0309] Optionally, along the advancing direction of the cleaning robot, the side brush can be located in front of the main brush, and the main brush can be located in front of the first cloth disc. The cleaning robot can further comprise a walking system, and the walking system can comprise a walking component. Along the advancing direction of the cleaning robot, the walking component can be located in front of the first cloth disc; and / or, the first cloth disc and the second cloth disc can be located behind the walking component, and the first cloth disc can be located behind the second cloth disc.

[0310] When the obstacle is identified as a cat obstacle comprising a main part and a tail part, a specific obstacle avoidance action can be performed to make the distance between the first cloth disc and the cat obstacle greater than or equal to a seventh distance threshold and less than or equal to an eighth distance threshold. Thus, the rotation of the first cloth disc can be avoided to cause the cat obstacle to be startled and affect the physical and mental health of the cat obstacle. The seventh distance threshold is used to avoid the distance between the first cloth disc and the cat obstacle being too close, so that the cat obstacle is startled. The eighth distance threshold is used to avoid the distance between the first cloth disc and the cat obstacle being too far, so that cleaning is missed and the cleaning effect is affected. The distance between the first cloth disc and the cat obstacle is greater than or equal to the seventh distance threshold and less than or equal to the eighth distance threshold. Thus, the first cloth disc can maintain an appropriate distance from the cat obstacle during obstacle avoidance.

[0311] The first cleaning cloth disc is configured to rotate and clean around the cleaning cloth rotating shaft. When the cleaning robot performs the work, there can be an edge area that cannot be cleaned between the first cleaning cloth disc of the cleaning robot and the obstacle. When the first cleaning cloth disc moves from the retracted state to the swing state, the edge of the obstacle can be cleaned closer to the obstacle to ensure the cleaning coverage of the cleaning robot. Further, the distance between the first cleaning cloth disc and the feline obstacle is greater than or equal to the seventh distance threshold, so as to avoid the cat hair of the feline obstacle being rolled into the first cleaning cloth disc, for example, being rolled into the cleaning cloth rotating shaft of the first cleaning cloth disc, causing the first cleaning cloth disc to be damaged, or causing the feline obstacle to be injured or frightened. Reasonably setting the seventh distance threshold is conducive to making the first cleaning cloth disc clean close to the feline obstacle, improving the cleaning coverage, and further avoiding the first cleaning cloth disc being too far away from the feline obstacle to cause missed scanning through the eighth distance threshold.

[0312] The first cleaning cloth disc includes a cleaning cloth support and a first cleaning cloth. The cleaning cloth support includes a disc structure, and the first cleaning cloth is detachably bonded to the cleaning cloth support. The cleaning cloth support includes a rigid support portion to provide better support performance for the first cleaning cloth, and a flexible support portion arranged at the periphery of the rigid support portion, so that when the first cleaning cloth disc contacts the obstacle, the flexible support portion can be deformed under force to achieve collision buffering.

[0313] In the process of performing the obstacle avoidance action, the horizontal projection of the first cleaning cloth disc and the horizontal projection of the feline obstacle can not contact, contact or overlap. The overlap can form interference. The interference amount in the interference state is less than the absolute value of the seventh distance threshold. The interference amount can be less than the radius of the first cleaning cloth disc. The first cleaning cloth disc can include a disc body and a cleaning cloth arranged on the disc body. The cleaning cloth can exceed the disc body. Then the radius can include the sum of the disc body radius of the first cleaning cloth disc and the length of the part of the cleaning cloth exceeding the disc body. Too much interference can easily cause the rotation of the first cleaning cloth disc to cause harm to the feline obstacle. By reasonably setting the interference amount, the feline obstacle will not be harmed, while the missed cleaning is also minimized to ensure the cleaning coverage. Wherein, the horizontal projection of the first cleaning cloth disc and the horizontal projection of the feline obstacle do not contact, then the seventh distance threshold can be greater than 0. The horizontal projection of the first cleaning cloth disc and the horizontal projection of the feline obstacle contact, then the seventh distance threshold can be 0. The horizontal projection of the first cleaning cloth disc and the horizontal projection of the feline obstacle overlap, then the seventh distance threshold can be less than 0, for example, the seventh distance threshold can be -2 cm.

[0314] Optionally, the size threshold can be set in the manner described in the foregoing embodiments when the feline obstacle performs a matching obstacle avoidance action.

[0315] Optionally, the distance between the main brush and the feline obstacle can be adjusted according to the suction force of the cleaning robot, and the adjustment manner and the setting of the distance between the main brush and the feline obstacle can adopt the manner described in the foregoing embodiments.

[0316] Optionally, the sensor system of the cleaning robot can adopt the manner described in the foregoing embodiments.

[0317] Optionally, after the obstacle avoidance action is performed, when the sensor system detects that there is no longer a feline obstacle in the first original area where the feline obstacle is located, the first original area can also be subjected to supplementary cleaning, and the supplementary cleaning manner can adopt the manner described in the foregoing embodiments.

[0318] Optionally, when the three-dimensional information indicates that there are multiple feline obstacles, the control method of the cleaning robot can adopt the manner described in the foregoing embodiments.

[0319] Optionally, the obstacle avoidance action performed by the cleaning robot can adopt the manner described in the foregoing embodiments.

[0320] The control method of the cleaning robot according to the embodiments of the present specification can identify the specific type of the obstacle through the sensor system and perform fine obstacle avoidance on the feline obstacle. When the distance between the main body and the main part of the feline obstacle is greater than or equal to the first distance threshold, the feline obstacle can be prevented from being frightened and the physical and mental health of the feline obstacle can be affected. When the distance between the main body and the main part of the feline obstacle is less than or equal to the second distance threshold, the cleaning robot can be prevented from being too far away from the feline obstacle, causing missed cleaning and affecting the cleaning effect. When the distance between the first cloth disc and the feline obstacle is greater than or equal to the seventh distance threshold, the first cloth disc can be prevented from being too close to the feline obstacle, causing the feline obstacle to be frightened. When the distance between the first cloth disc and the feline obstacle is less than or equal to the eighth distance threshold, the first cloth disc can be prevented from being too far away from the feline obstacle, causing missed cleaning and affecting the cleaning effect. Through the first distance threshold, the second distance threshold, the seventh distance threshold, and the eighth distance threshold, the feline obstacle can be kept at an appropriate distance from the main body and the first cloth disc. Since the distances from the main body and the first cloth disc are considered, fine obstacle avoidance can be achieved.

[0321] Please refer to FIG. 12. The embodiments of the present specification also provide another control method of a cleaning robot, including the following steps.

[0322] S161: During the travel of the cleaning robot, the sensor system collects three-dimensional information of the obstacle in the effective detection range.

[0323] S162: when the obstacle indicated by the three-dimensional information is a feline obstacle including a body part and a tail part, performing a matching obstacle avoidance action to make the distance between the robot body and the body part of the feline obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and make the distance between the first cloth disc and the feline obstacle greater than or equal to a seventh distance threshold and less than or equal to an eighth distance threshold, and make the distance between the second cloth disc and the feline obstacle greater than or equal to a ninth distance threshold and less than or equal to a tenth distance threshold, wherein the body part is the part of the feline obstacle other than the tail part.

[0324] The cleaning robot includes a robot body, a cleaning component, and a sensor system capable of obtaining obstacle three-dimensional information. The cleaning component includes a first cloth disc and a second cloth disc, the diameter of the second cloth disc is smaller than the diameter of the first cloth disc, and the second cloth disc protrudes beyond the robot body profile of the cleaning robot. The structure and use of the cleaning component, the sensor system, the first cloth disc and the second cloth disc can be combined with the specific embodiments in the foregoing.

[0325] The first distance threshold is used to avoid the distance between the robot body and the body part being too close, so as to scare the feline obstacle and affect the physical and mental health of the feline obstacle. The second distance threshold is used to avoid the distance between the robot body and the body part being too far, so as to cause missed cleaning and affect the cleaning effect. The obstacle avoidance action makes the distance between the robot body and the body part greater than or equal to the first distance threshold and less than or equal to the second distance threshold. Thus, the robot body and the body part can maintain an appropriate distance during obstacle avoidance.

[0326] The seventh distance threshold is used to avoid the distance between the first cloth disc and the feline obstacle being too close, so as to scare the feline obstacle. The eighth distance threshold is used to avoid the distance between the first cloth disc and the feline obstacle being too far, so as to cause missed cleaning and affect the cleaning effect. The distance between the first cloth disc and the feline obstacle is greater than or equal to the seventh distance threshold and less than or equal to the eighth distance threshold. Thus, the first cloth disc and the feline obstacle can maintain an appropriate distance during obstacle avoidance.

[0327] The ninth distance threshold is used to avoid the distance between the second cloth disc and the feline obstacle being too close, so as to scare the feline obstacle. The tenth distance threshold is used to avoid the distance between the second cloth disc and the feline obstacle being too far, so as to cause missed cleaning and affect the cleaning effect. The distance between the second cloth disc and the feline obstacle is greater than or equal to the ninth distance threshold and less than or equal to the tenth distance threshold. Thus, the second cloth disc and the feline obstacle can maintain an appropriate distance during obstacle avoidance.

[0328] The distance between the first wiping cloth disc and the feline obstacle can specifically include the minimum distance between the first wiping cloth disc and the feline obstacle. The distance between the first wiping cloth disc and the feline obstacle can include the distance between the first wiping cloth disc in the retracted state and the feline obstacle. The distance between the first wiping cloth disc and the feline obstacle can also include the distance between the first wiping cloth disc in the extended state and the feline obstacle.

[0329] During the execution of the obstacle avoidance action, the horizontal projection of the first wiping cloth disc and the horizontal projection of the feline obstacle can not contact, contact or overlap. The overlap can form an interference. The interference amount in the interference state is less than the absolute value of the seventh distance threshold. The interference amount can be less than the radius of the first wiping cloth disc.

[0330] The distance between the second wiping cloth disc and the feline obstacle can include the distance between the second wiping cloth disc in the retracted state and the feline obstacle. The distance between the second wiping cloth disc and the feline obstacle can also include the distance between the second wiping cloth disc in the extended state and the feline obstacle.

[0331] During the execution of the obstacle avoidance action, the horizontal projection of the second wiping cloth disc and the horizontal projection of the feline obstacle can not contact, contact or overlap. The overlap can form an interference. The interference amount in the interference state is less than the absolute value of the ninth distance threshold. The interference amount can be less than the radius of the second wiping cloth disc.

[0332] Optionally, the cleaning robot can further include a main brush, and the main brush can be arranged in the manner described in the foregoing embodiments.

[0333] Optionally, the cleaning robot can further include a side brush, and the side brush can be arranged in the manner described in the foregoing embodiments.

[0334] Optionally, the size threshold for the feline obstacle to perform a matching obstacle avoidance action can be set in the manner described in the foregoing embodiments.

[0335] Optionally, the distance between the main brush and the feline obstacle can be adjusted according to the suction force of the cleaning robot, and the adjustment manner and the setting of the distance between the main brush and the feline obstacle can be in the manner described in the foregoing embodiments.

[0336] Optionally, the sensor system of the cleaning robot can be in the manner described in the foregoing embodiments.

[0337] Optionally, after the execution of the obstacle avoidance action, when the sensor system detects that there is no longer a feline obstacle in the first original area where the feline obstacle is located, the first original area can be additionally cleaned, and the additional cleaning manner can be in the manner described in the foregoing embodiments.

[0338] Optionally, when the three-dimensional information indicates that there are multiple cat obstacles, the control method of the cleaning robot can adopt the manner described in the foregoing embodiments.

[0339] Optionally, the obstacle avoidance action performed by the cleaning robot can adopt the manner described in the foregoing embodiments.

[0340] The control method of the cleaning robot according to the embodiments of the present disclosure can identify the specific type of the obstacle through the sensor system, and perform fine obstacle avoidance on the cat obstacle. When the distance between the robot body and the main part of the cat obstacle is greater than or equal to the first distance threshold, the cat obstacle can be prevented from being frightened and the physical and mental health of the cat obstacle can be affected. When the distance between the robot body and the main part of the cat obstacle is less than or equal to the second distance threshold, the robot body can be prevented from being too far away from the cat obstacle, causing missed cleaning and thus affecting the cleaning effect. When the distance between the first cloth tray and the cat obstacle is greater than or equal to the seventh distance threshold, the first cloth tray can be prevented from being too close to the cat obstacle, causing the cat obstacle to be frightened. When the distance between the first cloth tray and the cat obstacle is less than or equal to the eighth distance threshold, the first cloth tray can be prevented from being too far away from the cat obstacle, causing missed cleaning and thus affecting the cleaning effect. When the distance between the second cloth tray and the cat obstacle is greater than or equal to the ninth distance threshold, the second cloth tray can be prevented from being too close to the cat obstacle, causing the cat obstacle to be frightened. When the distance between the second cloth tray and the cat obstacle is less than or equal to the tenth distance threshold, the second cloth tray can be prevented from being too far away from the cat obstacle, causing missed cleaning and thus affecting the cleaning effect. Through the first distance threshold, the second distance threshold, the seventh distance threshold, the eighth distance threshold, the ninth distance threshold and the tenth distance threshold, the cat obstacle can be kept at an appropriate distance from the robot body, the first cloth tray and the second cloth tray. Since the distances between the robot body, the first cloth tray and the second cloth tray are considered, more fine obstacle avoidance can be achieved.

[0341] In the prior art, the cleaning robot does not have the function of identifying the specific category of the obstacle. When the cleaning robot encounters an obstacle, the cleaning robot often adopts the same or similar obstacle avoidance strategy to avoid the obstacle, that is, the cleaning robot usually classifies all types of obstacles as the same type of obstacle, and adopts similar or the same obstacle avoidance logic and obstacle avoidance action when avoiding obstacles. For example, for shoe obstacles, the cleaning robot adopts the same or similar obstacle avoidance action as other obstacles such as table legs and chair legs. Since the shoe obstacle cannot be avoided in detail, the cleaning part of the cleaning robot may touch the surface of the shoe obstacle and contaminate the shoe obstacle. The contamination attached to the shoe obstacle is difficult to clean. Moreover, if the shoe obstacle is made of leather material, the contamination may damage or corrode the leather material of the shoe obstacle. In addition, the shoelace of the shoe obstacle may also wrap around the main brush of the cleaning robot, causing the working state of the cleaning robot to be abnormal, affecting the cleaning effect, and even causing the cleaning robot to malfunction, affecting the user experience.

[0342] The shoe obstacle includes a shoe body and a shoelace, and the part of the shoe obstacle excluding the shoelace is the shoe body.

[0343] Another control method of a cleaning robot is provided in the embodiments of the present specification, and is applied to a cleaning robot. The cleaning robot includes a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning part including a side brush.

[0344] The control method of the cleaning robot includes the following steps:

[0345] S211: During the traveling of the cleaning robot, the sensor system acquires the three-dimensional information of the obstacle in the effective detection range.

[0346] The "during the traveling of the cleaning robot" includes at least one of the process of continuously walking forward of the cleaning robot, the process of stopping, the process of turning, and the process of retreating. During the traveling of the cleaning robot, the cleaning robot can perform both map construction and cleaning work. Alternatively, only map construction is performed, and no cleaning work is performed.

[0347] In an example embodiment, the cleaning robot can clean the working area in a U-shape or a W-shape. The cleaning robot can collect three-dimensional information of obstacles by the sensor system during the U-shape or W-shape cleaning. Alternatively, the cleaning robot can collect three-dimensional information of obstacles by the sensor system during the edge cleaning. Alternatively, the cleaning robot can collect three-dimensional information of obstacles by the sensor system during the returning to the base station. The base station is used to disassemble and / or assemble the cleaning components on the cleaning robot, and can also be used to charge the cleaning robot and clean the dirt in the dust collection box of the cleaning robot.

[0348] The sensor system is used to detect three-dimensional information of obstacles. The three-dimensional information can include at least one of the following: three-dimensional shape information, various size data of obstacles, obstacle surface texture, and distance between obstacle surface and the cleaning robot. The sensor system can include at least one of the following: monocular vision sensor, binocular vision sensor, line laser sensor, plane laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0349] Each sensor in the sensor system has an effective detection range. If the obstacle is within the effective detection range, the information detected by the sensor is accurate. If the obstacle is not within the effective detection range, the information detected by the sensor is usually inaccurate. Whether the cleaning robot performs obstacle avoidance action and how to perform obstacle avoidance action are determined based on the detection result of the sensor system. In order to improve the accuracy of the control of the cleaning robot, the obstacle needs to be within the effective detection range of the sensor system. For example, when the obstacle is close to the cleaning robot, causing the obstacle to be out of the effective detection range of the vision sensor, the cleaning robot can be controlled to retreat a certain distance until the obstacle is within the effective detection range of the cleaning robot.

[0350] In an example embodiment, the effective detection range can include the front area range of the cleaning robot. Specifically, the effective detection range can include at least one of the following: the effective field of view angle range of the monocular vision sensor, the effective field of view angle range of the binocular vision sensor, the effective detection distance range of the line laser sensor, the effective detection distance range of the plane laser sensor, the effective detection distance range of the LDS sensor, the effective detection distance range of the Dtof sensor, and the effective detection distance range of the Itof sensor.

[0351] In an example embodiment, during the travel of the cleaning robot, the surrounding environment information in the front area can be collected by the sensor system; the collected information can be sent to the controller. The controller can determine the three-dimensional information of the obstacle according to the received information. Alternatively, the controller can also send the received information to the server in the background. The server can determine the three-dimensional information of the obstacle according to the received information; and can send the three-dimensional information of the obstacle to the controller.

[0352] For example, the sensor system can include a binocular sensor. The binocular sensor captures image data of two different perspectives of the same scene through multiple (for example, two) cameras. The controller or the server can input the two image data into a trained deep learning model to obtain the three-dimensional information of the obstacle.

[0353] For another example, the sensor system can include a monocular sensor and a line laser sensor. The controller or the server can register the data collected by the monocular sensor with the data collected by the line laser sensor, and can add depth information to the image data collected by the monocular sensor, so as to obtain the three-dimensional information of the obstacle.

[0354] It should be noted that although the above gives examples of several sensor combinations of the sensor system, the sensor system on the actual cleaning robot can also be in other sensor combination modes. This specification will not be described one by one.

[0355] S212: When the obstacle indicated by the three-dimensional information is a footwear obstacle, a matching obstacle avoidance action is performed to make the distance between the side brush of the cleaning robot and the shoe body of the footwear obstacle greater than or equal to an eleventh distance threshold and less than or equal to a twelfth distance threshold, and in the case that the footwear obstacle has a shoelace falling to the ground, the distance between the side brush of the cleaning robot and the shoelace of the footwear obstacle is greater than or equal to a thirteenth distance threshold and less than or equal to a fourteenth distance threshold.

[0356] Wherein, the shoe body is the part of the footwear obstacle except the shoelace.

[0357] As shown in FIG. 13, “shoelace falling to the ground” means that the shoelace has a part on the shoe body and a part on the ground. The distance between the side brush of the cleaning robot and the shoe body of the footwear obstacle can specifically include the minimum distance between the side brush and the shoe body of the footwear obstacle. The distance between the side brush of the cleaning robot and the shoelace of the footwear obstacle can specifically include the minimum distance between the side brush and the shoelace of the footwear obstacle.

[0358] The sensor system can detect whether the obstacle is a shoe obstacle by the following method: collecting a large number of obstacle images, and manually marking whether the obstacle in the image is a shoe obstacle; inputting these images and their labels into a network model, training to obtain a network model that can identify whether the obstacle in the image is a shoe obstacle, and implanting the network model into the controller of the cleaning robot; during the operation of the cleaning robot, obtaining the image of the obstacle according to the sensor system, and inputting the image into the network model to obtain the judgment result output by the network model.

[0359] The cleaning robot can identify whether the obstacle contains a shoe obstacle according to the image information detected by the sensor system. Specifically, a large number of obstacle images can be collected, and whether the obstacle in the image contains a shoe body or a shoe strap that falls to the ground can be manually marked; these images and their labels can be input into a network model, and a network model that can identify whether the obstacle in the image contains a shoe body or a shoe strap that falls to the ground can be trained and obtained, and the network model can be implanted into the controller of the cleaning robot; during the operation of the cleaning robot, the image of the obstacle can be obtained through the sensor system, and the image can be input into the network model to obtain the judgment result output by the network model.

[0360] The above-mentioned "matching obstacle avoidance action" refers to an obstacle avoidance action that can make the distance between the side brush of the cleaning robot and the shoe body of the shoe obstacle greater than or equal to the eleventh distance threshold and less than or equal to the twelfth distance threshold, and in the case that the shoe obstacle has a shoe strap that falls to the ground, the distance between the side brush of the cleaning robot and the shoe strap of the shoe obstacle is greater than or equal to the thirteenth distance threshold and less than or equal to the fourteenth distance threshold.

[0361] Performing a corresponding obstacle avoidance action during obstacle avoidance includes at least one of the following: the cleaning robot turns around at the edge of the shoe obstacle; the cleaning robot detours at the edge of the shoe obstacle; the cleaning robot turns after retreating; the cleaning robot performs edge cleaning along the edge of the shoe obstacle.

[0362] For example, during the cleaning of a working area containing a shoe obstacle, the cleaning robot can turn around at the edge of the shoe obstacle, and after turning around, it can clean the area of the working area that has not been cleaned. For another example, during the cleaning of a working area containing a shoe obstacle, the cleaning robot can retreat and turn after retreating, thereby cleaning the area of the working area that has not been cleaned. For another example, during the cleaning of a working area containing a shoe obstacle, the cleaning robot can perform edge cleaning along the edge of the shoe obstacle.

[0363] The travel control method of the cleaning robot in the embodiments of the present specification can identify the shoe obstacle including the shoe body and the shoelace, and then perform targeted obstacle avoidance actions. By setting the eleventh distance threshold, the brush can be prevented from excessively contacting the shoe body, so that the brush causes pollution or irreversible damage to the surface of the shoe body. Especially when the shoe obstacle is a valuable shoe, if the brush causes damage to the shoe body of the shoe obstacle, it will cause great economic loss to the user and affect the user experience. By setting the twelfth distance threshold, the brush can be prevented from being too far away from the shoe body, causing missed cleaning and affecting the cleaning effect. By setting the thirteenth distance threshold, the brush can be kept at a reasonable distance from the shoelace of the shoe obstacle, preventing the shoelace from wrapping around the brush and causing abnormal rotation of the brush. By setting the fourteenth distance threshold, the brush can be prevented from being too far away from the shoe obstacle, causing missed cleaning.

[0364] The eleventh distance threshold is 0 cm, and the twelfth distance threshold is 40 cm. For example, the distance between the brush and the shoe body of the shoe obstacle can be 0 cm, 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 10 cm, 14 cm, 15 cm, 16 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, etc. The thirteenth distance threshold is 0, and the fourteenth distance threshold is 20 cm. For example, the distance between the brush and the shoelace of the shoe obstacle can be 0 cm, 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 10 cm, 14 cm, 15 cm, 16 cm, 20 cm, etc.

[0365] In an example embodiment, when the distance value between the brush and the shoe body of the shoe obstacle is selected as 0, it indicates that the end of the brush is in contact or slightly in contact with the shoe body of the shoe obstacle, and the brush can cover the area around the shoe body with the maximum area to reduce the probability of missed cleaning. In this state, the pressure applied by the brush to the shoe body is small, which will not cause damage to the surface of the shoe body, but a small amount of pollutants may be attached to the surface of the shoe body. However, since the pressure applied by the brush to the shoe body is small, the adhesion of the pollutants attached to the shoe body is small, and the shoe body will not be seriously polluted. The user only needs to handle it simply.

[0366] The embodiments of the present specification provide another control method of a cleaning robot, applied to a cleaning robot, the cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component comprising a first wiping cloth disc.

[0367] The control method of the cleaning robot comprises the following steps:

[0368] S221: In the process of traveling of the cleaning robot, the sensor system acquires three-dimensional information of the obstacle in the effective detection range.

[0369] S221 can be understood with reference to the description of S211, and will not be described again.

[0370] S222: when the obstacle indicated by the three-dimensional information is a footwear obstacle, performing a matching obstacle avoidance action to make the distance between the first cleaning cloth disc of the cleaning robot and the footwear obstacle greater than or equal to a fifteenth distance threshold and less than or equal to a sixteenth distance threshold.

[0371] As shown in FIG. 14, the distance between the first cleaning cloth disc of the cleaning robot and the footwear obstacle can specifically include the minimum distance between the first cleaning cloth disc and the footwear obstacle.

[0372] The sensor system can detect whether the obstacle is a footwear obstacle by the following method: collecting a large number of obstacle images and manually marking whether the obstacle in the image is a footwear obstacle; inputting these images and their labels into a network model to train a network model that can identify whether the obstacle in the image is a footwear obstacle, and implanting the network model into the controller of the cleaning robot; during the working process of the cleaning robot, acquiring the image of the obstacle according to the sensor system, and inputting the image into the network model to obtain the judgment result output by the network model.

[0373] The “matching obstacle avoidance action” refers to an obstacle avoidance action that can make the distance between the first cleaning cloth disc of the cleaning robot and the footwear obstacle greater than or equal to the fifteenth distance threshold and less than or equal to the sixteenth distance threshold.

[0374] Performing a corresponding obstacle avoidance action during obstacle avoidance includes at least one of the following: the cleaning robot turning around at the edge of the footwear obstacle; the cleaning robot detouring at the edge of the footwear obstacle; the cleaning robot turning after retreating; the cleaning robot performing edge cleaning along the edge of the footwear obstacle.

[0375] For example, during the cleaning process of the working area containing the footwear obstacle, the cleaning robot can turn around at the edge of the footwear obstacle, and after turning around, it can clean the area in the working area that has not been cleaned. For another example, during the cleaning process of the working area containing the footwear obstacle, the cleaning robot can retreat and turn after retreating, thereby cleaning the area in the working area that has not been cleaned. For another example, during the cleaning process of the working area containing the footwear obstacle, the cleaning robot can perform edge cleaning along the edge of the footwear obstacle.

[0376] For example, in the process of cleaning the working area containing the footwear obstacle, the cleaning robot can turn around at the edge of the footwear obstacle, and after turning around, the cleaning robot can clean the area in the working area that has not been cleaned. For another example, in the process of cleaning the working area containing the footwear obstacle, the cleaning robot can retreat and turn after retreating, so as to clean the area in the working area that has not been cleaned. For another example, in the process of cleaning the working area containing the footwear obstacle, the cleaning robot can perform edge cleaning along the edge of the footwear obstacle.

[0377] The first cloth disc is used for wet cleaning, so the first cloth disc is usually in a wet state, and during the cleaning process, the first cloth disc in the wet state can absorb dirt, so that the first cloth disc contains sewage. If the first cloth disc contacts the footwear obstacle, the sewage on the first cloth disc can easily pollute the footwear obstacle. In addition, the first cloth disc rotates around its own axis during the cleaning process, and a small amount of sewage on the cloth can splash to the periphery of the first cloth disc, which can also pollute the footwear obstacle.

[0378] The travel control method of the cleaning robot of the embodiments of the present specification can identify that the obstacle is the footwear obstacle, and then perform targeted obstacle avoidance actions. By setting the fifteenth distance threshold, the first cloth disc can be prevented from contacting the footwear obstacle, so that the first cloth disc pollutes the surface of the footwear. Especially when the footwear obstacle is a valuable shoe, if the first cloth disc pollutes the surface of the footwear obstacle, it can cause a large economic loss to the user and affect the user experience. By setting the sixteenth distance threshold, the first cloth disc can be prevented from being too far away from the footwear obstacle, which can cause missed cleaning and affect the cleaning effect.

[0379] Specifically, the fifteenth distance threshold is 1 cm, and the sixteenth distance threshold is 40 cm. For example, the distance between the first cloth disc of the cleaning robot and the footwear obstacle can be 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 10 cm, 14 cm, 15 cm, 16 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, etc.

[0380] The fifteenth distance threshold is set to 1 cm, so that the first cloth disc can be prevented from contacting the footwear obstacle, thereby reducing the possibility of sewage splashing onto the footwear obstacle during the rotation of the first cloth disc.

[0381] The embodiment of the present specification provides another control method of a cleaning robot, applied to a cleaning robot, wherein the cleaning robot comprises a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component comprising a first cloth tray, the first cloth tray having a first position state and a second position state on the cleaning robot; the second position state extends outward relative to the first position state. That is, in the second position state, the distance between the center of the cleaning robot body and the cloth tray in the top view is farther. In some cases, the first position state is also referred to as the retracted state, and the second position state is also referred to as the expanded state.

[0382] The control method of the cleaning robot comprises the following steps:

[0383] S231: During the travel of the cleaning robot, the sensor system acquires three-dimensional information of the obstacle in the effective detection range.

[0384] S231 can be understood with reference to the description of S211, and will not be repeated here.

[0385] S232: When the obstacle indicated by the three-dimensional information is a shoe obstacle, a matching obstacle avoidance action is performed to make the distance between the first cloth tray of the cleaning robot and the shoe obstacle greater than or equal to a seventeenth distance threshold and less than or equal to an eighteenth distance threshold.

[0386] As shown in FIG. 15, the distance between the first cloth tray of the cleaning robot and the shoe obstacle can specifically include the minimum distance between the first cloth tray in the first position state and the shoe obstacle, or the minimum distance between the first cloth tray in the second position state and the shoe obstacle.

[0387] The sensor system can detect whether the obstacle is a shoe obstacle by the following method: collecting a large number of obstacle images, and manually marking whether the obstacle in the image is a shoe obstacle; inputting these images and their labels into a network model to train a network model that can identify whether the obstacle in the image is a shoe obstacle, and implanting the network model into the controller of the cleaning robot; during the operation of the cleaning robot, acquiring the image of the obstacle according to the sensor system, and inputting the image into the network model to obtain the judgment result output by the network model.

[0388] The above-mentioned "matching obstacle avoidance action" refers to an obstacle avoidance action that can make the distance between the first cloth tray of the cleaning robot and the shoe obstacle greater than or equal to the seventeenth distance threshold and less than or equal to the eighteenth distance threshold.

[0389] The corresponding obstacle avoidance action performed in the obstacle avoidance process includes at least one of the following: the cleaning robot turns around at the edge of the shoe obstacle; the cleaning robot detours around the edge of the shoe obstacle; the cleaning robot backs up and then turns; the cleaning robot performs edge cleaning along the edge of the shoe obstacle.

[0390] For example, in the process of cleaning the working area containing the shoe obstacle, the cleaning robot can turn around at the edge of the shoe obstacle, and after turning around, it can clean the area of the working area that has not been cleaned. For another example, in the process of cleaning the working area containing the shoe obstacle, the cleaning robot can back up and turn after backing up, thereby cleaning the area of the working area that has not been cleaned. For another example, in the process of cleaning the working area containing the shoe obstacle, the cleaning robot can perform edge cleaning along the edge of the shoe obstacle.

[0391] The first cloth disc is wet cleaning, so the first cloth disc is usually in a wet state, and during cleaning, the first cloth disc in a wet state can absorb dirt, so that the first cloth disc contains sewage. If the first cloth disc contacts the shoe obstacle, the sewage on the first cloth disc can easily contaminate the shoe obstacle. In addition, the first cloth disc rotates around its own axis during cleaning, and a small amount of sewage on the cloth can splash to the periphery of the first cloth disc, also causing contamination of the shoe obstacle.

[0392] The travel control method of the cleaning robot of the embodiments of the present specification can identify that the obstacle is a shoe obstacle, and then perform targeted obstacle avoidance action. By setting the seventeenth distance threshold, the first cloth disc can be prevented from contacting the shoe obstacle, so that the first cloth disc contaminates the surface of the shoe body. Especially when the shoe obstacle is a valuable shoe, if the first cloth disc contaminates the surface of the shoe obstacle, it will cause the user to suffer a greater economic loss, affecting the user experience. By setting the eighteenth distance threshold, the distance between the first cloth disc and the shoe obstacle can be prevented from being too far, causing missed cleaning and affecting the cleaning effect.

[0393] Specifically, the seventeenth distance threshold is 1 cm, and the eighteenth distance threshold is 40 cm. For example, the distance between the first cloth disc of the cleaning robot and the shoe obstacle can be 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 10 cm, 14 cm, 15 cm, 16 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, etc.

[0394] The seventeenth distance threshold is set to 1 cm, which can prevent the first cloth disc from contacting the shoe obstacle, thereby reducing the possibility of sewage splashing onto the shoe obstacle during rotation of the first cloth disc.

[0395] The embodiment of the present specification provides another control method of a cleaning robot, applied to a cleaning robot, the cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component, the cleaning component comprising a first cloth disc and a second cloth disc, the second cloth disc protruding out of the body profile of the cleaning robot. The first cloth disc and the second cloth disc are both disc-shaped, and the radius of the second cloth disc is smaller than that of the first cloth disc.

[0396] The control method of the cleaning robot comprises the following steps:

[0397] S241: During the travel of the cleaning robot, the sensor system acquires three-dimensional information of the obstacle within the effective detection range.

[0398] S241 can be understood with reference to the description of S211, and will not be repeated here.

[0399] S242: When the obstacle indicated by the three-dimensional information is a shoe obstacle, a matching obstacle avoidance action is performed to make the distance between the first cloth disc of the cleaning robot and the shoe obstacle greater than or equal to the nineteenth distance threshold and less than or equal to the twentieth distance threshold, and / or the distance between the second cloth disc of the cleaning robot and the shoe obstacle greater than or equal to the twenty-first distance threshold and less than or equal to the twenty-second distance threshold.

[0400] As shown in FIG. 14, the distance between the first cloth disc of the cleaning robot and the shoe obstacle can specifically include the minimum distance between the first cloth disc and the shoe obstacle; the distance between the second cloth disc of the cleaning robot and the shoe obstacle can specifically include the minimum distance between the second cloth disc and the shoe obstacle.

[0401] The sensor system can detect whether the obstacle is a shoe obstacle by the following method: collecting a large number of obstacle images, and manually marking whether the obstacle in the image is a shoe obstacle; inputting these images and their labels into a network model to train a network model that can identify whether the obstacle in the image is a shoe obstacle, and implanting the network model into the controller of the cleaning robot; during the operation of the cleaning robot, acquiring the image of the obstacle according to the sensor system, and inputting the image into the network model to obtain the judgment result output by the network model.

[0402] The above-mentioned "matching obstacle avoidance action" refers to an obstacle avoidance action that can make the distance between the first cloth disc and the second cloth disc of the cleaning robot and the shoe obstacle greater than or equal to the nineteenth distance threshold, and the distance between at least one of the first cloth disc and the second cloth disc and the shoe obstacle less than or equal to the twentieth distance threshold.

[0403] performing a corresponding obstacle avoidance action in the obstacle avoidance process includes at least one of the following: the cleaning robot turning at the edge of the footwear obstacle; the cleaning robot detouring at the edge of the footwear obstacle; the cleaning robot backing up and then turning; the cleaning robot edge cleaning along the edge of the footwear obstacle.

[0404] For example, in the process of cleaning the working area containing the footwear obstacle, the cleaning robot can turn at the edge of the footwear obstacle, and after turning, it can clean the area of the working area that has not been cleaned. For another example, in the process of cleaning the working area containing the footwear obstacle, the cleaning robot can back up and then turn, thereby cleaning the area of the working area that has not been cleaned. For another example, in the process of cleaning the working area containing the footwear obstacle, the cleaning robot can perform edge cleaning along the edge of the footwear obstacle.

[0405] The first and second cloth discs are wet cleaning, so the first and second cloth discs are usually in a wet state, and during cleaning, the first and second cloth discs in the wet state can absorb dirt, so that the first and second cloth discs contain sewage. If the first and second cloth discs contact the footwear obstacle, the sewage on the first and second cloth discs can easily contaminate the footwear obstacle. In addition, the first and second cloth discs rotate around their own axes during cleaning, and a small amount of sewage on the first and second cloth discs can splash around, also causing contamination of the footwear obstacle.

[0406] The travel control method of the cleaning robot of the embodiments of the present specification can identify that the obstacle is a footwear obstacle, and then perform targeted obstacle avoidance actions. By setting the nineteenth distance threshold and the twenty-first distance threshold, the first and second cloth discs can be prevented from contacting the footwear obstacle, so that the first and second cloth discs contaminate the surface of the shoe body. Especially when the footwear obstacle is a valuable shoe, if the first and second cloth discs contaminate the surface of the footwear obstacle, it will cause a greater economic loss to the user and affect the user experience. By setting the twentieth distance threshold and the twenty-second distance threshold, the first and second cloth discs can be prevented from being too far away from the footwear obstacle, causing missed cleaning and affecting the cleaning effect.

[0407] Specifically, the nineteenth distance threshold is 1 cm, and the twentieth distance threshold is 40 cm. For example, the distance between the first cleaning cloth disc of the cleaning robot and the footwear obstacle can be 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 10 cm, 14 cm, 15 cm, 16 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, etc. Specifically, the twenty-first distance threshold is 1 cm, and the twenty-second distance threshold is 40 cm. For example, the distance between the second cleaning cloth disc of the cleaning robot and the footwear obstacle can be 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 10 cm, 14 cm, 15 cm, 16 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, etc.

[0408] The seventeenth distance threshold and the twenty-first distance threshold are both set to 1 cm, so that the first cleaning cloth disc and the second cleaning cloth disc can avoid contacting the footwear obstacle, thereby reducing the possibility of sewage splashing onto the footwear obstacle during the rotation of the first cleaning cloth disc and the second cleaning cloth disc.

[0409] The embodiment of the present specification provides another control method of a cleaning robot, which is applied to a cleaning robot. The cleaning robot includes a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component. The cleaning component includes a main brush cavity arranged at the bottom of the body of the cleaning robot. One side opening of the main brush cavity is in communication with a dust suction channel of the cleaning robot, and the other side opening of the main brush cavity serves as a dust suction port of the cleaning robot.

[0410] The bottom of the body of the cleaning robot is provided with a main brush cavity. The body of the cleaning robot is provided with a dust collection box and a fan. The air inlet of the fan is connected with a dust suction channel (for example, a pipeline, etc.), and the air outlet of the fan is connected with the dust collection box. One side opening of the main brush cavity is in communication with the dust suction channel of the cleaning robot, and the other side opening serves as the dust suction port of the cleaning robot. The main brush is arranged at the dust suction port. The small-sized garbage such as dust and hair swept up by the main brush and / or the side brush enters the dust collection box under the suction of the fan, sequentially through the dust suction port, the main brush cavity, the dust suction channel and the fan.

[0411] The control method of the cleaning robot includes the following steps:

[0412] S251: During the travel of the cleaning robot, the sensor system acquires three-dimensional information of the obstacle in the effective detection range.

[0413] S251 can be understood with reference to the description of S211, and will not be repeated here.

[0414] S252: when the obstacle indicated by the three-dimensional information is a shoe obstacle including a shoelace and a shoe body, performing a matched obstacle avoidance action to make the distance between the dust collection port of the cleaning robot and the shoelace greater than or equal to a twenty-third distance threshold and less than or equal to a twenty-fourth distance threshold.

[0415] As shown in FIG. 16, the distance between the dust collection port of the cleaning robot and the shoelace can specifically include the minimum distance between the dust collection port and the shoelace of the shoe obstacle.

[0416] The sensor system can detect whether the obstacle has a shoe body and whether the obstacle has a shoelace by the following method: collecting a large number of obstacle images and manually marking whether the obstacles in the images have a shoe body and whether the obstacles have a shoelace; inputting these images and their labels into a network model to train a network model that can identify whether the obstacles in the images have a shoe body and whether the obstacles have a shoelace, and implanting the network model into the controller of the cleaning robot; during the operation of the cleaning robot, acquiring an image of an obstacle according to the sensor system, and inputting the image into the network model to obtain the judgment result output by the network model.

[0417] The above-mentioned “matched obstacle avoidance action” refers to an obstacle avoidance action that can make the distance between the dust collection port of the cleaning robot and the shoelace greater than or equal to the twenty-third distance threshold and less than or equal to the twenty-fourth distance threshold.

[0418] Performing a corresponding obstacle avoidance action during obstacle avoidance includes at least one of the following: the cleaning robot turning around at the edge of the shoe obstacle; the cleaning robot detouring at the edge of the shoe obstacle; the cleaning robot turning after retreating; and the cleaning robot performing edge cleaning along the edge of the shoe obstacle.

[0419] For example, during cleaning of a working area containing a shoe obstacle, the cleaning robot can turn around at the edge of the shoe obstacle, and after turning around, can clean the area of the working area that has not been cleaned. For another example, during cleaning of a working area containing a shoe obstacle, the cleaning robot can retreat and turn after retreating, thereby cleaning the area of the working area that has not been cleaned. For another example, during cleaning of a working area containing a shoe obstacle, the cleaning robot can perform edge cleaning along the edge of the shoe obstacle.

[0420] As a light and long strip obstacle, the shoelace is close to the suction port and is sucked into the suction port, which causes the shoes to be placed disorderly and the shoelace to be wound on the main brush, resulting in shutdown or even damage of the cleaning robot. In addition, a large amount of dust and other garbage is sucked into the suction port, and the shoelace is mixed with the garbage, which easily contaminates the shoelace. The distance between the suction port and the shoelace is greater than or equal to the twenty-third distance threshold S252, which can prevent the shoelace from being sucked into the suction port.

[0421] Specifically, the twenty-third distance threshold is 2 cm, and the twenty-fourth distance threshold is 40 cm. For example, the distance between the suction port of the cleaning robot and the shoelace can be 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 10 cm, 14 cm, 15 cm, 16 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, etc.

[0422] In some embodiments, the performing of the matched obstacle avoidance action further includes: in a case where the shoelace of the footwear obstacle and the body of the cleaning robot have an interference state, controlling the distance between the suction port of the cleaning robot and the shoelace to be greater than or equal to a twenty-fifth distance threshold.

[0423] The interference state means that the projection of the shoelace on the ground at least partially overlaps with the projection of the body of the cleaning robot on the ground. That is, during the cleaning process of the cleaning robot, the shoelace is allowed to be located below the body.

[0424] In actual life, some shoelaces are relatively long, and some users like to untie the shoelaces and throw the shoes randomly when taking off the shoes. In this case, the shoelace may be relatively long relative to the shoe body, so that part of the shoelace is located on the shoe body and part of the shoelace is scattered on the ground. At this time, the shoelace and the shoe body occupy a relatively long area on the ground, and if a specific distance is maintained between the body of the cleaning robot and the shoelace, a large area near the shoelace cannot be cleaned, and the ground around the shoelace is easily visible to the user, thereby reducing the cleanliness of the ground. To this end, the shoelace and the body are allowed to have an interference state during the cleaning process, which can increase the cleaning area of the cleaning robot, reduce the dead angle of health, and improve the cleanliness of the ground.

[0425] Specifically, the twenty-second distance threshold can be 2 cm.

[0426] In some embodiments, in a case where the shoelace of the footwear obstacle and the body of the cleaning robot have an interference state, the suction wind power of the cleaning robot is reduced.

[0427] In the case that the shoelace and the body of the cleaning robot have an interference state, the distance between the shoelace and the dust suction port is already relatively close. By reducing the dust suction wind power of the cleaning robot, the shoelace can be prevented from being sucked into the dust suction port, and the shoelace can be allowed to be closer to the dust suction port, so that more ground area around the shoe obstacle can be cleaned in cooperation with other cleaning components, further reducing the health dead angle and improving the ground cleaning degree.

[0428] The embodiment of the present specification provides another control method of a cleaning robot, applied to a cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component, wherein the cleaning component comprises a first cloth disc.

[0429] The control method of the cleaning robot comprises the following steps:

[0430] S261: During the travel of the cleaning robot, the sensor system acquires three-dimensional information of the obstacle in the effective detection range.

[0431] S261 can be understood with reference to the description of S211, and will not be repeated here.

[0432] S262: When the obstacle indicated by the three-dimensional information is a shoe obstacle, the height information of the shoe obstacle is detected, and when the height information of the shoe obstacle reaches a preset height threshold, a matching obstacle avoidance action is performed to make the distance between the body of the cleaning robot and the shoe obstacle greater than or equal to a twenty-sixth distance threshold and less than or equal to a twenty-seventh distance threshold, and the distance between the first cloth disc of the cleaning robot and the shoe obstacle greater than or equal to a twenty-eighth distance threshold and less than or equal to a twenty-ninth distance threshold.

[0433] The preset height threshold can be 15 cm. The distance between the body of the cleaning robot and the shoe obstacle can specifically include the minimum distance between the body of the cleaning robot and the shoe body of the shoe obstacle. The distance between the first cloth disc of the cleaning robot and the shoe obstacle can specifically include the minimum distance between the first cloth disc of the cleaning robot and the shoe body of the shoe obstacle.

[0434] The sensor system can detect whether the obstacle is a shoe obstacle by the following method: collecting a large number of obstacle images, and manually marking whether the obstacle in the image is a shoe obstacle; inputting these images and their labels into a network model to train a network model that can identify whether the obstacle in the image is a shoe obstacle, and implanting the network model into the controller of the cleaning robot; during the operation of the cleaning robot, the image of the obstacle is acquired according to the sensor system, and the image is input into the network model to obtain the judgment result output by the network model.

[0435] The "matching obstacle avoidance action" refers to an obstacle avoidance action that can make the minimum distance between the cleaning robot and the footwear obstacle greater than or equal to the twenty-third distance threshold.

[0436] Performing the corresponding obstacle avoidance action in the obstacle avoidance process includes at least one of the following: the cleaning robot turning around at the edge of the footwear obstacle; the cleaning robot detouring at the edge of the footwear obstacle; the cleaning robot turning after retreating; and the cleaning robot edge cleaning along the edge of the footwear obstacle.

[0437] For example, in the process of cleaning the working area containing the footwear obstacle, the cleaning robot can turn around at the edge of the footwear obstacle, and after turning around, it can clean the area of the working area that has not been cleaned. For another example, in the process of cleaning the working area containing the footwear obstacle, the cleaning robot can retreat and turn after retreating, thereby cleaning the area of the working area that has not been cleaned. For another example, in the process of cleaning the working area containing the footwear obstacle, the cleaning robot can perform edge cleaning along the edge of the footwear obstacle.

[0438] In some cases, high boots, high heels and other high footwear obstacles may be placed indoors. Such footwear obstacles are usually easily knocked over, which can cause the shoes to be placed in disarray and increase the cleaning complexity of the cleaning robot. To this end, S262 detects the height information of the footwear obstacle, and if it is detected that the height information of the footwear obstacle reaches a preset height threshold, the distance between the body of the cleaning robot and the footwear obstacle is controlled to be greater than or equal to the twenty-sixth distance threshold and less than or equal to the twenty-seventh distance threshold, and the distance between the first cloth disc of the cleaning robot and the footwear obstacle is greater than or equal to the twenty-eighth distance threshold and less than or equal to the twenty-ninth distance threshold. The setting of S262 can avoid the cleaning robot knocking over high boots, high heels and other footwear obstacles, thereby avoiding problems such as disarray of shoes after cleaning, contamination of shoes, and high cleaning complexity.

[0439] In addition, the first cloth disc is for wet cleaning, so the first cloth disc is usually in a wet state, and during cleaning, the wet first cloth disc can absorb dirt, so that the first cloth disc contains sewage. If the first cloth disc contacts the footwear obstacle, the sewage on the first cloth disc can easily contaminate the footwear obstacle. In addition, the first cloth disc rotates around its own axis during cleaning, and a small amount of sewage on the cloth can splash to the periphery of the first cloth disc, which can also contaminate the footwear obstacle.

[0440] Specifically, the twenty-sixth distance threshold value is 1 cm, and the twenty-seventh distance threshold value is 40 cm, for example, the distance between the body of the cleaning robot and the footwear obstacle can be 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 10 cm, 14 cm, 15 cm, 16 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, etc. The twenty-eighth distance threshold value is 1 cm, and the twenty-ninth distance threshold value is 40 cm, for example, the distance between the first cloth disc of the cleaning robot and the footwear obstacle can be 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 10 cm, 14 cm, 15 cm, 16 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, etc.

[0441] The twenty-sixth distance threshold value and the seventeenth threshold value are both set to 1 cm, which can avoid the body of the cleaning robot and the first cloth disc from contacting the footwear obstacle. On the one hand, it can avoid the footwear obstacle from being hit, and on the other hand, it can reduce the possibility of the first cloth disc splashing sewage onto the footwear obstacle during rotation.

[0442] In any of the embodiments shown in FIGS. 2-4, the sensor system includes at least one of: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a planar laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor.

[0443] In any of the embodiments shown in FIGS. 2-4, before performing the obstacle avoidance action, further comprising: detecting, by the sensor system, position change information of the footwear obstacle within a first predetermined time length; and in a case where it is detected that the footwear obstacle is not removed from the center region of the field of view angle of the sensor system within the first predetermined time length, performing the obstacle avoidance action.

[0444] There are live obstacles such as cats and dogs indoors. Such obstacles will usually leave on their own when they see the cleaning robot coming to clean; or sometimes people will help remove the obstacles in front of the cleaning robot when they see the cleaning robot cleaning. In the case of removal of obstacles in the direction of travel of the cleaning robot, there is no need to perform the obstacle avoidance action; only in the case where the position of the obstacle is not removed within the first predetermined time length, the obstacle avoidance action needs to be performed.

[0445] The above-mentioned first predetermined time length can be a short time length, for example, 2 seconds, 3 seconds, 5 seconds, etc. The first predetermined time length can be determined according to the travel speed of the cleaning robot, and the faster the travel speed, the shorter the first predetermined time length. Within the first predetermined time length, the cleaning robot can continue to travel, can pause in place, or can also rotate the body in place.

[0446] The purpose of detecting whether the shoe obstacle is removed is to determine whether an obstacle avoidance action needs to be performed. If the shoe obstacle is moved to one side of the travel direction without affecting the current travel direction of the cleaning robot, the cleaning robot does not need to perform an obstacle avoidance action. In this regard, the method of detecting whether the shoe obstacle is removed can be to detect whether the shoe obstacle is removed from the center region of the field of view angle of the sensor system. The center region corresponds to a region that must be passed in the travel direction of the cleaning robot. If there is an obstacle in this region, the cleaning robot must perform an obstacle avoidance action on the obstacle, otherwise the cleaning robot will collide with the obstacle.

[0447] If it is removed from the center region of the field of view angle, it means that the obstacle will not affect the travel of the cleaning robot, so there is no need to avoid obstacles; on the contrary, if it is not removed from the center region of the field of view angle, an obstacle avoidance action needs to be performed.

[0448] The center region of the field of view angle described above can be a region with an angle less than or equal to a predetermined angle with respect to the field of view axis. The predetermined angle can be 30°, 40°, 45°, 50°, 55°, or 60°. It should be noted that the center region of the field of view angle is different from the effective detection range of the sensor system. After the obstacle is removed from the center region of the field of view angle, the obstacle can still be within the effective detection range of the sensor system.

[0449] In some embodiments, after performing the corresponding obstacle avoidance action, the method further comprises: in the case that the sensor system detects that the shoe obstacle is no longer present in a second original region where the shoe obstacle is located, controlling the cleaning robot to return to the original position of the shoe obstacle for supplementary cleaning.

[0450] The "second original region where the shoe obstacle is located" refers to the region where the shoe obstacle is located before the obstacle avoidance action is performed on the shoe obstacle. That is, the "second original region where the shoe obstacle is located" refers to the region that is not cleaned due to the obstacle avoidance action performed on the shoe obstacle.

[0451] After performing any one of the obstacle avoidance actions on the shoe obstacle, it can be detected by the sensor system whether the position of the shoe obstacle is changed during the obstacle avoidance process. Specifically, it can be detected by the sensors arranged on the two sides or the rear side of the robot body, or the robot body is rotated during the performance of the corresponding obstacle avoidance action, so that the sensors arranged on the front side of the robot body are used for detection.

[0452] After detecting that the position of the shoe obstacle is changed, the second original region where the shoe obstacle is located can be included in the to-be-cleaned region at any time, and path planning is performed again to control the cleaning robot to perform supplementary cleaning on the second original region.

[0453] With the development and popularization of technology, more and more users have begun to use cleaning robots for indoor or outdoor cleaning operations.

[0454] The cleaning robot may encounter various types of obstacles during travel. The current cleaning robot has a single obstacle avoidance action, which cannot meet the diversified, refined and intelligent obstacle avoidance requirements of specific types of obstacles in the cleaning environment, which may interfere with the normal operation of the cleaning robot and affect the user experience. Especially, the cleaning robot may encounter special obstacle scenes such as animal excrement when moving. However, based on the existing method, the cleaning robot often cannot better cope with and handle such special obstacle scenes.

[0455] In order for those skilled in the art to better understand the technical solutions in the specification, the technical solutions in the specification will be clearly and completely described below in conjunction with the drawings in the specification. Obviously, the described embodiments are only some of the embodiments of the specification, not all. Based on the embodiments in the specification, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the specification.

[0456] The embodiment of the specification provides a cleaning robot. Please refer to Fig. 1.

[0457] The above cleaning robot can be a self-service robot, which can autonomously move and complete cleaning tasks in a working area without external human information input and control. The working area can include indoor and outdoor areas. The indoor area can include family rooms, offices, shopping malls, factory workshops, etc. The outdoor area can include lawns, gardens, roads, etc. The cleaning task can include cleaning (such as washing, mopping, sweeping, etc.), lawn mowing, snow removal, etc.

[0458] The above cleaning robot includes but is not limited to a sweeping robot, a washing robot, a sweeping and mopping integrated robot, a mowing robot, a snow sweeping robot, etc. The cleaning robot can clean by a front sweeping and rear mopping method or a sweeping and mopping separation method. The front sweeping and rear mopping method can sweep and mop at the same time, which can improve the cleaning efficiency. The sweeping and mopping separation method can sweep first and mop after the sweeping is completed, which can improve the cleaning effect.

[0459] Specifically, referring to Fig. 1, the above cleaning robot at least includes a body, a controller, one or more cleaning components, and a sensor system capable of acquiring three-dimensional information of obstacles.

[0460] The above cleaning component can specifically include one or more of the following: a side brush, a main brush (or a roller brush), a cloth tray (or a mop tray), etc.

[0461] Specifically, the shape of the body can be circular, square or other shapes. For example, one part of the body can be circular, and another part can be square.

[0462] The controller can include a microcontroller unit (MCU). Of course, the controller can also include other devices that can have control functions.

[0463] The shape of the cleaning component can be circular, square or other shapes (such as semicircular, arc-shaped, triangular and other special shapes). The circular shape facilitates the rotation of the cleaning component. The special shape facilitates the cleaning of the corner area by the cleaning component.

[0464] The edge brush can gather foreign matter and move it towards the center of the bottom of the cleaning robot. The roller brush can sweep up the foreign matter at the bottom of the cleaning robot and make it enter the dust collection box through the suction port. The cloth tray is used for wiping or mopping the floor.

[0465] Specifically, the cloth tray is provided with a cloth. The cleaning robot is provided with a water tank. The water in the water tank flows to the cloth through the hole to wet the cloth. The wet cloth is used for mopping the floor.

[0466] The main brush is arranged in the main brush cavity at the bottom of the body of the cleaning robot. The main brush cavity is in communication with the suction channel of the cleaning robot. The small garbage such as dust and hair swept up by the main brush and / or the edge brush can be sucked into the cleaning robot through the main brush cavity.

[0467] The sensor system can at least obtain three-dimensional information of obstacles. The cleaning robot can detect and identify obstacles based on the three-dimensional information of obstacles obtained by the sensor system. Furthermore, the controller can control the cleaning robot according to the detected and identified obstacles.

[0468] The sensor system can specifically include one or more of the following: monocular vision sensor, binocular vision sensor, line laser sensor, plane laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0469] Specifically, the monocular vision sensor can obtain a projection image of an object on a two-dimensional plane through a single camera. The image can carry information such as the shape, size, color and texture of the object. The binocular vision sensor can simulate human eye vision and obtain three-dimensional information of an object through two cameras.

[0470] The line laser sensor can be a sensor that uses line laser to measure. The plane laser sensor can be a sensor that uses plane laser to measure.

[0471] The LDS sensor can be an optical sensor using triangulation laser ranging. The Dtof (Direct Time of Flight) sensor, also known as a depth time flight sensor. Based on the Dtof sensor, depth perception can be achieved by a DTOF camera emitting an infrared laser pulse to measure the time it takes for the pulse to reach a target from the camera and return. The Itof (indirect Time-of-Flight) sensor, specifically can refer to a long-range anti-interference ITOF depth image sensor. Based on the Itof sensor, the depth information of the target can be obtained by emitting a modulated infrared light signal to the scene, and then receiving the light signal reflected by the target to be measured in the scene by the sensor, and calculating the phase difference between the emitted signal and the received signal according to the cumulative charge in the exposure (integration) time.

[0472] Specifically, in some embodiments, the sensor system can include a binocular camera arranged at the front of the cleaning robot. On the one hand, the cleaning robot can use the camera to obtain image information of objects in the environment where the cleaning robot is located in the visible light and / or infrared light and other wave bands, so as to identify the type and boundary range of the objects, and on the other hand, the three-dimensional shape and distance of the objects can be calculated through the parallax of the two cameras. Further, obstacle avoidance according to the obstacle type, boundary range, three-dimensional shape, distance and the like, as well as dirty detection, cleaning surface material detection, threshold step detection, room & furniture recognition, human or pet recognition and the like can be realized. In some other embodiments, the sensor system can also include a monocular camera and a structured light sensor (such as a line laser sensor, a cross light sensor, etc.) arranged at the front of the cleaning robot. In this way, the cleaning robot can obtain image information of objects in the environment where the cleaning robot is located in the visible light and / or infrared light and other wave bands through the monocular camera, so as to identify the type and boundary range of the objects, and can also detect the three-dimensional shape and distance of the objects through the structured light sensor, combined with the motion scanning of the robot, or combined with the rotation or movement of the LDS sensor. Further, obstacle avoidance according to the obstacle type, boundary range, three-dimensional shape, distance and the like, as well as dirty detection, cleaning surface material detection, threshold step detection, room & furniture recognition, human or pet recognition and the like can be realized.

[0473] Of course, it should be noted that the above-mentioned sensors are only illustrative. In specific implementation, according to specific conditions and processing requirements, the sensor system can also include other types of sensors such as infrared sensors and the like.

[0474] Specifically, based on the above sensor system, two-dimensional information (for example, a planar image, etc.) and depth information of obstacles within a certain range can be collected; by fusing the above two-dimensional information and depth information of obstacles, corresponding three-dimensional information of obstacles can be obtained; further, based on the three-dimensional information of obstacles, more accurate detection and identification of obstacles can be realized, and more rich feature information such as shape, size, texture, etc. of obstacles can be obtained.

[0475] Specifically, for example, an obstacle detection model trained in advance based on an artificial intelligence algorithm can be used to intelligently detect and identify obstacles by processing the three-dimensional information of obstacles obtained by the sensor system, determine the specific type of the obstacles, and obtain feature information such as shape, size, texture, etc. of the obstacles.

[0476] Referring to FIG. 17, the present specification provides a movement control method of a cleaning robot. Wherein the method is applied to a cleaning robot, and is applied to a cleaning robot, the cleaning robot is provided with a cleaning component and a sensor system capable of at least acquiring three-dimensional information of obstacles, the cleaning component includes a side brush, the side brush is arranged at the bottom of the body of the cleaning robot, and the side brush is at least partially exposed to the body of the cleaning robot. The method can include the following content when implemented:

[0477] S3201: During the movement of the cleaning robot, the three-dimensional information of obstacles within the effective detection range is collected by the sensor system;

[0478] S3202: In the case that the obstacle indicated by the three-dimensional information is animal excrement, a matched avoidance operation is performed, so that the minimum distance between the side brush and the obstacle is greater than the thirtieth distance threshold and less than the thirty-first distance threshold, and the distance between the body of the cleaning robot and the obstacle is greater than or equal to the thirty-second distance threshold and less than or equal to the thirty-third distance threshold.

[0479] Wherein, the above animal excrement can be understood as an object produced by an animal (for example, a human, a cat, a dog, etc.) and often accompanied by a smell.

[0480] Specifically, based on the type of animal excrement, the above animal excrement can include one or more of the following: animal vomit, animal feces, animal urine, animal sputum, etc. of different types.

[0481] Specifically, based on the state of the animal excrement, the above animal excrement can also be distinguished into different states such as solid state, liquid state, and solid-liquid mixed state.

[0482] Of course, it should be noted that the above-mentioned animal excrement is only an illustrative description. In specific implementation, other types and states of excrement can also be included according to specific scenarios and processing requirements. The present specification does not limit this.

[0483] The thirtieth distance threshold and the thirty-first distance threshold can be set for the side brush. Referring to FIG. 1, the side brush of the cleaning robot usually protrudes slightly outward from the side of the robot body. Therefore, as long as the side brush does not touch the animal excrement during movement and cleaning, it can be ensured that the robot body and other cleaning components do not touch the animal excrement.

[0484] The thirtieth distance threshold can be used to avoid the side brush from touching the animal excrement.

[0485] The thirty-first distance threshold can be used to ensure that the side brush does not touch the animal excrement, and at the same time, the cleaning components can clean as much of the surrounding area near the animal excrement as possible.

[0486] Similarly, the thirty-second distance threshold and the thirty-third distance threshold can be set for the robot body of the cleaning robot.

[0487] The thirty-second distance threshold can be used to avoid the robot body from touching the animal excrement.

[0488] The thirty-third distance threshold can be used to ensure that the robot body does not touch the animal excrement, and at the same time, the cleaning components can clean as much of the surrounding area near the animal excrement as possible.

[0489] The effective detection range can be understood as the range of areas in which the sensor system can effectively collect three-dimensional information of obstacles that meet the requirements. Generally, when the position of an obstacle relative to the cleaning robot is within the effective detection range, the sensor system can effectively collect relatively complete, high-quality, and low-noise three-dimensional information of the obstacle.

[0490] Before implementation, appropriate values can be determined as the thirtieth distance threshold and the thirty-first distance threshold by combining the size parameters of the side brush and the test results related to the animal excrement scenario. Appropriate values can be determined as the thirty-second distance threshold and the thirty-third distance threshold by combining the size parameters of the robot body and the test results related to the animal excrement scenario.

[0491] For the above animal excrement, if the cleaning robot accidentally touches the animal excrement during movement and cleaning, the body or cleaning components of the cleaning robot will be contaminated, affecting the normal work and operation of the cleaning robot. Moreover, as the cleaning robot continues to move, the contaminated body or cleaning components may also cause secondary pollution to the current working area, affecting the cleaning effect and the user's experience.

[0492] However, based on the existing method, on the one hand, the cleaning robot often has difficulty in accurately and effectively identifying animal excrement, which easily leads to contamination of the animal excrement without touching it. On the other hand, for the identified animal excrement, the cleaning robot's response action is often relatively rigid, inflexible, and less targeted; and it is also easy to cause the cleaning range to be too large due to avoiding the animal excrement, affecting the overall cleaning effect.

[0493] It is noticed that the above problems, combined with the root cause of the above problems, the present specification considers, on the one hand, considering the types and states of animal excrement are relatively diverse; and the height of animal excrement is relatively low, for example, the height of animal urine, animal sputum, etc. relative to the ground may be only a few millimeters. If a conventional sensor system is used to obtain and identify according to two-dimensional information of obstacles, it is easy to have identification errors; some animal excrement may not be identified at all. Therefore, a sensor system capable of obtaining three-dimensional information of obstacles is introduced into the cleaning robot. Through the sensor system, three-dimensional information of obstacles containing at least depth information of obstacles is collected; and then according to the three-dimensional information of obstacles, special obstacles such as animal excrement can be accurately and effectively detected, and the type and state of the animal excrement can be further accurately identified, reducing identification errors.

[0494] On the other hand, the structural characteristics of the cleaning robot can also be fully considered, taking the edge brush which is usually slightly protruding from the side of the body of the cleaning robot as the main reference datum, and setting the thirtieth distance threshold and the thirty-first distance threshold for the edge brush in combination with the action characteristics of the cleaning robot during movement and cleaning; and then according to the thirtieth distance threshold and the thirty-first distance threshold, the cleaning robot can perform a matching avoidance action for the animal excrement, by making the minimum distance between the edge brush and the obstacle greater than the thirtieth distance threshold and less than the thirty-first distance threshold, the body and cleaning components of the cleaning robot are ensured not to touch the animal excrement, and as many areas as possible near the animal excrement are cleaned, effectively reducing the cleaning range, and better cleaning effect can be obtained.

[0495] In one embodiment, during the movement of the cleaning robot, the cleaning robot can collect, in real time or at a timing, three-dimensional information of an obstacle within an effective detection range in front of the cleaning robot through the sensor system; and detect whether there is an obstacle in front of the cleaning robot and whether the obstacle in front of the cleaning robot is animal excrement according to the three-dimensional information of the obstacle.

[0496] In specific implementation, the three-dimensional information of the obstacle can be processed by using a preset animal excrement detection model that is pre-trained, so as to extract key feature information such as depth information, height information and texture information that is relatively good for identifying animal excrement; further feature processing can be performed according to the key feature information; a prediction probability value of the obstacle belonging to animal excrement can be determined as model output according to the information after the feature processing; and then it can be determined whether the obstacle is animal excrement according to the prediction probability value.

[0497] For example, when the prediction probability value is greater than or equal to a preset probability threshold value, the obstacle indicated by the three-dimensional information of the obstacle can be determined as animal excrement. Conversely, when the prediction probability value is less than the preset probability threshold value, the obstacle indicated by the three-dimensional information of the obstacle can be determined as non-animal excrement.

[0498] In addition, in the case where the obstacle is identified as animal excrement, the specific type and / or specific state of the animal excrement can also be further identified by using the preset animal excrement detection model, so that the subsequent matching avoidance operation can be more accurately performed in combination with the specific type and / or specific state of the animal excrement.

[0499] Before specific implementation, the preset animal excrement detection model can be trained in the following manner: three-dimensional information of an obstacle containing animal excrement and three-dimensional information of an obstacle not containing animal excrement are obtained as sample data; the sample data is labeled according to whether the sample data contains animal excrement, to obtain labeled sample data; at the same time, a classification network model for three-dimensional information is constructed as an initial model; and the initial model is trained by using the labeled sample data, to obtain a preset animal excrement identification model that meets the requirements.

[0500] In specific labeling, key feature information that is relatively good for identifying animal excrement and distinguishes other obstacle scenes can be labeled in the three-dimensional information of the obstacle containing part or all of the animal excrement, to obtain labeled sample data with relatively better training effect. Correspondingly, the preset animal excrement detection model with relatively high precision can be relatively more efficiently trained by using the labeled sample data.

[0501] In a specific implementation, when it is determined that the obstacle is animal excrement, as shown in FIG. 18, the cleaning robot can be controlled to perform a matched avoidance operation, so that the minimum distance between the side brush of the cleaning robot and the obstacle is greater than a 30th distance threshold and less than a 31st distance threshold.

[0502] The matched avoidance operation can be an action of moving away from the animal excrement, an action of moving around the animal excrement based at least on the 30th distance threshold and the 31st distance threshold, an action of edge cleaning around the animal excrement based at least on the 30th distance threshold and the 31st distance threshold, or the like.

[0503] In a specific implementation of the action of moving away from the animal excrement, for example, the cleaning robot can be controlled to plan a retreat route for the animal excrement according to the 30th distance threshold and the 31st distance threshold, and then retreat from the animal excrement safely according to the retreat route, while ensuring that the minimum distance between the side brush of the cleaning robot and the obstacle is greater than the 30th distance threshold and less than the 31st distance threshold.

[0504] In a specific implementation of the action of moving around the animal excrement, as shown in FIG. 19, for example, the cleaning robot can be controlled to determine a peripheral contour line of the animal excrement according to the obstacle three-dimensional information of the animal excrement, determine a safety boundary for the animal excrement according to the peripheral contour line of the animal excrement and the 30th distance threshold and the 31st distance threshold, re-plan an edge cleaning route around the animal excrement according to the safety boundary, and then control the cleaning robot to clean a range around the animal excrement according to the edge cleaning route, while ensuring that the minimum distance between the side brush of the cleaning robot and the obstacle is greater than the 30th distance threshold and less than the 31st distance threshold.

[0505] Thus, the side brush can clean as much as possible of the range around the obstacle while avoiding contamination of the body and the side brush of the cleaning robot, reducing the range of missed cleaning, and achieving better cleaning effect.

[0506] On the contrary, when it is determined that the obstacle is not animal excrement, the type of the obstacle can be further determined, and then other matched actions can be performed according to the type of the obstacle.

[0507] In actual implementation, considering that the diffusion range and fluidity of animal excrement in different states may be different, the possibility of the cleaning robot contacting the animal excrement may also be different. Specifically, for example, when the animal excrement is in a relatively dry solid state (for example, dry animal feces), the animal excrement has weak fluidity, is relatively stable, is difficult to diffuse, and has a small influence range. At this time, as long as the body and cleaning components (for example, side brushes) of the cleaning robot are ensured not to directly contact the animal excrement in the solid state, it can be ensured that the body and cleaning components of the cleaning robot are not contaminated. However, when the animal excrement is in a liquid state (for example, animal urine) or a solid-liquid mixed state in which the solid state and the liquid state coexist, the animal excrement has strong fluidity, is easy to diffuse, and has a large influence range. At this time, if only the body and cleaning components of the cleaning robot are ensured not to directly contact the animal excrement, the cleaning robot may also contact the part of the excrement in the liquid state (for example, liquid diffused outward next to the animal excrement, or liquid droplets splashed near the animal excrement, etc.), resulting in contamination of the body or cleaning components of the cleaning robot.

[0508] In an embodiment of the present application, in the case where the obstacle indicated by the three-dimensional information is animal excrement, the state of the animal excrement can be further determined according to the three-dimensional information of the obstacle, so that the avoidance operation can be more accurately and effectively performed, and the body and cleaning components of the cleaning robot can be prevented from being contaminated.

[0509] In the case where the state of the animal excrement is determined to be a solid state, when the matching avoidance operation is performed, the distance between the body and cleaning components of the cleaning robot and the animal excrement can be measured and controlled according to the three-dimensional information of the obstacle, based on the projection boundary of the animal excrement on the ground, so as to ensure that the corresponding minimum distance is greater than the corresponding safety distance and less than the corresponding cleaning threshold. For example, the minimum distance between the side brushes of the cleaning robot and the obstacle is greater than the thirtieth distance threshold and less than the thirty-first distance threshold, while the distance between the body of the cleaning robot and the obstacle is greater than or equal to the thirty-second distance threshold and less than or equal to the thirty-third distance threshold, and the like.

[0510] In the case where the state of the animal excrement is determined to be a liquid state, in performing the matching avoidance operation, according to the obstacle three-dimensional information, in addition to considering the current projection boundary of the animal excrement on the ground, a diffusion boundary of the animal excrement based on the diffusion due to the flow of the liquid is also considered on the basis of the current projection boundary. For example, according to the area of the current liquid excrement, in combination with a historical data model, a possible diffusion distance of the liquid excrement when diffusing is predicted; and the diffusion distance is added to the current projection boundary to obtain the corresponding diffusion boundary. Then, the distance between the body of the cleaning robot and the cleaning component and the animal excrement can be measured and controlled based on the diffusion boundary, to ensure that the corresponding minimum distance is greater than the corresponding safety distance and less than the corresponding cleaning threshold.

[0511] In addition, according to the obstacle three-dimensional information, it can also be detected whether there are liquid droplets in the adjacent range area centered on the animal excrement; and the detected liquid is marked as a sub-excrement; and the diffusion boundary of the sub-excrement can be calculated in a similar manner. Then, the diffusion boundary of the animal excrement and the diffusion boundary of the sub-excrement can be considered simultaneously to control the cleaning robot to perform the matching avoidance operation.

[0512] In the case where the animal excrement is determined to be in a solid-liquid mixed state, in performing the matching avoidance operation, according to the obstacle three-dimensional information, the projection boundary of the excrement in a solid state and the diffusion boundary of the excrement in a liquid state can be determined respectively; and the distance between the body of the cleaning robot and the cleaning component and the animal excrement can be measured and controlled based on the projection boundary of the excrement in a solid state and the diffusion boundary of the excrement in a liquid state simultaneously, to ensure that the corresponding minimum distance is greater than the corresponding safety distance and less than the corresponding cleaning threshold.

[0513] Based on the above embodiments, in performing the avoidance operation, different boundaries can be distinguished and used as a reference to measure and control the distance between the body of the cleaning robot and the cleaning component and the animal excrement according to the differentiated characteristics of the animal excrement in different states and the obstacle three-dimensional information, so that the body of the cleaning robot and the cleaning component can be more accurately and effectively prevented from being contaminated by the animal excrement.

[0514] In one embodiment, the thirtieth distance threshold is greater than 0 cm and less than 20 cm, and the thirty-first distance threshold is greater than 0 cm and less than 50 cm; the thirty-second distance threshold is greater than 0 cm and less than 20 cm, and the thirty-third distance threshold is greater than 0 cm and less than 50 cm.

[0515] In one embodiment, the thirtieth distance threshold value can be specifically 5mm-5cm, and the thirty-first distance threshold value can be specifically 5cm-20cm; the thirty-second distance threshold value can be specifically 1cm-5cm, and the thirty-third distance threshold value can be specifically 5cm-20cm.

[0516] Specifically, for example, the thirtieth distance threshold value can be set to 6mm, and the thirty-first distance threshold value can be set to 6cm. The second safety distance can be specifically set to 3cm, and the thirty-third distance threshold value can be specifically set to 10cm.

[0517] In specific implementation, an initial safety distance and an initial cleaning threshold value can be set according to the size parameters of the side brush, such as the length of the side brush, the length of the side brush exceeding the side of the body, and the elasticity parameters of the side brush itself; then, based on the initial safety distance and the initial cleaning threshold value, different types and different states (including solid state and liquid state) of animal excrement are used to test the cleaning robot; and during the test, the safety distance and the cleaning threshold value are continuously adjusted according to the test data to finally determine the thirtieth distance threshold value and the thirty-first distance threshold value that meet the requirements.

[0518] Further, the thirtieth distance threshold value and the thirty-first distance threshold value can be used to more accurately and effectively control the cleaning robot to perform the avoidance operation for the animal excrement.

[0519] In one embodiment, in specific implementation, the thirtieth distance threshold value and the thirty-first distance threshold value for different types and different states of animal excrement can also be determined and set according to the specific characteristics of different types and different states of animal excrement and combined with the test results for different types and different states of animal excrement.

[0520] Correspondingly, in the case of the obstacle being animal excrement, the thirtieth distance threshold value and the thirty-first distance threshold value that match can be determined according to the type and state of the animal excrement, and the matched avoidance operation can be performed based on the matched thirtieth distance threshold value and the thirty-first distance threshold value.

[0521] Specifically, the preset animal excrement detection model can be a multi-classification neural network model, which is embedded with sub-classification networks for different types and different states of animal excrement. Correspondingly, by using the preset animal excrement detection model to process the three-dimensional information of the obstacle, it can not only detect and identify whether the obstacle belongs to animal excrement, but also further finely detect and identify the specific type and specific state of the excrement.

[0522] In specific implementation, for example, solid animal excrement (such as cat feces), since the excrement is relatively fixed and has poor fluidity, the value of the thirtieth distance threshold can be set to be relatively small, for example, 7 mm, and the value of the thirty-first distance threshold can also be set to be relatively small, for example, 5 cm.

[0523] In this way, when the subsequent cleaning robot performs the avoidance operation matched with the animal excrement in the above-mentioned state based on the thirtieth distance threshold and the thirty-first distance threshold, it can more targetedly try to clean a relatively larger range around the animal excrement while ensuring that the side brush does not touch the animal excrement.

[0524] For example, liquid animal excrement (such as dog urine), since the excrement has a certain fluidity, the animal excrement can spread when the side brush rotates around, even though the side brush does not directly touch it. Therefore, in order to avoid directly touching the animal excrement in the above-mentioned state and to avoid the animal excrement in the above-mentioned state from further spreading and causing more pollution in the working area, the thirtieth distance threshold can be set to be relatively large, for example, 4.5 cm, and the thirty-first distance threshold can also be set to be relatively large, for example, 19 cm.

[0525] In this way, when the subsequent cleaning robot performs the avoidance operation matched with the animal excrement in the above-mentioned state based on the thirtieth distance threshold and the thirty-first distance threshold, it can more targetedly sacrifice part of the cleaning range to more effectively ensure that the side brush does not touch the animal excrement at all times, while trying to avoid the animal excrement in the above-mentioned state from spreading in the working area.

[0526] In specific implementation, appropriate values can be determined as the fortieth distance threshold and the forty-first distance threshold according to the size parameters (for example, diameter) and shape characteristics of the cleaning robot, combined with test results.

[0527] Similarly, the thirty-second distance threshold and the thirty-third distance threshold for different types and states of animal excrement can also be determined and set according to the specific characteristics of different types and states of animal excrement, combined with test results for different types and states of animal excrement.

[0528] Correspondingly, in the case of the obstacle being animal excrement, the matched thirty-second distance threshold and thirty-third distance threshold can be further determined according to the type and state of the animal excrement, and the matched avoidance operation is performed based on the matched thirty-second distance threshold and thirty-third distance threshold.

[0529] In one embodiment, referring to FIG. 1, the cleaning component can further include a main brush, wherein the main brush can be arranged in a main brush cavity at the bottom of the body of the cleaning robot, and the main brush cavity is in communication with the suction passage of the cleaning robot.

[0530] The performing of the matched avoidance operation further includes: making the minimum distance between the main brush and the obstacle greater than a thirty-fourth distance threshold value and less than a thirty-fifth distance threshold value.

[0531] In implementation, when performing the matched avoidance operation, both the side brush and the main brush can be considered, and the matched avoidance operation is performed with reference to the side brush and the main brush, and the minimum distance between the main brush and the obstacle is made greater than the thirty-fourth distance threshold value and less than the thirty-fifth distance threshold value while the minimum distance between the side brush and the obstacle is made greater than the thirtieth distance threshold value and less than the thirty-first distance threshold value.

[0532] In this way, the cleaning robot can avoid the animal excrement more finely, and the main brush and the side brush can clean a relatively larger range near the animal excrement, and a relatively better cleaning effect can be obtained.

[0533] In one embodiment, the main brush has relatively dense bristles and is in relatively close contact with the ground, and when the main brush is working, the suction passage of the cleaning robot is usually in an open state, and thus an inward suction force is generated near the main brush by the main brush cavity.

[0534] Therefore, in implementation, appropriate values of the thirty-fourth distance threshold value and the thirty-fifth distance threshold value can be determined according to the bristle material and density of the main brush and the suction force value of the main brush cavity, combined with test results.

[0535] The thirty-fifth distance threshold value is greater than the thirty-fourth distance threshold value. Specifically, for example, the thirty-fourth distance threshold value can be 6 mm to 4 cm, and the thirty-fifth distance threshold value can be 4 cm to 15 cm.

[0536] Of course, similar to the thirtieth distance threshold value and the thirty-first distance threshold value, the thirty-fourth distance threshold value and the thirty-fifth distance threshold value for different types and states of animal excrement can also be determined and set according to the specific characteristics of different types and states of animal excrement, combined with test results for different types and states of animal excrement.

[0537] Correspondingly, in the case that the obstacle is animal excrement, a matched thirty-fourth distance threshold and a thirty-fifth distance threshold can be further determined according to the type and state of the animal excrement; and the matched avoidance operation is executed based on the matched thirty-fourth distance threshold and the thirty-fifth distance threshold.

[0538] In an embodiment, the cleaning component can specifically further include a first cloth disc, i.e., the cloth disc shown in FIG. 1.

[0539] Specifically, the first cloth disc can support actions such as inward retraction and outward swinging. Correspondingly, the first cloth disc can have an inward retracted state and an outward swung state; wherein the part of the first cloth disc located outside the periphery of the machine body when in the outward swung state is larger than the part of the first cloth disc located outside the periphery of the machine body when in the inward retracted state.

[0540] Correspondingly, in the case that the first cloth disc is currently in the outward swung state, the matched avoidance operation further includes: making the minimum distance between the first cloth disc in the outward swung state and the obstacle greater than a thirty-sixth distance threshold and less than a thirty-seventh distance threshold.

[0541] Specifically, referring to FIG. 20, the first cloth disc can generally be in the inward retracted state. When edge cleaning or other types of cleaning actions are needed, the cleaning robot can control the first cloth disc to perform the outward swinging action, so that the first cloth disc is converted from the inward retracted state to the outward swung state, in order to obtain better cleaning effect.

[0542] When the first cloth disc is in the outward swung state, part of the first cloth disc will protrude relative to the periphery of the machine body. At this time, the first cloth disc is similar to the edge brush relative to the machine body adjacent to the first cloth disc, and is also more likely to contact the moving excrement.

[0543] Specifically, when the matched avoidance operation is performed, both the edge brush and the first cloth disc in the outward swung state can be considered; and the matched avoidance operation is performed with the edge brush and the first cloth disc in the outward swung state as the reference datum, so that the minimum distance between the edge brush and the obstacle is greater than a thirtieth distance threshold and less than a thirty-first distance threshold, and the minimum distance between the first cloth disc in the outward swung state and the obstacle is greater than a thirty-sixth distance threshold and less than a thirty-seventh distance threshold.

[0544] In this way, the specific state of the first cloth disc of the cleaning robot can be combined to relatively more finely control the cleaning robot to avoid the animal ex...

Claims

1. A control method of a cleaning robot, characterized by, The cleaning robot comprises a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of an obstacle, the cleaning component comprises a main brush arranged in a main brush cavity at the bottom of the body, and the main brush cavity is in communication with a dust suction passage of the cleaning robot; The method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a cat obstacle comprising a main body part and a tail part, a matched obstacle avoidance action is performed to make the distance between the body of the cleaning robot and the main body part of the cat obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and the distance between the main brush and the tail part of the cat obstacle greater than or equal to a third distance threshold and less than or equal to a fourth distance threshold, the first distance threshold being less than the third distance threshold, wherein the main body part is a part of the cat obstacle other than the tail part.

2. A control method of a cleaning robot, characterized by, The cleaning robot comprises a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of an obstacle, the method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a cat obstacle comprising a main body part and a tail part, and the positional relationship between the cat obstacle and the cleaning robot satisfies a preset obstacle avoidance condition, a matched obstacle avoidance action is performed to make the distance between the body of the cleaning robot and the main body part of the cat obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, the first distance threshold being greater than or equal to 0, wherein the main body part is a part of the cat obstacle other than the tail part.

3. A control method of a cleaning robot, characterized by, The cleaning robot comprises a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of an obstacle, the cleaning component comprises a side brush, and the method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a cat obstacle comprising a main body part and a tail part, a matched obstacle avoidance action is performed to make the distance between the body of the cleaning robot and the main body part of the cat obstacle greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and the distance between the side brush and the cat obstacle greater than or equal to a fifth distance threshold and less than or equal to a sixth distance threshold, wherein the main body part is a part of the cat obstacle other than the tail part.

4. A control method of a cleaning robot, characterized by, The cleaning robot comprises a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of an obstacle, the cleaning component comprises a first cloth disc, and the first cloth disc has a retracted state and an outward swinging state; The part of the first cloth disc located outside the body in the outward swinging state is greater than the part of the first cloth disc located outside the body in the retracted state; The method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a cat obstacle including a main body part and a tail part, a matched obstacle avoidance action is performed to make the distance between the main body part of the cat obstacle and the body of the cleaning robot greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and to make the distance between the first cloth disc and the cat obstacle greater than or equal to a seventh distance threshold and less than or equal to an eighth distance threshold, wherein the main body part is a part of the cat obstacle other than the tail part.

5. A control method of a cleaning robot, characterized by, The cleaning robot comprises a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of obstacles, the cleaning component comprises a first cloth disc and a second cloth disc, the diameter of the second cloth disc is smaller than the diameter of the first cloth disc, and the second cloth disc protrudes beyond the body profile of the cleaning robot. The method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of obstacles within the effective detection range; When the obstacle indicated by the three-dimensional information is a cat obstacle including a main body part and a tail part, a matched obstacle avoidance action is performed to make the distance between the main body part of the cat obstacle and the body of the cleaning robot greater than or equal to a first distance threshold and less than or equal to a second distance threshold, and to make the distance between the first cloth disc and the cat obstacle greater than or equal to a seventh distance threshold and less than or equal to an eighth distance threshold, and to make the distance between the second cloth disc and the cat obstacle greater than or equal to a ninth distance threshold and less than or equal to a tenth distance threshold, wherein the main body part is a part of the cat obstacle other than the tail part.

6. A control method of a cleaning robot, characterized by, The cleaning robot comprises a body, a cleaning component, and a sensor system capable of acquiring three-dimensional information of obstacles, the method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of obstacles within the effective detection range; When the obstacle indicated by the three-dimensional information is a cat obstacle including a main body part and a tail part, a matched obstacle avoidance action is performed to make the distance between the main body part of the cat obstacle and the body of the cleaning robot greater than or equal to a first distance threshold and less than or equal to a second distance threshold, wherein the main body part is a part of the cat obstacle other than the tail part.

7. The method of claim 6, wherein, The distance between the main body part of the cat obstacle and the body of the cleaning robot is greater than 0 cm and less than 40 cm.

8. The method of claim 6, wherein, The distance between the main body part of the cat obstacle and the body of the cleaning robot is greater than 1 cm and less than 30 cm.

9. The method of claim 6, wherein, The cleaning component comprises a main brush, which is arranged in a main brush cavity at the bottom of the body, and the main brush cavity is in communication with the suction channel of the cleaning robot; The matched obstacle avoidance action further comprises making the distance between the main brush and the tail part of the cat obstacle greater than or equal to a third distance threshold and less than or equal to a fourth distance threshold, wherein the distance between the main brush and the tail part of the cat obstacle is greater than 3 cm and less than 50 cm.

10. The method of claim 9, wherein, The distance between the main brush and the tail part of the cat obstacle is greater than 5 cm and less than 40 cm.

11. The method of claim 9, wherein, The step of performing an obstacle avoidance action comprises: Adjust the distance between the main brush and the feline obstacle according to the suction force of the cleaning robot; The distance between the main brush and the feline obstacle is positively correlated with the suction force.

12. The method of claim 9, wherein, The first distance threshold is smaller than the third distance threshold.

13. The method of claim 9, wherein, The cleaning component includes an edge brush. The performing of the matched obstacle avoidance action further includes making the distance between the edge brush and the feline obstacle greater than or equal to a fifth distance threshold and smaller than or equal to a sixth distance threshold.

14. The method of claim 13, wherein, The distance between the edge brush and the feline obstacle is greater than or equal to -3 cm and smaller than or equal to 40 cm.

15. The method of claim 13, wherein, The fifth distance threshold is greater than the third distance threshold.

16. The method of claim 13, wherein, The edge brush has a retracted state and an extended state; the part of the edge brush outside the body in the extended state is greater than the part of the edge brush outside the body in the retracted state.

17. The method of claim 13, wherein, The edge brush has an interference state with the feline obstacle, and the interference amount in the interference state is smaller than the absolute value of the fifth distance threshold.

18. The method of claim 6, wherein, The cleaning component includes a first cloth disc. The performing of the matched obstacle avoidance action further includes making the distance between the first cloth disc and the feline obstacle greater than or equal to a seventh distance threshold and smaller than or equal to an eighth distance threshold.

19. The method of claim 18, wherein, The distance between the first cloth disc and the feline obstacle is greater than or equal to -2 cm and smaller than or equal to 40 cm.

20. The method of claim 18, wherein, The first cloth disc has an interference state with the feline obstacle, and the interference amount in the interference state is smaller than the absolute value of the seventh distance threshold.

21. The method of claim 18, wherein, The cleaning component further includes a second cloth disc, the diameter of the second cloth disc is smaller than the diameter of the first cloth disc, the second cloth disc protrudes out of the body profile of the cleaning robot, the distance between the second cloth disc and the feline obstacle is greater than or equal to a ninth distance threshold and smaller than or equal to a tenth distance threshold, and the distance between the second cloth disc and the feline obstacle is greater than or equal to -2 cm and smaller than or equal to 40 cm.

22. The method according to any one of claims 1 to 21, characterized in that, The sensor system includes at least one of the following: a monocular vision sensor, a binocular vision sensor, a line laser sensor, a plane laser sensor, an LDS sensor, and a Dtof sensor.

23. The method of claim 22, wherein, The effective detection range includes at least one of the following: The effective field of view angle range of the monocular vision sensor, the effective field of view angle range of the binocular vision sensor, the effective detection distance range of the line laser sensor, the effective detection distance range of the plane laser sensor, the effective detection distance range of the LDS sensor, and the effective detection distance range of the Dtof sensor.

24. The method according to any one of claims 1 to 21, characterized in that, The method further includes: after performing the matched obstacle avoidance action, when the sensor system detects that the feline obstacle no longer exists in a first original area where the feline obstacle is located, performing supplementary cleaning on the first original area.

25. The method of claim 24, wherein, The step of performing supplementary cleaning on the first original area further includes: When the three-dimensional environmental information indicates that there is no excrement in the first original area, performing supplementary cleaning on the first original area.

26. The method of claim 24, wherein, The step of cleaning the first original area further includes: When the three-dimensional environmental information indicates that there is particulate matter in the first original area, increasing the suction force; Under the condition of increasing the suction force, performing supplementary cleaning on the first original area.

27. The method of claim 24, wherein, The step of cleaning the first original area further comprises: When the three-dimensional environmental information indicates that there is a container-type obstacle within a preset range of the first original area, increasing the suction force; Under the condition of increasing the suction force, performing supplementary cleaning on the first original area.

28. The method of any one of claims 1 to 21, wherein, The performing of the matching obstacle avoidance action comprises: When the three-dimensional information indicates that there are multiple cat-type obstacles and the multiple cat-type obstacles have different angles relative to the cleaning robot, adjusting the traveling direction of the cleaning robot so that the traveling direction of the cleaning robot points to an area where there is no cat-type obstacle.

29. The method of claim 28, wherein, The step of adjusting the traveling direction of the cleaning robot further comprises: Adjusting the traveling direction of the cleaning robot so that the traveling direction of the cleaning robot points to an area where there is no cat-type obstacle and has not been cleaned.

30. The method of any one of claims 1 to 21, wherein, The performing of the matching obstacle avoidance action at least comprises any of the following actions: The cleaning robot turns around at the edge of the cat-type obstacle; or The cleaning robot detours at the edge of the cat-type obstacle; or The cleaning robot retreats and then turns; or The cleaning robot performs edge cleaning along the edge of the cat-type obstacle.

31. A control method of a cleaning robot, characterized by, Applied to a cleaning robot provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component comprising an edge brush, the method comprises: During the traveling of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a shoe-type obstacle comprising a shoe body and a shoelace, a matching obstacle avoidance action is performed so that the distance between the edge brush of the cleaning robot and the shoe body of the shoe-type obstacle is greater than or equal to an eleventh distance threshold and less than or equal to a twelfth distance threshold, and the performing of the matching obstacle avoidance action further comprises, when the shoe-type obstacle has a shoelace falling to the ground, making the distance between the edge brush of the cleaning robot and the shoelace of the shoe-type obstacle greater than or equal to a thirteenth distance threshold and less than or equal to a fourteenth distance threshold. The shoe body is a part of the shoe-type obstacle other than the shoelace.

32. The method of claim 31, wherein, The eleventh distance threshold is 0, and the twelfth distance threshold is 40 cm; the thirteenth distance threshold is 0, and the fourteenth distance threshold is 20 cm.

33. A control method of a cleaning robot, characterized by, Applied to a cleaning robot provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component comprising a first cloth disc, the method comprises: During the traveling of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a shoe-type obstacle, a matching obstacle avoidance action is performed so that the distance between the first cloth disc of the cleaning robot and the shoe-type obstacle is greater than or equal to a fifteenth distance threshold and less than or equal to a sixteenth distance threshold.

34. The method of claim 33, wherein, The fifteenth distance threshold is 1 cm, and the sixteenth distance threshold is 40 cm.

35. A control method of a cleaning robot, characterized by, The application is applied to a cleaning robot, which is provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component, the cleaning component comprising a first cloth disc, the first cloth disc having a first position state and a second position state on the cleaning robot; The second position state extends outward relative to the first position state; The method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a shoe obstacle, a matching obstacle avoidance action is performed to make the distance between the first cloth disc of the cleaning robot and the shoe obstacle greater than or equal to a seventeenth distance threshold and less than or equal to an eighteenth distance threshold.

36. The method of claim 35, wherein, The seventeenth distance threshold is 1 cm, and the eighteenth distance threshold is 40 cm.

37. A control method of a cleaning robot, characterized by, The application is applied to a cleaning robot, which is provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component, the cleaning component comprising a first cloth disc and a second cloth disc, the diameter of the second cloth disc being smaller than that of the first cloth disc, and the second cloth disc protruding outward from the contour of the body of the cleaning robot; the method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a shoe obstacle, a matching obstacle avoidance action is performed to make the distance between the first cloth disc of the cleaning robot and the shoe obstacle greater than or equal to a nineteenth distance threshold and less than or equal to a twentieth distance threshold, and / or the distance between the second cloth disc of the cleaning robot and the shoe obstacle greater than or equal to a twenty-first distance threshold and less than or equal to a twenty-second distance threshold.

38. The method of claim 37, wherein, The nineteenth distance threshold is 1 cm, and the twentieth distance threshold is 40 cm; the twenty-first distance threshold is 1 cm, and the twenty-second distance threshold is 40 cm.

39. A control method of a cleaning robot, characterized by, The application is applied to a cleaning robot, which is provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle and a cleaning component; the cleaning robot comprises a main brush cavity arranged at the bottom of the body, one side opening of the main brush cavity being in communication with a dust suction passage of the cleaning robot, and the other side opening of the main brush cavity serving as a dust suction port of the cleaning robot; the method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a shoe obstacle comprising a shoelace and a shoe body, a matching obstacle avoidance action is performed to make the distance between the dust suction port of the cleaning robot and the shoelace greater than or equal to a twenty-third distance threshold and less than or equal to a twenty-fourth distance threshold.

40. The method of claim 39, wherein, The twenty-third distance threshold is 2 cm, and the twenty-fourth distance threshold is 40 cm.

41. The method of claim 39, wherein, The performing of the matched obstacle avoidance action further includes: in the case that the shoe lace of the shoe obstacle has an interference state with the body of the cleaning robot, controlling the distance between the dust suction port of the cleaning robot and the shoe lace to be greater than or equal to a twenty-fifth distance threshold.

42. The method of claim 41, wherein, The twenty-fifth distance threshold is 2 cm.

43. The method of claim 39, wherein, In the case that the shoe lace of the shoe obstacle has an interference state with the body of the cleaning robot, the dust suction wind power of the cleaning robot is reduced.

44. A control method of a cleaning robot, characterized by, The method is applied to a cleaning robot provided with at least a sensor system capable of acquiring three-dimensional information of an obstacle, and the method comprises: During the movement of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle within an effective detection range; When the obstacle indicated by the three-dimensional information is a shoe obstacle, the height information of the shoe obstacle is detected, and when the height information of the shoe obstacle reaches a preset height threshold, a matched obstacle avoidance action is performed to make the distance between the body of the cleaning robot and the shoe obstacle greater than or equal to a twenty-sixth distance threshold and less than or equal to a twenty-seventh distance threshold, and the distance between the first cloth disc of the cleaning robot and the shoe obstacle greater than or equal to a twenty-eighth distance threshold and less than or equal to a twenty-ninth distance threshold.

45. The method of claim 44, wherein, The twenty-sixth distance threshold is 1 cm, and the twenty-seventh distance threshold is 40 cm; the twenty-eighth distance threshold is 1 cm, and the twenty-ninth distance threshold is 40 cm.

46. The method of any one of claims 31-45, wherein, The sensor system comprises at least one of a monocular vision sensor, a binocular vision sensor, a line laser sensor, a plane laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

47. The method of any one of claims 31-45, wherein, The performing of the matched obstacle avoidance action comprises any one of the following actions: The cleaning robot turns around at the edge of the shoe obstacle; The cleaning robot detours at the edge of the shoe obstacle; The cleaning robot turns after retreating; or The cleaning robot performs edge cleaning along the edge of the shoe obstacle.

48. The method of any one of claims 31-45, wherein, Before the performing of the obstacle avoidance action, the method further comprises: detecting, by the sensor system, position change information of the shoe obstacle within a first predetermined time length; in the case that it is detected that the shoe obstacle does not change its position from the center region of the field of view angle of the sensor system within the first predetermined time length remove, the obstacle avoidance action is performed.

49. The method of any one of claims 31-47, wherein, The method further comprises: after the performing of the matched obstacle avoidance action, in the case that the sensor system detects that the shoe obstacle no longer exists in a second original region where the shoe obstacle is located, the cleaning robot is controlled to perform supplementary cleaning on the second original region.

50. A control method of a cleaning robot, characterized by, The method is applied to a cleaning robot provided with a cleaning component and at least a sensor system capable of acquiring three-dimensional information of an obstacle, the cleaning component comprises an edge brush, the edge brush is arranged at the bottom of the body of the cleaning robot, and the edge brush is at least partially exposed to the body of the cleaning robot; the method comprises: During the movement of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle within an effective detection range; In the case that the obstacle indicated by the three-dimensional information is animal excrement, a matched avoidance operation is performed to make the minimum distance between the edge brush and the obstacle greater than a thirtieth distance threshold and less than a thirty-first distance threshold, while the distance between the body of the cleaning robot and the obstacle is greater than or equal to a thirty-second distance threshold and less than or equal to a thirty-third distance threshold.

51. The method of claim 50, wherein, The thirtieth distance threshold is greater than 0 cm and less than 20 cm, and the thirty-first distance threshold is greater than 0 cm and less than 50 cm; the thirty-second distance threshold is greater than 0 cm and less than 20 cm, and the thirty-third distance threshold is greater than 0 cm and less than 50 cm.

52. The method of claim 50, wherein, The thirtieth distance threshold is 5 mm to 5 cm, and the thirty-first distance threshold is 5 cm to 20 cm; the thirty-second distance threshold is 1 cm to 5 cm, and the thirty-third distance threshold is 5 cm to 20 cm.

53. The method of claim 50, wherein, The cleaning component further comprises a main brush arranged in a main brush cavity at the bottom of the body of the cleaning robot, and the main brush cavity is in communication with a dust suction channel of the cleaning robot. The matched avoidance operation further comprises making the minimum distance between the main brush and the obstacle greater than a thirty-fourth distance threshold and less than a thirty-fifth distance threshold.

54. A control method of a cleaning robot, characterized by, The application is applied to a cleaning robot provided with a cleaning component and a sensor system capable of acquiring at least three-dimensional information of an obstacle, the cleaning component comprises an edge brush arranged at the bottom of the body of the cleaning robot and at least partially exposed to the body of the cleaning robot, and the cleaning component comprises a first cloth disc having a retracted state and an outward swinging state; wherein the part of the first cloth disc located outside the body when the first cloth disc is in the outward swinging state is greater than the part of the first cloth disc located outside the body when the first cloth disc is in the retracted state; the method comprises: During the movement of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle in an effective detection range; In the case that the obstacle indicated by the three-dimensional information is animal excrement, a matched avoidance operation is performed to make the minimum distance between the edge brush and the obstacle greater than a thirtieth distance threshold and less than a thirty-first distance threshold, while the distance between the body of the cleaning robot and the obstacle is greater than or equal to a thirty-second distance threshold and less than or equal to a thirty-third distance threshold. In the case that the first cloth disc is currently in the outward swinging state, a matched avoidance operation is performed to make the minimum distance between the first cloth disc currently in the outward swinging state and the obstacle greater than a thirty-sixth distance threshold and less than a thirty-seventh distance threshold.

55. The method of claim 54, wherein, The thirty-sixth distance threshold is greater than 0 cm and less than 20 cm, and the thirty-seventh distance threshold is greater than 0 cm and less than 50 cm.

56. The method of claim 55, wherein, The thirty-sixth distance threshold is 5 mm to 5 cm, and the thirty-seventh distance threshold is 5 cm to 20 cm.

57. The method of claim 54, wherein, In the case that the first mop tray is currently in the outward swinging state and the edge brush is currently in the outward swinging state, the matched avoidance operation is performed, further comprising: making the minimum distance between the edge brush of the cleaning robot currently in the outward swinging state and the obstacle greater than the thirty-eighth distance threshold and less than the thirty-ninth distance threshold; and making the minimum distance between the first mop tray of the cleaning robot currently in the outward swinging state and the obstacle greater than the thirty-sixth distance threshold and less than the thirty-seventh distance threshold.

58. The method of claim 54, wherein, The cleaning component further comprises a second mop tray; wherein the diameter of the second mop tray is smaller than the diameter of the first mop tray, and the second mop tray protrudes out of the body profile of the cleaning robot; Correspondingly, the matched avoidance operation is performed, further comprising: making the minimum distance between the second mop tray and the obstacle greater than the fortieth distance threshold and less than the forty-first distance threshold.

59. A control method of a cleaning robot, characterized by, The application is applied to a cleaning robot, the cleaning robot is provided with a cleaning component and a sensor system capable of acquiring three-dimensional information of an obstacle, the cleaning component comprises an edge brush, the edge brush is arranged at the bottom of the body of the cleaning robot, the edge brush is at least partially exposed to the body of the cleaning robot, and the edge brush has a retracted state and an outward swinging state; wherein the part of the edge brush located outside the body when the edge brush is in the outward swinging state is greater than the part of the edge brush located outside the body when the edge brush is in the retracted state; the method comprises: During the movement of the cleaning robot, the three-dimensional information of the obstacle in the effective detection range is collected by the sensor system; In the case that the obstacle indicated by the three-dimensional information is animal excrement, the matched avoidance operation is performed, the minimum distance between the edge brush and the obstacle is greater than the thirtieth distance threshold and less than the thirty-first distance threshold, and the distance between the body of the cleaning robot and the obstacle is greater than or equal to the thirty-second distance threshold and less than or equal to the thirty-third distance threshold. In the case that the edge brush is currently in the outward swinging state, the matched avoidance operation is performed, the minimum distance between the edge brush of the cleaning robot currently in the outward swinging state and the obstacle is greater than the forty-second distance threshold and less than the forty-third distance threshold. The forty-second distance threshold is greater than 0 cm and less than 20 cm, and the forty-third distance threshold is greater than 0 cm and less than 50 cm.

60. The method of claim 59, wherein, The forty-second distance threshold is 5 mm to 5 cm, and the forty-third distance threshold is 5 cm to 20 cm.

61. The method of claim 60, wherein, The application is applied to a cleaning robot, the cleaning robot is provided with a cleaning component and a sensor system capable of acquiring three-dimensional information of an obstacle, the cleaning component comprises an edge brush, the edge brush is arranged at the bottom of the body of the cleaning robot, the edge brush is at least partially exposed to the body of the cleaning robot, the sensor system is a stereo binocular vision system, the stereo binocular vision system acquires three-dimensional information of an object through left and right parallax images; the method comprises:

62. A control method of a cleaning robot, characterized by, During the movement of the cleaning robot, the three-dimensional information of the obstacle in the effective detection range is collected by the stereo binocular vision system; During the movement of the cleaning robot, the three-dimensional information of the obstacle in the effective detection range is collected by the stereo binocular vision system; In the case that the obstacle indicated by the three-dimensional information is animal excrement, a matched avoidance operation is performed to make the minimum distance between the edge brush and the obstacle greater than a 30th distance threshold and less than a 31st distance threshold, while the distance between the body of the cleaning robot and the obstacle is greater than or equal to a 32nd distance threshold and less than or equal to a 33rd distance threshold.

63. The method of claim 62, wherein, The 30th distance threshold is greater than 0 cm and less than 20 cm, and the 31st distance threshold is greater than 0 cm and less than 50 cm; the 32nd distance threshold is greater than 0 cm and less than 20 cm, and the 33rd distance threshold is greater than 0 cm and less than 50 cm.

64. The method of claim 63, wherein, The 30th distance threshold is 5 mm to 5 cm, and the 31st distance threshold is 5 cm to 20 cm; the 32nd distance threshold is 1 cm to 5 cm, and the 33rd distance threshold is 5 cm to 20 cm.

65. The method of claims 50-64, wherein, The method further comprises: after performing the matched avoidance operation, when the sensor system detects that there is no longer animal excrement in a third original area where the animal excrement is located, performing supplementary cleaning on the third original area.

66. The method of claim 65, wherein, The animal excrement includes at least one of animal vomit, animal feces, animal urine, and animal sputum.

67. The method of claims 50-64, wherein, The performing of the matched avoidance operation at least includes any of the following actions: The cleaning robot turns around at the safety distance boundary of the obstacle; The cleaning robot detours at the safety distance boundary of the obstacle; The cleaning robot turns after retreating; or The cleaning robot performs edge cleaning along the safety distance boundary of the obstacle.

68. The method of claims 50-64, wherein, After performing the matched avoidance operation, the method further comprises: Broadcasting voice prompt information about cleaning the obstacle.

69. A control method of a cleaning robot, characterized by, The method is applied to a cleaning robot provided with a cloth tray and a sensor system capable of acquiring three-dimensional information of an obstacle, and the cloth tray is arranged at the bottom of the body of the cleaning robot. The method comprises: During movement of the cleaning robot, the sensor system acquires three-dimensional information of an obstacle in an effective detection range; In the case that the obstacle indicated by the three-dimensional information is animal excrement, a matched avoidance operation is performed to make the minimum distance between the cloth tray of the cleaning robot and the obstacle greater than a 44th distance threshold and less than a 45th distance threshold, while the distance between the body of the cleaning robot and the obstacle is greater than or equal to a 46th distance threshold and less than or equal to a 47th distance threshold.

70. The method of claim 69, wherein, The 44th distance threshold is greater than 0 cm and less than 20 cm, and the 45th distance threshold is greater than 0 cm and less than 50 cm; the 46th distance threshold is greater than 0 cm and less than 20 cm, and the 47th distance threshold is greater than 0 cm and less than 50 cm.

71. The method of claim 70, wherein, The 44th distance threshold is 5 mm to 5 cm, and the 45th distance threshold is 5 cm to 20 cm; the 46th distance threshold is 1 cm to 5 cm, and the 47th distance threshold is 5 cm to 20 cm.

72. A control method of a cleaning robot, characterized by, The application is applied to a cleaning robot, the cleaning robot comprises a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component comprising a cloth tray; the method comprises: detecting three-dimensional information of an obstacle by the sensor system during travel of the cleaning robot; in the case where the obstacle indicated by the three-dimensional information is a first bottle-shaped obstacle, controlling the cleaning robot to perform obstacle avoidance, and performing a specific obstacle avoidance action during the obstacle avoidance, so that a horizontal distance between the cloth tray of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a forty-eighth distance threshold and less than or equal to a forty-ninth distance threshold, and a minimum horizontal distance between a body of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a fiftieth distance threshold, so that the cleaning robot sweeps an edge of the first bottle-shaped obstacle while not knocking down or contaminating the first bottle-shaped obstacle; wherein the first bottle-shaped obstacle refers to a bottle-shaped obstacle containing a fragile material. The horizontal distance between the cloth tray of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to 0.5 cm and less than or equal to 35 cm, and the minimum horizontal distance between the body of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to 0.5 cm.

73. The method of claim 72, wherein, The first bottle-shaped obstacle comprises at least one of a thermos and a vase, or the first bottle-shaped obstacle comprises at least one of a glass bottle and a ceramic bottle.

74. The method of claim 72, wherein, The application is applied to a cleaning robot, the cleaning robot comprises a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component comprising a cloth tray; the method comprises:

75. A control method of a cleaning robot, characterized by, detecting three-dimensional information of an obstacle by the sensor system during travel of the cleaning robot; in the case where the obstacle indicated by the three-dimensional information is a second bottle-shaped obstacle, controlling the cleaning robot to perform obstacle avoidance, and performing a specific obstacle avoidance action during the obstacle avoidance, so that a horizontal distance between the cloth tray of the cleaning robot and the second bottle-shaped obstacle is greater than or equal to a fifty-first distance threshold and less than or equal to a fifty-second distance threshold, and a minimum horizontal distance between a body of the cleaning robot and the second bottle-shaped obstacle is greater than or equal to a fifty-third distance threshold, so that the cleaning robot sweeps an edge of the second bottle-shaped obstacle while not knocking down or contaminating the second bottle-shaped obstacle; wherein the second bottle-shaped obstacle refers to a bottle-shaped obstacle not containing a fragile material. The horizontal distance between the cloth tray of the cleaning robot and the second bottle-shaped obstacle is greater than 0 and less than or equal to 30 cm, and the minimum horizontal distance between the body of the cleaning robot and the second bottle-shaped obstacle is greater than or equal to 0.

76. The method of claim 75, wherein, The method further comprises:

77. The method of claim 75, wherein, ​ In a case where it is detected that the obstacle indicated by the three-dimensional information is a first bottle-shaped obstacle, the cleaning robot is controlled to perform obstacle avoidance, and in the process of obstacle avoidance, a specific obstacle avoidance action is performed, so that a horizontal distance between a cloth disc of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a forty-eighth distance threshold and less than or equal to a forty-ninth distance threshold, and a minimum horizontal distance between a body of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a fiftieth distance threshold, so that the cleaning robot sweeps an edge of the first bottle-shaped obstacle while not knocking down or contaminating the first bottle-shaped obstacle. The first bottle-shaped obstacle refers to a bottle-shaped obstacle containing a fragile material. The forty-eighth distance threshold is greater than or equal to the fifty-first distance threshold, and the fiftieth distance threshold is greater than or equal to the fifty-third distance threshold.

78. The method of claim 75, wherein, The second bottle-shaped obstacle includes at least one of a plastic bottle and a stainless steel bottle.

79. A control method of a cleaning robot, characterized by, The method is applied to a cleaning robot, the cleaning robot includes a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component including a dust suction port arranged at a bottom of the cleaning robot; the method includes: In a case where it is detected that the obstacle indicated by the three-dimensional information is a first bottle-shaped obstacle, the cleaning robot is controlled to perform obstacle avoidance, and in the process of obstacle avoidance, a specific obstacle avoidance action is performed, so that a horizontal distance between a cloth disc of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a forty-eighth distance threshold and less than or equal to a forty-ninth distance threshold, and a minimum horizontal distance between a body of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a fiftieth distance threshold, so that the cleaning robot sweeps an edge of the first bottle-shaped obstacle while not knocking down or contaminating the first bottle-shaped obstacle. The first bottle-shaped obstacle refers to a bottle-shaped obstacle containing a fragile material.

80. The method of claim 79, wherein, The forty-eighth distance threshold is greater than or equal to the fifty-first distance threshold, and the fiftieth distance threshold is greater than or equal to the fifty-third distance threshold.

81. The method of claim 79, wherein, The second bottle-shaped obstacle includes at least one of a plastic bottle and a stainless steel bottle.

82. A control method of a cleaning robot, characterized by, The method is applied to a cleaning robot, the cleaning robot includes a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component including a dust suction port arranged at a bottom of the cleaning robot; the method includes: In a case where it is detected that the obstacle indicated by the three-dimensional information is a first bottle-shaped obstacle, the cleaning robot is controlled to perform obstacle avoidance, and in the process of obstacle avoidance, a specific obstacle avoidance action is performed, so that a horizontal distance between a cloth disc of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a forty-eighth distance threshold and less than or equal to a forty-ninth distance threshold, and a minimum horizontal distance between a body of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a fiftieth distance threshold, so that the cleaning robot sweeps an edge of the first bottle-shaped obstacle while not knocking down or contaminating the first bottle-shaped obstacle. The first bottle-shaped obstacle refers to a bottle-shaped obstacle containing a fragile material. The forty-eighth distance threshold is greater than or equal to the fifty-first distance threshold, and the fiftieth distance threshold is greater than or equal to the fifty-third distance threshold. The second bottle-shaped obstacle includes at least one of a plastic bottle and a stainless steel bottle. The method is applied to a cleaning robot, the cleaning robot includes a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component including a dust suction port arranged at a bottom of the cleaning robot; the method includes: In a case where it is detected that the obstacle indicated by the three-dimensional information is a first bottle-shaped obstacle, the cleaning robot is controlled to perform obstacle avoidance, and in the process of obstacle avoidance, a specific obstacle avoidance action is performed, so that a horizontal distance between a cloth disc of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a forty-eighth distance threshold and less than or equal to a forty-ninth distance threshold, and a minimum horizontal distance between a body of the cleaning robot and the first bottle-shaped obstacle is greater than or equal to a fiftieth distance threshold, so that the cleaning robot sweeps an edge of the first bottle-shaped obstacle while not knocking down or contaminating the first bottle-shaped obstacle. In a case where the obstacle indicated by the three-dimensional information is a bottle-shaped obstacle, the cleaning robot is controlled to perform obstacle avoidance, and a specific obstacle avoidance action is performed during the obstacle avoidance to make the distance between the body of the cleaning robot and the bottle-shaped obstacle greater than or equal to a fifty-sixth distance threshold, the horizontal distance between the first and second cloth pads and the bottle-shaped obstacle greater than or equal to a fifty-seventh distance threshold, and the horizontal distance between at least one of the first and second cloth pads and the bottle-shaped obstacle less than or equal to a fifty-eighth distance threshold.

83. A control method of a cleaning robot, characterized by, The method is applied to a cleaning robot, the cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component comprising a cloth pad, the cloth pad having a third position state and a fourth position state, and the fourth position state extending outward relative to the third position state; the method comprising: acquiring, by the sensor system, three-dimensional information of an obstacle during movement of the cleaning robot; in a case where the obstacle indicated by the three-dimensional information is a bottle-shaped obstacle, the cleaning robot is controlled to perform obstacle avoidance, and a specific obstacle avoidance action is performed during the obstacle avoidance to make the horizontal distance between the body of the cleaning robot and the bottle-shaped obstacle greater than or equal to a fifty-ninth distance threshold, and the horizontal distance between the cloth pad of the cleaning robot and the bottle-shaped obstacle greater than or equal to a sixtieth distance threshold and less than or equal to a sixty-first distance threshold; if the bottle-shaped obstacle is outwardly expanding from bottom to top within a predetermined height on the ground, the specific obstacle avoidance action comprises keeping the cloth pad in the fourth position state when the cleaning robot is located at the edge of the bottle-shaped obstacle; and the predetermined height is less than or equal to the height of the body of the cleaning robot.

84. The method of claim 83, wherein, The horizontal distance between the body of the cleaning robot and the bottle-shaped obstacle is greater than or equal to 0.5 cm and less than or equal to 35 cm, and the horizontal distance between the first cloth pad of the cleaning robot and the bottle-shaped obstacle is greater than or equal to 0.5 cm and less than or equal to 35 cm.

85. A control method of a cleaning robot, characterized by, The method is applied to a cleaning robot, the cleaning robot comprising a sensor system capable of acquiring three-dimensional information of an obstacle, and a cleaning component comprising a cloth pad; the method comprising: acquiring, by the sensor system, three-dimensional information of an obstacle during movement of the cleaning robot; in a case where the obstacle indicated by the three-dimensional information is a bottle-shaped obstacle, the cleaning robot is controlled to perform obstacle avoidance, and a specific obstacle avoidance action is performed during the obstacle avoidance to make the horizontal distance between the body of the cleaning robot and the bottle-shaped obstacle greater than or equal to a fifty-ninth distance threshold, and the horizontal distance between the cloth pad of the cleaning robot and the bottle-shaped obstacle greater than or equal to a sixtieth distance threshold and less than or equal to a sixty-first distance threshold; the horizontal distance between the cloth pad of the cleaning robot and the bottle-shaped obstacle is greater than or equal to a sixty-fourth distance threshold and less than or equal to a sixty-fifth distance threshold.

86. The method of any one of claims 72-85, wherein, The cleaning component of the cleaning robot further comprises a side brush; when a specific obstacle avoidance action is performed in the obstacle avoidance process, the horizontal distance between the side brush of the cleaning robot and the bottle-shaped obstacle is greater than or equal to a sixty-sixth distance threshold and less than or equal to a sixty-seventh distance threshold.

87. The method of claim 86, wherein, The horizontal distance between the side brush of the cleaning robot and the bottle-shaped obstacle is greater than or equal to 0 and less than or equal to 25 cm.

88. The method of claim 87, wherein, When a specific obstacle avoidance action is performed in the obstacle avoidance process, the minimum horizontal distance between the side brush of the cleaning robot and the bottle-shaped obstacle is equal to 0, so that the cleaning robot can clean the dead angle of the edge of the bottle-shaped obstacle without knocking down the bottle-shaped obstacle.

89. The method of any one of claims 72-85, wherein, Before performing the specific obstacle avoidance action, further comprising: detecting the position change of the bottle-shaped obstacle within a second predetermined time period through the sensor system; if it is detected that the bottle-shaped obstacle is not removed from the central area of the field of view angle of the sensor system within the second predetermined time period, performing the obstacle avoidance action.

90. The method of any one of claims 72-85, wherein, After performing the specific obstacle avoidance action, further comprising: if the position change of the bottle-shaped obstacle is detected during the obstacle avoidance process, returning to the original position of the bottle-shaped obstacle to continue cleaning.

91. The method of any one of claims 72-85, wherein, The sensor system comprises at least one of a monocular vision sensor, a binocular vision sensor, a line laser sensor, a plane laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

92. A control method of a cleaning robot, characterized by, A cleaning component comprising a main brush and a sensor system capable of acquiring three-dimensional information of an obstacle are arranged on the cleaning robot, the main brush is arranged in a main brush cavity at the bottom of the body of the cleaning robot, and the main brush cavity is in communication with a dust suction channel of the cleaning robot; the method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of obstacles within an effective detection range; When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag with a specific size, a matching obstacle avoidance action is performed, so that the distance between the main brush and the paper obstacle or plastic bag is greater than or equal to a sixty-eighth distance threshold and less than or equal to a sixty-ninth distance threshold, and the distance between the body of the cleaning robot and the paper obstacle or plastic bag is greater than or equal to a seventieth distance threshold and less than or equal to a seventy-first distance threshold. During the performance of the matching obstacle avoidance action, the body of the cleaning robot and the paper obstacle or plastic bag have an interference state, and the interference amount in the interference state is less than the absolute value of the seventieth distance threshold.

93. A control method of a cleaning robot, characterized by, A cleaning component comprising a main brush and a side brush and a sensor system capable of acquiring three-dimensional information of an obstacle are arranged on the cleaning robot, the main brush is arranged in a main brush cavity at the bottom of the body of the cleaning robot, and the main brush cavity is in communication with a dust suction channel of the cleaning robot, the side brush has a retracted state and an outward swinging state, and the part of the side brush located outside the body in the outward swinging state is larger than the part of the side brush located outside the body in the retracted state; the method comprises: During the travel of the cleaning robot, the sensor system collects three-dimensional information of obstacles within an effective detection range; During the travel of the cleaning robot, the sensor system collects three-dimensional information of obstacles within an effective detection range; When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag, a matching obstacle avoidance action is performed to make the distance between the main brush and the paper obstacle or the plastic bag greater than or equal to the sixty-eighth distance threshold and less than or equal to the sixty-ninth distance threshold, and the distance between the side brush and the paper obstacle or the plastic bag greater than or equal to the seventy-second distance threshold and less than or equal to the seventy-third distance threshold. The cleaning robot is provided with a cleaning component including a main brush and a first cleaning cloth disc, and a sensor system capable of acquiring three-dimensional information of an obstacle. The main brush is arranged in a main brush cavity at the bottom of the body of the cleaning robot, and the main brush cavity is in communication with the dust suction channel of the cleaning robot. The first cleaning cloth disc has a retracted state and an outward swinging state. In the outward swinging state, the part of the first cleaning cloth disc located outside the body is larger than that in the retracted state. The method comprises:

94. A control method of a cleaning robot, characterized by, During the movement of the cleaning robot, the sensor system collects three-dimensional information of obstacles within the effective detection range; When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag, a matching obstacle avoidance action is performed to make the distance between the main brush and the paper obstacle or the plastic bag greater than or equal to the sixty-eighth distance threshold and less than or equal to the sixty-ninth distance threshold, and the distance between the side brush and the paper obstacle or the plastic bag greater than or equal to the seventy-second distance threshold and less than or equal to the seventy-third distance threshold. The cleaning robot is provided with a cleaning component including a main brush, a first cleaning cloth disc and a second cleaning cloth disc, and a sensor system capable of acquiring three-dimensional information of an obstacle. The main brush is arranged in a main brush cavity at the bottom of the body of the cleaning robot, and the main brush cavity is in communication with the dust suction channel of the cleaning robot. The diameter of the second cleaning cloth disc is smaller than that of the first cleaning cloth disc, and the second cleaning cloth disc protrudes beyond the body profile of the cleaning robot. The method comprises:

95. A control method of a cleaning robot, characterized by, During the movement of the cleaning robot, the sensor system collects three-dimensional information of obstacles within the effective detection range; When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag, a matching obstacle avoidance action is performed to make the distance between the main brush and the paper obstacle or the plastic bag greater than or equal to the sixty-eighth distance threshold and less than or equal to the sixty-ninth distance threshold, the distance between the first cleaning cloth disc and the paper obstacle or the plastic bag greater than or equal to the seventy-fourth distance threshold and less than or equal to the seventy-fifth distance threshold, and the distance between the second cleaning cloth disc and the paper obstacle or the plastic bag greater than or equal to the seventy-sixth distance threshold and less than or equal to the seventy-seventh distance threshold. The cleaning robot is provided with a cleaning component including a main brush, and a sensor system capable of acquiring three-dimensional information of an obstacle. The main brush is arranged in a main brush cavity at the bottom of the body of the cleaning robot, and the main brush cavity is in communication with the dust suction channel of the cleaning robot. The method comprises: 96.A control method of a cleaning robot, characterized by, ​ In the process of the cleaning robot traveling, three-dimensional information of obstacles in an effective detection range is collected by a sensor system When the obstacle indicated by the three-dimensional information is a paper obstacle or a plastic bag, a matching obstacle avoidance action is performed to make the distance between the main brush and the paper obstacle or the plastic bag greater than or equal to a sixty-eighth distance threshold and less than or equal to a sixty-ninth distance threshold. The distance between the main brush and the paper obstacle or the plastic bag is greater than or equal to 2 cm and less than or equal to 40 cm.

97. The method of claim 96, wherein, The distance between the main brush and the paper obstacle or the plastic bag is greater than or equal to 10 cm and less than or equal to 30 cm.

98. The method of claim 97, wherein, The performing of the matching obstacle avoidance action further includes making the distance between the body of the cleaning robot and the paper obstacle or the plastic bag greater than or equal to a seventieth distance threshold and less than or equal to a seventy-first distance threshold.

99. The method of claim 96, wherein, The distance between the body of the cleaning robot and the paper obstacle or the plastic bag is greater than or equal to 0 cm and less than or equal to 35 cm.

100. The method of claim 99, wherein, The distance between the body of the cleaning robot and the paper obstacle or the plastic bag is greater than or equal to 5 cm and less than or equal to 25 cm.

101. The method of claim 100, wherein, The sixty-eighth distance threshold is greater than the seventieth distance threshold.

102. The method of claim 99, wherein, The cleaning component further includes an edge brush.

103. The method of claim 96, wherein, The performing of the matching obstacle avoidance action further includes making the distance between the edge brush and the paper obstacle or the plastic bag greater than or equal to a seventy-second distance threshold and less than or equal to a seventy-third distance threshold. The distance between the edge brush and the paper obstacle or the plastic bag is greater than or equal to 0 cm and less than or equal to 25 cm.

104. The method of claim 103, wherein, The seventy-second distance threshold is less than 0.

105. The method of claim 103, wherein, In the process of the performing of the matching obstacle avoidance action, the edge brush has an interference state with the paper obstacle or the plastic bag, and an interference amount in the interference state is less than the absolute value of the seventy-second distance threshold.

106. The method of claim 105, wherein, The distance between the edge brush and the paper obstacle or the plastic bag is greater than or equal to -3 cm and less than 0 cm.

107. The method of claim 106, wherein, The cleaning component further includes a first cloth disc.

108. The method of claim 96, wherein, The performing of the matching obstacle avoidance action further includes making the distance between the first cloth disc and the paper obstacle or the plastic bag greater than or equal to a seventy-fourth distance threshold and less than or equal to a seventy-fifth distance threshold. The distance between the first cloth disc and the paper obstacle or the plastic bag is greater than or equal to 0 cm and less than or equal to 25 cm. The seventy-fourth distance threshold is less than 0.

109. The method of claim 108, wherein, In the process of the performing of the matching obstacle avoidance action, the first cloth disc has an interference state with the paper obstacle or the plastic bag, and an interference amount in the interference state is less than the absolute value of the seventy-fourth distance threshold.

110. The method of claim 108, wherein, The distance between the first cloth disc and the paper obstacle or the plastic bag is greater than or equal to -5 cm and less than 0 cm.

111. The method of claim 110, wherein, The sensor system includes at least one of a monocular vision sensor, a binocular vision sensor, a line laser sensor, a plane laser sensor, an LDS sensor, a Dtof sensor, and an Itof sensor.

112. The method of claim 111, wherein, The paper obstacle includes at least one of a soft paper towel, a hard paper sheet, and plastic paper.

113. The method of any one of claims 96 to 112, wherein, The performing of the matching obstacle avoidance action includes:

114. The method of any one of claims 96 to 112, wherein, When the maximum value in the three-dimensional size of the paper obstacle is greater than a size threshold, a matching obstacle avoidance action is performed.

115. The method of any one of claims 96 to 112, wherein, ​ ​ 116. The method of claim 115, wherein, The size threshold is 1cm to 5cm.

117. The method of any one of claims 96 to 112, wherein, The performing the matching obstacle-avoiding action further comprises: adjusting the distance between the main brush and the paper-based obstacle or plastic bag according to the suction force of the cleaning robot; the distance between the main brush and the paper-based obstacle or plastic bag and the suction force are positively correlated.

118. The method of any one of claims 96 to 112, wherein, The method further comprises: after the performing the matching obstacle-avoiding action, when the sensor system detects that the paper-based obstacle or plastic bag no longer exists in a fourth original area where the paper-based obstacle or plastic bag is located, performing supplementary cleaning on the fourth original area.

119. The method of any one of claims 96 to 112, wherein, The performing the matching obstacle-avoiding action comprises: when the three-dimensional information indicates that multiple paper-based obstacles or plastic bags exist and the multiple paper-based obstacles or plastic bags have different angles relative to the cleaning robot, adjusting the traveling direction of the cleaning robot so that the traveling direction of the cleaning robot points to an area where no paper-based obstacle or plastic bag exists. In the step of adjusting the traveling direction, further comprises:

120. The method of claim 119, wherein, adjusting the traveling direction of the cleaning robot so that the traveling direction of the cleaning robot points to an area where no paper-based obstacle or plastic bag exists and has not been cleaned. The performing the matching obstacle-avoiding action comprises any of the following actions:

121. The method of any one of claims 96 to 112, wherein, the cleaning robot turns around at the edge of the paper-based obstacle or plastic bag; or the cleaning robot detours around the edge of the paper-based obstacle or plastic bag; or the cleaning robot backs up and then turns; or the cleaning robot performs edge cleaning along the edge of the paper-based obstacle or plastic bag. comprises:

122. A cleaning robot, characterized by a machine body; a cleaning component arranged on the machine body and used for sweeping the ground during traveling of the cleaning robot; a sensor system arranged on the machine body and used for acquiring three-dimensional information of an obstacle during traveling of the cleaning robot; a controller used for performing the control method of the cleaning robot according to any one of claims 1 to 121. comprises:

123. An electronic device, comprising: a memory and a processor, which are communicatively connected, and the memory stores computer program instructions, and the processor performs the control method of the cleaning robot according to any one of claims 1 to 121 by executing the computer program instructions. The computer storage medium stores computer program instructions, and the computer program instructions are executed by a processor to implement the control method of the cleaning robot according to any one of claims 1 to 121.

124. A computer storage medium, comprising, The computer program is executed by a processor to implement the control method of the cleaning robot according to any one of claims 1 to 121.

125. A computer program product, characterized in that, ​

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