Cleaning robot control method and cleaning robot

Abstract

Provided in the present application are a cleaning robot control method and a cleaning robot. The method comprises: when an obstacle is detected during the traveling of a cleaning robot, acquiring the height, width, depth and type of the obstacle by means of a sensor system; and when the height of the obstacle is greater than or equal to a first threshold value, the width and / or depth of the obstacle does not exceed a second threshold value, and the type of the obstacle is a preset graspable obstacle type, controlling a robotic arm to grasp the obstacle, wherein the first threshold value is an upper limit value of the distance between a lower surface of a robot body of a cleaning robot and the ground, and the second threshold value is an upper limit value of a grasping range of a grasping portion of the robotic arm. Therefore, a cleaning robot can accurately distinguish different types of obstacles under different circumstances, and can perform targeted processing, so as to obtain a good cleaning effect.

Description

Control methods for cleaning robots and cleaning robots

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese patent application filed on July 17, 2024, application number 202410956241.7, entitled "Control Method for Cleaning Robot and Cleaning Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application belongs to the field of smart home technology, and in particular relates to a control method for cleaning robots and a cleaning robot. Background Technology

[0004] With the development and popularization of technology, more and more users are getting used to using cleaning robots for indoor or outdoor cleaning tasks.

[0005] Based on existing cleaning robot control methods, most of them use a uniform and fixed approach to deal with different types of obstacles in different situations, which often results in less than ideal cleaning results and affects the user experience. Summary of the Invention

[0006] This application provides a mobile control method for a cleaning robot and a cleaning robot, which enables the cleaning robot to accurately distinguish different types of obstacles in different situations, and to fully utilize the advantages of the robotic arm and sensor system to carry out targeted processing with matching processing methods for specific types of obstacles in specific situations, thereby achieving better cleaning results.

[0007] This application provides a control method for a cleaning robot, applied to a cleaning robot equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information about obstacles. The method includes: during the movement of the cleaning robot, when an obstacle is detected, acquiring the height, width, depth, and type of the obstacle through the sensor system; when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, controlling the robotic arm to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the gripping part of the robotic arm.

[0008] In one embodiment, the sensor system includes a first sensor system and a second sensor system; correspondingly, acquiring the height, width, depth, and type of an obstacle through the sensor system includes: acquiring the height of the obstacle through the first sensor system installed on the body of the cleaning robot; and when the height of the obstacle is greater than or equal to a height threshold, acquiring the width, depth, and type of the obstacle through the second sensor system installed on the robotic arm of the cleaning robot.

[0009] In one embodiment, the second sensor system is a binocular sensor system.

[0010] In one embodiment, acquiring the width, depth, and type of an obstacle through a second sensor system mounted on the robotic arm of a cleaning robot includes: activating the robotic arm so that the obstacle is within the detection range of the second sensor system; and acquiring three-dimensional information of the obstacle through the second sensor system; wherein the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0011] In one embodiment, after controlling the robotic arm to grasp the obstacle, the method further includes: controlling the robotic arm to move the grasped obstacle and place it in a first area; and performing a return cleaning action.

[0012] In one embodiment, after controlling the robotic arm to grasp the obstacle, the method further includes: controlling the robotic arm to lift the grasped obstacle to a position where the vertical distance between the obstacle and the ground is at least greater than a third threshold; maintaining the vertical distance between the obstacle and the ground at least greater than the third threshold; and cleaning the area where the obstacle was originally located.

[0013] In one embodiment, while maintaining the vertical distance between the obstacle and the ground at least greater than a third threshold, the method further includes maintaining the horizontal displacement of the obstacle relative to the body of the cleaning robot at a level less than a preset amplitude threshold.

[0014] In one embodiment, the method further includes: if the obstacle is a preset type of ungraspable obstacle, adjusting the pose of the robotic arm so that at least a preset percentage of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and performing a bypass cleaning action.

[0015] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, the method further includes: performing a steering action; and acquiring three-dimensional information of the obstacle through a first sensor system mounted on the fuselage; wherein the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0016] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold and the width and depth of the obstacle exceed a second threshold, the method further includes: if the type of the obstacle belongs to a preset movable obstacle type, controlling the robotic arm to move the obstacle.

[0017] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, if the type of the obstacle belongs to a preset movable obstacle type, the method further includes: controlling the robotic arm to push the obstacle away from the original area of ​​the obstacle; adjusting the posture of the robotic arm so that at least a preset proportion of the projection of the robotic arm on the ground is within the range of the projection of the body of the cleaning robot on the ground, and cleaning the original area of ​​the obstacle.

[0018] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold and the width and depth of the obstacle exceed a second threshold, the method further includes: if the type of the obstacle belongs to a preset non-movable obstacle type, performing a bypass cleaning action.

[0019] In one embodiment, the method further includes: when the height of the obstacle is less than a first threshold, if the type of the obstacle is a preset inhalable obstacle type, moving along the current direction of travel; and inhaling the obstacle through the main brush chamber.

[0020] In one embodiment, the method further includes: performing a bypass cleaning action if the obstacle is a preset non-inhalable obstacle type.

[0021] In one embodiment, if the obstacle is a preset non-inhalable obstacle type, the method further includes: controlling the robotic arm to push the obstacle away from its original location; adjusting the position of the robotic arm so that at least a preset proportion of the robotic arm's projection on the ground is within the range of the cleaning robot's body projection on the ground, and cleaning the original location of the obstacle.

[0022] This application also provides a control method for a cleaning robot, applied to a cleaning robot equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information about obstacles. The method includes: during the movement of the cleaning robot, when an obstacle is detected, acquiring the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through the sensor system; when the height of the obstacle is greater than or equal to a first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold, acquiring the height, width, depth, and type of the obstacle through the sensor system installed on the robotic arm of the cleaning robot; when the height of the obstacle is greater than or equal to the first threshold and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, controlling the robotic arm to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0023] In one embodiment, after controlling the robotic arm to grasp the obstacle, the method further includes: controlling the robotic arm to move the grasped obstacle and place it in a first area; and performing a return cleaning action.

[0024] In one embodiment, the method further includes: if the obstacle is a preset type of ungraspable obstacle, adjusting the pose of the robotic arm so that at least a preset percentage of the projection of the robotic arm on the ground is within the range of the projection of the cleaning robot's body on the ground; and performing a bypass cleaning action.

[0025] In one embodiment, the viewing angle of the cleaning robot relative to the obstacle is the angle formed by the tangents from the first reference point of the cleaning robot to the outer perimeter boundary of the obstacle; wherein, the first reference point is a point close to the obstacle along the current direction of travel among the intersection points of the body boundary of the cleaning robot and the central axis of the cleaning robot, and the central axis of the cleaning robot is parallel to the current direction of travel of the cleaning robot.

[0026] In one embodiment, when the observation angle includes a horizontal observation angle, the fourth threshold includes a horizontal field of view threshold; and when the observation angle includes a vertical observation angle, the fourth threshold includes a vertical field of view threshold; and when the observation angle includes both a horizontal and a vertical observation angle, the fourth threshold includes both a horizontal field of view threshold and a vertical field of view threshold.

[0027] This application also provides a cleaning robot, including: a body, a sensor system capable of acquiring three-dimensional information of obstacles, a robotic arm, a processor, and a memory for storing processor-executable instructions; during the movement of the cleaning robot, the processor executes the instructions to implement the steps of the control method of the cleaning robot.

[0028] This application discloses a computer-readable storage medium comprising a stored program, wherein the program, when executed, performs relevant steps of the control method for the cleaning robot.

[0029] Based on the control method and cleaning robot provided in this application, when an obstacle is detected during the cleaning robot's movement, the height, width, depth, and type of the obstacle can be obtained through a sensor system. The cleaning robot is equipped with a sensor system and a robotic arm capable of acquiring three-dimensional information about the obstacle. When the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, it can be determined that the current obstacle is relatively high and cannot be sucked into the dust collection box by the main brush chamber. Simultaneously, the size of the obstacle is relatively small and can be normally grasped by the robotic arm. Furthermore, if the type of the obstacle belongs to a preset graspable obstacle type, it can be determined that the current obstacle is suitable for being grasped by the robotic arm. The robotic arm can then be controlled to grasp the obstacle. The first threshold is the upper limit of the distance between the lower surface of the cleaning robot's body and the ground, and the second threshold is the upper limit of the grasping range of the robotic arm's grasping part. By acquiring and utilizing the height, width, depth, and type of obstacles, cleaning robots can accurately distinguish different types of obstacles in different situations. They can also fully leverage the advantages and characteristics of robotic arms and sensor systems to address different types of obstacles in different situations with appropriate processing methods. This allows them to acquire comprehensive and detailed obstacle information and precisely and flexibly coordinate with cleaning components to complete cleaning tasks effectively and achieve better cleaning results. Attached Figure Description

[0030] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. The accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 is a schematic diagram of an embodiment of the structure of the back of the cleaning robot using the control method of the cleaning robot provided in the embodiments of this application;

[0032] Figure 2 is a schematic diagram of an embodiment of the structure of the front of the cleaning robot body using the control method of the cleaning robot provided in the embodiments of this application;

[0033] Figure 3 is a schematic diagram of an embodiment of the structure of the robotic arm of a cleaning robot using the control method for a cleaning robot provided in the embodiments of this application;

[0034] Figure 4 is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application;

[0035] Figure 5 is a schematic diagram of an embodiment of the control method for the cleaning robot provided in this application, applied in a scenario example.

[0036] Figure 6 is a schematic diagram of an embodiment of the control method for the cleaning robot provided in this application, applied in a scenario example.

[0037] Figure 7 is a schematic diagram of an embodiment of the control method for the cleaning robot provided in this application, applied in a scenario example.

[0038] Figure 8 is a schematic diagram of an embodiment of the control method for the cleaning robot provided in this application, applied in a scenario example.

[0039] Figure 9 is a schematic diagram of an embodiment of the control method for a cleaning robot provided in this application, applied in a scenario example.

[0040] Figure 10 is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application;

[0041] Figure 11 is a schematic diagram of an embodiment of the control method for a cleaning robot provided in this application, applied in a scenario example.

[0042] Figure 12 is a schematic diagram of the structural composition of a cleaning robot provided in an embodiment of this application;

[0043] Figure 13 is a schematic diagram of the structure of the control device for a cleaning robot provided in an embodiment of this application. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0045] This application provides a cleaning robot. See Figure 1 for reference.

[0046] The aforementioned cleaning robot can specifically be an autonomous robot, capable of moving autonomously within a work area and completing cleaning tasks without external human input or control. The work area can include indoor and outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include sweeping (e.g., washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0047] The aforementioned cleaning robots include, but are not limited to: robotic vacuum cleaners, robotic floor scrubbers, robotic vacuum and mop combos, robotic lawnmowers, and robotic snowplows. Cleaning robots can perform cleaning using either a front-sweeping-then-mopping method or a separate sweeping-and-mopping method. The front-sweeping-then-mopping method allows for simultaneous sweeping and mopping, improving cleaning efficiency. The separate sweeping-and-mopping method allows for sweeping first, followed by mopping, which improves cleaning effectiveness.

[0048] Specifically, as shown in Figure 1, the cleaning robot includes at least a body, a controller, one or more cleaning components, and a sensor system capable of acquiring three-dimensional information about obstacles.

[0049] The cleaning components mentioned above may specifically include one or more of the following: side brushes, main brushes (or roller brushes), mop trays (or mop trays), etc.

[0050] Specifically, the shape of the aforementioned fuselage can be circular, square, or other shapes. For example, one part of the aforementioned fuselage can be circular, and another part can be square.

[0051] The controller described above may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0052] The cleaning component can be circular, square, or other shapes (e.g., semi-circular, arc-shaped, triangular, or other irregular shapes). A circular shape facilitates rotating cleaning. Irregular shapes facilitate cleaning corner areas.

[0053] The side brushes gather debris and direct it towards the center of the robot's bottom. The main brush sweeps debris from the bottom of the robot, allowing it to enter the dust collection box through the suction port. The mop tray is used for wiping or mopping the floor.

[0054] Specifically, the aforementioned mop tray contains mops. The cleaning robot is equipped with a water tank. Water from the tank flows through holes to the mops, wetting them. The wet mops are then used for mopping the floor.

[0055] The main brush is located inside the main brush chamber at the bottom of the cleaning robot's body. The main brush chamber is connected to the cleaning robot's suction channel. Small debris such as dust and hair swept up by the main brush and / or side brushes are sucked into the main brush chamber by the cleaning robot.

[0056] The aforementioned sensor system can be installed on the body of the cleaning robot (referred to as the first sensor system), and can at least acquire three-dimensional information about obstacles. The cleaning robot can detect and identify obstacles based on the three-dimensional information acquired by the sensor system. Furthermore, the controller can perform corresponding control on the cleaning robot based on the detected and identified obstacles.

[0057] Specifically, the aforementioned sensor system may include one or more of the following: monocular vision sensor, binocular vision sensor, line laser sensor, area laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0058] Specifically, the aforementioned monocular vision sensor can acquire a projected image of an object on a two-dimensional plane using a single camera. This image can carry information such as the object's shape, size, color, and texture. The aforementioned binocular vision sensor can simulate human vision, acquiring three-dimensional information of an object using two cameras.

[0059] The aforementioned line laser sensor can be a sensor that uses line lasers to achieve measurements. The aforementioned area laser sensor can be a sensor that uses area lasers to achieve measurements.

[0060] The aforementioned LDS (Laser Direct Structuring) sensor can be an optical sensor employing triangulation for laser ranging. The aforementioned Dtof (Direct Time of Flight) sensor, also known as a depth time-of-flight sensor, uses an infrared laser pulse emitted by a Dtof camera to measure the time required for the pulse to travel from the camera to the target and back, thus achieving depth perception. The aforementioned Itof (Indirect Time-of-Flight) sensor specifically refers to a long-range, interference-resistant Itof depth image sensor. Based on this Itof sensor, a modulated infrared light signal is emitted into the scene, and the sensor receives the light signal reflected back from the target in the scene. The phase difference between the emitted and received signals is calculated based on the accumulated charge within the exposure (integration) time, thereby obtaining the target's depth information.

[0061] Of course, it should be noted that the sensors listed above are only illustrative. In actual implementation, depending on the specific circumstances and processing requirements, the above sensor system may also include other types of sensors such as infrared sensors.

[0062] Specifically, based on the aforementioned sensor system, two-dimensional information (e.g., planar images) and depth information of obstacles within a certain range can be collected. Then, by fusing the two-dimensional and depth information of the obstacles, the corresponding three-dimensional information of the obstacles can be obtained. Furthermore, based on the three-dimensional information of the obstacles, relatively accurate detection and recognition of obstacles can be achieved, as well as obtaining relatively rich feature information about obstacles such as shape, size, and texture.

[0063] Specifically, in some embodiments, the sensor system may include a binocular camera positioned at the front of the cleaning robot. In practice, the cleaning robot can use the binocular camera to acquire image information of objects in its environment, including visible light and / or infrared light, thereby identifying the type and boundary range of the objects. Furthermore, it can calculate the three-dimensional shape and distance of the objects using the parallax of the two cameras, obtaining corresponding obstacle three-dimensional information. Subsequently, obstacle avoidance can be performed based on obstacle type, boundary range, three-dimensional shape, distance, and other three-dimensional information, as well as functions such as dirt detection, surface material detection, threshold / step detection, room and furniture recognition, and human or pet recognition.

[0064] In other embodiments, the sensor system may further include a monocular camera and a structured light sensor (such as a line laser sensor, a crossbeam sensor, etc.) disposed at the front of the cleaning robot. In this way, the cleaning robot can acquire image information of objects in its environment using the monocular camera, including visible light and / or infrared light, thereby identifying the type and boundary range of the objects. Furthermore, the structured light sensor, combined with the robot's motion scanning, or combined with the rotation or movement of the LDS sensor, can detect the three-dimensional shape and distance of objects, obtaining corresponding obstacle three-dimensional information. Subsequently, obstacle avoidance can be performed based on obstacle type, boundary range, three-dimensional shape, distance, and other obstacle three-dimensional information, as well as functions such as dirt detection, surface material detection, threshold / step detection, room and furniture recognition, and human or pet recognition.

[0065] Specifically, for example, an obstacle detection model pre-trained based on artificial intelligence algorithms can be used to intelligently detect and identify obstacles by processing the three-dimensional information of obstacles acquired by the sensor system, determine the specific type of obstacle, and obtain feature information of obstacles such as shape, size (e.g., height, width, length), and texture.

[0066] Furthermore, referring to Figure 2, the cleaning robot may also include a robotic arm. A robotic arm storage slot matching the robotic arm may also be provided on the robot body. A rotating shaft may also be fixedly installed within the robotic arm storage slot, and the robotic arm is connected to the rotating shaft.

[0067] Specifically, as shown in Figure 2, when not in use, the robotic arm can be retracted and placed in the robotic arm storage slot.

[0068] Referring to Figure 3, when the robotic arm is started, it can rotate and unfold around the pivot point, and then use the robotic arm to complete specific actions, such as grasping and pushing.

[0069] Specifically, as shown in Figure 3, the aforementioned robotic arm is equipped with at least a gripping part, such as a clamp. Accordingly, the cleaning robot can use the gripping part on the robotic arm to grasp specific items.

[0070] The aforementioned robotic arm can also be equipped with a sensor system (which can be referred to as a second sensor system), such as a binocular sensor system. Accordingly, the sensor system mounted on the robotic arm can be used to acquire three-dimensional information about obstacles.

[0071] It should be noted that the robotic arms and robotic arm storage slots listed above are merely illustrative. In actual implementation, depending on the specific application scenario and processing requirements, other types of robotic arms and other types of robotic arm storage slots may also be included. This application does not limit this.

[0072] Referring to Figure 4, this application embodiment provides a control method for a cleaning robot. The method is applied to a cleaning robot equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information about obstacles. In specific implementations, this method may include the following:

[0073] S401: During the movement of the cleaning robot, when an obstacle is detected, the height, width, depth, and type of the obstacle are obtained through the sensor system;

[0074] S402: When the height of the obstacle is greater than or equal to the first threshold, and the width and / or depth of the obstacle does not exceed the second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, control the robotic arm to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the gripping part of the robotic arm.

[0075] The height, width, and depth of the aforementioned obstacles can be found in Figure 8.

[0076] The height is the distance between the highest point of the obstacle and the working surface, the width is the maximum lateral dimension of the obstacle facing the cleaning robot, and the depth is the maximum dimension along the direction of travel of the cleaning robot.

[0077] Specifically, the depth of the obstacle can be the maximum distance between the two points where the obstacle intersects the central axis. The central axis is parallel to the current direction of travel of the cleaning robot and to the ground. The width of the obstacle can be the maximum distance between the two points where the obstacle intersects the first reference line. The first reference line is a straight line that moves along the central axis, is parallel to the ground, and is perpendicular to the current direction of travel of the cleaning robot. The height of the obstacle can be the maximum height of its projection onto a plane perpendicular to the central axis.

[0078] In practice, a sensor system can be used to acquire three-dimensional information about the obstacle; specifically, the three-dimensional information about the obstacle may include dimensional information such as the height, width, and depth of the obstacle.

[0079] Furthermore, the type of obstacle can be identified based on its three-dimensional information.

[0080] Based on the above embodiments, when the obstacle is high and can be grasped by the robotic arm, and the type of obstacle belongs to the preset graspable obstacle type, suitable for being grasped by the robotic arm, the obstacle can be grasped by the robotic arm to avoid the obstacle interfering with the cleaning process and obtain a better cleaning effect.

[0081] Specifically, the aforementioned cleaning robot's movement process can be either a process where the cleaning robot moves and cleans simultaneously, or a process where the cleaning robot only moves without cleaning, etc.

[0082] Furthermore, the aforementioned process of travel can specifically be a process of travel along a straight path, a process of travel along an arc path, or a process of travel along a path of irregular shape, etc.

[0083] Typically, cleaning robots use sensor systems to detect obstacles in the area ahead in real time or periodically while moving around.

[0084] When an unknown obstacle is detected, based on existing cleaning robots and their control methods, the cleaning robot often does not distinguish the type of obstacle and continues to travel along the original route. During the journey, the side brushes are constantly rotated in order to sweep the obstacle to the bottom of the cleaning robot's body. Then, the obstacle is sucked into the dust collection box through the main brush chamber located at the bottom of the body to complete the cleaning task.

[0085] However, during the actual cleaning process, the applicant found that when the obstacle is relatively high, the cleaning robot often has difficulty sweeping the obstacle into the space below the robot's body, making it impossible to smoothly suck the obstacle into the dust collection box through the main brush chamber, thus affecting the cleaning effect.

[0086] Alternatively, based on existing cleaning robots and their control methods, the cleaning robot will directly perform an avoidance action after detecting the aforementioned obstacles, resulting in an inability to effectively clean the area where the obstacles are located, thus affecting the cleaning effect.

[0087] Furthermore, the applicant also discovered that the obstacles encountered by cleaning robots during actual cleaning processes are often diverse and complex.

[0088] For example, some obstacles need to be cleaned, such as garbage; while others do not need to be cleaned, such as furniture and potted plants.

[0089] Furthermore, the obstacles that need to be cleaned can be further divided into: obstacles that can be directly sucked into the dust collection box through the main brush chamber (e.g., relatively low obstacles such as paper scraps and hair), and obstacles that cannot be directly sucked into the dust collection box through the main brush chamber (e.g., relatively high obstacles such as packaging boxes and foam boxes).

[0090] For example, due to the limited grasping range of the robotic arm's gripping unit, some obstacles are too large for the robotic arm to grasp, while others are too small for it to grasp. Furthermore, some obstacles are suitable for the robotic arm to grasp due to their material or value, while others are not.

[0091] The obstacles that the robotic arm can grasp can be further subdivided into: pre-set graspable obstacles and pre-set non-graspable obstacles. Specifically, pre-set graspable obstacles can include lightweight, unbreakable, and inexpensive obstacles such as plastic stools and cardboard boxes. Pre-set non-graspable obstacles can include heavy, fragile, and valuable obstacles such as vases and fish tanks.

[0092] The obstacles that the robotic arm cannot grasp can be further subdivided into: pre-set movable obstacles and pre-set non-movable obstacles. Specifically, the pre-set movable obstacles can be lightweight, not easily broken, and inexpensive obstacles; the pre-set non-movable obstacles can be heavy, easily broken, and expensive obstacles.

[0093] Furthermore, the applicant discovered that because different types of obstacles have different properties and characteristics, the cleaning robot's handling methods for different types of obstacles will also vary during the cleaning process.

[0094] For example, when the obstacle is relatively small and suitable for grasping, the preferred approach is to grasp and lift the obstacle in place, then clean the area where the obstacle was originally located; after cleaning the area where the obstacle was originally located, put the obstacle down so that the obstacle returns to its original location.

[0095] For example, when the obstacle is relatively large and suitable for pushing away, a preferred approach is to push the obstacle away from its original location, then clean the original location; after cleaning the original location, push the obstacle back into its original location, etc.

[0096] However, existing cleaning robots cannot handle the types of obstacles mentioned above, nor can they take into account the handling methods for these types of obstacles.

[0097] The applicant, having noticed the aforementioned problems and considering their specific causes, proposed fully utilizing the advantages and characteristics of sensor systems and robotic arms: On the one hand, by leveraging the structural advantages of the robotic arm, a combination of the sensor system installed on the cleaning robot's body (referred to as the first sensor system) and the sensor system installed on the robotic arm (referred to as the second sensor system) can be used to collect relatively more comprehensive and accurate three-dimensional information about obstacles; on the other hand, based on this three-dimensional information about obstacles, the specific circumstances and types of obstacles can be finely distinguished, and then, for different situations and types of obstacles, matching processing methods can be adopted using the robotic arm in conjunction with the operation of the cleaning components to perform corresponding processing, thereby better completing the cleaning task and achieving relatively better cleaning results.

[0098] In this embodiment, the sensor system may specifically include one or more of the following sensors: monocular vision sensor, binocular vision sensor, line laser sensor, area laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0099] In one embodiment, as shown in Figure 5, when the cleaning robot detects an obstacle while moving in the current direction, the sensor system can obtain the height, width, depth, and type of the obstacle.

[0100] Referring to Figure 8, the height of the obstacle can be understood as the maximum vertical distance of the obstacle relative to the ground, denoted as h. The width of the obstacle can be understood as the maximum distance of the obstacle in the direction perpendicular to the current direction of travel of the cleaning robot, denoted as w. The depth of the obstacle can be understood as the maximum distance of the obstacle in the direction parallel to the current direction of travel of the cleaning robot, denoted as d.

[0101] In practice, the height, width, and depth of obstacles can be directly measured using specific sensors in the sensor system (e.g., ranging sensors, height sensors, etc.). Alternatively, the sensor system can first acquire three-dimensional information about the obstacle; then, based on this information, the obstacle's height, width, and depth can be determined. A pre-trained obstacle detection model can then intelligently detect and identify obstacles and determine their type by processing the three-dimensional information acquired by the sensor system.

[0102] In one embodiment, the cleaning robot can acquire information such as the height, width, and depth of an obstacle through a sensor system; and determine the specific details of the obstacle based on the acquired information.

[0103] In practice, after obtaining information such as the height, width, and depth of the obstacle, the height of the obstacle can be compared with a first threshold to obtain the corresponding first comparison result; at the same time, the width and depth of the obstacle can be compared with a second threshold to obtain the corresponding second comparison result.

[0104] Specifically, the first threshold can be the upper limit of the distance between the lower surface of the cleaning robot's body and the ground. The second threshold can be the upper limit of the gripping range of the gripping unit.

[0105] Specifically, for example, the gripping range of the gripping part can be the maximum range when the gripping part is open.

[0106] In practice, based on the first comparison result, if the height of an obstacle is greater than or equal to a first threshold, it can be determined that the obstacle is relatively high and cannot enter the space beneath the cleaning robot's body. Therefore, the cleaning robot cannot directly suck the obstacle into the dust collection box through the main brush chamber.

[0107] Conversely, based on the first comparison result, when it is determined that the height of the obstacle is less than the first threshold, it can be judged that the height of the obstacle is relatively low, and the obstacle can enter the space area under the body of the cleaning robot. Therefore, it can be directly sucked into the dust collection box through the main brush chamber.

[0108] Furthermore, based on the width and depth of the obstacle, it is determined whether the obstacle exceeds the second threshold.

[0109] In one scenario, based on the second comparison result, if the width of the obstacle is determined to be less than or equal to a second threshold, and the depth of the obstacle is also determined to be less than or equal to a second threshold, then the obstacle is determined to be within the second threshold, and it can be judged that the size of the obstacle is within the effective grasping range of the robotic arm's gripping part. Therefore, based on the fact that the robotic arm's gripping part can successfully grasp the obstacle, that is, the obstacle belongs to the category of obstacles that can be grasped by the robotic arm.

[0110] Conversely, based on the second comparison result, when it is determined that the width of the obstacle is greater than the second threshold and the depth of the obstacle is greater than the second threshold, it is determined that the obstacle exceeds the second threshold, and it can be judged that the size of the obstacle has exceeded the effective grasping range of the robotic arm's gripping part. Therefore, since the robotic arm's gripping part cannot successfully grasp the obstacle, that is, the obstacle is an obstacle that cannot be grasped by the robotic arm.

[0111] In another case, based on the second comparison result, if at least one of the width and depth of the obstacle is less than or equal to the second threshold, it is determined that the width and / or depth of the obstacle does not exceed the second threshold. If the obstacle does not exceed the second threshold, it can be determined that the robot can successfully grasp the obstacle after adjusting the grasping direction and grasping position. That is, the obstacle belongs to the obstacle that can be grasped by the robotic arm.

[0112] Conversely, based on the second comparison result, when it is determined that the width and depth of the obstacle are both greater than the second threshold, it is determined that the width and depth of the obstacle exceed the second threshold. If the obstacle exceeds the second threshold, it can be determined that even if the robotic arm adjusts the gripping direction and gripping position, it still cannot successfully grip the obstacle. That is, the obstacle is an obstacle that cannot be gripped by the robotic arm.

[0113] In this embodiment, when the height of the obstacle is greater than or equal to the first threshold and the width and / or depth of the obstacle does not exceed the second threshold, it can be determined that the current obstacle cannot be sucked into the dust collection box through the main brush cavity and can be grasped by the robotic arm, that is, the obstacle meets the grasping conditions.

[0114] At the same time, based on the type of obstacle, it is determined whether the type of obstacle belongs to the preset grabbable obstacle type.

[0115] Specifically, the system can match the obstacle type to a preset list of grabbable obstacle types. If the match fails, it is determined that the obstacle type belongs to a preset list of ungrabable obstacle types. The obstacle is not suitable for being grabbed by the robotic arm, meaning that the obstacle type does not meet the grabbing conditions.

[0116] Conversely, if a match is successful, it is determined that the obstacle type belongs to the preset graspable obstacle type, and the obstacle is suitable to be grasped by the robotic arm, that is, the obstacle type meets the grasping conditions.

[0117] In accordance with the above method, when the condition and type of the obstacle meet the grasping conditions, the cleaning robot can actively grasp the obstacle by controlling the robotic arm to complete the cleaning task better and achieve better cleaning results.

[0118] Based on the above embodiments, the sensor system can acquire information such as the height, width, depth, and type of obstacles, and distinguish different types of obstacles in different situations based on this information. For different types of obstacles in different situations, a matching processing method can be used for targeted processing to achieve better cleaning results. Specifically, obstacles whose conditions and types meet the grasping conditions can be grasped using a robotic arm.

[0119] In one embodiment, the cleaning robot can also acquire three-dimensional information about obstacles through a sensor system and determine the specific type of the obstacle based on the acquired three-dimensional information.

[0120] Furthermore, the cleaning robot can determine a matching handling strategy based on the type of obstacle; then, based on the matching handling strategy, it can control the operation of the robotic arm to better complete the cleaning task.

[0121] In practice, a pre-trained obstacle detection model can be used to process the aforementioned 3D obstacle information to obtain the corresponding obstacle detection results; based on the obstacle detection results, the type of obstacle can be determined. Specifically, the aforementioned obstacle detection model can be understood as a neural network model that is pre-trained using a large amount of sample 3D obstacle information and is capable of automatically identifying and determining the type of obstacle.

[0122] Then, based on the type of obstacle, a matching processing strategy is determined by querying a preset set of processing strategies. This preset set of processing strategies contains multiple preset processing strategies, and each predicted processing strategy corresponds to at least one type of obstacle.

[0123] In one embodiment, the types of obstacles may specifically include: preset graspable obstacles and preset non-graspable obstacles. The types of obstacles may also include: preset slidable obstacles and preset non-slidable obstacles.

[0124] In addition, the types of obstacles mentioned above can also include obstacles that need to be cleaned and obstacles that do not need to be cleaned.

[0125] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold; and, based on the obstacle detection results, when it is determined that the obstacle indicated by the three-dimensional information of the obstacle is an obstacle that needs to be cleaned, the cleaning robot can control the robotic arm to grab the obstacle according to a matching processing strategy; and control the robotic arm to place the grabbed obstacle into a nearby waste recycling area (e.g., a trash can, etc.).

[0126] In some cases, trash cans or bags can be mounted on the body of the cleaning robot. Correspondingly, the cleaning robot can control its robotic arm to place the grabbed obstacle into the trash can or bag according to a matching processing strategy. This allows the robotic arm to efficiently and accurately clean up obstacles, achieving better cleaning results.

[0127] When the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold; and based on the obstacle detection results, when it is determined that the obstacle indicated by the obstacle's three-dimensional information is an obstacle that does not need to be cleaned, the cleaning robot can, according to a matching processing strategy, control the robotic arm to grasp the obstacle; and control the robotic arm to lift the grasped obstacle off the ground, for example, to a position at least a third threshold away from the ground; then perform an in-situ cleaning action to clean the area where the obstacle was originally located; after completing the cleaning of the area, control the robotic arm to lower the obstacle. The aforementioned third threshold can, for example, be the distance between the upper surface of the cleaning robot's body and the ground. Thus, the robotic arm can be used to efficiently and precisely clean the relevant areas of obstacles that do not need to be cleaned, achieving a better cleaning effect.

[0128] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold and the width and / or depth of the obstacle does not exceed a second threshold, it is possible to detect whether the type of the obstacle belongs to a preset graspable obstacle type.

[0129] When it is determined that the type of obstacle belongs to the preset graspable obstacle type, the robotic arm can be controlled to grasp the obstacle to complete the corresponding cleaning task.

[0130] Conversely, when it is determined that the obstacle belongs to the preset ungraspable obstacle type, the robotic arm can be controlled not to grab the obstacle, but to perform detour cleaning to complete the corresponding cleaning task.

[0131] In addition, when it is determined that the type of obstacle belongs to the preset ungrabable obstacle type, it can be further detected whether the type of obstacle belongs to the preset pushable obstacle type.

[0132] When the obstacle is determined to be a preset movable obstacle type, the robotic arm can be controlled to push the obstacle away to complete the corresponding cleaning task.

[0133] Conversely, when the obstacle type is determined to be a preset non-movable obstacle type, the robotic arm can be controlled to neither grasp nor move the obstacle, but instead perform detour cleaning to complete the corresponding cleaning task.

[0134] Based on the above embodiments, the cleaning robot can also acquire three-dimensional information of obstacles through a sensor system; determine the type of obstacle based on the three-dimensional information; further distinguish between different types of obstacles in different situations; and adopt a matching processing method for different types of obstacles in different situations to achieve better cleaning results.

[0135] In one embodiment, the sensor system may specifically include a first sensor system and a second sensor system;

[0136] Accordingly, the acquisition of the height, width, depth, and type of obstacles through the sensor system mentioned above can, in practice, include the following:

[0137] S1: The height of the obstacle is obtained by the first sensor system installed on the body of the cleaning robot;

[0138] S2: When the height of an obstacle is greater than or equal to a height threshold, the width, depth, and type of the obstacle are obtained by the second sensor system installed on the robotic arm of the cleaning robot.

[0139] Specifically, the aforementioned height threshold can be related to the performance parameters of the first sensor system. Typically, when the height of an obstacle is greater than or equal to the height threshold, the first sensor system alone cannot obtain accurate and low-error information regarding the obstacle's width, depth, type, etc.

[0140] As shown in Figure 2, the position and angle of the first sensor system installed on the body are fixed relative to the cleaning robot.

[0141] The position and angle of the second sensor system installed on the robotic arm can change within a certain range as the robotic arm moves, thereby enabling it to flexibly collect the required and relatively complete three-dimensional information of obstacles in different situations and with different types of obstacles.

[0142] In practice, the height of the obstacle can be obtained by first using the first sensor system installed on the fuselage; then the height of the obstacle can be compared with the first threshold to obtain the first comparison result.

[0143] Based on the first comparison result, when it is determined that the height of the obstacle is greater than or equal to the height threshold, it can be judged that the obstacle is relatively tall to the cleaning robot.

[0144] In this scenario, since the position and angle of the first sensor system are fixed relative to the cleaning robot, and the observation range of the first sensor system is limited, the 3D obstacle information collected by the first sensor system based on the current position of the cleaning robot may be incomplete, inaccurate, or even have detection blind spots. For example, it may be unable to detect areas behind obstacles, as shown in Figure 6.

[0145] Therefore, in this situation, cleaning robots often cannot accurately obtain information such as the width, depth, and type of the obstacle by relying solely on the first sensor system, or the information obtained may be prone to errors.

[0146] In order to obtain the above information about obstacles more accurately, the cleaning robot can use a second sensor system installed on its robotic arm to obtain information such as the width, depth, and type of obstacles.

[0147] In practice, a robotic arm can be activated to bring the obstacle within the detection range of the second sensor system; and the three-dimensional information of the obstacle can be acquired through the second sensor system; wherein, the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0148] Specifically, for example, as shown in Figure 7, the cleaning robot can start and deploy its robotic arm, and adjust the position and angle of the second sensor system by adjusting the robotic arm, so that the second sensor system can observe the obstacle as completely as possible, that is, make the obstacle within the detection range of the second sensor system.

[0149] Furthermore, by leveraging the advantages of robotic arms and second sensor systems, we can obtain highly accurate information about the width, depth, and type of obstacles, effectively reducing data errors.

[0150] In one embodiment, after obtaining the height of the obstacle through a first sensor system located on the body of the cleaning robot, the method may further include the following:

[0151] When the height of an obstacle is greater than or equal to a first threshold, information such as the width, depth, and type of the obstacle is obtained by combining a first sensor system installed on the body of the cleaning robot and a second sensor system installed on the robotic arm of the cleaning robot.

[0152] Specifically, for example, the first sensor system and the second sensor system can be used to acquire obstacle 3D information 1 and obstacle 3D information 2 respectively for the same obstacle; then, the obstacle 3D information 1 and obstacle 3D information 2 can be fused to obtain more comprehensive fused obstacle 3D information; then, based on the fused obstacle 3D information, the width and depth of the obstacle can be accurately determined. At the same time, the type of obstacle can also be accurately identified based on the fused obstacle 3D information.

[0153] In one embodiment, after obtaining the height of the obstacle through a first sensor system located on the body of the cleaning robot, the method may further include the following:

[0154] Based on the cleaning robot's current relative pose information (including relative position and relative angle) relative to the obstacle, and the height of the obstacle, it is determined whether the obstacle is currently within the effective observation range of the first sensor system. If it is within the effective observation range of the first sensor system, the obstacle height can continue to be obtained through the first sensor system installed on the cleaning robot's body. Conversely, if it is not within the effective observation range of the first sensor system, the width, depth, and type of the obstacle can be obtained through the second sensor system installed on the cleaning robot's robotic arm.

[0155] In one embodiment, the second sensor system is a binocular sensor system.

[0156] This is because the binocular sensor system can not only acquire the required three-dimensional information about obstacles, but also has a good match between its structure and the structure of the robotic arm.

[0157] Therefore, a binocular sensor system can be installed on the robotic arm as a second sensor system, which can better cooperate with and utilize the structural characteristics of the robotic arm to obtain relatively better three-dimensional information about obstacles.

[0158] In one embodiment, the width, depth, and type of the obstacle are obtained through a second sensor system mounted on the robotic arm of the cleaning robot. In specific implementations, this may include the following:

[0159] The robotic arm is activated so that the obstacle is within the detection range of the second sensor system; and the three-dimensional information of the obstacle is acquired by the second sensor system mounted on the robotic arm; wherein the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0160] In practice, the robotic arm can be started first; then, based on the relevant information collected by the first sensor system and / or the second sensor system, the pose (including height and / or angle) of the robotic arm can be continuously adjusted so that the second sensor system can cover the obstacle as completely as possible, so that the obstacle is within the detection range of the second sensor system; then, the three-dimensional information of the obstacle can be obtained through the second sensor system.

[0161] Thus, a more complete and accurate three-dimensional information about the obstacle can be obtained through the second sensor system.

[0162] In practice, obstacle detection models can be used to process the three-dimensional information of obstacles to determine their width, depth, and other information. Alternatively, the width, depth, and other information of obstacles can be determined based on their three-dimensional information through appropriate data processing.

[0163] For example, based on the three-dimensional information of the obstacle, the projection pattern of the obstacle relative to the ground can be determined first; then, based on the projection pattern, the width, depth and other information of the obstacle can be calculated.

[0164] This allows us to accurately determine the width, depth, and other information of obstacles using the acquired three-dimensional information.

[0165] In practice, obstacle detection models can be used to process the three-dimensional information of obstacles and determine their types. This allows for accurate and efficient identification of obstacle types.

[0166] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, the method may further include the following:

[0167] If the obstacle is a preset type of graspable obstacle, the robotic arm can be directly controlled to grasp the obstacle.

[0168] Specifically, the aforementioned pre-set grabbable obstacles may include lightweight, unbreakable, and inexpensive obstacles such as plastic stools, cardboard boxes, and foam boxes.

[0169] If the obstacle is a preset type of non-grabable obstacle, the robotic arm can be controlled not to grab the obstacle.

[0170] Specifically, the aforementioned pre-set ungraspable obstacles may include heavy, fragile, or valuable obstacles such as fish tanks, sofas, and vases.

[0171] In one embodiment, after controlling the robotic arm to grasp the obstacle, the method may further include the following:

[0172] S1: Control the robotic arm to move the grabbed obstacle and place it in the first area;

[0173] S2: Perform the return cleaning action.

[0174] In practice, the cleaning robot can first control its robotic arm to move the grabbed obstacle from its original location and place it in the first area.

[0175] The first area is a different location from the original location of the obstacle. Specifically, for example, the first area could be a location adjacent to the original location of the obstacle that has already been cleaned.

[0176] Next, the cleaning robot can perform a return cleaning action, returning to the original area where the obstacle was located and cleaning that area.

[0177] After cleaning the area where the obstacle was originally located, the cleaning robot can move back to the first area, control the robotic arm to grab the obstacle, and move and place the grabbed obstacle back into the area where the obstacle was originally located.

[0178] Based on the above embodiments, the cleaning robot can temporarily grab obstacles and move them to the first area using its robotic arm, effectively avoiding interference with the cleaning of the original area where the obstacle was located, and achieving a better cleaning effect.

[0179] In one embodiment, after controlling the robotic arm to grasp the obstacle, as shown in Figure 9, the method may further include the following:

[0180] S1: Control the robotic arm to lift the grabbed obstacle to a position where the vertical distance between it and the ground is at least greater than the third threshold.

[0181] S2: Maintain the vertical distance between the obstacle and the ground at least greater than the third threshold, and clean the area where the obstacle was originally located.

[0182] In practice, after the cleaning robot grasps an obstacle, it does not need to move the obstacle to the first area; instead, it can remain in the current area (i.e., the area where the obstacle was originally located) and control the robotic arm to lift the grasped obstacle, ensuring that the distance between the obstacle and the ground is at least greater than or equal to a third threshold. Specifically, the third threshold can be the distance between the upper surface of the cleaning robot's body and the ground.

[0183] In this embodiment, by using a robotic arm to lift the obstacle to a position at least greater than or equal to a third threshold above the ground, the cleaning robot, or the cleaning component of the cleaning robot, can smoothly enter the area where the obstacle was originally located to perform cleaning.

[0184] Accordingly, the cleaning robot can mechanically maintain the vertical distance between the obstacle and the ground at least greater than a third threshold; then control the cleaning robot to perform in-situ cleaning actions, for example, control the cleaning robot to enter the area where the obstacle was originally located, and / or extend the cleaning components into the area where the obstacle was originally located to clean the area where the obstacle was originally located.

[0185] After cleaning the area where the obstacle was originally located, the cleaning robot can control its robotic arm to lower the obstacle back to its original location.

[0186] Based on the above embodiments, the cleaning robot can temporarily grab and lift obstacles by means of a robotic arm, which can effectively avoid the interference of the obstacle with the cleaning of the original area where the obstacle was located, and achieve a better cleaning effect.

[0187] In one embodiment, while maintaining the vertical distance between the obstacle and the ground at least greater than a third threshold, the method may further include:

[0188] The horizontal displacement of the obstacle relative to the body of the cleaning robot is kept less than a preset threshold value.

[0189] The preset amplitude threshold can be a minimum value close to 0, such as 0.01 cm.

[0190] In this way, the vertical distance between the obstacle and the ground can be maintained at least greater than a third threshold to ensure that the cleaning of the area where the obstacle was originally located is completed more effectively.

[0191] In one embodiment, the method may further include the following:

[0192] If the 3D information of the obstacle indicates that the obstacle belongs to the preset ungraspable obstacle type, adjust the pose of the robotic arm so that at least a preset proportion of the robotic arm's projection on the ground is within the range of the cleaning robot's body projection on the ground; and perform a bypass cleaning action.

[0193] The preset ratio threshold can be determined by the manufacturer through actual testing using the same model of cleaning robot.

[0194] Specifically, the aforementioned preset percentage threshold can be greater than or equal to 60%. For example, 65%, 70%, or 85%, etc.

[0195] Of course, in actual implementation, depending on the specific conditions of the cleaning robot used, the above-mentioned preset ratio threshold can also be a data value greater than or equal to 75%.

[0196] In specific implementation, the above-mentioned adjustment of the robotic arm's posture may include: retracting the robotic arm; or, retracting the robotic arm and placing the retracted robotic arm in the robotic arm storage slot; or, adjusting the position and angle of the robotic arm so that at least a preset proportion of the robotic arm's projection on the ground is within the range of the cleaning robot's body projection on the ground.

[0197] This design avoids situations where the robot might tip over during movement and cleaning due to an unstable center of gravity after the robotic arm is deployed. It also prevents the deployed robotic arm from colliding with obstacles during movement and cleaning, thus ensuring the safety of the robot during its movement and cleaning process.

[0198] In practice, the aforementioned bypass cleaning action can include: determining a cleaning route around the obstacle based on its three-dimensional information; controlling the cleaning robot to move along the cleaning route and performing edge cleaning during the movement. This allows for better cleaning of the surrounding area of ​​the obstacle, reduces missed areas, and achieves better cleaning results.

[0199] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, the method may further include the following:

[0200] Perform a steering maneuver; and acquire three-dimensional information about obstacles through a first sensor system mounted on the fuselage; wherein the three-dimensional information about obstacles is used to determine the width, depth, and type of obstacles.

[0201] In practice, by performing a steering maneuver, the angle of the fuselage relative to the obstacle can be adjusted, and the pose (e.g., angle) of the first sensor system relative to the obstacle can be adjusted. Then, the three-dimensional information of the obstacle can be acquired again through the adjusted first sensor system, so as to obtain the required three-dimensional obstacle information that can be used to accurately determine the width, depth, and type of the obstacle.

[0202] In practice, after performing the turning action, the cleaning robot can also be controlled to perform a backward action to adjust the pose (e.g., angle and distance) of the first sensor system relative to the obstacle. Then, the three-dimensional information of the obstacle can be obtained again through the adjusted first sensor system so as to obtain the required three-dimensional obstacle information that can be used to accurately determine the width, depth and type of the obstacle.

[0203] Based on the above embodiments, when the height of the obstacle is greater than or equal to the first threshold, the required three-dimensional information of the obstacle can still be obtained by using the first sensor system installed on the fuselage through relevant pose adjustments.

[0204] As can be seen from the above, based on the control method and cleaning robot provided in this application, the robot can accurately distinguish different types of obstacles in different situations by acquiring information such as the height, width, depth, and type of obstacles through the sensor system; and for different types of obstacles in different situations, it can make full use of the advantages and characteristics of the robotic arm and sensor system to carry out targeted processing with matching processing methods. Thus, by using the sensor system set on the robotic arm, relatively comprehensive and detailed three-dimensional information of obstacles can be obtained; and by using the robotic arm to accurately and flexibly cooperate with the cleaning components, the cleaning task can be completed well and a better cleaning effect can be obtained.

[0205] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, the method may further include the following:

[0206] If the obstacle is a preset type of movable obstacle, the robotic arm is controlled to move the obstacle.

[0207] In practice, when the height of the obstacle is greater than or equal to the first threshold, and the width and depth of the obstacle exceed the second threshold, it can be determined that the current obstacle cannot be sucked into the dust collection box through the main brush chamber and cannot be grasped by the robotic arm.

[0208] Furthermore, the cleaning robot can determine whether the obstacle type belongs to the preset movable obstacle type.

[0209] Specifically, the system can match the obstacle type against a pre-defined list of movable obstacle types. If the match fails, the obstacle is determined to be a pre-defined non-movable obstacle type, meaning it is not suitable to be moved by the robotic arm and its type does not meet the moving conditions.

[0210] Conversely, if a match is successful, it is determined that the obstacle type belongs to the preset movable obstacle type, and the obstacle is suitable to be moved by the robotic arm, that is, the obstacle type meets the moving condition.

[0211] If the obstacle is a preset movable obstacle type, the robotic arm can actively move the obstacle so that the cleaning robot can effectively clean the area where the obstacle was originally located and achieve a better cleaning effect.

[0212] Based on the above embodiments, when the obstacle is too high and the robotic arm cannot grasp it, the robotic arm can push the obstacle away to avoid the obstacle interfering with the cleaning process and achieve a better cleaning effect.

[0213] In one embodiment, for some obstacles that are not suitable to be moved by a robotic arm, in some scenarios, the obstacle can also be actively moved by the body or side brushes of the cleaning robot.

[0214] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, if the obstacle type belongs to a preset movable obstacle type, the method may further include the following:

[0215] S1: Control the robotic arm to push the obstacle away from its original location;

[0216] S2: Adjust the position of the robotic arm so that the projection of the robotic arm on the ground is at least within the range of the projection of the cleaning robot's body on the ground, and clean the original area where the obstacle was located.

[0217] Specifically, the aforementioned pre-defined movable obstacles can be understood as obstacles that the robotic arm cannot grasp, are lightweight, not easily broken, and relatively inexpensive, making them suitable for being moved by the robotic arm. Examples include plastic basins, cat scratching posts, and small potted plants.

[0218] In practice, obstacle detection models can be used to determine the type of obstacle by processing its three-dimensional information.

[0219] In practice, if the obstacle is a preset type of movable obstacle, the robotic arm can be controlled to extend laterally; and the obstacle can be pushed away from its current location area by the laterally extended robotic arm to free up the location area (i.e., the original location area).

[0220] After pushing the obstacles away from their original positions, the robotic arm's posture can be adjusted so that at least a preset percentage of its projection on the ground falls within the range of the cleaning robot's body projection on the ground. Then, the cleaning action can be performed in that area. This allows for a relatively safe completion of the cleaning task for that area.

[0221] After completing the cleaning task in the aforementioned areas, the cleaning robot can also control its robotic arm to retract obstacles back to their original positions.

[0222] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, the method may further include the following:

[0223] If the obstacle is a preset non-movable obstacle type, perform a detour cleaning action.

[0224] Specifically, the aforementioned non-movable obstacles can be understood as obstacles that the robotic arm cannot grasp, are heavy, fragile, valuable, and unsuitable for being moved by the robotic arm. Examples include antiques, statues, and large flower pots.

[0225] In practice, when the 3D information of an obstacle indicates that the obstacle is a preset non-movable obstacle, a new cleaning route around the obstacle can be planned; then, a detour cleaning action can be performed according to the cleaning route, thereby effectively cleaning the surrounding area of ​​the obstacle.

[0226] In one embodiment, when the height of the obstacle is less than a first threshold, if the type of the obstacle is a preset inhalable obstacle type, the vehicle moves along the current direction of travel and inhales the obstacle through the main brush chamber.

[0227] Based on the above embodiments, when the obstacle is low and the type of obstacle is determined to be a preset inhalable obstacle type, the obstacle can be directly sucked in by the main brush chamber without having to spend additional time and energy to start the robotic arm, thus completing the relevant cleaning more efficiently.

[0228] In practice, when the height of the obstacle is less than the first threshold, it can be determined that the obstacle is one that can be sucked into the dust collection box by the main brush chamber.

[0229] In practice, an obstacle detection model can be used to process the three-dimensional information of the obstacle to determine its type. When the type of obstacle is determined to be a preset inhalable obstacle, the cleaning robot can continue to move along its current direction of travel and directly suck up the obstacle located in the space below the robot body through the main brush chamber.

[0230] Specifically, the aforementioned pre-set inhalable obstacles can be understood as obstacles that can be sucked into the dust collection chamber by the main brush cavity and will not affect the normal operation of the cleaning robot, such as paper scraps, dust, and short hair.

[0231] Conversely, there are also pre-set non-inhalable obstacles, which can be understood as obstacles that cannot be sucked into the dust collection chamber by the main brush chamber, or obstacles that can be sucked into the dust collection chamber by the main brush chamber but will affect the normal operation of the cleaning robot. For example, obstacles such as long hair, plastic bags, and shoelaces are easy to get tangled with the main brush and affect the normal operation of the cleaning robot.

[0232] In one embodiment, when the height of the obstacle is less than a first threshold, the three-dimensional information of the obstacle can be obtained first; and the size parameters of the obstacle can be obtained based on the three-dimensional information; then the size parameters of the obstacle can be compared with a fifth threshold. The fifth threshold is determined based on the size parameters of the main brush chamber and the dust collection box.

[0233] If the size parameter of an obstacle is greater than the fifth threshold, it can be determined that the obstacle cannot be sucked into the dust collection box by the main brush chamber; that is, the obstacle is a preset non-suckable obstacle. If the size parameter of an obstacle is less than or equal to the fifth threshold, it can be determined that the obstacle can be sucked into the dust collection box by the main brush chamber; that is, the obstacle is a preset suckable obstacle.

[0234] Based on the above embodiments, preset inhalable obstacles and preset non-inhalable obstacles can be distinguished and identified more precisely and accurately.

[0235] In one embodiment, the method may further include the following:

[0236] If the obstacle is classified as a pre-defined non-inhalable obstacle, a detour cleaning action will be performed.

[0237] In practice, the cleaning route can be replanned based on the three-dimensional information of the obstacles; then, the detour cleaning action can be performed based on the replanned cleaning route.

[0238] In one embodiment, if the obstacle is a preset non-inhalable obstacle type, the method may further include the following:

[0239] S1: Control the robotic arm to push the obstacle away from its original location;

[0240] S2: Adjust the position of the robotic arm so that the projection of the robotic arm on the ground is at least within the range of the projection of the cleaning robot's body on the ground, and clean the original area where the obstacle was located.

[0241] Based on the above embodiments, the cleaning robot can be precisely controlled to complete the corresponding cleaning tasks more safely, effectively avoiding the robot from tipping over or colliding with obstacles during cleaning.

[0242] As can be seen from the above, based on the control method and cleaning robot provided in this application, information such as the height, width, depth, and type of obstacles can be acquired and utilized to accurately distinguish different types of obstacles in different situations. Furthermore, for different types of obstacles, the advantages of the robotic arm and sensor system are fully utilized to perform targeted processing with matching methods. This allows for the acquisition of more comprehensive and detailed three-dimensional information about the obstacles using the sensor system installed on the robotic arm; or, by utilizing the robotic arm in conjunction with cleaning components, the cleaning task can be completed effectively, achieving better cleaning results.

[0243] Referring to Figure 10, this application embodiment also provides a control method for a cleaning robot, applied to a cleaning robot equipped with a sensor system and a robotic arm capable of acquiring three-dimensional information of obstacles. In specific implementation, the method may include the following:

[0244] S1001: During the movement of the cleaning robot, when an obstacle is detected within the first detection range, the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle are obtained through the sensor system;

[0245] S1002: When the height of the obstacle is greater than or equal to the first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than the fourth threshold, the height, width, depth and type of the obstacle are obtained by the sensor system set on the robotic arm of the cleaning robot.

[0246] S1003: When the height of the obstacle is greater than or equal to the first threshold, and the width and / or depth of the obstacle does not exceed the second threshold, and the type of the obstacle belongs to the preset graspable obstacle type, the robotic arm is controlled to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0247] Specifically, the fourth threshold mentioned above can be understood as the effective detection range of the sensor system based on the field of view. The field of view can be defined as the angle formed by the two edges of the lens in the sensor system, with the lens as the vertex, and the maximum range through which the image of the target object can pass. This angle determines the field of view of the sensor system. Generally, the larger the field of view, the larger the field of view.

[0248] Specifically, the aforementioned fourth threshold can be determined based on performance parameters such as the field of view of the sensor in the sensor system.

[0249] In one embodiment, referring to Figure 11, the viewing angle of the cleaning robot relative to the obstacle is the angle formed by the first reference point of the cleaning robot and the tangent to the outer peripheral boundary of the obstacle;

[0250] In this embodiment, the first reference point is the point closest to the obstacle along the current direction of travel, where the intersection of the cleaning robot's body boundary and the cleaning robot's central axis is located. The cleaning robot's central axis is parallel to the cleaning robot's current direction of travel.

[0251] Specifically, the aforementioned observation angle can be understood as the angle formed by the tangents from the first reference point (e.g., point M) on the cleaning robot body to the outer perimeter of the obstacle, which can be represented by β.

[0252] In practice, when the cleaning robot detects an obstacle within its first detection range during its movement, it can first obtain the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through a sensor system installed on the robot body (denoted as the first sensor system). Specifically, the obtained observation angle can be the observation angle based on the first sensor system.

[0253] In specific implementation, when the height of the obstacle is greater than or equal to the first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than the fourth threshold, it can be determined that the obstacle is too high and cannot be directly sucked into the dust collection box through the main brush chamber; in addition, the size of the obstacle is relatively large, and the current position of the obstacle relative to the cleaning robot has exceeded the effective detection range of the sensor system, that is, the first sensor system cannot accurately and comprehensively obtain complete three-dimensional information of the obstacle.

[0254] In order to accurately obtain more complete three-dimensional information about the obstacle, the three-dimensional information about the obstacle can be obtained by using a sensor system (referred to as the second sensor system) installed on the robotic arm.

[0255] Specifically, the robotic arm can be activated; and by adjusting the robotic arm's pose, the position and / or angle of the second sensor system mounted on the robotic arm relative to the obstacle can be adjusted so that the obstacle is as much as possible within the effective detection range of the second sensor system; then, the adjusted second sensor system can be controlled to acquire the obstacle's three-dimensional information. This allows for the acquisition of relatively accurate and complete three-dimensional information about the obstacle.

[0256] Conversely, when the height of the obstacle is greater than or equal to the first threshold, and the viewing angle of the cleaning robot relative to the obstacle is less than or equal to the fourth threshold, the first sensor system installed on the robot body can continue to acquire the three-dimensional information of the obstacle without needing to activate the robotic arm separately. This reduces unnecessary energy consumption.

[0257] Based on the above embodiments, the advantages and characteristics of the robotic arm can be fully utilized. By using a second sensor system installed on the robotic arm, relatively complete and accurate information such as the height, width, depth, and type of obstacles can be obtained. Based on this information, different types of obstacles in different situations can be accurately distinguished. Furthermore, for different types of obstacles in different situations, the advantages and characteristics of the robotic arm and sensor system can be fully utilized to carry out targeted processing with matching processing methods, thereby obtaining more comprehensive and detailed obstacle information. In addition, the cleaning components can be precisely and flexibly coordinated to complete the cleaning task better and achieve better cleaning results.

[0258] In one embodiment, when the observation angle includes a horizontal observation angle, the fourth threshold includes a horizontal field of view threshold;

[0259] Furthermore, when the observation angle includes a vertical observation angle, the fourth threshold includes a vertical field of view threshold; when the observation angle includes both a horizontal and a vertical observation angle, the fourth threshold includes both a horizontal field of view threshold and a vertical field of view threshold.

[0260] Specifically, when the observation angle includes a vertical observation angle, the fourth threshold includes the vertical field of view threshold of the sensor system.

[0261] Specifically, the aforementioned vertical observation angle can be understood as the observation angle along the vertical direction, and the aforementioned vertical field of view threshold can be understood as the field of view threshold along the vertical direction.

[0262] Accordingly, in specific implementation, when the height of the obstacle is greater than or equal to a first threshold, and the vertical observation angle of the cleaning robot relative to the obstacle is greater than the corresponding vertical field of view threshold, it can be determined that the current obstacle height is relatively high, and the three-dimensional information of the obstacle collected solely by the first sensor system is incomplete. For example, the first sensor system can only acquire partial height information of the obstacle; the height information of other parts cannot be completely and accurately acquired because they exceed the vertical observation angle. In this case, the height, width, depth, and type of the obstacle can be acquired through the sensor system installed on the robotic arm of the cleaning robot, obtaining more complete and accurate obstacle information.

[0263] Conversely, when the height of the obstacle is greater than or equal to the first threshold, and the vertical observation angle of the cleaning robot relative to the obstacle is less than or equal to the corresponding vertical field of view threshold, the robot can continue to acquire the three-dimensional information of the obstacle through the sensor system installed on its body, and acquire the height, width, depth, and type of the obstacle.

[0264] Specifically, manufacturers can conduct real-world tests on sample cleaning robots in advance; collect and determine the vertical and horizontal field-of-view thresholds of the cleaning robot model based on the real-world test data.

[0265] Specifically, the aforementioned vertical field of view threshold can be an angle value greater than or equal to 40 degrees and less than or equal to 60 degrees. For example, the aforementioned vertical field of view threshold can be 45 degrees or 50 degrees, etc.

[0266] The aforementioned horizontal field of view threshold can be an angle value greater than or equal to 120 degrees and less than or equal to 140 degrees. For example, the aforementioned horizontal field of view threshold can be 125 degrees or 130 degrees, etc.

[0267] Of course, it should be noted that the vertical and horizontal field-of-view thresholds listed above are only illustrative. In actual implementation, depending on the specific model of the cleaning robot and the specific sensor system used, the above-mentioned vertical and horizontal field-of-view thresholds can also be other suitable values.

[0268] Specifically, when the observation angle includes a horizontal observation angle, the fourth preset detection threshold includes the horizontal field of view threshold of the sensor system.

[0269] Specifically, the aforementioned horizontal observation angle can be understood as the observation angle along the horizontal direction, and the aforementioned horizontal field of view threshold can be understood as the field of view threshold along the horizontal direction.

[0270] Accordingly, in specific implementation, when the height of the obstacle is greater than or equal to a first threshold, and the horizontal observation angle of the cleaning robot relative to the obstacle is greater than the corresponding horizontal field of view threshold, it is determined that the width of the current obstacle is relatively wide, and the three-dimensional information of the obstacle collected solely by the first sensor system is incomplete. For example, the first sensor system can only acquire partial width information of the obstacle; the width information of other parts cannot be completely and accurately acquired because it exceeds the horizontal observation angle. In this case, the height, width, depth, and type of the obstacle can be acquired through the sensor system installed on the robotic arm of the cleaning robot, obtaining more complete and accurate three-dimensional information of the obstacle.

[0271] Conversely, when the height of the obstacle is greater than or equal to the first threshold, and the horizontal observation angle of the cleaning robot relative to the obstacle is less than the corresponding horizontal field of view threshold, the robot can continue to acquire the three-dimensional information of the obstacle through the sensor system installed on its body, and acquire the height, width, depth and type of the obstacle.

[0272] Specifically, when the observation angle includes a horizontal observation angle and a vertical observation angle, the fourth preset detection threshold includes the horizontal field of view threshold and the vertical field of view threshold of the sensor system.

[0273] Accordingly, in specific implementation, when the height of the obstacle is greater than or equal to the first threshold, the vertical observation angle of the cleaning robot relative to the obstacle is greater than the corresponding vertical field of view threshold, and the horizontal observation angle is greater than the corresponding horizontal field of view threshold, the height, width, depth, type and other information of the obstacle can be obtained through the sensor system set on the robotic arm of the cleaning robot, so as to obtain a more complete and accurate three-dimensional information of the obstacle.

[0274] Conversely, when the height of the obstacle is greater than or equal to the first threshold, the vertical observation angle of the cleaning robot relative to the obstacle is less than the corresponding vertical field of view threshold, and / or the horizontal observation angle is less than the corresponding horizontal field of view threshold, the three-dimensional information of the obstacle can continue to be obtained through the sensor system set on the body of the cleaning robot, and the height, width, depth and type of the obstacle can be obtained.

[0275] In one embodiment, after controlling the robotic arm to grasp the obstacle, the method may further include: controlling the robotic arm to move the grasped obstacle and place it in a first area; and performing a return cleaning action.

[0276] In one embodiment, the method may further include: if the obstacle's three-dimensional information indicates that the obstacle belongs to a preset ungraspable obstacle type, adjusting the pose of the robotic arm so that at least a preset proportion of the robotic arm's projection on the ground is within the range of the cleaning robot's body projection on the ground; and performing a bypass cleaning action.

[0277] In one embodiment, after obtaining the three-dimensional information of the obstacle, the type of obstacle can be determined based on the three-dimensional information; then, a matching processing strategy can be determined based on the type of obstacle; and the robotic arm can be controlled to perform corresponding processing based on the matching processing strategy to better complete the cleaning task.

[0278] In one embodiment, the sensor system may specifically include one or more of the following sensors: monocular vision sensor, binocular vision sensor, line laser sensor, area laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0279] As can be seen from the above, based on the control method and cleaning robot provided in this application, by acquiring and determining the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle, it can intelligently and accurately determine whether the first sensor system installed on the body of the cleaning robot can accurately obtain complete three-dimensional information of the obstacle. If it is determined that the first sensor system installed on the body of the cleaning robot cannot accurately obtain complete three-dimensional information of the obstacle, the structural advantages of the mechanism can be fully utilized to activate the robotic arm and accurately obtain complete three-dimensional information of the obstacle through the second sensor system installed on the robotic arm. Conversely, if it is determined that the first sensor system installed on the body of the cleaning robot cannot accurately obtain complete three-dimensional information of the obstacle, the mechanical structure advantages can be fully utilized to activate the robotic arm and accurately obtain complete three-dimensional information of the obstacle through the second sensor system installed on the robotic arm. If the first sensor system can accurately acquire complete 3D information about the obstacle, the robotic arm can be left unactivated, and the first sensor system installed on the machine body can continue to acquire 3D information about the obstacle, reducing unnecessary energy consumption and improving overall cleaning efficiency. Furthermore, based on the relatively accurate 3D information obtained, the condition and type of the obstacle can be precisely determined. Then, for different types of obstacles, the advantages and characteristics of the robotic arm and sensor system can be fully utilized to carry out targeted processing with matching methods, thereby acquiring more comprehensive and detailed obstacle information. In addition, the cleaning components can be precisely and flexibly coordinated to complete the cleaning task better and achieve better cleaning results.

[0280] Referring to Figure 12, this application embodiment also provides a cleaning robot, wherein the cleaning robot includes:

[0281] It includes: a body 1201, a first sensor system 1202 disposed on the body 1201 and capable of acquiring three-dimensional information of obstacles, a processor 1203, and a memory 1204 for storing processor-executable instructions; wherein, a robotic arm 1205 is also disposed on the body, and a second sensor system 1206 capable of acquiring three-dimensional information of obstacles is also disposed on the robotic arm 1205.

[0282] During the movement of the cleaning robot, the processor 1203 can execute relevant instructions in the memory 1204 to implement the relevant steps of the movement control method of the cleaning robot, so that the sensor system 1202 can effectively acquire the required three-dimensional information of obstacles.

[0283] In specific implementation, the processor 1203, during the movement of the cleaning robot, when an obstacle is detected, obtains the height, width, depth, and type of the obstacle through the sensor system; when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, the processor controls the robotic arm to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the robotic arm's grasping part.

[0284] In specific implementation, during the movement of the cleaning robot, when an obstacle is detected, the processor 1203 obtains the height, width, depth, and type of the obstacle through the sensor system; when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, and the type of the obstacle belongs to a preset movable obstacle type, the processor controls the robotic arm to move the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the gripping part of the robotic arm.

[0285] In specific implementation, during the movement of the cleaning robot, when an obstacle is detected, the processor 1203 obtains the height, width, depth, and type of the obstacle through the sensor system; when the height of the obstacle is less than a first threshold and the type of the obstacle belongs to a preset inhalable obstacle type, the robot moves along the current direction of travel and sucks in the obstacle through the main brush chamber; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground.

[0286] In specific implementation, during the movement of the cleaning robot, when an obstacle is detected, the processor 1203 obtains the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through a sensor system; when the height of the obstacle is greater than or equal to a first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold, the sensor system installed on the robotic arm of the cleaning robot obtains the height, width, depth, and type of the obstacle; when the height of the obstacle is greater than or equal to the first threshold and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, the processor controls the robotic arm to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0287] In this embodiment, the processor 1203 can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. This application is not limited thereto.

[0288] In this embodiment, the memory 1204 may include multiple layers. In a digital system, anything that can store binary data can be a memory. In an integrated circuit, a circuit with storage function but no physical form is also called a memory, such as RAM, FIFO, etc. In a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0289] This application embodiment also provides a computer-readable storage medium based on the above-described control method for a cleaning robot. The computer-readable storage medium stores computer program instructions, which, when executed, implement the following steps: during the movement of the cleaning robot, when an obstacle is detected, the height, width, depth, and type of the obstacle are obtained through the sensor system; when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, the robotic arm is controlled to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0290] This application embodiment also provides another computer-readable storage medium based on the above-described control method for a cleaning robot. The computer-readable storage medium stores computer program instructions, which, when executed, implement the following steps: during the movement of the cleaning robot, when an obstacle is detected, the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle are obtained through a sensor system; when the height of the obstacle is greater than or equal to a first threshold and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold, the height, width, depth, and type of the obstacle are obtained through a sensor system installed on the robotic arm of the cleaning robot; when the height of the obstacle is greater than or equal to the first threshold and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type, the robotic arm is controlled to grasp the obstacle; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0291] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to the standards specified in the communication protocol for network connection communication.

[0292] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer-readable storage medium can be explained in comparison with other embodiments, and will not be repeated here.

[0293] This application also provides a computer program product, which includes at least a computer program that, when executed by a processor, implements the relevant steps of the movement control method for the cleaning robot.

[0294] This application also provides a control device for a cleaning robot, which is applied to the cleaning robot and is equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information about obstacles. Referring to Figure 13, the device may specifically include:

[0295] The acquisition module 1301 can be specifically used to acquire the height, width, depth, and type of an obstacle through the sensor system when the cleaning robot detects an obstacle during its movement.

[0296] The control module 1302 is specifically used to control the robotic arm to grasp the obstacle when the height of the obstacle is greater than or equal to a first threshold, and the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the gripping part of the robotic arm.

[0297] In one embodiment, the sensor system may specifically include a first sensor system and a second sensor system;

[0298] Accordingly, when the above-mentioned acquisition module 1301 is specifically implemented, the height, width, depth and type of the obstacle can be acquired through the sensor system in the following manner: the height of the obstacle is acquired through the first sensor system set on the body of the cleaning robot; when the height of the obstacle is greater than or equal to the height threshold, the width, depth and type of the obstacle are acquired through the second sensor system set on the robotic arm of the cleaning robot.

[0299] In one embodiment, the second sensor system may specifically be a binocular sensor system, etc.

[0300] In one embodiment, when the acquisition module 1301 is specifically implemented, the width, depth, and type of the obstacle can be acquired by the second sensor system installed on the robotic arm of the cleaning robot in the following manner: the robotic arm is activated so that the obstacle is within the detection range of the second sensor system; and the three-dimensional information of the obstacle is acquired by the second sensor system; wherein the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0301] In one embodiment, after controlling the robotic arm to grasp the obstacle, the device can also be used to: control the robotic arm to move the grasped obstacle and place it in a first area; and perform a return cleaning action.

[0302] In one embodiment, after controlling the robotic arm to grasp the obstacle, the device can also be used to: control the robotic arm to lift the grasped obstacle to a position where the vertical distance between the obstacle and the ground is at least greater than a third threshold; maintain the vertical distance between the obstacle and the ground at least greater than the third threshold; and clean the area where the obstacle was originally located.

[0303] In one embodiment, while maintaining the vertical distance between the obstacle and the ground at least greater than a third threshold, the device can also be used to maintain the horizontal displacement of the obstacle relative to the body of the cleaning robot at a level less than a preset amplitude threshold.

[0304] In one embodiment, the device can also be used to: adjust the posture of the robotic arm so that, if the obstacle is a preset type of ungraspable obstacle, the projection of the robotic arm on the ground is at least a preset percentage within the range of the projection of the cleaning robot's body on the ground; and perform a bypass cleaning action.

[0305] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, the device can also be used to: perform a steering action; and acquire three-dimensional information of the obstacle through a first sensor system mounted on the body; wherein the three-dimensional information of the obstacle is used to determine the width, depth, and type of the obstacle.

[0306] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold and the width and depth of the obstacle exceed a second threshold, the device can also be used to: control a robotic arm to push the obstacle if the obstacle is a preset type of movable obstacle.

[0307] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold, and the width and depth of the obstacle exceed a second threshold, if the type of the obstacle belongs to a preset pushable obstacle type, the device can also be used to: control the robotic arm to push the obstacle away from its original location; adjust the posture of the robotic arm so that at least a preset proportion of the robotic arm's projection on the ground is within the range of the projection of the cleaning robot's body on the ground, and clean the original location of the obstacle.

[0308] In one embodiment, when the height of the obstacle is greater than or equal to a first threshold and the width and depth of the obstacle exceed a second threshold, the device can also be used to: perform a bypass cleaning action if the type of obstacle belongs to a preset non-movable obstacle type.

[0309] In one embodiment, the device can also be used to: when the height of the obstacle is less than a first threshold, if the type of the obstacle is a preset inhalable obstacle type, move along the current direction of travel; and suck in the obstacle through the main brush chamber.

[0310] In one embodiment, the device can also be used to perform a bypass cleaning action if the obstacle is a preset non-inhalable obstacle type.

[0311] In one embodiment, if the obstacle is a preset non-inhalable obstacle type, the device can also be used to: control the robotic arm to push the obstacle away from its original location; adjust the position of the robotic arm so that at least a preset proportion of the robotic arm's projection on the ground is within the range of the cleaning robot's body projection on the ground, and clean the area where the obstacle was originally located.

[0312] This application also provides a control device for a cleaning robot, applied to the cleaning robot, which is equipped with a robotic arm and a sensor system capable of acquiring three-dimensional information about obstacles, including:

[0313] The acquisition module is used to acquire the height of an obstacle and the viewing angle of the cleaning robot relative to the obstacle when the robot detects an obstacle during its movement, through the sensor system.

[0314] The control module is configured to acquire the height, width, depth, and type of the obstacle through a sensor system installed on the robotic arm of the cleaning robot when the height of the obstacle is greater than or equal to a first threshold and the viewing angle of the cleaning robot relative to the obstacle is greater than a fourth threshold; and to control the robotic arm to grasp the obstacle when the height of the obstacle is greater than or equal to the first threshold, the width and / or depth of the obstacle does not exceed a second threshold, and the type of the obstacle belongs to a preset graspable obstacle type; wherein, the first threshold is the upper limit of the distance between the lower surface of the cleaning robot body and the ground, and the second threshold is the upper limit of the grasping range of the grasping part of the robotic arm.

[0315] In one embodiment, the sensor system includes a first sensor system disposed on the body of the cleaning robot and a second sensor system disposed on the robotic arm;

[0316] In one embodiment, after controlling the robotic arm to grasp the obstacle, the device can also be used to: control the robotic arm to move the grasped obstacle and place it in a first area; and perform a return cleaning action.

[0317] In one embodiment, the device can also be used to: adjust the posture of the robotic arm so that, if the obstacle is a preset type of ungraspable obstacle, the projection of the robotic arm on the ground is at least a preset percentage within the range of the projection of the cleaning robot's body on the ground; and perform a bypass cleaning action.

[0318] In one embodiment, the viewing angle of the cleaning robot relative to the obstacle is the angle formed by the first reference point of the cleaning robot and the tangent to the outer peripheral boundary of the obstacle;

[0319] The first reference point is the point closest to the obstacle along the current direction of travel, where the intersection of the robot's body boundary and its central axis is located. The central axis of the cleaning robot is parallel to its current direction of travel.

[0320] In one embodiment, when the observation angle includes a horizontal observation angle, the fourth threshold includes a horizontal field of view threshold;

[0321] Furthermore, when the observation angle includes a vertical observation angle, the fourth threshold includes a vertical field of view threshold; when the observation angle includes both a horizontal and a vertical observation angle, the fourth threshold includes both a horizontal field of view threshold and a vertical field of view threshold.

[0322] It should be noted that the units, devices, or modules described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above devices are described by dividing them into various modules according to their functions. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware, or the module that implements the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection between the shown or discussed mutuals can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0323] As can be seen from the above, the control device for the cleaning robot provided in this application can accurately distinguish different types of obstacles in different situations by acquiring and utilizing information such as the height, width, depth, and type of obstacles; and for different types of obstacles in different situations, it can make full use of the advantages and characteristics of the robotic arm and sensor system to perform targeted processing with matching processing methods, thereby obtaining more comprehensive and detailed three-dimensional information of obstacles; and flexibly cooperate with cleaning components to better complete the cleaning task and obtain better cleaning results.

[0324] While this application provides the method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible order of execution among many steps and does not represent the only possible order. In actual device or client product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in a process, method, product, or apparatus that includes said elements is not excluded. The terms "first," "second," etc., are used to denote names and do not indicate any particular order.

[0325] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0326] This application can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer-readable storage media, including storage devices.

[0327] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can essentially be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0328] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. This application can be used in numerous general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices, etc.

[0329] Although this application has been described by way of examples, those skilled in the art will know that this application has many variations and modifications without departing from the spirit of this application, and it is intended that the appended claims cover such variations and modifications without departing from the spirit of this application.

Claims

1. A control method of a cleaning robot, characterized by, The method is applied to a cleaning robot provided with a mechanical arm and a sensor system capable of acquiring three-dimensional information of an obstacle, and comprises the following steps: During the travel of the cleaning robot, when an obstacle is detected, the height, width, depth and type of the obstacle are acquired by the sensor system; When the height of the obstacle is greater than or equal to a first threshold value, the width and / or depth of the obstacle does not exceed a second threshold value, and the type of the obstacle belongs to a preset graspable obstacle type, the mechanical arm is controlled to grasp the obstacle; wherein the first threshold value is an upper limit value of the distance between the lower surface of the body of the cleaning robot and the ground, and the second threshold value is an upper limit value of the grasping range of the grasping part of the mechanical arm.

2. The method of claim 1, wherein, The sensor system comprises a first sensor system and a second sensor system; Correspondingly, the height, width, depth and type of the obstacle are acquired by the sensor system, which comprises the following steps: The height of the obstacle is acquired by the first sensor system arranged on the body of the cleaning robot; When the height of the obstacle is greater than or equal to a height threshold value, the width, depth and type of the obstacle are acquired by the second sensor system arranged on the mechanical arm of the cleaning robot.

3. The method of claim 2, wherein, The second sensor system is a binocular sensor system.

4. The method of claim 2, wherein, The width, depth and type of the obstacle are acquired by the second sensor system arranged on the mechanical arm of the cleaning robot, which comprises the following steps: The mechanical arm is started to enable the obstacle to be within the detection range of the second sensor system, and three-dimensional information of the obstacle is acquired by the second sensor system; wherein the three-dimensional information of the obstacle is used to determine the width, depth and type of the obstacle.

5. The method of claim 4, wherein, After the mechanical arm is controlled to grasp the obstacle, the method further comprises the following steps: The mechanical arm is controlled to move and place the grasped obstacle in a first area; A return cleaning action is performed.

6. The method of claim 5, wherein, After the mechanical arm is controlled to grasp the obstacle, the method further comprises the following steps: The mechanical arm is controlled to lift the grasped obstacle to a position at least greater than a third threshold value in the vertical direction from the ground; The distance between the obstacle and the ground in the vertical direction is maintained to be at least greater than the third threshold value, and the area where the obstacle originally locates is cleaned.

7. The method of claim 6, wherein, While maintaining the distance between the obstacle and the ground in the vertical direction to be at least greater than the third threshold value, the method further comprises the following steps: The displacement amplitude of the obstacle relative to the body of the cleaning robot in the horizontal direction is maintained to be less than a preset amplitude threshold value.

8. The method of claim 1, wherein, The method further comprises the following steps: When the type of the obstacle belongs to a preset non-graspable obstacle type, the pose of the mechanical arm is adjusted to enable at least a preset proportion of the projection of the mechanical arm on the ground to be within the projection range of the body of the cleaning robot on the ground, and a detour cleaning action is performed.

9. The method of claim 2, wherein, When the height of the obstacle is greater than or equal to the first threshold value, the method further comprises the following steps: A turning action is performed, and three-dimensional information of the obstacle is acquired by the first sensor system arranged on the body; wherein the three-dimensional information of the obstacle is used to determine the width, depth and type of the obstacle.

10. The method of claim 1, wherein, When the height of the obstacle is greater than or equal to the first threshold value, and the width and depth of the obstacle exceed the second threshold value, the method further comprises the following steps: When the type of the obstacle belongs to a preset pushable obstacle type, the robot arm is controlled to push the obstacle.

11. The method of claim 10, wherein, When the height of the obstacle is greater than or equal to a first threshold value, and the width and depth of the obstacle exceed a second threshold value, and the type of the obstacle belongs to a preset pushable obstacle type, the method further comprises: controlling the robot arm to push the obstacle away from the area where the obstacle originally locates; adjusting the pose of the robot arm so that at least a preset proportion of the projection of the robot arm on the ground is within the projection of the body of the cleaning robot on the ground, and cleaning the area where the obstacle originally locates.

12. The method of claim 10, wherein, When the height of the obstacle is greater than or equal to a first threshold value, and the width and / or depth of the obstacle does not exceed a second threshold value, and the type of the obstacle belongs to a preset pushable obstacle type, the method further comprises: controlling the robot arm to push the obstacle.

13. The method of claim 1, wherein, When the height of the obstacle is less than a first threshold value, and the type of the obstacle belongs to a preset suckable obstacle type, the method further comprises: moving in the current direction of travel; and sucking the obstacle through the main brush cavity.

14. The method of claim 13, wherein, When the height of the obstacle is less than a first threshold value, and the type of the obstacle belongs to a preset suckable obstacle type, the method further comprises: controlling the robot arm to push the obstacle.

15. The method of claim 14, wherein, When the height of the obstacle is less than a first threshold value, and the type of the obstacle belongs to a preset suckable obstacle type, the method further comprises: controlling the robot arm to push the obstacle away from the area where the obstacle originally locates; adjusting the pose of the robot arm so that at least a preset proportion of the projection of the robot arm on the ground is within the projection of the body of the cleaning robot on the ground, and cleaning the area where the obstacle originally locates.

16. A control method of a cleaning robot, characterized by, The method is applied to a cleaning robot, the cleaning robot is provided with a robot arm and a sensor system capable of acquiring three-dimensional information of an obstacle, and the method comprises: when an obstacle is detected during the travel of the cleaning robot, acquiring the height of the obstacle and the observation angle of the cleaning robot relative to the obstacle through the sensor system; when the height of the obstacle is greater than or equal to a first threshold value, and the observation angle of the cleaning robot relative to the obstacle is greater than a fourth threshold value, acquiring the height, width, depth and type of the obstacle through the sensor system of the robot arm of the cleaning robot; when the height of the obstacle is greater than or equal to a first threshold value, and the width and / or depth of the obstacle does not exceed a second threshold value, and the type of the obstacle belongs to a preset graspable obstacle type, controlling the robot arm to grasp the obstacle; wherein the first threshold value is an upper limit value of the distance between the lower surface of the body of the cleaning robot and the ground, and the second threshold value is an upper limit value of the grasping range of the grasping part of the robot arm.

17. The method of claim 16, wherein, After controlling the robot arm to grasp the obstacle, the method further comprises: controlling the robot arm to move and place the grasped obstacle in a first area; performing a return cleaning action.

18. The method of claim 16, wherein, When the height of the obstacle is less than a first threshold value, and the type of the obstacle belongs to a preset suckable obstacle type, the method further comprises: adjusting the pose of the robot arm so that at least a preset proportion of the projection of the robot arm on the ground is within the projection of the body of the cleaning robot on the ground; and performing a bypass cleaning action.

19. The method of claim 16, wherein, The observation angle of the cleaning robot relative to the obstacle is an included angle formed by a tangent line of a first reference point of the cleaning robot to an outer peripheral boundary of the obstacle; The first reference point is a point of an intersection of a body boundary of the cleaning robot and a central axis of the cleaning robot, which is close to the obstacle along a current traveling direction, and the central axis of the cleaning robot is parallel to the current traveling direction of the cleaning robot.

20. The method of claim 19, wherein, In a case where the observation angle includes a horizontal observation angle, the fourth threshold value includes a horizontal field of view angle threshold value; In a case where the observation angle includes a vertical observation angle, the fourth threshold value includes a vertical field of view angle threshold value; and in a case where the observation angle includes both the horizontal observation angle and the vertical observation angle, the fourth threshold value includes both the horizontal field of view angle threshold value and the vertical field of view angle threshold value.

21. A cleaning robot, characterized in that, The cleaning robot comprises: a body, a sensor system capable of acquiring three-dimensional information of an obstacle, a mechanical arm, a processor, and a memory for storing processor-executable instructions; The processor executes the instructions to implement the steps of the control method of the cleaning robot according to any one of claims 1 to 20 during traveling of the cleaning robot.

22. A computer readable storage medium, characterized in that, The computer-readable storage medium comprises a stored program, wherein the program is executed to perform the control method of the cleaning robot according to any one of claims 1 to 20.

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