Cleaning robot and control method therefor, base station, cleaning system, and computer storage medium

Abstract

The present disclosure relates to the technical field of cleaning. Disclosed are a control method for a cleaning robot, a cleaning robot, a base station, a cleaning system, and a storage medium. The control method comprises: detecting a first obstacle on an initial traveling path of a cleaning robot; analyzing feature information of the first obstacle, wherein the feature information of the first obstacle comprises at least one of the following: type information of the first obstacle, dimensional information in a horizontal plane, contour information, and arrangement density information within a preset range; and controlling the state of a cleaning member and the state of a body on the basis of the feature information of the first obstacle. The control method for the cleaning robot of the present disclosure can use different cleaning modes in different scenarios, thereby improving the cleaning effect of the cleaning robot.

Description

Cleaning robot, control method thereof, base station, cleaning system, and computer storage medium

[0001] Cross-reference to Related Applications

[0002] This application claims priority to the Chinese patent application No. 202411156844.5, filed on August 21, 2024, and entitled "Cleaning robot, control method thereof, base station, cleaning system, and computer storage medium", the whole content of the aforementioned priority being incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of cleaning, in particular to a control method of a cleaning robot, a cleaning robot, a base station, a cleaning system, and a computer storage medium. BACKGROUND

[0004] With the improvement of the automation level of household appliances, the application prospect of cleaning robots is becoming more and more extensive. Cleaning robots such as sweeping robots and mopping robots are used for cleaning in households, large places, and other occasions. At present, various cleaning robots clean according to a planned path, but in actual application scenarios, the characteristic information of obstacles is diversified, and various cleaning robots do not use different cleaning methods according to the characteristic information of obstacles, which causes the problem of poor cleaning effect. SUMMARY

[0005] The present disclosure provides a control method of a cleaning robot, a cleaning robot, a base station, a cleaning system, and a storage medium, at least for solving the above-mentioned problem of poor cleaning effect.

[0006] The present disclosure provides a control method of a cleaning robot, the cleaning robot comprising a body and a cleaning member installed at a rear end of the body, the cleaning member having an extended state at a predetermined first position and a retracted state at a predetermined second position compared to the body, the cleaning member being farther away from a center line of the body in the width direction when in the extended state than in the retracted state, the body having a yawing state and a non-yawing state compared to the first obstacle, the yawing state being a state in which the rear end of the body repeatedly deflects towards the first obstacle and swings away from the first obstacle; the control method comprising: detecting a first obstacle on an initial travel path of the cleaning robot; analyzing characteristic information of the first obstacle, the characteristic information of the first obstacle comprising at least one of: type information of the first obstacle, size information in a horizontal plane, contour information, and arrangement density information within a predetermined range; and controlling a state of the cleaning member and a state of the body according to the characteristic information of the first obstacle.

[0007] The present disclosure provides a cleaning robot, which comprises a body, a driving wheel arranged on the body, a cleaning element arranged on the body, and a controller. The driving wheel is used to drive the body to move. The cleaning element is used to contact a surface to be cleaned to clean the surface to be cleaned. The controller is used to execute the following control method: detecting a first obstacle on an initial travel path of the cleaning robot; analyzing characteristic information of the first obstacle, the characteristic information of the first obstacle comprising at least one of the following: type information of the first obstacle, size information in a horizontal plane, contour information, and arrangement density information within a preset range; and controlling a state of the cleaning element and a state of the body according to the characteristic information of the first obstacle.

[0008] The present disclosure provides a base station for cooperating with the above cleaning robot, which comprises a parking position for accommodating the cleaning robot.

[0009] The present disclosure provides a cleaning system, which comprises the above cleaning robot and the above base station for cooperating with the cleaning robot, and the base station comprises a parking position for accommodating the cleaning robot.

[0010] The present disclosure provides a computer storage medium storing a computer program, which, when executed by one or more processors, implements the following control method: detecting a first obstacle on an initial travel path of the cleaning robot; analyzing characteristic information of the first obstacle, the characteristic information of the first obstacle comprising at least one of the following: type information of the first obstacle, size information in a horizontal plane, contour information, and arrangement density information within a preset range; and controlling a state of the cleaning element and a state of the body according to the characteristic information of the first obstacle.

[0011] In the control method of the cleaning robot, the cleaning robot, the base station, the cleaning system, and the computer storage medium of the present disclosure, the controller can obtain characteristic information of a first obstacle on an initial travel path of the cleaning robot, and analyze the characteristic information of the first obstacle. Since the characteristic information of the first obstacle comprises at least one of the following: type information of the first obstacle, size information in a horizontal plane, contour information, and arrangement density information within a preset range, these characteristic information constitutes an actual application scenario of the cleaning robot. The controller controls a state of the cleaning element and a state of the body according to the characteristic information of the first obstacle, thereby achieving the purpose of using different cleaning methods according to the characteristic information of the obstacle in different scenarios, and further improving the cleaning effect of the cleaning robot.

[0012] The present disclosure provides a control method of a cleaning robot, the cleaning robot comprising a body and a cleaning member mounted at a rear end of the body, the cleaning member having an extended state at a predetermined first position and a retracted state at a predetermined second position, the cleaning member being further away from a center line of the body in a width direction when in the extended state than when in the retracted state; the control method further comprising: in a case where the cleaning robot performs edge cleaning along a first obstacle and turns, and a second predetermined condition is met, the cleaning member being in the extended state relative to the body, and the body having a yawing state relative to the first obstacle, the yawing state being a state in which the rear end of the body repeatedly deflects towards the first obstacle and swings away from the first obstacle.

[0013] The present disclosure provides a cleaning robot, comprising a body, a drive wheel arranged on the body, a cleaning member arranged on the body, and a controller. The drive wheel is configured to drive the body to move. The cleaning member is configured to contact a surface to be cleaned to clean the surface to be cleaned. The controller is configured to perform the following control method: in a case where the cleaning robot performs edge cleaning along a first obstacle and turns, and a second predetermined condition is met, the cleaning member being in the extended state relative to the body, and the body having a yawing state relative to the first obstacle, the yawing state being a state in which the rear end of the body repeatedly deflects towards the first obstacle and swings away from the first obstacle.

[0014] The present disclosure provides a base station for use with the above-mentioned cleaning robot, the base station comprising a parking position for accommodating the cleaning robot.

[0015] The present disclosure provides a cleaning system, comprising the above-mentioned cleaning robot and the above-mentioned base station for use with the cleaning robot, the base station comprising a parking position for accommodating the cleaning robot.

[0016] The present disclosure provides a computer storage medium storing a computer program, when the computer program is executed by one or more processors, the following control method is implemented: in a case where the cleaning robot performs edge cleaning along a first obstacle and turns, and a second predetermined condition is met, the cleaning member being in the extended state relative to the body, and the body having a yawing state relative to the first obstacle, the yawing state being a state in which the rear end of the body repeatedly deflects towards the first obstacle and swings away from the first obstacle.

[0017] In the control method of the cleaning robot, the cleaning robot, the base station, the cleaning system and the computer storage medium of the present disclosure, in the case that the cleaning robot performs edge cleaning along a first obstacle and turns, and a second preset condition is met, the controller controls the cleaning member to be in an outwardly expanded state relative to the body, and controls the body to be in a biasing state relative to the first obstacle, in which the rear end of the body is deflected multiple times towards the first obstacle and swings back away from the first obstacle. The present disclosure ensures that there is no large cleaning omission area at the corner when the cleaning robot performs edge cleaning and turns by keeping the cleaning member in an outwardly expanded state and controlling the body to swing back and forth, thereby improving the cleaning effect of edge cleaning.

[0018] Additional aspects and advantages of the embodiments of the present disclosure will be in part apparent and in part pointed out hereinafter in the description of the embodiments of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:

[0020] FIG. 1 is a flowchart of a control method of a cleaning robot according to certain embodiments of the present disclosure;

[0021] FIG. 2 is a schematic view of a structure of a cleaning robot according to certain embodiments of the present disclosure;

[0022] FIG. 3a is a schematic view of a right side of a cleaning robot according to certain embodiments of the present disclosure, in which a cleaning member is in an outwardly expanded state;

[0023] FIG. 3b is a schematic view of a right side of a cleaning robot according to certain embodiments of the present disclosure, in which a cleaning member is in a retracted state;

[0024] FIG. 3c is a schematic view of a body of a cleaning robot according to certain embodiments of the present disclosure, in which the body is in a biasing state;

[0025] FIG. 4 to FIG. 6 are flowcharts of a control method of a cleaning robot according to certain embodiments of the present disclosure;

[0026] FIG. 7 is a schematic view of a cleaning robot according to certain embodiments of the present disclosure, in which a first obstacle is present on a travel path of the cleaning robot;

[0027] FIG. 8 is a schematic view of a cleaning robot according to certain embodiments of the present disclosure, in which the cleaning robot turns around a circular obstacle;

[0028] FIG. 9 is a schematic view of a cleaning robot according to certain embodiments of the present disclosure, in which the cleaning robot turns around a square obstacle;

[0029] FIG. 10 to FIG. 11 are flowcharts of a control method of a cleaning robot according to certain embodiments of the present disclosure;

[0030] FIG. 12 is a schematic view of a cleaning robot of certain embodiments of the present disclosure cleaning in a low gap scenario;

[0031] FIGS. 13 and 14 are schematic views of a second obstacle appearing on a travel path of a cleaning robot of certain embodiments of the present disclosure;

[0032] FIGS. 15 to 18 are flowcharts of a control method of a cleaning robot of certain embodiments of the present disclosure;

[0033] FIG. 19 is a schematic view of edge cleaning by a cleaning robot of certain embodiments of the present disclosure;

[0034] FIG. 20 is a flowchart of a control method of a cleaning robot of certain embodiments of the present disclosure;

[0035] FIG. 21 is a schematic view of a structure of a base station of certain embodiments of the present disclosure;

[0036] FIG. 22 is a schematic view of a structure of a cleaning system of certain embodiments of the present disclosure;

[0037] FIG. 23 is a schematic view of connection of a computer storage medium and a processor of certain embodiments of the present disclosure.

[0038] Main element symbol explanation: cleaning robot 11, body 111, cleaning member 112, drive wheel 113, controller 114, sensor 115; base station 21, docking station 22; cleaning system 100; computer storage medium 200, processor 20, computer program 202. DETAILED DESCRIPTION

[0039] Embodiments of the present disclosure are further described below with reference to the accompanying drawings. Identical or similar component signs are used throughout the drawings and identical or similar components or components having identical or similar functions are denoted with identical or similar reference signs from the beginning to the end. In addition, the embodiments of the present disclosure described below with reference to the accompanying drawings are exemplary and are for explanation of the embodiments of the present disclosure only and cannot be understood as a limitation of the present disclosure.

[0040] With the improvement of the automation level of household appliances, the application prospect of cleaning robots is becoming more and more extensive. Cleaning robots such as sweeping robots and mopping robots are used for cleaning in households, large places and other occasions. At present, various cleaning robots will clean according to the planned path, but in the actual application scene, the characteristic information of the obstacle is diversified, and various cleaning robots do not use different cleaning methods according to the characteristic information of the obstacle in different scenes, which causes the problems of poor cleaning effect and cleaning efficiency. In order to solve the problems of poor cleaning effect and cleaning efficiency caused by the fact that various cleaning robots do not use different cleaning methods according to the characteristic information of the obstacle in different scenes, the present disclosure provides a control method of a cleaning robot, a cleaning robot 11 (shown in FIG. 2), a base station 22 (shown in FIG. 21), a cleaning system 100 (shown in FIG. 22), and a computer storage medium 200 (shown in FIG. 23).

[0041] Please refer to FIG. 1 and FIG. 2, the present disclosure provides a control method of a cleaning robot. The cleaning robot 11 includes a rear end of a body 111 and a cleaning element 112 installed on the body. Please refer to FIG. 3, the cleaning element 112 has an outward expansion state at a predetermined first position and a retracted state at a predetermined second position (the cleaning element 112 on the right side of FIG. 3a is in the outward expansion state, and the cleaning element 112 on the right side of FIG. 3b is in the retracted state) compared with the body 11. Compared with the retracted state, the cleaning element 112 is farther away from the center line of the width direction of the body 111 (dashed line in FIG. 3a and FIG. 3b) when it is in the outward expansion state. The body 111 has a yawing state and a non-yawing state compared with the first obstacle. The yawing state is a state in which the rear end of the body 111 repeatedly deflects towards the first obstacle and swings away from the first obstacle. It is worth noting that the body 111 shown in FIG. 3c is in the yawing state, and the cleaning element 112 on the right side is in the outward expansion state. In some use scenarios, the body 111 is in the yawing state, and the cleaning element 112 on the right side is in the retracted state. The control method includes:

[0042] 01: detecting a first obstacle of the cleaning robot 11 on an initial travel path;

[0043] 02: analyzing the characteristic information of the first obstacle, the characteristic information of the first obstacle including at least one of the following: type information of the first obstacle, size information in the horizontal plane, contour information, and arrangement density information within a predetermined range; and

[0044] 03: controlling the state of the cleaning element 112 and the state of the body 111 according to the characteristic information of the first obstacle.

[0045] The control method can be applied to the cleaning robot 11, and the cleaning robot 11 further comprises a controller 114 configured to: detect a first obstacle on the initial travel path of the cleaning robot 12; analyze characteristic information of the first obstacle, the characteristic information of the first obstacle comprising at least one of: type information of the first obstacle, size information in a horizontal plane, contour information, and arrangement density information within a preset range; and control a state of the cleaning member 112 and a state of the body 111 according to the characteristic information of the first obstacle.

[0046] Specifically, the cleaning robot 11 is an automated household appliance that can be used for floor cleaning in indoor environments such as homes and offices. The cleaning robot 11 usually has multiple functions, including dusting, mopping, sweeping, and mopping, etc., aiming to reduce human household labor burden and improve cleaning efficiency and quality. In the present disclosure, the cleaning robot 11 includes a body 111, a cleaning element 112, a drive wheel 113, a controller 114, and a sensor 115. Among them, the body 111 is the main component of the cleaning robot 11 for loading, integrating and protecting other elements in the cleaning robot 11. The materials used to make the body 111 include but are not limited to metal materials and / or non-metal materials, wherein the metal materials include but are not limited to aluminum, iron, steel or aluminum alloy, etc., and the non-metal materials include but are not limited to plastics, etc. The body 111 can prevent the cleaning robot 11 from being damaged by collision during work, thereby improving the stability and reliability of the cleaning robot 11 work. The cleaning element 112 is installed on the body 111 and is a component of the cleaning robot 11 for realizing functions such as dusting, mopping, sweeping, and mopping. The cleaning element 112 includes but is not limited to a suction head, a roller brush, and a mop, etc. The cleaning robot 11 cleans the area to be cleaned through the cleaning element 112. In the present disclosure, the cleaning element 112 can make a swinging motion relative to the body 111, and the lower limit of the swinging amplitude of the cleaning element 112 relative to the body 111 is located at a predetermined second position, at which time the cleaning element 112 is in a retracted state, as shown by the cleaning element 112 on the right side of FIG. 3b, and all other positions deviating from the second position in the direction away from the center line of the width of the body 111 can be referred to as the second position, at which time the state of the cleaning element 112 is referred to as an "expanded state", as shown by the cleaning element 112 on the right side of FIG. 3a. As can be seen from FIG. 3a, the cleaning element 112 is farther away from the center line of the width of the body 111 when it is in the expanded state than when it is in the retracted state. The drive wheel 113 is a key component for driving the cleaning robot 11 to move, and the drive wheel 113 can drive the cleaning robot 11 to slide or roll on the ground, so that the cleaning robot 11 can freely move in the room to complete the cleaning task. The controller 114 is a component of the cleaning robot 11 responsible for receiving and processing various sensor inputs, executing cleaning tasks and managing the overall operation of the cleaning robot 11. The controller 114 usually integrates microprocessors, memories, communication modules, and power management modules, etc. In the present disclosure, the controller 114 is used to execute the control method of the cleaning robot of the present disclosure.The sensor 115 is a component on the cleaning robot 11 for sensing the environment around it, including but not limited to a lidar, an ultrasonic sensor, an infrared sensor, a camera, a gyroscope, an accelerometer, a magnetic induction sensor, a sound sensor, a touch sensor, an ambient light sensor, and the like. In the present disclosure, the cleaning robot 11 detects obstacles on the travel path through the sensor 115, thereby helping the controller 114 to obtain feature information of the obstacles.

[0047] Specifically, in step 01, after the cleaning robot 11 receives the instruction to perform the cleaning task, the controller 114 can first control the driving wheel 113 and the cleaning piece 112 to run, so that the cleaning robot 11 moves and cleans according to the initial travel path, and the controller 114 detects the first obstacle on the current initial travel path through the sensor 115. In step 02, after the controller 114 analyzes the feature information of the first obstacle, the feature information of the first obstacle is analyzed. Since the feature information of the first obstacle includes at least one of the following: type information of the first obstacle, size information in the horizontal plane, profile information, and arrangement density information within the preset range, the type of the first obstacle usually includes obstacle types with high hardness such as table legs, chair legs, and obstacle types with low hardness such as cotton pads and rubber. The type information can reflect the hardness of the first obstacle. When the cleaning robot 11 passes through the first obstacle with different hardness, in order to achieve the best cleaning effect, the state of the cleaning piece 112 and the body 111 should also change. As for the size information, since the range required for the cleaning robot to travel around the first obstacle is determined by the size information of the cleaning surface of the first obstacle, the first obstacle can include a large column or a small chair leg. Different size information of the first obstacle will also affect the turning radius of the cleaning robot 11 when passing through the first obstacle. Therefore, in order to achieve the best cleaning effect and better cleaning efficiency, the cleaning piece 112 and the body 111 should also produce different state changes according to the size information when the cleaning robot 11 passes through the first obstacle with different sizes. The profile information of the first obstacle reflects the smoothness of the first obstacle. For example, in order to achieve the best cleaning effect, the cleaning piece 112 and the body 111 of the cleaning robot 11 should also have different state changes when passing through square and circular obstacles. The arrangement density information of the first obstacle within the preset range reflects the individual density of the first obstacle within the preset range. Here, the "preset range" is usually a cleaning area in the room. As shown in FIG. 3a, when the right cleaning piece 112 is in the expanded state, the cleaning robot 11 will leave an uncleaned middle seam between the two cleaning pieces 112 during the travel process. If the first obstacles in the preset range are too dense, the shape of this uncleaned middle seam will be irregular, which will increase the difficulty of supplementary cleaning. In addition, when the cleaning robot 11 travels in the dense first obstacles with the cleaning piece 112 in the expanded state, it will frequently collide with the obstacles, affecting the service life of the cleaning piece 112. Therefore, the arrangement density information of the first obstacle within the preset range is also one of the feature information of the first obstacle that needs to be considered in the cleaning process. The controller 114 needs to control the state of the cleaning piece 112 and the state of the body 111 according to these feature information to improve the cleaning effect of the cleaning robot 11.

[0048] In the control method of the cleaning robot of the present disclosure, the controller 114 can obtain the characteristic information of the first obstacle according to the first obstacle on the initial travel path of the cleaning robot 11, and analyze the characteristic information of the first obstacle. Since the characteristic information of the first obstacle includes at least one of the type information of the first obstacle, the size information in the horizontal plane, the contour information, and the arrangement density information within the preset range, these characteristic information constitutes the actual application scene of the cleaning robot 11. The controller 114 controls the state of the cleaning element 112 and the state of the body 111 according to the characteristic information of the first obstacle, so as to achieve the purpose of using different cleaning methods according to the characteristic information of the obstacle in different scenes, and further improve the cleaning effect and cleaning efficiency of the cleaning robot 11.

[0049] Please refer to FIG. 2 and FIG. 4, in some embodiments, step 01 comprises:

[0050] 011: obtaining the edge contour of the target object;

[0051] 013: updating the initial travel path according to the width of the body 111 based on the edge contour, so as to obtain the updated travel path;

[0052] 015: the cleaning robot 11 travels according to the updated travel path;

[0053] 017: analyzing whether the target object will interfere with the cleaning element 112 if the cleaning robot 111 travels along the updated travel path;

[0054] 019: confirming the target object as the first obstacle in the case that it is determined that the target object will interfere with the cleaning element 112.

[0055] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: obtain the edge contour of the target object; update the initial travel path according to the width of the body based on the edge contour, so as to obtain the updated travel path; the cleaning robot 11 travels according to the updated travel path; analyze whether the target object will interfere with the cleaning element 112 if the cleaning robot 111 travels along the updated travel path; and confirm the target object as the first obstacle in the case that it is determined that the target object will interfere with the cleaning element 112.

[0056] Specifically, in step 011 and step 013, the target object refers to an object located on or close to the initial travel path, the number of target objects can be one or more (at least two), some of the target objects will interfere with the cleaning element 112, and some of the target objects will not interfere with the cleaning element 112. The sensor 115 obtains the target object, for example, a camera captures the target object. The controller 114 can process the captured image to obtain the edge profile of the target object, and based on the edge profile, update the current initial travel path according to the width of the body 111 stored by itself, to obtain an updated travel path, so as to avoid the body 111 colliding with the target object and avoid the cleaning robot 11 being unable to continue traveling. In step 015, the cleaning robot 11 travels according to the updated travel path, so as to ensure that the body 111 avoids the target object during the traveling process and ensures that the cleaning robot 11 can smoothly travel according to the updated travel path. In step 017 and step 019, the controller 114 analyzes whether the target object will interfere with the cleaning element 112 on the updated travel path. In the case that the target object will interfere with the cleaning element 112, the controller 114 needs to change the state of the cleaning element 112 according to the characteristic information of the target object, and therefore the controller 114 confirms that the target object is a first obstacle. In the case that the target object will not interfere with the cleaning element 112, the controller 114 does not need to change the state of the cleaning element 112 according to the characteristic information of the target object, and therefore the controller 114 does not confirm that the target object is a first obstacle.

[0057] Please refer to FIG. 2 and FIG. 5, in some embodiments, step 017 can include:

[0058] 0171: extracting a planned path of the cleaning robot 11 in the future on the updated travel path;

[0059] 0172: selecting a plurality of sampling points on the planned path, the sampling points being spaced apart from each other;

[0060] 0173: estimating a predicted position of the cleaning element 112 when the cleaning robot 11 reaches each sampling point;

[0061] 0174: evaluating whether there is an intersection between the edge profile of the target object and the outer profile of the cleaning element 112 when the cleaning element 112 is at each predicted position;

[0062] 0175: confirming that the target object interferes with the cleaning element 112 in the case that there is an intersection at any one predicted position;

[0063] 0176: confirming that the target object does not interfere with the cleaning element 112 in the case that there is no intersection at all predicted positions.

[0064] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: extract a planned path segment on which the cleaning robot 11 will walk in the future on the updated travel path; select a plurality of sampling points on the planned path; estimate the predicted position of the cleaning element 112 when the cleaning robot 11 reaches each sampling point; evaluate whether there is an intersection between the edge profile of the target object and the outer profile of the cleaning element 112 at each predicted position; confirm that the target object interferes with the cleaning element 112 if there is an intersection at any one of the predicted positions; and confirm that the target object does not interfere with the cleaning element 112 if there is no intersection at all of the predicted positions.

[0065] Specifically, in step 0171 and step 0172, the controller 114 extracts a planned path segment on which the cleaning robot 11 will walk in the future on the updated travel path as a path on which the first obstacle detection needs to be performed, and selects a plurality of sampling points on the planned path, wherein the interval distance between the sampling points can be adjusted according to actual application conditions to achieve the best sampling effect. In step 0173, the controller 114 is configured to estimate the predicted position of the cleaning element 112 when the cleaning robot 11 reaches each sampling point, so as to evaluate whether there is an intersection between the edge profile of the target object and the outer profile of the cleaning element 112 at each predicted position in step 0174. By evaluating the intersection between the edge profile of the target object and the outer profile of the cleaning element 112, it is determined whether the target object will collide with the cleaning element 112. Therefore, in step 0175, if there is an intersection at any one of the predicted positions, i.e., if the target object will collide with the cleaning element 112, it is confirmed that the target object interferes with the cleaning element 112. In step 0176, if there is no intersection at all of the predicted positions, i.e., if the target object will not collide with the cleaning element 112, it is confirmed that the target object does not interfere with the cleaning element 112.

[0066] It can be understood that after the target object is determined as the first obstacle, the controller 114 needs to control the state of the cleaning element 112 and the state of the body 111 according to the characteristic information of the first obstacle. Since the characteristic information of the first obstacle is various, the following will be described in detail according to the characteristic information of the first obstacle.

[0067] In the case where the characteristic information of the first obstacle includes the type information of the first obstacle, referring to FIG. 2 and FIG. 6, in some embodiments, step 03 includes:

[0068] 031: in the case that the first obstacle is of a first type, the cleaning member 112 is in an extended state relative to the body 111; and / or, the body 111 is in a yawed state relative to the first obstacle;

[0069] 032: in the case that the first obstacle is of a second type, the cleaning member 112 is in a retracted state relative to the body 111; and / or, the body 111 is in a non-yawed state or a yawed state relative to the first obstacle, wherein the first type of the first obstacle has a lower hardness than the second type of the first obstacle.

[0070] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: in the case that the first obstacle is of a first type, control the cleaning member 112 to be in an extended state relative to the body 111; and / or, control the body 111 to be in a yawed state relative to the first obstacle; in the case that the first obstacle is of a second type, control the cleaning member 112 to be in a retracted state relative to the body 111; and / or, control the body 111 to be in a non-yawed state or a yawed state relative to the first obstacle, wherein the first type of the first obstacle has a lower hardness than the second type of the first obstacle.

[0071] Specifically, please refer to FIG. 7, if the cleaning member 112 of the cleaning robot 11 frequently switches between the extended state and the retracted state, the service life of the cleaning member 112 is likely to be shortened, and the probability of failure of the cleaning member 112 is increased, therefore, in step 031, in the case that the first obstacle is of a first type, the controller 114 controls the cleaning member 112 to be in an extended state relative to the body 111, since the first obstacle has a low hardness, the cleaning member 112 in the extended state can deform the first obstacle and directly squeeze through the first obstacle, thereby reducing the number of state switches of the cleaning member 112 and improving the service life of the cleaning member 112, meanwhile, in this case, the controller 114 can control the body 111 to be in a yawed state relative to the first obstacle, in this way, by keeping the cleaning member 112 in the extended state while also yawing the body 111 relative to the first obstacle, the cleaning range can be expanded. Furthermore, when the cleaning member 112 includes two cleaning members on the left and right sides, since the yawing of the body 111 relative to the first obstacle can enable the cleaning member 112 on the left side to clean the “middle seam”, the middle seam region that is not cleaned during the movement of the cleaning robot 11 along the first obstacle due to the cleaning member 112 being in the extended state can be at least partially cleaned. In step 032, in the case that the first obstacle is of a second type, the first obstacle has a high hardness, the controller 114 controls the cleaning member 112 to be in a retracted state relative to the body 111, so as to avoid damage to the cleaning member 112 caused by collision with the high-hardness obstacle, and controls the body 111 to be in a non-yawed state or a yawed state relative to the first obstacle.

[0072] In the case where the characteristic information of the first obstacle includes the type information of the first obstacle, in some embodiments, the hardness of the first obstacle of the first type is less than a preset hardness threshold, and the hardness of the first obstacle of the second type is greater than the preset hardness threshold.

[0073] The "preset hardness threshold" is a critical hardness value for determining whether the first obstacle belongs to the first type or the second type, which is a known value and can be set before the cleaning robot 11 leaves the factory or can be set by human input during the use of the cleaning robot 11. That is, the determination of the first obstacle type by the controller 114 can take the preset hardness threshold as the judgment standard. In the case where the hardness of the first obstacle is less than the preset hardness threshold, it is determined that the type of the first obstacle is the first type. In the case where the hardness of the first obstacle is greater than the preset hardness threshold, it is determined that the type of the first obstacle is the second type. In the case where the hardness of the first obstacle is equal to the preset hardness threshold, it can be determined that the type of the first obstacle is the first type, or it can be determined that the type of the first obstacle is the second type.

[0074] In the case where the characteristic information of the first obstacle includes the profile information and the size information of the first obstacle, referring to FIG. 2 and FIG. 6, in some embodiments, step 03 further includes:

[0075] 033: According to the profile information of the first obstacle, it is determined that the cleaning robot needs to turn when traveling along the first obstacle, and in the case where the size of the first obstacle is the first size, the cleaning member 112 is in the outwardly expanded state relative to the body 111; and / or, the body 111 is in the non-tilting state or the tilting state relative to the first obstacle;

[0076] 034: According to the profile information of the first obstacle, it is determined that the cleaning robot needs to turn when traveling along the first obstacle, and in the case where the size of the first obstacle is the second size, the cleaning member 112 is in the retracted state relative to the body 111; and / or, the body 111 is in the tilting state relative to the first obstacle.

[0077] Wherein, the size of the first obstacle is the cross-sectional size of the first obstacle corresponding to the height range of the side wall of the body of the cleaning robot, and the first size is greater than the second size.

[0078] It should be noted that the side of the cleaning robot is generally provided with an edge-following sensor, which can be a line structured light sensor, a TOF sensor, an infrared sensor, etc., which is used to detect the distance between the cleaning robot and the obstacle. When the cleaning robot travels along the obstacle, the distance between the body 111 of the cleaning robot and the obstacle is detected by the edge-following sensor, so that the cleaning robot travels at a relatively constant distance between the body 111 and the obstacle.

[0079] The control method described above can be applied to the cleaning robot 11, and the controller 114 is configured to: determine, according to the profile information of the first obstacle, that the cleaning robot travels along the first obstacle with a turn, and in a case where the size of the first obstacle is a first size, control the cleaning member 112 to be in the outwardly expanded state relative to the body 111; and / or control the body 111 to be in the non-yawing state or the yawing state relative to the first obstacle; determine, according to the profile information of the first obstacle, that the cleaning robot travels along the first obstacle with a turn, and in a case where the size of the first obstacle is a second size, control the cleaning member 112 to be in the retracted state relative to the body 111; and / or control the body 111 to be in the yawing state relative to the first obstacle, wherein the first size is greater than the second size.

[0080] As can be seen in combination with FIG. 3a, when the cleaning member 112 is in the outwardly expanded state, the distance between the two cleaning members 112 increases during the travel of the cleaning robot 11, so that the two cleaning members 112 leave an uncleaned “middle seam”.

[0081] Specifically, taking the case where the first obstacle is a circular obstacle as an example in combination with FIG. 8, when the cleaning robot 11 travels along the circular obstacle, since the farthest point of the cleaning member 112 in the outwardly expanded state is not collinear with any diameter of the cleaning robot 11, there is a certain distance between the cleaning member 112 in the outwardly expanded state and the obstacle when the cleaning robot 11 travels along the circular obstacle, which leaves a cleaning blind area around the obstacle. Moreover, the smaller the obstacle is, the larger the cleaning blind area is, and as long as the travel route of the cleaning robot 11 is not a straight line, this gap will exist, that is, the smaller the diameter of the circular obstacle is, the larger the cleaning blind area of the edge cleaning is, and the more it needs to add the yawing state of the body 111 for supplemental cleaning. Meanwhile, due to the outward expansion of the cleaning member 112, a “middle seam” area that needs further supplemental cleaning is also generated during the travel of the cleaning robot 11. Therefore, in a case where the size of the first obstacle is a first size, that is, in a case where the size of the first obstacle is relatively large, the controller 114 controls the cleaning member 112 to be in the outwardly expanded state relative to the body 111; meanwhile, the controller 114 can also control the body 111 to be in the non-yawing state or the yawing state relative to the first obstacle. In a case where the size of the first obstacle is a second size, that is, in a case where the size of the first obstacle is relatively small, the controller 114 controls the cleaning member 112 to be in the retracted state relative to the body 111; meanwhile, the controller 114 can also control the body 111 to be in the yawing state relative to the first obstacle.

[0082] In some embodiments, the first size is greater than the preset size threshold, and the second size is less than the preset size threshold, when the characteristic information of the first obstacle includes the contour information and the size information of the first obstacle.

[0083] The "preset size threshold" is a critical size value for determining whether the first obstacle belongs to the first size or the second size. The critical size value is a known value, which can be set before the cleaning robot 11 is shipped, or can be set by a user during the use of the cleaning robot 11. That is, the controller 114 can use the preset size threshold as a criterion for determining the size of the first obstacle. When the size of the first obstacle is greater than the preset size threshold, the controller 114 determines that the size of the first obstacle is the first size. When the size of the first obstacle is less than the preset size threshold, the controller 114 determines that the size of the first obstacle is the second size. When the size of the first obstacle is equal to the preset size threshold, the controller 114 can determine that the size of the first obstacle is the first size, or can determine that the size of the first obstacle is the second size.

[0084] In some embodiments, when the characteristic information of the first obstacle includes the contour information of the first obstacle, referring to FIGS. 2 and 6, step 03 further includes:

[0085] 035: When it is determined according to the contour information of the first obstacle that the edge of the first obstacle includes a straight edge segment and a corner segment, the cleaning member 112 is controlled to be in the outwardly expanded state, and the body 111 is controlled to be in the non-yawing state, when the cleaning robot 11 travels along the straight edge segment of the first obstacle.

[0086] 036: The cleaning member 112 is controlled to be in the outwardly expanded state or the retracted state, and the body 111 is controlled to be in the yawing state, when the cleaning robot 11 travels along the corner segment of the first obstacle.

[0087] For example, the first obstacle is a square obstacle, and the edge of the square obstacle includes a straight edge segment and a corner segment. When the cleaning robot 11 cleans along the edge of the square obstacle along the straight edge segment, the cleaning member 112 is controlled to be in the outwardly expanded state, and the body 111 is controlled to be in the non-yawing state. Since the cleaning robot 11 does not need to turn when traveling along the straight edge segment of the first obstacle, the cleaning member 112 can be well fitted to the edge of the first obstacle in the outwardly expanded state, and the cleaning effect is good. Since the body 111 of the cleaning robot 11 does not need to yaw, the cleaning efficiency of the cleaning robot 11 is high when cleaning along the straight edge segment of the first obstacle. When the cleaning robot 11 travels along the corner segment, the cleaning member 112 is controlled to be in the outwardly expanded state or the retracted state, and the body 111 is controlled to be in the yawing state. Since the cleaning robot 11 needs to turn when traveling along the corner segment, the blind area cleaning effect is good when the cleaning robot 11 turns along the edge of the first obstacle, and the cleaning effect is good.

[0088] In the case that the characteristic information of the first obstacle includes the arrangement density information of the first obstacle within the preset range, referring to FIG. 2 and FIG. 6, in some embodiments, step 03 further includes:

[0089] 037: in the case that the arrangement density information of the first obstacle is the first arrangement density, the cleaning member 112 is in the extended state relative to the body 111; and / or, the body 111 is in the yawing state relative to the first obstacle;

[0090] 038: in the case that the arrangement density information of the first obstacle is the second arrangement density, the cleaning member 112 is in the retracted state relative to the body 111; and / or, the body 111 is in the non-yawing state or the yawing state relative to the first obstacle, wherein the first arrangement density is less than the second arrangement density.

[0091] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: in the case that the arrangement density information of the first obstacle is the first arrangement density, control the cleaning member 112 to be in the extended state relative to the body 111; and / or, control the body 111 to be in the yawing state relative to the first obstacle; in the case that the arrangement density information of the first obstacle is the second arrangement density, control the cleaning member 112 to be in the retracted state relative to the body 111; and / or, control the body 111 to be in the non-yawing state or the yawing state relative to the first obstacle, wherein the first arrangement density is less than the second arrangement density.

[0092] Specifically, in the case that the first obstacle is relatively dense within the preset range, the cleaning robot 11 will encounter obstacles during the travel process, in order to prevent the cleaning member 112 from frequently switching between the extended state and the retracted state during the travel process, thereby reducing the service life, the controller 114 will also control the state of the cleaning member 112 and the body 111 according to the arrangement density information of the first obstacle within the preset range, in the case that the arrangement density information of the first obstacle is the first arrangement density, i.e., in the case that the arrangement of the first obstacle is relatively sparse, the cleaning member 112 will not frequently switch between the extended state and the retracted state, the controller 114 controls the cleaning member 112 to be in the extended state relative to the body 111, and the controller 114 can also control the body 111 to be in the yawing state relative to the first obstacle; but in the case that the arrangement density information of the first obstacle is the second arrangement density, it is necessary to prevent the cleaning member 112 from frequently switching between the extended state and the retracted state, thereby reducing the service life, therefore the controller 114 needs to control the cleaning member 112 to be in the retracted state relative to the body 111, and in this case, there is no other requirement for the body 111 to continue yawing, therefore the controller 114 can control the body 111 to be in the non-yawing state or the yawing state relative to the first obstacle.

[0093] In some embodiments, the first arrangement density is less than a preset density threshold, and the second arrangement density is greater than the preset density threshold, when the characteristic information of the first obstacle includes arrangement density information of the first obstacle within a preset range.

[0094] The "preset arrangement density threshold" is a critical arrangement density value for determining whether the first obstacle belongs to the first arrangement density or the second arrangement density. The critical arrangement density value is a known value, which can be set before the cleaning robot 11 is shipped, or can be set by human input during use of the cleaning robot 11. That is, the determination of the arrangement density of the first obstacle within the preset range by the controller 114 can use the preset density threshold as a judgment standard. When the arrangement density of the first obstacle within the preset range is less than the preset density threshold, it is determined that the arrangement density of the first obstacle within the preset range is the first arrangement density. When the arrangement density of the first obstacle within the preset range is greater than the preset density threshold, it is determined that the arrangement density of the first obstacle within the preset range is the second arrangement density. For the case where the arrangement density of the first obstacle within the preset range is equal to the preset density threshold, it can be determined that the arrangement density of the first obstacle within the preset range is the first arrangement density, or it can be determined that the arrangement density of the first obstacle within the preset range is the second arrangement density.

[0095] It should be noted that the determination of the density of the first obstacle within the preset range can be based on image information or point cloud information of the obstacle obtained by sensors on the cleaning robot 11, such as visual sensors, laser radar sensors, line structured light sensors, etc., and the arrangement density information of the first obstacle within the preset range can be determined according to the arrangement of pixels or point clouds.

[0096] Referring to FIGS. 2 and 10, in some embodiments, the control method of the present disclosure further comprises:

[0097] When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the first preset condition is met, the cleaning member is in an outwardly expanded state relative to the body, and the body is in a non-deviated state relative to the first obstacle.

[0098] And / or, when the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning member is in an outwardly expanded state relative to the body, and the body is in a deviated state relative to the first obstacle.

[0099] And / or, when the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning member is in a retracted state relative to the body, and the body is in a deviated state relative to the first obstacle.

[0100] That is, the state of the cleaning member 112 and the body 111 of the cleaning robot 11 is not constant during the process of performing the edge cleaning along the first obstacle and turning, and is finally determined according to the preset condition met when the cleaning robot 11 travels. In this way, the selected cleaning mode of the cleaning robot 11 during the edge cleaning can be more detailed and more in line with the actual cleaning needs.

[0101] Exemplarily, the control method of the present disclosure further comprises:0511: obtaining a turning radius of the cleaning robot 11 turning around the first obstacle; the first preset condition comprises that the turning radius is greater than a preset first turning radius threshold; the second preset condition comprises that the turning radius is less than the preset first turning radius threshold and greater than a preset second turning radius threshold; and the third preset condition comprises that the turning radius is less than the preset second turning radius threshold.

[0102] 052: In the case that the cleaning robot 11 performs the edge cleaning along the first obstacle and turns, and the first preset condition is met, the cleaning member 112 is in the outward expansion state relative to the body 111, and the body 111 is in the non-deflection state relative to the first obstacle.

[0103] 061: In the case that the turning radius is the first turning radius, and during the process of the cleaning robot 11 traveling along the turning path, the cleaning member 112 is in the outward expansion state relative to the body 111, and the body 111 is in the non-deflection state relative to the first obstacle.

[0104] That is, for the scenario that the turning radius of the cleaning robot 11 is large, i.e., the turning amplitude of the cleaning robot 11 is small, the width of the cleaning blind area formed between the cleaning member 112 and the first obstacle is small, in this case, only the cleaning member 112 is controlled to be in the outward expansion state for edge cleaning, and the body 111 is not controlled to be deflected and swung relative to the first obstacle, so that the cleaning efficiency of the cleaning robot can be effectively guaranteed.

[0105] 053: In the case that the cleaning robot 11 performs the edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning member 112 is in the outward expansion state relative to the body 111, and the body 111 is in the deflection state relative to the first obstacle.

[0106] 071: In the case that the turning radius is the second turning radius, and during the process of the cleaning robot 11 traveling along the turning path, the cleaning member 112 is in the outward expansion state relative to the body 111, and the body 111 is in the deflection state relative to the first obstacle.

[0107] That is, for the scenario of making the turning radius of the cleaning robot 11 moderate, that is, the turning amplitude of the cleaning robot 11 is not too large, so that the width of the cleaning blind area formed between the cleaning element 112 and the first obstacle is moderate, in this case, by controlling the cleaning element 112 to be in the outward expansion state and controlling the body 111 to be deflected and swung back relative to the first obstacle, the cleaning robot 11 can clean the blind area between the cleaning element 112 and the first obstacle, so that the cleaning range is larger and the cleaning efficiency is improved.

[0108] 054: In the case where the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning element 112 is in the retracted state relative to the body 111, and the body 111 is in the deflected state relative to the first obstacle.

[0109] 081: In the case where the turning radius is the third turning radius, and in the process of the cleaning robot 11 moving along the turning path, the cleaning element 112 is in the retracted state relative to the body 111, and the body 111 is in the deflected state relative to the first obstacle.

[0110] That is, for the scenario of making the turning radius of the cleaning robot 11 moderate, that is, the turning amplitude of the cleaning robot 11 is not too large, so that the width of the cleaning blind area formed between the cleaning element 112 and the first obstacle is moderate, in this case, by controlling the cleaning element 112 to be in the outward expansion state and controlling the body 111 to be deflected and swung back relative to the first obstacle, the cleaning robot 11 can clean the blind area between the cleaning element 112 and the first obstacle, so that the cleaning range is larger and the cleaning efficiency is improved.

[0111] The first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

[0112] The control method can be applied to the cleaning robot 11, and the controller 114 is configured to: obtain a turning radius of the cleaning robot 11 turning around the first obstacle; the first preset condition comprises that the turning radius is greater than a preset first turning radius threshold; the second preset condition comprises that the turning radius is less than the preset first turning radius threshold and greater than a preset second turning radius threshold; and the third preset condition comprises that the turning radius is less than the preset second turning radius threshold. In a case where the cleaning robot 11 performs edge cleaning along the first obstacle and turning, and the first preset condition is met, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the non-tilting state relative to the first obstacle. In a case where the turning radius is the first turning radius, and during the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the non-tilting state relative to the first obstacle. In a case where the cleaning robot 11 performs edge cleaning along the first obstacle and turning, and the second preset condition is met, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the tilting state relative to the first obstacle. In a case where the turning radius is the second turning radius, and during the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the tilting state relative to the first obstacle. In a case where the cleaning robot 11 performs edge cleaning along the first obstacle and turning, and the third preset condition is met, the cleaning member 112 is in the retracted state relative to the body 111, and the body 111 is in the tilting state relative to the first obstacle. In a case where the turning radius is the third turning radius, and during the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the retracted state relative to the body 111, and the body 111 is in the tilting state relative to the first obstacle. The first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

[0113] Specifically, please refer to FIG. 8, taking the case of a circular obstacle as an example, the smaller the size of the obstacle is, the smaller the turning radius of the cleaning robot 11 is, and the larger the blind area width between the cleaning element 112 and the obstacle is. Since the size of the entire obstacle is small, the "middle gap" will be generated when the cleaning element is expanded outward for cleaning. In order to avoid the "middle gap" generated by the expansion of the cleaning element when cleaning small obstacles, the cleaning robot 11 still needs to clean a larger "middle gap". Therefore, in the case of a small obstacle size, i.e. a small turning radius, the controller 114 controls the cleaning element 112 to be in the retracted state, and only controls the body 111 to be in the yawing state, thereby improving the overall cleaning efficiency of the cleaning robot 11. Conversely, in the case of a large obstacle size, i.e. a large turning radius, the controller 114 controls the cleaning element 112 to be in the expanded state, and controls the body 111 to be in the yawing state. That is, the controller 114 can control the state of the cleaning element 112 and the body 111 according to the size of the obstacle by detecting the turning radius, so that the size relationship between the turning radius and the turning radius threshold is used as a method for judging whether the preset condition is met. In addition, in the case where the turning radius is equal to the turning radius threshold, the controller 114 can control the cleaning element 112 to be in the expanded state, or control the cleaning element 112 to be in the retracted state. Then, the controller 114 can control the state of the cleaning element 112 and the body 111 during the process of the cleaning robot 11 moving along the turning path according to the obtained turning radius.

[0114] Referring to FIG. 2 and FIG. 11, in some embodiments, step 0511 comprises:

[0115] 05111: planning an initial moving path of the cleaning robot 11 along the first obstacle for edge cleaning according to the characteristic information of the first obstacle;

[0116] 05113: determining a turning radius of the cleaning robot 11 turning around the first obstacle in the initial moving path according to the initial moving path.

[0117] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: plan an initial moving path of the cleaning robot 11 along the first obstacle for edge cleaning according to the characteristic information of the first obstacle; and determine a turning radius of the cleaning robot 11 turning around the first obstacle in the initial moving path according to the initial moving path.

[0118] It can be understood that the turning radius is obtained from the initial moving path of the cleaning robot 11, so before obtaining the turning radius, the initial moving path of the cleaning robot 11 needs to be planned according to the characteristic information of the first obstacle.

[0119] Referring to FIG. 2 and FIG. 10, in some embodiments, the control method of the present disclosure further comprises:

[0120] 0513: obtaining a cleaning blind area width between the cleaning member 112 and the first obstacle when the cleaning robot 11 turns around the first obstacle;

[0121] The first preset condition comprises that the cleaning blind area width is less than a preset first cleaning blind area width threshold; the second preset condition comprises that the cleaning blind area width is greater than the preset first cleaning blind area width threshold and less than a preset second cleaning blind area width threshold; and the third preset condition comprises that the cleaning blind area width is greater than a preset third cleaning blind area width threshold.

[0122] 052: in the case that the cleaning robot performs edge cleaning along the first obstacle and turns around, and the cleaning blind area width is less than the preset first cleaning blind area width threshold, the cleaning member 112 is in an outwardly expanded state relative to the robot body, and the robot body 111 is in a non-tilting state relative to the first obstacle;

[0123] 062: in the case that the cleaning blind area width is the first cleaning blind area width, and in the process of the cleaning robot 11 moving along the turning path, the cleaning member 112 is in an outwardly expanded state relative to the robot body 111, and the robot body 111 is in a non-tilting state relative to the first obstacle;

[0124] 053: in the case that the cleaning robot performs edge cleaning along the first obstacle and turns around, and the cleaning blind area width is greater than the preset first cleaning blind area width threshold and less than the preset second cleaning blind area width threshold, the cleaning member 112 is in an outwardly expanded state relative to the robot body, and the robot body 111 is in a tilting state relative to the first obstacle;

[0125] 072: in the case that the cleaning blind area width is the second cleaning blind area width, and in the process of the cleaning robot 11 moving along the turning path, the cleaning member 112 is in an outwardly expanded state relative to the robot body 111, and the robot body 111 is in a tilting state relative to the first obstacle;

[0126] 054: in the case that the cleaning robot performs edge cleaning along the first obstacle and turns around, and the cleaning blind area width is greater than the preset third cleaning blind area width threshold, the cleaning member 112 is in a retracted state relative to the robot body, and the robot body 111 is in a tilting state relative to the first obstacle;

[0127] 082: in the case that the cleaning blind area width is the third cleaning blind area width, and in the process of the cleaning robot 11 moving along the turning path, the cleaning member 112 is in a retracted state relative to the robot body 111, and the robot body 111 is in a tilting state relative to the first obstacle;

[0128] The first cleaning blind area width is less than the second cleaning blind area width, and the second cleaning blind area width is less than the third cleaning blind area width.

[0129] The control method can be applied to the cleaning robot 11. The controller 114 is configured to: when the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the cleaning blind area width is less than a preset first cleaning blind area width threshold, the cleaning member 112 is in the outwardly expanded state relative to the body, and the body 111 is in the non-tilting state relative to the first obstacle; when the cleaning blind area width is the first cleaning blind area width, and during the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the non-tilting state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the cleaning blind area width is greater than the preset first cleaning blind area width threshold and less than a preset second cleaning blind area width threshold, the cleaning member 112 is in the outwardly expanded state relative to the body, and the body 111 is in the tilting state relative to the first obstacle; when the cleaning blind area width is the second cleaning blind area width, and during the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the outwardly expanded state relative to the body, and the body is in the tilting state relative to the first obstacle. When the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the cleaning blind area width is greater than a preset third cleaning blind area width threshold, the cleaning member 112 is in the retracted state relative to the body, and the body 111 is in the tilting state relative to the first obstacle; when the cleaning blind area width is the third cleaning blind area width, and during the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the retracted state relative to the body 111, and the body 111 is in the tilting state relative to the first obstacle; wherein the first cleaning blind area width is less than the second cleaning blind area width, and the second cleaning blind area width is less than the third cleaning blind area width.

[0130] Specifically, the controller 114 is further capable of controlling the state of the cleaning member 112 and the body 111 according to the size of the cleaning blind area width. In the case of turning, the width of the cleaning blind area is basically determined by the size of the first obstacle. Relatively speaking, the smaller the size of the first obstacle, the smaller the turning radius of the cleaning robot along the first obstacle, and the larger the width of the cleaning blind area. Therefore, in the case of turning, the above-mentioned preset condition can further include a comparison between the cleaning blind area width and a preset blind area width threshold. In the case of an excessively large cleaning blind area width, it can also indicate that the turning radius of the cleaning robot along the first obstacle is small. Therefore, in order to improve the cleaning efficiency, the controller 114 controls the cleaning member 112 to be in the retracted state, and controls the body 111 to be in the yawing state. In the case of turning, the width of the cleaning blind area is basically determined by the size of the first obstacle. Relatively speaking, the larger the size of the first obstacle, the larger the turning radius of the cleaning robot along the first obstacle, and the smaller the width of the cleaning blind area. Therefore, in the case of a cleaning blind area and a moderate cleaning blind area width, i.e., the cleaning blind area width is greater than a preset first cleaning blind area width threshold and less than a preset second cleaning blind area width threshold, the controller 114 controls the cleaning member 112 to be in the outwardly expanding state, and controls the body 111 to be in the yawing state, so as to balance between the cleaning efficiency and the cleaning effect. In the case of an excessively small cleaning blind area width, only the cleaning member 112 is controlled to be in the outwardly expanding state for edge cleaning, and the body 111 is not controlled to be deflected and swung relative to the first obstacle, so as to effectively ensure the cleaning efficiency of the cleaning robot.

[0131] Referring to FIGS. 2 and 10, in some embodiments, the control method of the present disclosure further includes:

[0132] 055: In the case of performing edge cleaning along the first obstacle by the cleaning robot 11, and the cleaning member is in the outwardly expanding state, a second obstacle on an initial travel path of the cleaning robot 11 along the first obstacle is detected;

[0133] 056: In the case of predicting that the interference degree between the cleaning member 112 and the second obstacle is a first interference degree, the cleaning member 112 is moved from the outwardly expanding state relative to the body 111 to the retracted state;

[0134] 057: In the case of predicting that the interference degree between the cleaning member 112 and the second obstacle is a second interference degree, the cleaning member 112 is kept in the outwardly expanding state relative to the body 111, wherein the first interference degree is greater than the second interference degree;

[0135] 058: A height distance between the cleaning member 112 and the obstacle in the height direction is obtained;

[0136] 059: When the height distance is greater than the preset distance threshold, the body 111 is in a yawing state relative to the first obstacle.

[0137] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: when the cleaning robot 11 performs edge cleaning along the first obstacle and the cleaning member 112 is in the outwardly expanded state, detect a second obstacle on an initial travel path of the cleaning robot 11 along the first obstacle; when it is predicted that the interference degree between the cleaning member 112 and the second obstacle is a first interference degree, move the cleaning member 112 from the outwardly expanded state relative to the body 111 to the retracted state; when it is predicted that the interference degree between the cleaning member 112 and the second obstacle is a second interference degree, keep the cleaning member 112 in the outwardly expanded state relative to the body 111, wherein the first interference degree is greater than the second interference degree; obtain a height distance between the cleaning member 112 and the obstacle in the height direction; and when the height distance is greater than a preset distance threshold, control the body 111 to be in a yawing state relative to the first obstacle.

[0138] Specifically, when the cleaning robot 11 performs edge cleaning along the first obstacle, there can also be a second obstacle next to the first obstacle. Therefore, in order to avoid collision between the cleaning member 112 and the second obstacle and damage to the cleaning member 112, the controller 114 needs to detect the second obstacle on the initial travel path when the cleaning member 112 is in the outwardly expanded state. The controller 114 predicts the interference degree between the cleaning member 112 and the second obstacle according to the second obstacle feature information detected by the sensor 115. When it is predicted that the interference degree between the cleaning member 112 and the second obstacle is a larger first interference degree, the cleaning member 112 is moved from the outwardly expanded state relative to the body 111 to the retracted state to avoid damage caused by collision with the obstacle. When it is predicted that the interference degree between the cleaning member 112 and the second obstacle is a smaller second interference degree, the cleaning member 112 is kept in the outwardly expanded state relative to the body 111. When the cleaning robot 11 passes by the second obstacle, the second obstacle is deformed to allow the cleaning member 112 to pass through, thereby reducing the number of state changes of the cleaning member 112 and prolonging the service life of the cleaning member 112. In steps 058 and 059, the controller 114 also obtains a height distance between the cleaning member 112 and the obstacle in the height direction. When the height distance is greater than a preset distance threshold, the cleaning member 112 can enter a low gap between the obstacle and the ground (for example, as shown in FIGS. 1-2 of FIG. 12) to perform cleaning. Meanwhile, the controller 114 controls the body 111 to be in a yawing state relative to the first obstacle (for example, as shown in FIGS. 3-4 of FIG. 12) to increase the cleaning area by yawing of the body 111 and improve the cleaning effect in the low gap.

[0139] In some embodiments, the degree of interference of the cleaning member 112 with the second obstacle is characterized by a predicted force between the cleaning member 112 and the second obstacle, and is positively correlated with the predicted force; or, the degree of interference of the cleaning member 112 with the second obstacle is characterized by a predicted turning angle of the planned path of the cleaning robot 11 around the second obstacle, and is positively correlated with the predicted turning angle; or, the degree of interference of the cleaning member 112 with the second obstacle is characterized by a predicted deformation amount of the cleaning member 112 after contacting the second obstacle, and is positively correlated with the predicted deformation amount; or, the degree of interference of the cleaning member 112 with the second obstacle is characterized by a predicted turning angle of the cleaning member 112 turning towards the second position after contacting the second obstacle, and is positively correlated with the predicted turning angle; or, the degree of interference of the cleaning robot 11 with the second obstacle is characterized by a predicted extrusion angle formed before and after the cleaning member collides with the second obstacle, and is positively correlated with the predicted extrusion angle.

[0140] It can be understood that the interference degree between the cleaning member 112 and the second obstacle can be determined in various ways. For example, the force between the two objects can reflect the intensity of the collision between the two objects in contact with each other. The controller 114 can determine the interference degree between the cleaning member 112 and the second obstacle by predicting the force, and the interference degree is positively correlated with the predicted force. When the cleaning robot 11 travels at a constant speed, the shape of the second obstacle and its position on the planned path also affect the size of the interference degree between the cleaning member 112 and the second obstacle. For example, if the cleaning robot 11 only slightly brushes the second obstacle during travel, the interference degree between the cleaning member 112 and the second obstacle is small, and vice versa. Therefore, please refer to FIG. 13. The rotation angle A is the change in direction of the cleaning robot 11 before and after turning. The controller 114 can select two points on the planned path before and after turning to measure the turning angle A. The interference degree between the second obstacle and the cleaning member 112 is also positively correlated with the turning angle A. Specifically, the turning angle A is the angle between the two tangent lines passing through the two points on the turning path when the cleaning robot 11 is at the two points (the center of the cleaning robot 11 is located at the two points). The deformation of the two objects after the two objects come into contact with each other can also be used as a standard to reflect the intensity of the collision. Therefore, the interference degree between the cleaning member 112 and the second obstacle can also be represented by the predicted deformation of the cleaning member 112 and the second obstacle after they come into contact. The greater the deformation, the greater the interference degree. The smaller the deformation, the smaller the interference degree. Alternatively, the interference degree between the cleaning member 112 and the second obstacle can also be represented by the predicted rotation angle of the cleaning member 112 and the second obstacle after they come into contact. The second position is usually set to the position of the cleaning member 112 in the retracted state. The cleaning member 112 is in the expanded state before the collision between the cleaning member 112 and the second obstacle. When the collision occurs, the cleaning member 112 will rebound to a certain angle under the influence of the force. This angle is the rotation angle of the cleaning member 112. The controller 114 can determine the interference degree between the cleaning member 112 and the second obstacle according to the predicted rotation angle. The predicted rotation angle is positively correlated with the interference degree. In addition, the interference degree between the cleaning member 112 and the second obstacle can also be represented by the predicted extrusion angle formed by the cleaning robot 11 and the second obstacle before and after the collision. Please refer to FIG. 14. The extrusion angle B is the angle between the two positions (the center of the cleaning robot 11) and the collision point before and after the collision between the cleaning robot 11 and the second obstacle. The greater the collision intensity, the greater the extrusion angle B.

[0141] Please refer to FIG. 2 and FIG. 15. In some embodiments, step 055 comprises:

[0142] 0551: obtaining an edge profile of the target object;

[0143] 0553: updating the initial travel path based on the edge profile, the width of the body 111, and the along-side distance between the body 111 and the first obstacle, to obtain an updated travel path;

[0144] 0555: the cleaning robot 11 performs the along-side cleaning along the first obstacle according to the updated travel path;

[0145] 0557: analyzing whether an interference occurs between the target object and the cleaning member 112 on the updated travel path;

[0146] 0559: in the case where the interference occurs between the target object and the cleaning member 112, confirming that the target object is a second obstacle.

[0147] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: obtain an edge profile of the target object; update the initial travel path based on the edge profile, the width of the body 111, and the along-side distance between the body 111 and the first obstacle, to obtain an updated travel path; the cleaning robot 11 performs the along-side cleaning along the first obstacle according to the updated travel path; analyze whether an interference occurs between the target object and the cleaning member 112 on the updated travel path; and in the case where the interference occurs between the target object and the cleaning member 112, confirm that the target object is a second obstacle.

[0148] Specifically, in step 0551 and step 0553, the target object refers to an object located on or close to the initial travel path, the number of the target object can be one or more (at least two), some of the target objects will interfere with the cleaning element 112, and some of the target objects will not interfere with the cleaning element 112. The sensor 115 obtains the target object, for example, the camera captures the target object. The controller 114 can process the captured image to obtain the edge profile of the target object, and based on the edge profile, according to the width of the body 111 and the along-edge distance between the body 111 and the first obstacle stored by itself, update the current initial travel path to obtain the updated travel path, so as to avoid the body 111 colliding with the target object and avoid the cleaning robot 11 being unable to continue traveling. In step 0555, the cleaning robot 11 travels according to the updated travel path, so as to ensure that the body 111 avoids the target object during the traveling process and ensure that the cleaning robot 11 can travel smoothly according to the updated travel path. In step 0557 and step 0559, the controller 114 analyzes whether the target object interferes with the cleaning element 112 on the updated travel path, in the case that the target object interferes with the cleaning element 112, the controller 114 needs to change the state of the cleaning element 112 according to the characteristic information of the target object, and therefore the controller 114 confirms that the target object is the second obstacle. In the case that the target object does not interfere with the cleaning element 112, the controller 114 does not need to change the state of the cleaning element 112 according to the characteristic information of the target object, and therefore the controller 114 does not confirm that the target object is the second obstacle.

[0149] Please refer to FIG. 2 and FIG. 17, in some embodiments, step 0557 comprises:

[0150] 05571: extracting a planned path of the cleaning robot 11 in the future on the updated travel path;

[0151] 05572: selecting a plurality of sampling points spaced from each other on the planned path;

[0152] 05573: estimating the predicted position of the cleaning element 112 when the cleaning robot 11 reaches each sampling point;

[0153] 05574: evaluating whether there is an intersection between the edge profile of the target object and the outer profile of the cleaning element 112 when the cleaning element 112 is at each predicted position;

[0154] 05575: confirming that the target object interferes with the cleaning element 112 in the case that there is an intersection at any predicted position;

[0155] 05576: confirming that the target object does not interfere with the cleaning member 112 in the case where there is no intersection at all the predicted positions.

[0156] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: extract a planned path on which the cleaning robot 11 will walk in the future from the updated travel path; select a plurality of sampling points that are spaced apart from each other on the planned path; estimate the predicted position of the cleaning member 112 when the cleaning robot 11 reaches each sampling point; evaluate whether there is an intersection between the edge profile of the target object and the outer profile of the cleaning member 112 at each predicted position of the cleaning member 112; confirm that the target object interferes with the cleaning member 112 in the case where there is an intersection at any one of the predicted positions; and confirm that the target object does not interfere with the cleaning member 112 in the case where there is no intersection at all the predicted positions.

[0157] Specifically, in step 05571 and step 05572, the controller 114 extracts a planned path on which the cleaning robot 11 will walk in the future from the updated travel path as a path on which the second obstacle detection needs to be performed, and selects a plurality of sampling points that are spaced apart from each other on the planned path, wherein the spacing distance between the sampling points can be adjusted according to actual application conditions to achieve the best sampling effect. In step 05573, the controller 114 is configured to estimate the predicted position of the cleaning member 112 when the cleaning robot 11 reaches each sampling point, so as to evaluate whether there is an intersection between the edge profile of the target object and the outer profile of the cleaning member 112 at each predicted position of the cleaning member 112 in step 05574. By evaluating the intersection between the edge profile of the target object and the outer profile of the cleaning member 112, it is determined whether the target object will collide with the cleaning member 112. Therefore, in step 05575, it is confirmed that the target object interferes with the cleaning member 112 in the case where there is an intersection at any one of the predicted positions, i.e., in the case where the target object will collide with the cleaning member 112. In step 05576, it is confirmed that the target object does not interfere with the cleaning member 112 in the case where there is no intersection at all the predicted positions, i.e., in the case where the target object will not collide with the cleaning member 112.

[0158] In some embodiments, the control method of the present disclosure further comprises:

[0159] 055: detecting a second obstacle on an initial travel path on which the cleaning robot 11 travels along the first obstacle in the case where the cleaning robot 11 performs edge cleaning along the first obstacle and the cleaning member 112 is in the outwardly expanded state;

[0160] 010: analyzing the feature information of the second obstacle in the case where there is a second obstacle on the travel path; and

[0161] 011: Controlling the extension of the cleaning member 112 relative to the body 111 according to the characteristic information of the second obstacle.

[0162] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: in a case where the cleaning robot 11 performs edge cleaning along the first obstacle and the cleaning member 112 is in the extended state, detect a second obstacle on an initial travel path of the cleaning robot 11 along the first obstacle; in a case where there is an obstacle on the travel path, analyze the characteristic information of the second obstacle; and control the extension of the cleaning member 112 relative to the body 111 according to the characteristic information of the second obstacle.

[0163] Specifically, in step 055, the controller 114 detects a second obstacle on the current initial travel path by the sensor 115. In step 010, after the controller 114 obtains the second obstacle by the sensor 115, the controller 114 analyzes the characteristic information of the second obstacle. The characteristic information of the second obstacle includes at least one of the following: type information of the second obstacle, size information in the horizontal plane, contour information, and arrangement density information within a preset range. The type of the second obstacle usually includes high-hardness obstacle types such as table legs and chair legs, and low-hardness obstacle types such as cotton pads and rubber. The type information can reflect the hardness of the second obstacle. When the cleaning robot 11 passes through the second obstacle with different hardness, the cleaning element 112 and the body 111 should also change in state to achieve the best cleaning effect. For the size information, the second obstacle can include a large column or a small chair leg. The size information of the second obstacle will affect the turning radius of the cleaning robot 11 when passing through the second obstacle. Therefore, when the cleaning robot 11 passes through the second obstacle with different sizes, the cleaning element 112 and the body 111 should also change in state according to the size information to achieve the best cleaning effect. The contour information of the second obstacle reflects the smoothness of the second obstacle. For example, to achieve the best cleaning effect, the cleaning element 112 and the body 111 of the cleaning robot 11 should also change in state when passing through a square obstacle and a circular obstacle. The arrangement density information of the second obstacle within the preset range reflects the individual density of the second obstacle within the preset range. The preset range is usually a cleaning area in a room. As shown in FIG. 3, when the cleaning element 112 is in the outwardly expanded state, the cleaning robot 11 will leave an uncleaned middle gap between the two cleaning elements 112 during the travel process. If the second obstacles in the preset range are too dense, the difficulty of supplementary cleaning of the uncleaned middle gap will also increase. In addition, in the dense obstacle scenario, to avoid frequent collisions with the cleaning element 112, the outwardly expanded cleaning element 112 may need to be frequently expanded and retracted, which will affect the service life of the cleaning element 112. Therefore, the arrangement density information of the second obstacle within the preset range is also one of the characteristic information of the second obstacle that needs to be considered in the cleaning process. The controller 114 needs to control the expansion degree of the cleaning element 112 relative to the body 111 according to the characteristic information, so as to reduce the number of expansions and retractions and increase the service life.

[0164] In a case where the characteristic information of the second obstacle includes the type information of the second obstacle, and the hardness of the first type of second obstacle is greater than the hardness of the second type of second obstacle, please refer to FIG. 2 and FIG. 15. In some embodiments, step 011 includes:

[0165] 0111: The outward expansion of the cleaning member 112 when the second obstacle of the first type is present on the initial travel path is less than the outward expansion of the cleaning member 112 when the second obstacle of the second type is present on the initial travel path.

[0166] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to control the outward expansion of the cleaning member 112 when the second obstacle of the first type is present on the initial travel path to be less than the outward expansion of the cleaning member 112 when the second obstacle of the second type is present on the initial travel path.

[0167] That is, the higher the hardness of the second obstacle, the smaller the outward expansion of the cleaning member 112 controlled by the controller 114.

[0168] In the case where the characteristic information of the second obstacle includes the type information of the second obstacle, and the hardness of the second obstacle of the first type is greater than the hardness of the second obstacle of the second type, in some embodiments, step 011 further includes:

[0169] 0112: In the case where the second obstacle is of the first type, the cleaning member 112 remains unchanged in the outward expansion state relative to the body 111, or the outward expansion of the cleaning member relative to the body 111 is reduced;

[0170] 0113: In the case where the second obstacle is of the second type, the cleaning member 112 is in the retracted state relative to the body 111, or the outward expansion of the cleaning member relative to the body 111 is reduced.

[0171] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to control the outward expansion of the cleaning member 112 when the second obstacle of the first type is present on the initial travel path to be less than the outward expansion of the cleaning member 112 when the second obstacle of the second type is present on the initial travel path.

[0172] Specifically, if the cleaning member 112 of the cleaning robot 11 frequently switches between the outwardly extended state and the retracted state, the service life of the cleaning member 112 is likely to be shortened and the probability of failure of the cleaning member 112 is likely to be increased, and therefore, in the case where the second obstacle is of the first type, the controller 114 controls the cleaning member 112 to be in the outwardly extended state relative to the main body 111, and since the second obstacle has a low hardness, the cleaning member 112 in the outwardly extended state is able to deform the second obstacle and directly push through the second obstacle, thereby reducing the number of times of retraction of the cleaning member 112 and improving the service life of the cleaning member 112, and at the same time, in this case, the controller 114 can control the main body 111 to be in the yawing state relative to the second obstacle to clean the uncleaned middle gap region that occurs during the travel of the cleaning robot 11 due to the cleaning member 112 being in the outwardly extended state. In the case where the second obstacle is of the second type, the second obstacle has a high hardness, and the controller 114 controls the cleaning member 112 to be in the retracted state relative to the main body 111 to avoid damage to the cleaning member 112 due to collision with the obstacle having a high hardness.

[0173] In the case where the characteristic information of the second obstacle includes size information of the second obstacle, and the size of the second obstacle is a projection size of the second obstacle on the surface to be cleaned, in the case where the first size is greater than the second size, referring to FIGS. 2 and 15, in some embodiments, step 011 further includes:

[0174] 0114: The outwardly extended degree of the cleaning member 112 in the case where the second obstacle of the first size is present on the initial travel path is less than the outwardly extended degree of the cleaning member 112 in the case where the second obstacle of the second size is present on the initial travel path.

[0175] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: control the outwardly extended degree of the cleaning member 112 in the case where the second obstacle of the first size is present on the initial travel path to be less than the outwardly extended degree of the cleaning member 112 in the case where the second obstacle of the second size is present on the initial travel path.

[0176] That is, the greater the size of the second obstacle, the smaller the outwardly extended degree of the cleaning member 112 controlled by the controller 114.

[0177] In the case where the characteristic information of the second obstacle includes size information of the second obstacle, referring to FIGS. 2 and 15, in some embodiments, step 011 further includes:

[0178] 0115: In the case where the size of the second obstacle is less than a preset size threshold, the cleaning member 112 remains unchanged in the outwardly extended state relative to the main body 111, or the outwardly extended degree of the cleaning member 112 relative to the main body 111 is reduced;

[0179] 0116:In the case that the size of the second obstacle is greater than the preset size threshold, the cleaning member 112 is in the retracted state relative to the body 111, or the extent of the extension of the cleaning member 112 relative to the body 111 is reduced.

[0180] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: in the case that the size of the second obstacle is less than the preset size threshold, keep the cleaning member in the extended state relative to the body, or reduce the extent of the extension of the cleaning member relative to the body; and in the case that the size of the second obstacle is greater than the preset size threshold, control the cleaning member to be in the retracted state relative to the body, or reduce the extent of the extension of the cleaning member relative to the body.

[0181] When the second obstacle appears on the path along which the cleaning robot 11 travels along the first obstacle, and the second obstacle is an obstacle that will interfere with the cleaning member 112 of the cleaning robot 11, the greater the size of the second obstacle, the greater the extent of the interference of the cleaning member 112 with the second obstacle. Therefore, the extent of the extension of the cleaning member 112 can be controlled according to the size of the second obstacle, and the greater the size of the second obstacle, the smaller the extent of the extension of the cleaning member 112 can be controlled.

[0182] In some embodiments, step 011 further includes:

[0183] 0117: In the case that the edge of the first obstacle includes a straight edge segment and a corner segment, the cleaning member 112 is controlled to be in the extended state and the body 111 is controlled to be in the non-yawing state during the process that the cleaning robot 11 travels along the straight edge segment of the first obstacle.

[0184] 0118: The cleaning member 112 is controlled to be in the extended state or the retracted state and the body 111 is controlled to be in the yawing state during the process that the cleaning robot 11 travels along the corner segment of the first obstacle.

[0185] For example, the first obstacle is a square obstacle, the edge of the square obstacle includes a straight edge segment and a corner segment, and the cleaning robot 11 can keep the cleaning member 112 in the extended state and synchronously control the body 111 to be in the non-yawing state when cleaning along the straight edge segment of the direction obstacle. Since the cleaning robot 11 does not need to turn when traveling along the straight edge segment of the first obstacle, the cleaning member 112 can be well fitted to the edge of the first obstacle through the extended state of the cleaning member 112, and the cleaning efficiency of the cleaning robot 11 along the straight edge segment of the first obstacle can be improved. When traveling along the corner segment, the cleaning robot 11 needs to turn at the corner, and the blind area cleaning during the turning cleaning along the edge can be realized by controlling the body 111 to be in the yawing state, and the cleaning effect is ensured.

[0186] In conclusion, in the control method of the cleaning robot, the controller 114 can obtain the characteristic information of the first obstacle according to the first obstacle on the initial travel path of the cleaning robot 11, and analyze the characteristic information of the first obstacle. Since the characteristic information of the first obstacle includes at least one of the type information of the first obstacle, the size information in the horizontal plane, the contour information, and the arrangement density information within the preset range, these characteristic information constitutes the actual application scenario of the cleaning robot 11. The controller 114 controls the state of the cleaning element 112 and the state of the body 111 according to the characteristic information of the first obstacle, thereby achieving the purpose of using different cleaning methods according to the characteristic information of the obstacle in different scenarios, and further improving the cleaning effect of the cleaning robot 11.

[0187] In some embodiments, referring to FIG. 2, the disclosure further provides a cleaning robot 11, which includes a body 111, a cleaning element 112 arranged on the body 111, a drive wheel 113 arranged on the body 111, and a controller 114. The drive wheel 113 is used to drive the body 111 to move. The cleaning element 112 is used to contact the surface to be cleaned to clean the surface to be cleaned. And the controller 114 is used to implement the control method in any of the above embodiments.

[0188] For example, when the processor of the cleaning robot 11 executes the computer program stored in the memory, the following control method is implemented:

[0189] 01: detecting a first obstacle on the initial travel path of the cleaning robot 11;

[0190] 02: analyzing the characteristic information of the first obstacle, the characteristic information of the first obstacle including at least one of the type information of the first obstacle, the size information in the horizontal plane, the contour information, and the arrangement density information within the preset range; and

[0191] 03: controlling the state of the cleaning element 112 and the state of the body 111 according to the characteristic information of the first obstacle.

[0192] In some embodiments, referring to FIG. 21, the disclosure further provides a base station 21 for use with the cleaning robot 11 of any of the above embodiments, which includes a parking position 22 for accommodating the cleaning robot 11.

[0193] In some embodiments, referring to FIG. 22, the disclosure further provides a cleaning system 100, which includes the cleaning robot 11 in any of the above embodiments and the base station 21 of any of the above embodiments for use with the cleaning robot 11. The base station 21 includes a parking position 22 for accommodating the cleaning robot 11.

[0194] Referring to FIG. 2 and FIG. 23, in some embodiments, the present disclosure also provides a computer storage medium 200, which stores a computer program 202, and the computer program 202 is executed by the processor 20 to implement the control method in any of the above embodiments.

[0195] For example, the computer program 202 is executed by the processor 20 to implement the following control method:

[0196] 01: detecting a first obstacle on the initial travel path of the cleaning robot 11;

[0197] 02: analyzing the characteristic information of the first obstacle, the characteristic information of the first obstacle including at least one of the following: type information of the first obstacle, size information in the horizontal plane, contour information, and arrangement density information within a preset range; and

[0198] 03: controlling the state of the cleaning element 112 and the state of the body 111 according to the characteristic information of the first obstacle.

[0199] For another example, the computer program 202 is executed by the processor 20 to implement the following control method:

[0200] 011: obtaining the edge contour of the target object;

[0201] 013: based on the edge contour, updating the initial travel path according to the width of the body to obtain an updated travel path;

[0202] 015: the cleaning robot travels according to the updated travel path;

[0203] 017: analyzing whether the target object will interfere with the cleaning element 112 if the cleaning robot 111 travels along the updated travel path;

[0204] 019: in the case where it is determined that the target object will interfere with the cleaning element 112, confirming that the target object is the first obstacle.

[0205] For another example, the computer program 202 is executed by the processor 20 to implement the control method involved in any of the steps described in the above embodiments.

[0206] In the cleaning robot 11, the base station 21, the cleaning system 100 and the computer storage medium 200 in the present disclosure, the controller 114 can obtain the characteristic information of the first obstacle according to the first obstacle on the initial travel path of the cleaning robot 11, and analyze the characteristic information of the first obstacle. Since the characteristic information of the first obstacle includes at least one of the type information of the first obstacle, the size information in the horizontal plane, the contour information and the arrangement density information within the preset range, these characteristic information constitutes the actual application scene of the cleaning robot 11, and the controller 114 controls the state of the cleaning element 112 and the state of the body 111 according to the characteristic information of the first obstacle, thereby achieving the purpose of using different cleaning methods according to the characteristic information of the obstacle in different scenes, and further improving the cleaning effect of the cleaning robot 11.

[0207] With the improvement of the automation level of household appliances, the application prospect of cleaning robots is becoming more and more extensive. Cleaning robots such as sweeping robots and mopping robots are used for cleaning in household indoor, large-scale places and other occasions. At present, various cleaning robots will clean according to the planned path, for example, the cleaning robot performs edge cleaning, specifically, the cleaning robot travels along one side of the obstacle and cleans at the same time, and keeps a fixed distance from the wall. In the process of edge cleaning, if the cleaning robot needs to turn, a larger cleaning omission area will be generated at the corner, resulting in poor cleaning effect. In order to solve the problem that various cleaning robots will generate a larger cleaning omission area at the corner, resulting in poor cleaning effect, the present disclosure provides another control method of a cleaning robot (shown in FIG. 18), a cleaning robot 11 (shown in FIG. 2), a base station 12 (shown in FIG. 21), a cleaning system 10 (shown in FIG. 22) and a computer storage medium 200 (shown in FIG. 23).

[0208] Please refer to FIG. 2 and FIG. 18, the present disclosure provides another control method of a cleaning robot, which comprises:

[0209] 012: In the case that the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning element 112 is in the outward expansion state relative to the body 111, and the body 111 is in the deflection state relative to the first obstacle. The deflection state is that the rear end of the body 111 is deflected towards the first obstacle and swings away from the first obstacle multiple times.

[0210] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning element 112 is in the outward expansion state relative to the body 111, and the body 111 is in the deflection state relative to the first obstacle. The deflection state is that the rear end of the body 111 is deflected towards the first obstacle and swings away from the first obstacle multiple times.

[0211] Specifically, please refer to FIG. 19, in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the preset condition is met, the controller 114 controls the cleaning member 112 to be in the outwardly expanded state relative to the body 111, and controls the body 111 to be in the biasing state relative to the first obstacle, in which the rear end of the body 111 is deflected multiple times towards the first obstacle and swings away from the first obstacle. By keeping the cleaning member 112 in the outwardly expanded state and controlling the body 111 to swing back and forth, it is ensured that there is no large cleaning omission area at the corner when the cleaning robot 11 performs edge cleaning and turns, so as to improve the cleaning effect and cleaning efficiency of the edge cleaning. Please refer to FIG. 2 and FIG. 20, in some embodiments, the control method of the present application further comprises:

[0212] 0111: obtaining a turning radius of the cleaning robot 11 turning around the first obstacle;

[0213] The preset condition being met includes that the turning radius is greater than a preset turning radius threshold; the preset condition not being met includes that the turning radius is less than the preset turning radius threshold;

[0214] 0121: in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the first preset condition is met, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the non-biasing state relative to the first obstacle;

[0215] 021: in the case that the turning radius is the first turning radius, and in the process that the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the non-biasing state relative to the first obstacle;

[0216] 0122: in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the biasing state relative to the first obstacle;

[0217] 031: in the case that the turning radius is the second turning radius, and in the process that the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the biasing state relative to the first obstacle;

[0218] That is, for the scenario of making the turning radius of the cleaning robot 11 moderate, that is, the turning amplitude of the cleaning robot 11 is not too large, so that the width of the cleaning blind area formed between the cleaning element 112 and the first obstacle is moderate, in this case, by controlling the cleaning element 112 to be in the outward expansion state and controlling the body 111 to be deflected and swung back relative to the first obstacle, the cleaning robot 11 can clean the blind area between the cleaning element 112 and the first obstacle, so that the cleaning range is larger and the cleaning efficiency is improved.

[0219] 0123: In the case where the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning element 112 is in the retracted state relative to the body 111, and the body 111 is in the deflected state relative to the first obstacle.

[0220] 041: In the case where the turning radius is the third turning radius, and during the process of the cleaning robot 11 moving along the turning path, the cleaning element 112 is in the retracted state relative to the body 111, and the body 111 is in the deflected state relative to the first obstacle.

[0221] That is, for the scenario of making the turning radius of the cleaning robot 11 small, that is, the turning amplitude of the cleaning robot 11 is large, so that the width of the cleaning blind area formed between the cleaning element 112 and the first obstacle is large, in this case, in order to avoid the problem of reducing the cleaning efficiency caused by needing to fill the above-mentioned “middle seam”, the cleaning element 112 can be controlled to be in the retracted state and the body 111 can be controlled to be deflected and swung back relative to the first obstacle, so as to balance between cleaning efficiency and cleaning effect.

[0222] The first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

[0223] The control method can be applied to the cleaning robot 11, and the controller 114 is configured to: obtain a turning radius of the cleaning robot 11 turning around the first obstacle; the first preset condition comprises that the turning radius is greater than a preset first turning radius threshold; the second preset condition comprises that the turning radius is less than the preset first turning radius threshold and greater than a preset second turning radius threshold; and the third preset condition comprises that the turning radius is less than the preset second turning radius threshold. In a case where the cleaning robot 11 performs edge cleaning along the first obstacle and turning, and the first preset condition is met, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the non-tilting state relative to the first obstacle. In a case where the turning radius is the first turning radius, and during the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the non-tilting state relative to the first obstacle. In a case where the cleaning robot 11 performs edge cleaning along the first obstacle and turning, and the second preset condition is met, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the tilting state relative to the first obstacle. In a case where the turning radius is the second turning radius, and during the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the tilting state relative to the first obstacle. In a case where the cleaning robot 11 performs edge cleaning along the first obstacle and turning, and the third preset condition is met, the cleaning member 112 is in the retracted state relative to the body 111, and the body 111 is in the tilting state relative to the first obstacle. In a case where the turning radius is the third turning radius, and during the cleaning robot 11 travels along the turning path, the cleaning member 112 is in the retracted state relative to the body 111, and the body 111 is in the tilting state relative to the first obstacle. The first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

[0224] Specifically, please refer to FIG. 8, taking the case of a circular obstacle as an example, the smaller the size of the obstacle is, the smaller the turning radius of the cleaning robot 11 is, and the larger the blind area width between the cleaning element 112 and the obstacle is. Since the size of the entire obstacle is small, the "middle gap" will be generated when the cleaning element is expanded outward for cleaning. In order to avoid the "middle gap" generated by the expansion of the cleaning element when cleaning small obstacles, the cleaning robot 11 still needs to clean a larger "middle gap", therefore, in the case of small obstacle size, i.e. small turning radius, the controller 114 controls the cleaning element 112 to be in the retracted state, and only controls the body 111 to be in the yawing state, thereby improving the overall cleaning efficiency of the cleaning robot 11. Conversely, in the case of large obstacle size, i.e. large turning radius, the controller 114 controls the cleaning element 112 to be in the expanded state, and controls the body 111 to be in the yawing state. That is, the controller 114 can control the state of the cleaning element 112 and the body 111 according to the size of the obstacle by detecting the turning radius, therefore, the present disclosure takes the size relationship between the turning radius and the turning radius threshold as a method for judging whether the preset condition is met, and in addition, in the case of the turning radius being equal to the turning radius threshold, the controller 114 can control the cleaning element 112 to be in the expanded state, or control the cleaning element 112 to be in the retracted state. Then, the controller 114 can control the state of the cleaning element 112 and the body 111 during the process of the cleaning robot 11 moving along the turning path according to the obtained turning radius.

[0225] Referring to FIG. 2, in some embodiments, step 0111 comprises:

[0226] 01111: planning an initial moving path of the cleaning robot 11 along the first obstacle for edge cleaning according to the characteristic information of the first obstacle;

[0227] 01113: determining a turning radius of the cleaning robot 11 turning around the first obstacle in the initial moving path according to the initial moving path.

[0228] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: plan an initial moving path of the cleaning robot 11 along the first obstacle for edge cleaning according to the characteristic information of the first obstacle; and determine a turning radius of the cleaning robot 11 turning around the first obstacle in the initial moving path according to the initial moving path.

[0229] It can be understood that the turning radius is obtained from the initial moving path of the cleaning robot 11, therefore, before obtaining the turning radius, the initial moving path of the cleaning robot 11 needs to be planned according to the characteristic information of the first obstacle.

[0230] Referring to FIG. 2 and FIG. 20, in some embodiments, the control method of the present disclosure further comprises:

[0231] 0113: obtaining a cleaning blind area width between the cleaning member 112 and the first obstacle when the cleaning robot 11 turns around the first obstacle;

[0232] satisfying the preset condition comprises that the cleaning blind area width is greater than a preset blind area width threshold; not satisfying the preset condition comprises that the cleaning blind area width is less than the preset blind area width threshold;

[0233] the first preset condition comprises that the cleaning blind area width is less than a preset first cleaning blind area width threshold; the second preset condition comprises that the cleaning blind area width is greater than the preset first cleaning blind area width threshold and less than a preset second cleaning blind area width threshold; the third preset condition comprises that the cleaning blind area width is greater than a preset third cleaning blind area width threshold.

[0234] 0121: in a case where the cleaning robot performs edge cleaning along the first obstacle and turns around, and the cleaning blind area width is less than the preset first cleaning blind area width threshold, the cleaning member 112 is in an outward expansion state relative to the robot body, and the robot body 111 is in a non-tilting state relative to the first obstacle;

[0235] 022: in a case where the cleaning blind area width is the first cleaning blind area width, and in the process of the cleaning robot 11 moving along the turning path, the cleaning member 112 is in an outward expansion state relative to the robot body 111, and the robot body 111 is in a non-tilting state relative to the first obstacle;

[0236] 0122: in a case where the cleaning robot performs edge cleaning along the first obstacle and turns around, and the cleaning blind area width is greater than the preset first cleaning blind area width threshold and less than the preset second cleaning blind area width threshold, the cleaning member 112 is in an outward expansion state relative to the robot body, and the robot body 111 is in a tilting state relative to the first obstacle;

[0237] 032: in a case where the cleaning blind area width is the second cleaning blind area width, and in the process of the cleaning robot 11 moving along the turning path, the cleaning member 112 is in an outward expansion state relative to the robot body 111, and the robot body 111 is in a tilting state relative to the first obstacle;

[0238] 0123: in a case where the cleaning robot performs edge cleaning along the first obstacle and turns around, and the cleaning blind area width is greater than the preset third cleaning blind area width threshold, the cleaning member 112 is in a retraction state relative to the robot body, and the robot body 111 is in a tilting state relative to the first obstacle;

[0239] 042: the cleaning member 112 is in the retracted state relative to the body 111 and the body 111 is in the yawed state relative to the first obstacle when the cleaning robot 11 is performing the edge cleaning along the first obstacle and the turning, and the cleaning blind width is the third cleaning blind width.

[0240] The first cleaning blind width is smaller than the second cleaning blind width, and the second cleaning blind width is smaller than the third cleaning blind width. The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: when the cleaning robot 11 is performing the edge cleaning along the first obstacle and the turning, and the cleaning blind width is smaller than the preset first cleaning blind width threshold, the cleaning member 112 is in the outwardly expanded state relative to the body, and the body 111 is in the non-yawed state relative to the first obstacle; when the cleaning robot 11 is performing the edge cleaning along the first obstacle and the turning, and the cleaning blind width is the first cleaning blind width, the cleaning member 112 is in the outwardly expanded state relative to the body 111, and the body 111 is in the non-yawed state relative to the first obstacle. When the cleaning robot 11 is performing the edge cleaning along the first obstacle and the turning, and the cleaning blind width is greater than the preset first cleaning blind width threshold and smaller than the preset second cleaning blind width threshold, the cleaning member 112 is in the outwardly expanded state relative to the body, and the body 111 is in the yawed state relative to the first obstacle; when the cleaning robot 11 is performing the edge cleaning along the first obstacle and the turning, and the cleaning blind width is the second cleaning blind width, the cleaning member 112 is in the outwardly expanded state relative to the body, and the body is in the yawed state relative to the first obstacle. When the cleaning robot 11 is performing the edge cleaning along the first obstacle and the turning, and the cleaning blind width is greater than the preset third cleaning blind width threshold, the cleaning member 112 is in the retracted state relative to the body, and the body 111 is in the yawed state relative to the first obstacle; when the cleaning robot 11 is performing the edge cleaning along the first obstacle and the turning, and the cleaning blind width is the third cleaning blind width, the cleaning member 112 is in the retracted state relative to the body 111, and the body 111 is in the yawed state relative to the first obstacle; wherein the first cleaning blind width is smaller than the second cleaning blind width, and the second cleaning blind width is smaller than the third cleaning blind width.

[0241] Specifically, the size of the cleaning blind area can be embodied by the width of the cleaning blind area, and the controller 114 is further capable of controlling the state of the cleaning member 112 and the body 111 according to the size of the width of the cleaning blind area. In the case of turning, the width of the cleaning blind area is basically determined by the size of the first obstacle. Relatively speaking, the smaller the size of the first obstacle, the smaller the turning radius of the cleaning robot along the first obstacle, and the larger the width of the cleaning blind area. Therefore, in the case of turning, the above-mentioned preset condition can further include a comparison between the width of the cleaning blind area and a preset blind area width threshold. In the case of an excessively large cleaning blind area width, it can also indicate that the turning radius of the cleaning robot along the first obstacle is small. Therefore, in order to improve the cleaning efficiency, the controller 114 controls the cleaning member 112 to be in the retracted state, and controls the body 111 to be in the yawing state. In the case of turning, the width of the cleaning blind area is basically determined by the size of the first obstacle. Relatively speaking, the larger the size of the first obstacle, the larger the turning radius of the cleaning robot along the first obstacle, and the smaller the width of the cleaning blind area. Therefore, in the case of a cleaning blind area and a moderate cleaning blind area width, i.e., the cleaning blind area width is greater than a preset first cleaning blind area width threshold and less than a preset second cleaning blind area width threshold, the controller 114 controls the cleaning member 112 to be in the outwardly expanding state, and controls the body 111 to be in the yawing state, so as to balance between the cleaning efficiency and the cleaning effect. In the case of an excessively small cleaning blind area width, only the cleaning member 112 is controlled to be in the outwardly expanding state for edge cleaning, and the body 111 is not controlled to be deflected and swung relative to the first obstacle, so as to effectively ensure the cleaning efficiency of the cleaning robot.

[0242] Referring to FIG. 2 and FIG. 20, in some embodiments, the control method of the present disclosure further includes:

[0243] 014: In the case of performing edge cleaning along the first obstacle and straight running of the cleaning robot 11, the cleaning member 112 is in the outwardly expanding state relative to the body 111, and / or the body 111 is in the yawing state relative to the first obstacle.

[0244] The above-mentioned control method can be applied to the cleaning robot 11, and the controller 114 is configured to: in the case of performing edge cleaning along the first obstacle and straight running of the cleaning robot 11, control the cleaning member 112 to be in the outwardly expanding state relative to the body 111, and / or control the body 111 to be in the yawing state relative to the first obstacle.

[0245] Specifically, in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and straight driving, since the cleaning member 112 in the outwardly expanded state will not leave a cleaning blind area due to turning, the controller 114 only needs to control the main body 111 to be in the deflection state relative to the first obstacle to clean the middle gap area left by the outward expansion of the cleaning member 112 while controlling the cleaning member 112 to remain in the outwardly expanded state to expand the cleaning area, so as to improve the cleaning effect.

[0246] Please refer to FIG. 2 and FIG. 20, in some embodiments, the control method of the present application further comprises:

[0247] 015: In the case that the cleaning robot 11 performs edge cleaning along the first obstacle and the cleaning member 112 is in the outwardly expanded state, detecting a second obstacle on the initial driving path of the cleaning robot 11 driving along the first obstacle;

[0248] 016: In the case that the interference degree between the cleaning member 112 and the second obstacle is predicted to be a first interference degree, the cleaning member 112 is moved from the outwardly expanded state relative to the main body 111 to the retracted state;

[0249] 017: In the case that the interference degree between the cleaning member 112 and the second obstacle is predicted to be a second interference degree, the cleaning member 112 remains in the outwardly expanded state relative to the main body 111, wherein the first interference degree is greater than the second interference degree;

[0250] 018: Obtaining a height distance between the cleaning member 112 and the obstacle in the height direction;

[0251] 019: In the case that the height distance is greater than a preset distance threshold, the main body 111 is in the deflection state relative to the first obstacle.

[0252] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and the cleaning member 112 is in the outwardly expanded state, detect a second obstacle on the initial driving path of the cleaning robot 11 driving along the first obstacle; in the case that the interference degree between the cleaning member 112 and the second obstacle is predicted to be a first interference degree, control the cleaning member 112 to move from the outwardly expanded state relative to the main body 111 to the retracted state; in the case that the interference degree between the cleaning member 112 and the second obstacle is predicted to be a second interference degree, control the cleaning member 112 to remain in the outwardly expanded state relative to the main body 111, wherein the first interference degree is greater than the second interference degree; obtain a height distance between the cleaning member 112 and the obstacle in the height direction; in the case that the height distance is greater than a preset distance threshold, control the main body 111 to be in the deflection state relative to the first obstacle.

[0253] Specifically, when the cleaning robot 11 performs the wall-following cleaning along the first obstacle, it is also possible that there is a second obstacle next to the first obstacle. Therefore, in order to avoid the cleaning element 112 colliding with the second obstacle and being damaged, the controller 114 needs to detect the second obstacle on the initial travel path when the cleaning element 112 is in the extended state, predict the degree of interference between the cleaning element 112 and the second obstacle according to the feature information of the second obstacle detected by the sensor 115, and move the cleaning element 112 from the extended state to the retracted state relative to the body 111 when the predicted degree of interference between the cleaning element 112 and the second obstacle is a first large degree of interference, so as to avoid damage caused by collision with the high-hardness obstacle. When the predicted degree of interference between the cleaning element 112 and the second obstacle is a second small degree of interference, the cleaning element 112 remains in the extended state relative to the body 111, deforms when the cleaning robot 11 passes by the second obstacle, and squeezes through the second obstacle, thereby reducing the number of state changes of the cleaning element 112 and prolonging the service life of the cleaning element 112. In steps 018 and 019, the controller 114 also acquires the height distance between the cleaning element 112 and the obstacle in the height direction. Please refer to FIG. 12. When the height distance is greater than a preset distance threshold, the cleaning element 112 can enter the low gap between the obstacle and the ground (for example, as shown in FIGS. 1-2 of FIG. 12) to perform cleaning, and the controller 114 controls the body 111 to be in a yaw state relative to the first obstacle (for example, as shown in FIGS. 3-4 of FIG. 12) to increase the cleaning area by yawing the body 111 and improve the cleaning effect in the low gap.

[0254] In some embodiments, the degree of interference between the cleaning element 112 and the second obstacle is represented by the predicted force between the cleaning element 112 and the second obstacle and is positively correlated with the predicted force; or, the degree of interference between the cleaning element 112 and the second obstacle is represented by the predicted turning angle of the cleaning robot 11 on the planned path when turning around the second obstacle and is positively correlated with the predicted turning angle; or, the degree of interference between the cleaning element 112 and the second obstacle is represented by the predicted deformation amount of the cleaning element 112 after contacting the second obstacle and is positively correlated with the predicted deformation amount; or, the degree of interference between the cleaning element 112 and the second obstacle is represented by the predicted rotation angle of the cleaning element 112 toward the second position after contacting the second obstacle and is positively correlated with the predicted rotation angle; or, the degree of interference between the cleaning robot 11 and the second obstacle is represented by the predicted squeezing angle formed before and after the collision between the cleaning element and the second obstacle and is positively correlated with the predicted squeezing angle.

[0255] It can be understood that the degree of interference between the cleaning member 112 and the second obstacle can be determined in various ways. For example, the force between the two objects can reflect the intensity of the collision between the two objects in contact with each other. The controller 114 can determine the degree of interference between the cleaning member 112 and the second obstacle by predicting the force, and the degree of interference is positively correlated with the predicted force. When the cleaning robot 11 travels at a constant speed, the shape of the second obstacle and its position on the planned path also affect the degree of interference between the cleaning member 112 and the second obstacle. For example, if the cleaning robot 11 only slightly brushes the second obstacle during travel, the degree of interference between the cleaning member 112 and the second obstacle is small, and vice versa. Therefore, referring to FIG. 13, the rotation angle A is the change in direction of the cleaning robot 11 before and after turning. The controller 114 can select two points on the planned path before and after turning to measure the turning angle A (as explained above). The degree of interference between the second obstacle and the cleaning member 112 is also positively correlated with the turning angle A. After the two objects come into contact, the deformation of the two objects can also be used as a standard to reflect the intensity of the collision. Therefore, the degree of interference between the cleaning member 112 and the second obstacle can also be represented by the predicted deformation of the cleaning member 112 and the second obstacle after contact. The greater the deformation, the greater the degree of interference. The smaller the deformation, the smaller the degree of interference. Alternatively, the degree of interference between the cleaning member 112 and the second obstacle can also be represented by the predicted rotation angle of the cleaning robot 11 and the second obstacle after contact. The second position is usually set to the position of the cleaning member 112 in the retracted state. The cleaning member 112 is in the expanded state before the collision between the cleaning member 112 and the second obstacle. When the collision occurs, the cleaning member 112 will rebound to a certain angle under the influence of the force. This angle is the rotation angle of the cleaning member 112. The controller 114 can determine the degree of interference between the cleaning member 112 and the second obstacle according to the predicted rotation angle. The predicted rotation angle is positively correlated with the degree of interference. In addition, the degree of interference between the cleaning member 112 and the second obstacle can also be represented by the predicted extrusion angle formed before and after the collision between the cleaning member 112 and the second obstacle. Referring to FIG. 14, the extrusion angle B is the included angle between the line connecting the two positions (as explained above) before and after the collision between the cleaning robot 11 and the second obstacle. The greater the collision intensity, the greater the extrusion angle B.

[0256] Referring to FIG. 2, in some embodiments, step 015 comprises:

[0257] 0151: obtaining the edge profile of the target object;

[0258] 0153: update the initial travel path according to the width of the body 111 and the edge distance between the body 111 and the first obstacle based on the edge profile to obtain an updated travel path;

[0259] 0155: the cleaning robot 11 performs edge cleaning along the first obstacle according to the updated travel path;

[0260] 0157: analyze whether interference occurs between the target object and the cleaning element 112 on the updated travel path;

[0261] 0159: in the case where interference occurs between the target object and the cleaning element 112, confirm that the target object is a second obstacle.

[0262] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: obtain an edge profile of a target object; update an initial travel path according to the width of the body 111 and the edge distance between the body 111 and the first obstacle based on the edge profile to obtain an updated travel path; the cleaning robot 11 performs edge cleaning along the first obstacle according to the updated travel path; analyze whether interference occurs between the target object and the cleaning element 112 on the updated travel path; in the case where interference occurs between the target object and the cleaning element 112, confirm that the target object is a second obstacle.

[0263] Specifically, in steps 0151 and 0153, the interpretation of the target object is the same as before, and the sensor 115 obtains the target object, for example, a camera captures the target object. The controller 114 can process the captured image to obtain the edge profile of the target object, and update the current initial travel path according to the width of the body 111 and the edge distance between the body 111 and the first obstacle stored by itself based on the edge profile to obtain an updated travel path, thereby avoiding collision between the body 111 and the target object and avoiding the cleaning robot 11 from being unable to continue traveling. In step 0155, the cleaning robot 11 travels according to the updated travel path, thereby ensuring that the body 111 avoids the target object during travel and ensuring that the cleaning robot 11 can smoothly travel according to the updated travel path. In steps 0157 and 0159, the controller 114 analyzes whether interference occurs between the target object and the cleaning element 112 on the updated travel path, and in the case where interference occurs between the target object and the cleaning element 112, the controller 114 needs to change the state of the cleaning element 112 according to the characteristic information of the target object, so the controller 114 confirms that the target object is a second obstacle. In the case where no interference occurs between the target object and the cleaning element 112, the controller 114 does not need to change the state of the cleaning element 112 according to the characteristic information of the target object, and at this time the controller 114 does not confirm that the target object is a second obstacle.

[0264] Please refer to FIG. 2, in some embodiments, step 0157 comprises:

[0265] 01571: Extracting a segment of the planned path on which the cleaning robot 11 will walk in the future on the updated travel path;

[0266] 01572: Selecting a plurality of sampling points on the planned path, which are spaced apart from each other;

[0267] 01573: Estimating the predicted position of the cleaning member 112 when the cleaning robot 11 reaches each sampling point;

[0268] 01574: Evaluating whether there is an intersection between the edge profile of the target object and the outer profile of the cleaning member 112 when the cleaning member 112 is at each predicted position;

[0269] 01575: Confirming that the target object interferes with the cleaning member 112 if there is an intersection at any one of the predicted positions;

[0270] 01576: Confirming that the target object does not interfere with the cleaning member 112 if there is no intersection at all of the predicted positions.

[0271] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: extract a segment of the planned path on which the cleaning robot 11 will walk in the future on the updated travel path; select a plurality of sampling points on the planned path, which are spaced apart from each other; estimate the predicted position of the cleaning member 112 when the cleaning robot 11 reaches each sampling point; evaluate whether there is an intersection between the edge profile of the target object and the outer profile of the cleaning member 112 when the cleaning member 112 is at each predicted position; confirm that the target object interferes with the cleaning member 112 if there is an intersection at any one of the predicted positions; and confirm that the target object does not interfere with the cleaning member 112 if there is no intersection at all of the predicted positions.

[0272] Specifically, in step 01571 and step 01572, the controller 114 extracts a segment of the planned path on which the cleaning robot 11 will walk in the future as the path on which the second obstacle detection needs to be performed, and selects a plurality of sampling points on the planned path, wherein the interval distance between the sampling points can be adjusted according to the actual application to achieve the best sampling effect. In step 01573, the controller 114 is configured to estimate the expected position of the cleaning member 112 when the cleaning robot 11 reaches each sampling point, so as to evaluate in step 01574 whether there is an intersection between the edge profile of the target object and the outer profile of the cleaning member 112 at each expected position, and determine whether the target object and the cleaning member 112 will collide by evaluating the intersection between the edge profile of the target object and the outer profile of the cleaning member 112. Therefore, in step 01575, if there is an intersection at any expected position, i.e., if the target object will collide with the cleaning member 112, it is determined that the target object and the cleaning member 112 interfere with each other. In step 01576, if there is no intersection at all expected positions, i.e., if the target object will not collide with the cleaning member 112, it is determined that the target object and the cleaning member 112 do not interfere with each other.

[0273] The above embodiments describe the control method of the cleaning robot provided by the present application from the perspective of the external appearance of the cleaning robot 11. In the following, the control method of the cleaning robot provided by the present application will be described from the perspective of the underlying logic.

[0274] Please refer to FIG. 2. In some embodiments, the control method of the present disclosure further comprises:

[0275] 015: detecting a second obstacle on the initial travel path on which the cleaning robot 11 travels along the first obstacle, in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and the cleaning member 112 is in the outward expansion state;

[0276] 06: analyzing the characteristic information of the second obstacle; and

[0277] 07: controlling the outward expansion degree of the cleaning member 112 relative to the body 111 according to the characteristic information of the second obstacle.

[0278] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: detect a second obstacle on the initial travel path on which the cleaning robot 11 travels along the first obstacle, in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and the cleaning member 112 is in the outward expansion state; analyze the characteristic information of the second obstacle; and control the outward expansion degree of the cleaning member 112 relative to the body 111 according to the characteristic information of the second obstacle.

[0279] Specifically, in step 015, the controller 114 detects a second obstacle on the current initial travel path through the sensor 115. In step 08, after the controller 114 obtains the second obstacle through the sensor 115, the characteristic information of the second obstacle is analyzed. The characteristic information of the second obstacle includes at least one of the following: type information of the second obstacle, size information in the horizontal plane, contour information, and arrangement density information within a preset range. The type of the second obstacle usually includes high-hardness obstacle types such as table legs and chair legs, and low-hardness obstacle types such as cotton pads and rubber. The type information can reflect the hardness of the second obstacle. When the cleaning robot 11 passes through the second obstacle with different hardness, the state of the cleaning element 112 and the body 111 should also change in order to achieve the best cleaning effect. For the size information, the second obstacle can include large-sized columns or small-sized chair legs. Different size information of the second obstacle will also affect the turning radius of the cleaning robot 11 when passing through the second obstacle. Therefore, when the cleaning robot 11 passes through the second obstacle with different sizes, in order to achieve the best cleaning effect, the cleaning element 112 and the body 111 should also produce different state changes according to the size information. The contour information of the second obstacle reflects the smoothness of the second obstacle. For example, in order to achieve the best cleaning effect, the cleaning element 112 and the body 111 of the cleaning robot 11 should also have different state changes when passing through square and circular obstacles. The arrangement density information of the second obstacle within the preset range reflects the individual density of the second obstacle within the preset range. The preset range is usually a cleaning area in a room. As shown in FIG. 3, when the cleaning element 112 is in the outward expansion state, the cleaning robot 11 will leave an uncleaned middle seam between the two cleaning elements 112 during the travel process. If the second obstacle in the preset range is too dense, the difficulty of supplementary cleaning of this uncleaned middle seam will also increase. In the dense obstacle scenario, to avoid frequent collisions with the cleaning element 112, the outwardly expanded cleaning element 112 may need to be frequently expanded and retracted, which will affect the service life of the cleaning element 112. Therefore, the arrangement density information of the second obstacle within the preset range is also one of the characteristic information of the second obstacle that needs to be considered in the cleaning process. The controller 114 needs to control the outward expansion degree of the cleaning element 112 relative to the body 111 according to these characteristic information, so as to reduce the number of outward expansion and retraction and increase the service life.

[0280] In the case where the characteristic information of the second obstacle includes the type information of the second obstacle, and the hardness of the first type of second obstacle is greater than the hardness of the second type of second obstacle, in some embodiments, step 07 includes:

[0281] 071: The degree of expansion of the cleaning member 112 when the second obstacle of the first type is present on the initial travel path is less than the degree of expansion of the cleaning member 112 when the second obstacle of the second type is present on the initial travel path.

[0282] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to control the degree of expansion of the cleaning member 112 when the second obstacle of the first type is present on the initial travel path to be less than the degree of expansion of the cleaning member 112 when the second obstacle of the second type is present on the initial travel path.

[0283] That is, the higher the hardness of the second obstacle, the smaller the degree of expansion of the cleaning member 112 controlled by the controller 114.

[0284] In some embodiments, when the characteristic information of the second obstacle includes the type information of the second obstacle and the hardness of the second obstacle of the first type is greater than the hardness of the second obstacle of the second type, step 07 further includes:

[0285] 072: When the second obstacle is of the first type, the cleaning member 112 remains unchanged in the expanded state relative to the body 111, or the degree of expansion of the cleaning member relative to the body 111 is reduced;

[0286] 073: When the obstacle is of the second type, the cleaning member 112 is controlled to be in the retracted state relative to the body 111, or the degree of expansion of the cleaning member relative to the body 111 is reduced.

[0287] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to control the degree of expansion of the cleaning member 112 when the second obstacle of the first type is present on the initial travel path to be less than the degree of expansion of the cleaning member 112 when the second obstacle of the second type is present on the initial travel path.

[0288] Specifically, if the cleaning member 112 of the cleaning robot 11 frequently switches between the outwardly extended state and the retracted state, the service life of the cleaning member 112 is easily shortened, and the probability of failure of the cleaning member 112 is increased, therefore, in the case where the second obstacle is of the first type, the controller 114 controls the cleaning member 112 to be in the outwardly extended state relative to the body 111, and since the second obstacle has a low hardness, the cleaning member 112 in the outwardly extended state can deform the second obstacle and directly squeeze through the second obstacle, thereby reducing the number of times of retraction of the cleaning member 112 and improving the service life of the cleaning member 112, and at the same time, in this case, the controller 114 can control the body 111 to be in the yawing state relative to the second obstacle to clean the uncleaned middle gap region that occurs during the travel of the cleaning robot 11 due to the cleaning member 112 being in the outwardly extended state. In the case where the second obstacle is of the second type, the second obstacle has a high hardness, and the controller 114 controls the cleaning member 112 to be in the retracted state relative to the body 111 to avoid damage to the cleaning member 112 due to collision with the obstacle having a high hardness.

[0289] In the case where the characteristic information of the second obstacle includes the size information of the second obstacle, and the size of the second obstacle is the projection size of the second obstacle on the surface to be cleaned, in the case where the first size is greater than the second size, please refer to FIG. 2, in some embodiments, step 07 further includes:

[0290] 074: The outwardly extended degree of the cleaning member 112 when the second obstacle of the first size is present on the initial travel path is less than the outwardly extended degree of the cleaning member 112 when the second obstacle of the second size is present on the initial travel path.

[0291] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to control the outwardly extended degree of the cleaning member 112 when the second obstacle of the first size is present on the initial travel path to be less than the outwardly extended degree of the cleaning member 112 when the second obstacle of the second size is present on the initial travel path.

[0292] That is, the greater the size of the second obstacle, the smaller the outwardly extended degree of the cleaning member 112 controlled by the controller 114.

[0293] In the case where the characteristic information of the second obstacle includes the size information of the second obstacle, please refer to FIG. 2, in some embodiments, step 07 further includes:

[0294] 075: In the case where the size of the second obstacle is less than a preset size threshold, the cleaning member remains in the outwardly extended state relative to the body, or the outwardly extended degree of the cleaning member relative to the body is reduced;

[0295] 076: in a case where the size of the second obstacle is greater than the preset size threshold, the cleaning member is in the retracted state relative to the body, or the extent of the cleaning member extending out relative to the body is reduced.

[0296] The above control method can be applied to the cleaning robot 11, and the controller 114 is configured to: in a case where the size of the second obstacle is less than the preset size threshold, control the cleaning member to remain in the extended state relative to the body, or reduce the extent of the cleaning member extending out relative to the body; in a case where the size of the second obstacle is greater than the preset size threshold, control the cleaning member to be in the retracted state relative to the body, or reduce the extent of the cleaning member extending out relative to the body.

[0297] When the second obstacle appears on the path along which the cleaning robot 11 travels along the first obstacle, and the second obstacle is an obstacle that will interfere with the cleaning member 112 of the cleaning robot 11, the greater the size of the second obstacle, the greater the extent of interference between the cleaning member 112 and the second obstacle. Therefore, the extent of the cleaning member 112 extending out can be controlled according to the size of the second obstacle, and the greater the size of the second obstacle, the smaller the extent of the cleaning member 112 extending out can be controlled.

[0298] In some embodiments, step 07 further includes:

[0299] 077: in a case where the edge of the first obstacle includes a straight edge segment and a corner segment, the cleaning member 112 is controlled to be in the extended state and the body 111 is controlled to be in the non-yawing state during the cleaning robot 11 traveling along the straight edge segment of the first obstacle.

[0300] 078: the cleaning member 112 is controlled to be in the extended state or the retracted state and the body 111 is controlled to be in the yawing state during the cleaning robot 11 traveling along the corner segment of the first obstacle.

[0301] For example, the first obstacle is a square obstacle, and the edge of the square obstacle includes a straight edge segment and a corner segment. The cleaning robot 11 can maintain the cleaning member 112 in the extended state and synchronously control the body 111 to be in the non-yawing state when cleaning along the straight edge segment of the direction obstacle. Since the cleaning robot 11 does not need to turn when traveling along the straight edge segment of the first obstacle, the cleaning member 112 can be well fitted to the edge of the first obstacle by the extended state of the cleaning member 112, and edge cleaning can be achieved. Since the body 111 of the cleaning robot 11 does not need to yaw at this time, the cleaning efficiency of the cleaning robot 11 along the straight edge segment of the first obstacle can be high. When traveling along the corner segment, the cleaning robot 11 needs to turn at the corner. At this time, by controlling the body 111 to be in the yawing state, blind area cleaning during the turning cleaning along the edge can be achieved, and the cleaning effect can be ensured.

[0302] In summary, in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the preset condition is met, the controller 114 controls the cleaning member 112 to be in the outwardly expanded state relative to the body 111, and controls the body 111 to be in the state of being repeatedly deflected towards the first obstacle and swung away from the first obstacle at the rear end of the body 111 relative to the first obstacle. By keeping the cleaning member 112 in the outwardly expanded state and controlling the body 111 to swing back and forth, it is ensured that there is no large cleaning omission area at the corner when the cleaning robot 11 performs edge cleaning and turns, thereby improving the cleaning effect of edge cleaning.

[0303] In some embodiments, referring to FIG. 2, the disclosure further provides a cleaning robot 11, which comprises a body 111, a cleaning member 112 arranged on the body 111, a drive wheel 113 arranged on the body 111, and a controller 114. The drive wheel 113 is used to drive the body 111 to move. The cleaning member 112 is used to contact a surface to be cleaned to clean the surface to be cleaned. The controller 114 is used to implement the control method in any of the above embodiments.

[0304] For example, when the processor of the cleaning robot 11 executes the computer program stored in the memory, the following control method is implemented:

[0305] 012: In the case that the cleaning robot performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning member is in the outwardly expanded state relative to the body, and the body is in the state of being repeatedly deflected towards the first obstacle and swung away from the first obstacle at the rear end of the body 111 relative to the first obstacle.

[0306] In some embodiments, referring to FIG. 21, the disclosure further provides a base station 21 for cooperating with the cleaning robot 11 in any of the above embodiments, which comprises a parking position 22 for accommodating the cleaning robot 11.

[0307] In some embodiments, referring to FIG. 22, the disclosure further provides a cleaning system 100, which comprises the cleaning robot 11 in any of the above embodiments and the base station 21 in any of the above embodiments for cooperating with the cleaning robot 11. The base station 21 comprises a parking position 22 for accommodating the cleaning robot 11.

[0308] Referring to FIG. 2 and FIG. 23, in some embodiments, the disclosure further provides a computer storage medium 200, which stores a computer program 202. When the program is executed by the processor 20, the control method in any of the above embodiments is implemented.

[0309] For example, in the case that the computer program 202 is executed by the processor 20, the following control method is implemented:

[0310] 012:In the case that the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the second preset condition is met, the cleaning member 112 is in the extended state relative to the body 111, and the body 111 is in the yawing state relative to the first obstacle, the yawing state being that the rear end of the body 111 repeatedly deflects towards the first obstacle and swings away from the first obstacle.

[0311] For another example, in the case that the computer program 202 is executed by the processor 20, the following control method is implemented:

[0312] 013:In the case that the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the third preset condition is met, the cleaning member 112 is in the retracted state relative to the body 111, and the body 111 is in the yawing state relative to the first obstacle.

[0313] For another example, in the case that the computer program 202 is executed by the processor 20, the control method corresponding to any one of the steps mentioned in the above embodiments can also be implemented.

[0314] In the cleaning robot 11, the base station 21, the cleaning system 100 and the computer storage medium 200 in the present disclosure, in the case that the cleaning robot 11 performs edge cleaning along the first obstacle and turns, and the preset condition is met, the controller 114 controls the cleaning member 112 to be in the extended state relative to the body 111, and controls the body 111 to be in the yawing state relative to the first obstacle, the yawing state being that the rear end of the body 111 repeatedly deflects towards the first obstacle and swings away from the first obstacle. By keeping the cleaning member 112 in the extended state and controlling the body 111 to repeatedly deflect, the cleaning robot 11 can ensure that there is no large cleaning omission area at the corner when performing edge cleaning and turning, thereby improving the cleaning effect of edge cleaning.

[0315] In the description of the present specification, the description referring to the terms “one embodiment”, “some embodiments”, “an example”, “a specific example”, or “some examples” and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0316] Any processes or methods described in the flowcharts or otherwise described herein can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions (or steps) of the processes. The various embodiments of the present disclosure can include additional or fewer steps or processes, and the order of the steps or processes can be altered, as will be appreciated by those skilled in the art, as the described embodiments of the present disclosure can be implemented in a variety of different embodiments.

[0317] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be embodied in computer-executable instructions or code in any computer-readable medium for execution by or to control the operation of a computer, processor, or a related system or apparatus, or to cause a computer, processor, or a related system or apparatus to perform the operations described herein. The computer-executable instructions or code can be stored on a computer-readable medium, which can be any device or apparatus that stores such code or instructions. The computer-readable medium can include memory or storage of some type, readable by a computer or a related system or apparatus. The computer-readable medium can include, for example, magnetic or optical tapes and disks, memory cards, memory sticks, memory modules, and the like, as well as computer memory. The computer-executable instructions or code can be executed by a computer or a related system or apparatus, or can be used to cause a computer or a related system or apparatus to perform the operations described herein.

[0318] It should be understood that portions of the present disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or processes can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following technologies, known in the art, or a combination thereof, can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0319] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by programs instructing the relevant hardware. The above-mentioned programs can be stored in a computer storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof. In addition, each functional unit in each embodiment of the present disclosure can be integrated into one processing module, or each unit can exist physically independently, or two or more units can be integrated into one module. The above-mentioned integrated module can be realized in the form of hardware or in the form of a software function module. The above-mentioned integrated module, if realized in the form of a software function module and sold or used as an independent product, can also be stored in a computer storage medium. The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

[0320] Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present disclosure. Those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents.

Claims

1. A control method of a cleaning robot, characterized by, The cleaning robot comprises a body and a cleaning member mounted at the rear end of the body, the cleaning member has an extended state at a predetermined first position and a retracted state at a predetermined second position compared with the body, the cleaning member is farther away from the center line of the body width direction in the extended state than in the retracted state, the body has a yawing state and a non-yawing state compared with the first obstacle, the yawing state is that the rear end of the body repeatedly deflects towards the first obstacle and swings away from the first obstacle; the control method comprises: detecting a first obstacle on an initial travel path of the cleaning robot; analyzing characteristic information of the first obstacle, the characteristic information of the first obstacle comprising at least one of the following: type information of the first obstacle, size information in a horizontal plane, contour information and arrangement density information within a preset range; and controlling the state of the cleaning member and the state of the body according to the characteristic information of the first obstacle.

2. The control method according to claim 1, characterized by, The detection of the first obstacle on the travel path of the cleaning robot comprises: obtaining an edge contour of a target object; based on the edge contour, updating the initial travel path according to the width of the body to obtain an updated travel path; analyzing whether interference will occur between the target object and the cleaning member if the cleaning robot travels along the updated travel path; in the case where it is determined that interference will occur between the target object and the cleaning member, confirming that the target object is the first obstacle.

3. The control method according to claim 2, characterized by, The analysis of whether interference will occur between the target object and the cleaning member if the cleaning robot travels along the updated travel path comprises: extracting a planned path for the cleaning robot to walk in the future on the updated travel path; selecting a plurality of sampling points spaced from each other on the planned path; estimating the predicted position of the cleaning member when the cleaning robot reaches each of the sampling points; evaluating whether there is an intersection between the edge contour of the target object and the outer contour of the cleaning member when the cleaning member is at each of the predicted positions; in the case where there is an intersection at any one of the predicted positions, confirming that interference occurs between the target object and the cleaning member; in the case where there is no intersection at all of the predicted positions, confirming that no interference occurs between the target object and the cleaning member.

4. The control method according to claim 1, characterized by, In the case where the characteristic information of the first obstacle comprises the type information of the first obstacle, the control of the state of the cleaning member and the state of the body according to the characteristic information of the first obstacle comprises: in the case where the first obstacle is of a first type, the cleaning member is in the extended state relative to the body; and / or, the body is in the yawing state relative to the first obstacle; in a case where the first obstacle is of a second type, the cleaning member is in the retracted state relative to the body; and / or, the body is in the non-yawing state or the yawing state relative to the first obstacle, wherein the first obstacle of the first type has a hardness less than a hardness of the first obstacle of the second type, the first obstacle of the first type has a hardness less than a preset hardness threshold, and the first obstacle of the second type has a hardness greater than the preset hardness threshold.

5. The control method according to claim 1, characterized by, in a case where the characteristic information of the first obstacle includes contour information and size information of the first obstacle, the controlling the state of the cleaning member and the state of the body according to the characteristic information of the first obstacle includes: determining, according to the contour information of the first obstacle, that the cleaning robot travels along the first obstacle with a turn, and in a case where the size of the first obstacle is a first size, the cleaning member is in the expanded state relative to the body; and / or, the body is in the non-yawing state or the yawing state relative to the first obstacle; determining, according to the contour information of the first obstacle, that the cleaning robot travels along the first obstacle with a turn, and in a case where the size of the first obstacle is a second size, the cleaning member is in the retracted state relative to the body; and / or, the body is in the yawing state relative to the first obstacle, wherein the size of the first obstacle is a cross-sectional size of the first obstacle corresponding to a height range of a body side wall of the cleaning robot, the first size is greater than the second size, the first size is greater than a preset size threshold, and the second size is less than the preset size threshold.

6. The control method according to claim 1, characterized by, in a case where the characteristic information of the first obstacle includes contour information of the first obstacle, the controlling the state of the cleaning member and the state of the body according to the characteristic information of the first obstacle includes: in a case where it is determined according to the contour information of the first obstacle that an edge of the first obstacle includes a straight edge segment and a corner segment, in a process in which the cleaning robot travels along the straight edge segment of the first obstacle, the cleaning member is controlled to be in the expanded state, and the body is in the non-yawing state; in a process in which the cleaning robot travels along the corner segment of the first obstacle, the cleaning member is controlled to be in the expanded state or the retracted state, and the body is in the yawing state.

7. The control method according to claim 1, characterized by, in a case where the characteristic information of the first obstacle includes arrangement density information of the first obstacle within a preset range, the controlling the state of the cleaning member and the state of the body according to the characteristic information of the first obstacle includes: in a case where the arrangement density information of the first obstacle is a first arrangement density, the cleaning member is in the expanded state relative to the body; and / or, the body is in the yawing state relative to the first obstacle; In a case where the arrangement density information of the first obstacle is a second arrangement density, the cleaning member is in the retracted state relative to the machine body; and / or, the machine body is in the non-tilting state or the tilting state relative to the first obstacle, wherein the first arrangement density is less than the second arrangement density, the first arrangement density is less than a preset density threshold, and the second arrangement density is greater than the preset density threshold.

8. The control method according to claim 1, characterized by, The control method further includes: In a case where the cleaning robot performs edge cleaning along the first obstacle and turning, and a first preset condition is met, the cleaning member is in the extended state relative to the machine body, and the machine body is in the non-tilting state relative to the first obstacle; and / or, In a case where the cleaning robot performs edge cleaning along the first obstacle and turning, and a second preset condition is met, the cleaning member is in the extended state relative to the machine body, and the machine body is in the tilting state relative to the first obstacle; and / or, In a case where the cleaning robot performs edge cleaning along the first obstacle and turning, and a third preset condition is met, the cleaning member is in the retracted state relative to the machine body, and the machine body is in the tilting state relative to the first obstacle.

9. The control method according to claim 8, characterized by, The control method further includes: obtaining a turning radius of the cleaning robot turning around the first obstacle; The first preset condition includes that the turning radius is greater than a preset first turning radius threshold; the second preset condition includes that the turning radius is less than the preset first turning radius threshold and greater than a preset second turning radius threshold; and the third preset condition includes that the turning radius is less than the preset second turning radius threshold.

10. The control method of claim 8, wherein, in a case where the turning radius is a first turning radius, and during the cleaning robot travels along the turning path, the cleaning member is in the extended state relative to the machine body, and the machine body is in the non-tilting state relative to the first obstacle; in a case where the turning radius is a second turning radius, and during the cleaning robot travels along the turning path, the cleaning member is in the extended state relative to the machine body, and the machine body is in the tilting state relative to the first obstacle; in a case where the turning radius is a third turning radius, and during the cleaning robot travels along the turning path, the cleaning member is in the retracted state relative to the machine body, and the machine body is in the tilting state relative to the first obstacle; wherein the first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

11. The control method according to claim 9, characterized by, The obtaining of the turning radius of the cleaning robot turning around the first obstacle includes: planning an initial travel path of the cleaning robot performing edge cleaning along the first obstacle according to characteristic information of the first obstacle; determining a turning radius of the cleaning robot turning around the first obstacle in the initial travel path according to the initial travel path.

12. The control method according to claim 8, characterized by, The control method further comprises: acquiring a cleaning blind area width between the cleaning member and the first obstacle when the cleaning robot turns around the first obstacle; the first preset condition comprises that the cleaning blind area width is less than a preset first cleaning blind area width threshold; the second preset condition comprises that the cleaning blind area width is greater than the preset first cleaning blind area width threshold and less than a preset second cleaning blind area width threshold; and the third preset condition comprises that the cleaning blind area width is greater than a preset third cleaning blind area width threshold.

13. The control method according to claim 12, wherein, when the cleaning blind area width is a first cleaning blind area width, and during the cleaning robot travels along the turning path, the cleaning member is in the outwardly expanded state relative to the body, and the body is in the non-yawing state relative to the first obstacle; when the cleaning blind area width is a second cleaning blind area width, and during the cleaning robot travels along the turning path, the cleaning member is in the outwardly expanded state relative to the body, and the body is in the yawing state relative to the first obstacle; when the cleaning blind area width is a third cleaning blind area width, and during the cleaning robot travels along the turning path, the cleaning member is in the retracted state relative to the body, and the body is in the yawing state relative to the first obstacle; wherein the first cleaning blind area width is less than the second cleaning blind area width, and the second cleaning blind area width is less than the third cleaning blind area width.

14. The control method according to claim 1, characterized by, The control method further comprises: detecting a second obstacle on an initial travel path of the cleaning robot along the first obstacle when the cleaning robot performs edge cleaning along the first obstacle and the cleaning member is in the outwardly expanded state; in a case where it is predicted that an interference degree of the cleaning member with the second obstacle is a first interference degree, the cleaning member moves from the outwardly expanded state relative to the body to the retracted state; in a case where it is predicted that the interference degree of the cleaning member with the second obstacle is a second interference degree, the cleaning member remains in the outwardly expanded state relative to the body, wherein the first interference degree is greater than the second interference degree.

15. The control method according to claim 14, characterized by The interference degree of the cleaning member with the second obstacle is represented by a predicted acting force between the cleaning member and the second obstacle, and is positively correlated with the predicted acting force; or, The interference degree of the cleaning member with the second obstacle is represented by a predicted turning angle of the cleaning robot on a planned path of turning around the second obstacle, and is positively correlated with the predicted turning angle; or, The interference degree of the cleaning member with the second obstacle is represented by a predicted deformation amount of the cleaning member after contacting the second obstacle, and is positively correlated with the predicted deformation amount; or, The interference degree of the cleaning element with the second obstacle is represented by a predicted rotation angle of the cleaning element after the cleaning element contacts the second obstacle and is positively correlated with the predicted rotation angle; Or, The interference degree of the cleaning element with the second obstacle is represented by a predicted extrusion angle formed before and after the cleaning robot collides with the second obstacle and is positively correlated with the predicted extrusion angle.

16. The control method according to claim 14, wherein The detection of the second obstacle on the initial travel path of the cleaning robot along the first obstacle includes: obtaining an edge profile of a target object; updating the initial travel path based on the edge profile, the width of the robot body, and the edge distance between the robot body and the first obstacle to obtain an updated travel path; the cleaning robot performs edge cleaning along the first obstacle according to the updated travel path; analyze whether interference occurs between the target object and the cleaning element on the updated travel path; if interference occurs between the target object and the cleaning element, the target object is determined to be the second obstacle.

17. The control method according to claim 16, characterized by The analysis of whether interference occurs between the target object and the cleaning element on the updated travel path includes: extracting a planned path of a future travel of the cleaning robot on the updated travel path; selecting a plurality of sampling points spaced from each other on the planned path; estimate the predicted position of the cleaning element when the cleaning robot reaches each of the sampling points; evaluate whether there is an intersection between the edge profile of the target object and the outer contour of the cleaning element at each of the predicted positions of the cleaning element; if there is an intersection at any of the predicted positions, it is determined that interference occurs between the target object and the cleaning element; if there is no intersection at all of the predicted positions, it is determined that no interference occurs between the target object and the cleaning element.

18. The control method according to claim 1, characterized by, The control method further includes: obtaining a height distance between the cleaning element and the obstacle in the height direction; if the height distance is greater than a preset distance threshold, the robot body is in a yaw state relative to the first obstacle.

19. The control method according to claim 1, characterized by, The control method further includes: detecting a second obstacle on an initial travel path of the cleaning robot along the first obstacle when the cleaning robot performs edge cleaning along the first obstacle and the cleaning element is in the outward expansion state; if the second obstacle exists on the travel path, analyze the characteristic information of the second obstacle; and control the outward expansion degree of the cleaning element relative to the robot body according to the characteristic information of the second obstacle.

20. The control method according to claim 19, wherein The characteristic information of the second obstacle includes the type of the second obstacle; in the case where the hardness of the first type of the second obstacle is greater than the hardness of the second type of the second obstacle, the control of the outward expansion degree of the cleaning element relative to the robot body according to the characteristic information of the second obstacle includes: The expansion degree of the cleaning member when the second obstacle of the first type exists on the initial path is less than the expansion degree of the cleaning member when the second obstacle of the second type exists on the initial path.

21. The control method according to claim 19, wherein The characteristic information of the second obstacle includes a type of the second obstacle; the hardness of the second obstacle of the first type is less than a preset hardness threshold, and the hardness of the second obstacle of the second type is greater than the preset hardness threshold; and the controlling of the expansion degree of the cleaning member relative to the body according to the characteristic information of the second obstacle includes: In a case where the second obstacle is of the first type, the cleaning member remains unchanged in the expansion state relative to the body, or the expansion degree of the cleaning member relative to the body is reduced; In a case where the second obstacle is of the second type, the cleaning member is controlled to be in the retracted state relative to the body, or the expansion degree of the cleaning member relative to the body is reduced.

22. The control method according to claim 19, characterized by The characteristic information of the second obstacle includes a size of the second obstacle, and the size of the second obstacle is a projection size of the second obstacle on a surface to be cleaned; In a case where the first size is greater than the second size, the controlling of the expansion degree of the cleaning member relative to the body according to the characteristic information of the second obstacle includes: The expansion degree of the cleaning member when the second obstacle of the first size exists on the initial path is less than the expansion degree of the cleaning member when the second obstacle of the second size exists on the initial path.

23. The control method according to claim 19, characterized by, The characteristic information of the second obstacle includes a size of the second obstacle, and the size of the second obstacle is a projection size of the second obstacle on a surface to be cleaned; and the controlling of the expansion degree of the cleaning member relative to the body according to the characteristic information of the second obstacle includes: In a case where the size of the second obstacle is less than a preset size threshold, the cleaning member remains unchanged in the expansion state relative to the body, or the expansion degree of the cleaning member relative to the body is reduced; In a case where the size of the second obstacle is greater than the preset size threshold, the cleaning member is controlled to be in the retracted state relative to the body, or the expansion degree of the cleaning member relative to the body is reduced.

24. The control method according to claim 19, wherein In a case where the characteristic information of the first obstacle includes profile information of the first obstacle, the controlling of the state of the cleaning member and the state of the body according to the characteristic information of the first obstacle includes: In a case where it is determined according to the profile information of the first obstacle that an edge of the first obstacle includes a straight edge segment and a corner segment, the cleaning member is controlled to be in the expansion state and the body is controlled to be in a non-yawing state when the cleaning robot travels along the straight edge segment of the first obstacle; The cleaning member is controlled to be in the expansion state or the retracted state and the body is controlled to be in a yawing state when the cleaning robot travels along the corner segment of the first obstacle.

25. A control method of a cleaning robot, characterized by, The cleaning robot comprises a body and a cleaning member mounted on the body, the cleaning member having an extended state at a predetermined first position and a retracted state at a predetermined second position, the cleaning member being farther away from the center line of the width of the body in the extended state than in the retracted state; The control method comprises: When the cleaning robot performs edge cleaning along a first obstacle and turns, and a second preset condition is met, the cleaning member is in the extended state relative to the body, and the body is in a yawing state relative to the first obstacle, the yawing state being a state in which the rear end of the body repeatedly deflects towards the first obstacle and swings away from the first obstacle.

26. The control method according to claim 25, wherein The control method further comprises: When the cleaning robot performs edge cleaning along the first obstacle and turns, and a first preset condition is met, the cleaning member is in the extended state relative to the body, and the body is in a non-yawing state relative to the first obstacle; and / or, When the cleaning robot performs edge cleaning along the first obstacle and turns, and a second preset condition is met, the cleaning member is in the extended state relative to the body, and the body is in the yawing state relative to the first obstacle; and / or, When the cleaning robot performs edge cleaning along a first obstacle and turns, and a third preset condition is met, the cleaning member is in the retracted state relative to the body, and the body is in the yawing state relative to the first obstacle.

27. The control method according to claim 26, wherein The control method further comprises: Obtaining a turning radius of the cleaning robot turning around the first obstacle; The first preset condition comprises that the turning radius is greater than a preset first turning radius threshold; the second preset condition comprises that the turning radius is less than a preset first turning radius threshold and greater than a preset second turning radius threshold; and the third preset condition comprises that the turning radius is less than a preset second turning radius threshold.

28. The control method of claim 26, wherein: When the turning radius is a first turning radius, and during the cleaning robot travels along a turning path, the cleaning member is in the extended state relative to the body, and the body is in the non-yawing state relative to the first obstacle; When the turning radius is a second turning radius, and during the cleaning robot travels along a turning path, the cleaning member is in the extended state relative to the body, and the body is in the yawing state relative to the first obstacle; When the turning radius is a third turning radius, and during the cleaning robot travels along the turning path, the cleaning member is in the retracted state relative to the body, and the body is in the yawing state relative to the first obstacle; wherein the first turning radius is greater than the second turning radius, and the second turning radius is greater than the third turning radius.

29. The control method according to claim 26, wherein The control method further comprises: acquiring a cleaning blind area width between the cleaning member and the first obstacle when the cleaning robot turns around the first obstacle; the first preset condition comprises that the cleaning blind area width is less than a preset first cleaning blind area width threshold; the second preset condition comprises that the cleaning blind area width is greater than the preset first cleaning blind area width threshold and less than a preset second cleaning blind area width threshold; and the third preset condition comprises that the cleaning blind area width is greater than a preset third cleaning blind area width threshold.

30. The control method according to claim 29, wherein, when the cleaning blind area width is a first cleaning blind area width, and during the cleaning robot travels along the turning path, the cleaning member is in the outwardly expanded state relative to the body, and the body is in a non-yawing state relative to the first obstacle; when the cleaning blind area width is a second cleaning blind area width, and during the cleaning robot travels along the turning path, the cleaning member is in the outwardly expanded state relative to the body, and the body is in the yawing state relative to the first obstacle; when the cleaning blind area width is a third cleaning blind area width, and during the cleaning robot travels along the turning path, the cleaning member is in the retracted state relative to the body, and the body is in the yawing state relative to the first obstacle; wherein the first cleaning blind area width is less than the second cleaning blind area width, and the second cleaning blind area width is less than the third cleaning blind area width.

31. A cleaning robot, characterized in that, comprising: a body; a drive wheel arranged on the body, the drive wheel being configured to move the body; a cleaning member arranged on the body, the cleaning member being configured to contact a surface to be cleaned to clean the surface to be cleaned; and a controller configured to perform the control method according to any one of claims 1-30.

32. A base station, comprising: for use with the cleaning robot according to claim 31, the base station comprising a parking position configured to accommodate the cleaning robot.

33. A cleaning system characterized by, comprising: the cleaning robot according to claim 31; and a base station for use with the cleaning robot according to claim 31, the base station comprising a parking position configured to accommodate the cleaning robot. a computer program stored therein, which, when executed by one or more processors, implements the control method according to any one of claims 1-30.

34. A computer storage medium, comprising, ​

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