Control method and apparatus for cleaning robot, and cleaning robot

Abstract

A control method and apparatus for a cleaning robot (500), and a cleaning robot (500). The method comprises: when there is a first region on a travel path of the cleaning robot (500), controlling the cleaning robot (500) to travel around the first region or to enter the first region, at least three obstacles and at least one first gap being present in the first region, and the first gap referring to a gap (401) in which the distance between adjacent obstacles is less than or equal to the body width (503) of the cleaning robot (500).

Description

Control methods and devices for cleaning robots, cleaning robots Cross-reference to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202411652310.1, filed on November 18, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of automated cleaning equipment, including but not limited to control methods and devices for cleaning robots, and cleaning robots themselves. Background Technology

[0003] Cleaning robots (such as floor scrubbers and sweepers) are specialized robots that perform cleaning and rinsing tasks, primarily serving homes, businesses, healthcare, and industry. In recent years, with the growing popularity of smart home concepts and continuous technological advancements, the cleaning robot market has experienced rapid growth.

[0004] Cleaning robots typically operate in indoor environments such as residences and offices. Indoor environments are relatively complex, and when cleaning floors, robots often encounter environments with dense obstacles, such as areas with cluttered tables and chairs. Summary of the Invention

[0005] This disclosure provides a control method and device for a cleaning robot, and a cleaning robot.

[0006] In a first aspect, embodiments of this disclosure provide a control method for a cleaning robot, the method comprising: when a first area exists on the travel path of the cleaning robot, controlling the cleaning robot to travel around the first area or enter the first area; wherein, in the first area there are at least three obstacles and at least one first gap, the first gap being a gap in which the distance between adjacent obstacles is less than or equal to the width of the cleaning robot's body.

[0007] Secondly, embodiments of this disclosure provide a control device for a cleaning robot, the device comprising: a control module configured to: control the cleaning robot to bypass or enter the first area when a first area exists on the robot's travel path; wherein, in the first area, there are at least three obstacles and at least one first gap, the first gap being a gap where the distance between adjacent obstacles is less than or equal to the width of the cleaning robot's body.

[0008] Thirdly, this disclosure provides a cleaning robot, which includes: a body, at least one cleaning component, and a control unit; the control unit is configured to: control the cleaning robot to bypass or enter the first area when a first area exists on the robot's travel path; wherein, in the first area, there are at least three obstacles and at least one first gap, the first gap being a gap where the distance between adjacent obstacles is less than or equal to the width of the cleaning robot's body.

[0009] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a cleaning robot or a processor, implements the methods described in embodiments of this disclosure.

[0010] Fifthly, embodiments of this disclosure provide a computer program product, including a computer program or instructions, which, when executed by a cleaning robot or processor, implement the method described in embodiments of this disclosure.

[0011] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0012] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to illustrate the technical solutions of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0013] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0014] Figure 1 is a top view of a cleaning robot that may be applicable to an embodiment of this disclosure;

[0015] Figure 2 is a bottom view of a cleaning robot that may be applicable to an embodiment of this disclosure;

[0016] Figure 3 is a schematic diagram of the travel path of the cleaning robot provided in an embodiment of this disclosure;

[0017] Figure 4 is a schematic diagram of the implementation process of the control method for the cleaning robot provided in this embodiment of the present disclosure;

[0018] Figure 5 is an example diagram of the first gap provided in an embodiment of this disclosure;

[0019] Figure 6 is a schematic diagram of the implementation process of the control method for the cleaning robot provided in this embodiment of the present disclosure;

[0020] Figure 7 is an example of comparing the environmental map provided in the embodiments of this disclosure with the actual environment;

[0021] Figure 8 is a schematic diagram of the travel path of the cleaning robot provided in the embodiments of this disclosure;

[0022] Figure 9 is a schematic diagram of the travel path of the cleaning robot provided in the embodiments of this disclosure;

[0023] Figure 10 is a schematic diagram of the travel path of the cleaning robot provided in the embodiments of this disclosure;

[0024] Figure 11 is a schematic diagram of the travel path of the cleaning robot provided in the embodiments of this disclosure;

[0025] Figure 12 is a schematic diagram of the control device for the cleaning robot provided in an embodiment of this disclosure;

[0026] Figure 13 is a schematic diagram of the structure of the cleaning robot provided in an embodiment of this disclosure. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the specific technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings of the embodiments of this disclosure. The following embodiments are used to illustrate this disclosure, but are not intended to limit the scope of this disclosure.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing embodiments of this disclosure only and is not intended to be limiting of this disclosure.

[0029] In the following description, references to "some embodiments," "this embodiment," "this disclosure embodiment," and examples, etc., describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0030] In the embodiments of this disclosure, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally relative to the ground; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this disclosure.

[0031] To facilitate understanding of the technical solutions of the embodiments of this disclosure, the relevant technologies or terms of the embodiments of this disclosure are described below. The following related technologies or related terms are optional solutions and can be combined with the technical solutions of the embodiments of this disclosure in any way, and all of them fall within the protection scope of the embodiments of this disclosure.

[0032] A cleaning robot is an intelligent robotic device capable of moving autonomously and completing cleaning tasks within a work area. The work area can be indoors or outdoors. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include sweeping (e.g., washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0033] In this embodiment, the cleaning robot can be any type of intelligent device with autonomous cleaning capabilities, such as a sweeping robot, a floor scrubbing robot, a sweeping and mopping robot, a lawnmower robot, or a snow removal robot. The cleaning robot can perform cleaning through a front-sweeping-then-mopping method or a separate sweeping and mopping method. The front-sweeping-then-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping and mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.

[0034] Figure 1 is a top view of a cleaning robot that may be applicable to an embodiment of this disclosure; Figure 2 is a bottom view of a cleaning robot that may be applicable to an embodiment of this disclosure. As shown in Figures 1 and 2, the cleaning robot 100 includes: a body 101; the cleaning robot 100 also includes a first cleaning component 102 and / or a second cleaning component 103; the robot 100 also includes a moving component 104, a control unit (not shown), and a sensor assembly (not shown); wherein:

[0035] The body 101 forms the outer shell of the cleaning robot 100 and houses other components such as the control unit, sensor assembly, and memory.

[0036] The moving component 104 enables the cleaning robot 100 to move forward, backward, rotate, or rise and fall.

[0037] In some embodiments, the first cleaning component 102 may include an edge-cleaning component such as a side mop or a side brush; in some embodiments, the first cleaning component 102 is telescopic; in some embodiments, the second cleaning component 103 may include an edge-cleaning component such as a side mop or a side brush; in some embodiments, the second cleaning component 103 is telescopic.

[0038] In some embodiments, the bottom of the cleaning robot 100 also includes a roller brush. The side brush can gather foreign objects and cause them to converge towards the roller brush 105 at the bottom of the cleaning robot 100. The roller brush 105 can sweep up the foreign objects at the bottom of the cleaning robot 100 and allow them to enter the dust collection box through the suction port.

[0039] In one possible implementation, the cleaning robot 100 is equipped with a water tank, and the water in the water tank flows through a hole to the side mop, wetting the side mop, which is then used for mopping, wiping, etc.

[0040] Sensor components are used to observe obstacles and dirt in the environment, thereby helping cleaning robots to collect environmental maps, autonomously plan paths, and avoid obstacles. For example, sensor components include one or more of the following: a laser distance sensor (LDS), an infrared distance sensor, an ultrasonic distance sensor, a camera, a contact sensor, a Hall effect sensor, etc.

[0041] It should be noted that the cleaning robot in this disclosure is not limited to the cleaning robot 100 shown in Figures 1 and 2. The cleaning robot 100 shown in Figures 1 and 2 is merely for the purpose of helping to better understand the technical solutions provided in this disclosure and does not constitute a limitation on the technical solutions provided in this disclosure. The cleaning robot in this disclosure can be a variety of intelligent devices with autonomous cleaning capabilities.

[0042] The body shape of the cleaning robot in this embodiment can be various shapes, such as a circle, a square, a circle with one part of the body being a square or other shapes, etc.

[0043] When cleaning floors, cleaning robots often encounter environments with dense obstacles, such as areas with cluttered tables and chairs. In practice, cleaning robots may get stuck or collide when traversing areas with dense obstacles. As shown in Figure 3, assuming the cleaning robot's current position is A, the target position is B, and 301 and other unmarked circular black dots represent obstacles. In related technologies, the cleaning robot will traverse the dense area 303 along the shortest path from A to B (i.e., the dashed line 302 between A and B in the figure). However, this may cause the cleaning robot to get stuck or collide, thus affecting its travel efficiency.

[0044] This disclosure provides a control method for a cleaning robot. Figure 4 is a schematic flowchart illustrating the implementation of the control method for the cleaning robot provided in this disclosure. As shown in Figure 4, the method may include the following step 401:

[0045] Step 401: If a first area exists on the path of the cleaning robot, control the cleaning robot to bypass the first area or enter the first area; wherein, there are at least three obstacles and at least one first gap in the first area, and the first gap refers to a gap where the distance between adjacent obstacles is less than or equal to the width of the cleaning robot's body.

[0046] In this embodiment of the disclosure, the first region can also be understood as an area with dense obstacles, a dense area, or an area that is difficult to pass through. Such areas are commonly found in areas with tables and chairs (such as restaurants) or other areas with at least three obstacles and at least one first gap.

[0047] In some embodiments, the first gap can also be understood as a narrow passage area. If the distance between the edges of two adjacent obstacles is less than or equal to the width of the cleaning robot's body, then the minimum gap between the edges of the two adjacent obstacles is determined as the first gap / narrow passage area.

[0048] For example, as shown in Figure 5, if the gap distance between obstacle point 501 and its adjacent obstacle point 502 in the environment map (i.e., the length of the dashed line connecting them, which is the minimum distance between the edges of the two obstacles) is less than or equal to the body width 503 of the cleaning robot 500, then this gap is defined as the first gap. Similarly, if the gap distance between obstacle point 502 and its adjacent obstacle point 504 (i.e., the length of the dashed line connecting them) is also less than or equal to the body width 503 of the cleaning robot, then this gap is also defined as the first gap. In one possible implementation, the minimum distance between the edges of the two adjacent obstacles is marked as the first gap.

[0049] It is understood that in the embodiments of this disclosure, when there is a first area on the path of the cleaning robot, that is, when the current position of the cleaning robot is outside the first area but there is a first area on its path, the cleaning robot is controlled to selectively bypass the first area and continue to move or enter the first area; in this way, controlling the cleaning robot to move in the best way in complex areas is beneficial to improving the moving efficiency of the cleaning robot and reducing the occurrence of the cleaning robot getting stuck and colliding.

[0050] It should be noted that the implementation method for controlling the cleaning robot to avoid the first area is not limited in the embodiments of this disclosure. In some embodiments, the first area may not be considered when pre-planning the cleaning robot's travel path; instead, the path planning may be based on the shortest path principle. However, if the cleaning robot detects the existence of the first area on its travel path while traveling along the pre-planned path, it can flexibly change its travel path to avoid the first area and continue traveling. In other embodiments, the first area is considered when pre-planning the cleaning robot's travel path (i.e., the route), that is, routes that do not pass through the first area are preferentially selected when planning the travel path, which means avoiding the first area marked on the environmental map when planning the travel path. In short, regardless of the path planning method, during the actual travel of the cleaning robot, if the first area exists on the cleaning robot's travel path, it can be controlled to avoid the first area.

[0051] The control method for the cleaning robot, which takes the first area into account when pre-planning its travel path (i.e., its route), is described below. Figure 6 is a schematic diagram of the implementation flow of the control method for the cleaning robot provided in this embodiment. As shown in Figure 6, the method includes the following steps 601 to 602:

[0052] Step 601: Based on the current position of the cleaning robot and the first target position, obtain a first travel path pre-planned based on the first environment map; wherein, the first travel path has been planned to bypass the first area marked in the first environment map; the first target position is not in the first area.

[0053] The first target location is the area that the cleaning robot needs to clean.

[0054] In one possible implementation, a first region can be pre-marked on a first environment map, or the first region and a first gap can be marked, or the first region can be marked by marking the first gap. Based on this, given the current position of the cleaning robot and the first target position, and the first target position is not located in a certain first region, a first travel path from the current position to the first target position is pre-planned according to the first environment map, wherein the first region in the first environment map is not on the first travel path.

[0055] Step 602: Control the cleaning robot to move towards the first target location along the first travel path.

[0056] It is understandable that the first area is avoided during the path planning in advance. Thus, if the first area exists in the path of the cleaning robot, by controlling the cleaning robot to travel along the first path, the cleaning robot can bypass the first area, thereby improving the efficiency of the cleaning robot and enabling it to reach the first target position quickly.

[0057] Furthermore, considering that the positions of obstacles in the actual physical scene corresponding to the first environment map may change at any time, or one or more new obstacles may appear, even if the cleaning robot travels towards the first target location along the first path, new dense areas / new first areas may appear during the journey. These new dense areas (i.e., new first areas) refer to areas that were not marked in the first environment map.

[0058] In view of the above, for one or more embodiments, further, in some embodiments, the control method of the cleaning robot further includes: determining that there is a new first area on the cleaning robot's travel path as the cleaning robot travels towards the first target location according to the first travel path, and controlling the cleaning robot to bypass the new first area; wherein, the new first area is not marked in the first environment map.

[0059] Thus, as the cleaning robot travels along the first path towards the first target location, even if a new first area exists along the path, the robot will be controlled to avoid it. This allows the cleaning robot to flexibly adapt to the actual environment during its journey, thereby enhancing its intelligence and further improving its travel efficiency.

[0060] For example, as shown in Figure 7, black dots represent obstacle points, and dashed lines connecting obstacle points represent marked first gaps / narrow passage areas; 701 is a pre-constructed first environment map, in which there are first areas 702 and 703. Given the current position A of the cleaning robot and the first target position B, the pre-planned first travel path is 704; however, while the cleaning robot is traveling in the actual environment 705 according to the first travel path 704, data collected by the cleaning robot's sensors reveals a new first area 706 on the travel path (i.e., the first travel path 704). At this time, the cleaning robot is controlled to bypass the new first area 706 and continue to travel towards the first target position B. Compared to continuing to travel according to the first travel path even if a new first area 706 appears, the former can further improve the travel efficiency of the cleaning robot; the new first area 706 was not marked in the environment map 701.

[0061] Of course, in this embodiment, the control method for the cleaning robot further includes: dynamically updating the first environmental map based on the acquired environmental change information to obtain a second environmental map, marking a first area in the second environmental map, performing path planning based on the second environmental map and the current position and second target position of the cleaning robot to obtain a second travel path; and controlling the cleaning robot to travel along the second travel path to bypass the first area. The second target position is the location of the area that the cleaning robot needs to clean; it may be the same as or different from the first target position, and this disclosure does not impose any restrictions on this.

[0062] It is understood that the above one or more embodiments describe the control logic for a cleaning robot when the first target location is not in the first area. When the first target location is not in the first area, the first area is activated, causing the cleaning robot to bypass the first area and proceed towards the first target location. However, when the first target location is within the first area, if the cleaning robot is still controlled to bypass the first area according to the above strategy, it will only cause the cleaning robot to move further and further away from the first target location, resulting in the cleaning robot being unable to clean the area where the first target location is located.

[0063] In view of this, further, in some embodiments, when there is a first area in the direction of the cleaning robot's travel path, controlling the cleaning robot to enter the first area includes: when there is a first area in the direction of the cleaning robot's travel path and the first target position is in the first area, controlling the cleaning robot to enter the first area; thus, the cleaning robot can quickly enter the first area where the first target position is located, and thereby be able to clean the first area.

[0064] In this embodiment of the disclosure, there are no restrictions on the control strategy / implementation method for controlling the cleaning robot to enter the first area where the first target location is located.

[0065] For example, in some embodiments, controlling the cleaning robot to enter the first area where the first target location is located includes: controlling the cleaning robot to pass through the nearest first gap or second gap on the boundary of the first area to enter the first area; if the cleaning robot cannot enter the first area, controlling the cleaning robot to pass through the next nearest first gap or second gap on the boundary of the first area to enter the first area; wherein, the second gap refers to a gap in the first area where the minimum distance between the edges of adjacent obstacles is greater than the width of the robot body; thus, based on the principle of probing the nearest path, the cleaning robot can enter the dense area where the first target location is located as quickly as possible.

[0066] In one possible implementation, controlling the cleaning robot to enter the first area by passing through the next nearest first gap or second gap on the boundary of the first area includes: controlling the cleaning robot to retreat and, after retreating, passing through the next nearest first gap or second gap on the boundary of the first area to enter the first area.

[0067] For example, in some embodiments, the cleaning robot can be controlled to preferentially pass through the nearest second gap on the boundary of the first area where the first target location is located to enter the first area; thus, it can further help the cleaning robot enter the dense area where the first target location is located more quickly.

[0068] As mentioned earlier, the first gap can be understood as a narrow passage, that is, a narrow channel that is difficult for the cleaning robot to pass through. Unlike the first gap, the second gap refers to a gap distance between two adjacent obstacles (i.e., the minimum distance between the edges of two adjacent obstacles) that is greater than the width of the cleaning robot's body. Therefore, in this embodiment, the second gap can be understood as a wide path, that is, a broad passage that the cleaning robot can easily pass through.

[0069] It's understandable that after the cleaning robot enters the first area, it cleans that area. Improving the cleaning efficiency and controlling the robot to quickly exit the first area are crucial for enhancing the user experience. The following describes the robot's movement control method within the first area.

[0070] In some embodiments, the control method for the cleaning robot further includes: after the cleaning robot enters the first area where the first target position is located, controlling the cleaning robot to pass through a second gap adjacent to the current position to exit the first area; wherein, in some embodiments, the second gap refers to a gap in the first area where the minimum distance between adjacent obstacles is greater than the width of the robot body.

[0071] Thus, when there is a wide path / secondary gap in the dense area where the cleaning robot is located, the cleaning robot is controlled to prioritize exiting through the wide path / secondary gap, thereby improving the cleaning robot's travel efficiency and cleaning efficiency in the dense area.

[0072] In other embodiments, after the cleaning robot enters the first area and there is no second gap adjacent to the cleaning robot's current position, the cleaning robot is controlled to pass through the first gap it previously passed through in order to exit the first area; the first gap it previously passed through is the first gap that the cleaning robot passed through when entering the first area.

[0073] It's understandable that in real-world scenarios, some densely populated areas may only have narrow passages / first gaps, with no second gaps. In such cases, the cleaning robot should proceed along the narrow passages it has previously traversed. Empirically, the cleaning robot can pass through these narrow passages, thus increasing its efficiency in selecting effective paths and improving its movement and cleaning efficiency in areas with dense obstacles.

[0074] In this embodiment of the disclosure, there are no limitations on the method for identifying the first region and the boundary of the first region. In some embodiments, the environment map can be pre-divided into several sub-regions, and then it can be determined whether there are at least three obstacles and at least one first gap in each sub-region; if there are at least three obstacles and at least one first gap in a certain sub-region, the sub-region is marked as a dense area / first region, and the boundary of the first region is the boundary of the sub-region, such as the first region 303 shown in FIG3.

[0075] In other embodiments, two adjacent obstacles with a first gap can be connected to form a first region, the boundary of which is the outer envelope of the obstacles in that region. For example, the first regions 702 and 703 shown in FIG7 have boundaries formed by the outer envelope of the line connecting the two adjacent obstacles with the first gap.

[0076] In this embodiment of the disclosure, there are no restrictions on the method for identifying the first region. In short, the first region only needs to have at least three obstacles and at least one first gap / narrow passage area.

[0077] In some embodiments, two adjacent obstacles with a first gap can be connected to form a first region. In other embodiments, AI can be used to identify obstacle dot matrix (e.g., a table and chair array) in an environmental image or environmental point cloud data, and the area containing the obstacle dot matrix can be marked as the first region. In still other embodiments, a first or second environmental map can be divided into several sub-regions. Based on this, the cumulative travel time and / or collision count of the cleaning robot within each sub-region can be calculated. Sub-regions with an average travel time greater than or equal to a first duration threshold and / or a collision count greater than or equal to a first number threshold are marked as the first region.

[0078] The following description, with reference to Figures 8-11, illustrates possible implementation schemes of the control method for the cleaning robot described in one or more of the above embodiments. It should be noted that in Figures 8-11, A represents the current position of the cleaning robot, and B represents the target position of the area to be cleaned by the cleaning robot.

[0079] This disclosure provides a solution for identifying densely obstructed areas (i.e., a first area) and optimizing path planning for these areas. This solves the problem of the robot vacuum cleaner identifying densely obstructed areas based on the distance relationships between obstacles during path planning; then, it makes a decision based on whether the densely obstructed area needs cleaning. If the densely obstructed area does not need cleaning, it tries to choose a location that avoids the area, thus selecting an easier path; if the densely obstructed area needs cleaning, it chooses an easier path within the area.

[0080] For the identification of dense areas:

[0081] In some embodiments, obstacles can be identified through the clustering features of the environment map. Obstacles on the environment map are clustered, and when the gap between obstacles is less than the width of a fuselage, this gap is marked as a narrow passage area (i.e., the first gap). When all obstacle points within a dense area have an adjacent obstacle point with a gap distance less than the width of a fuselage, this area is recorded as a dense area.

[0082] In other embodiments, tables and chairs can be identified by artificial intelligence (AI) or by identifying table and chair arrays using point cloud features, and the area can be marked as an area with dense obstacles.

[0083] In other embodiments, a statistical approach can be used, such as dividing the cleaning area into smaller zones and calculating the cumulative travel time and number of collisions of the cleaning robot within each zone. Locations with longer average travel times can be marked. During path searching, these zones are given lower priority.

[0084] The following describes the effective strategies for areas with dense obstacles.

[0085] In some embodiments, after a dense area is identified, if the cleaning robot is not cleaning that dense area but merely has a possible route through it, then the robot will try to avoid the dense area when planning its travel path. For example, as shown in Figure 8, the cleaning robot is controlled to travel along a first travel path 801 instead of the path 802 indicated by the dashed line, thereby ultimately avoiding the dense area 803.

[0086] In some embodiments, when the cleaning robot needs to enter a dense area for cleaning, the effect of the dense area on the target location is ignored, allowing the cleaning robot to enter the dense area (e.g., a chair array) as quickly as possible. Because the target location may be in the most densely populated area, the dense area detour strategy will only make the cleaning robot move away from the target location, resulting in difficulties in entering the dense area for cleaning.

[0087] For example, as shown in Figure 9, when the target location B is in a dense area, the principle of probing the nearest path is chosen to enter the dense area; where the filling is... This is represented as an obstacle. As shown in Figure 9, when the target location B is in a dense area, the dense area detour strategy (such as the travel path shown by the dashed line) will only make the cleaning robot move away from the target location B.

[0088] In some embodiments, when the cleaning robot needs to exit a densely populated area: for example, as shown in Figure 10, where the area is filled with... Represented as obstacles, filled with This is represented as a narrow passage / first gap; when a wide path exists in a dense area, the cleaning robot 100 prioritizes exiting through the wide path. When no wide path exists, it chooses locations that the cleaning robot has previously traversed whenever possible. This is because, empirically, the cleaning robot can pass through these narrow passage areas, increasing the efficiency of its path selection. For example, as shown in Figure 11, where the filling is... Represented as obstacles, filled with This is represented as the narrow passage area / first gap. This represents the actual driving trajectory of the cleaning robot 100. The cleaning robot 100 exits from position A in the dense area, first exits the dense area based on historical trajectory data, and then reaches the target position outside the dense area by following the shortest path.

[0089] The above solution allows the cleaning robot to search for easily passable paths, thereby improving its path execution efficiency and reducing getting stuck and collisions.

[0090] In this embodiment of the disclosure, after identifying difficult-to-pass areas / dense areas, strategies are provided for detouring from the dense area, entering the dense area, or exiting the dense area, which improves the optimal path selection in complex areas and improves path execution efficiency.

[0091] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps; or steps from different embodiments may be combined into a new technical solution.

[0092] Based on the foregoing embodiments, this disclosure provides a control device for a cleaning robot. The modules and units included in the device can be implemented by a processor; of course, they can also be implemented by specific logic circuits. In the implementation process, the processor can be an AI acceleration engine (such as an NPU), GPU, central processing unit (CPU), microprocessor (MPU), digital signal processor (DSP), or field programmable gate array (FPGA), etc.

[0093] Figure 12 is a schematic diagram of the structure of the control device for the cleaning robot provided in an embodiment of this disclosure. As shown in Figure 12, the control device 120 for the cleaning robot includes:

[0094] The control module 1201 is configured to: control the cleaning robot to bypass or enter the first area when there is a first area on the path of the cleaning robot; wherein there are at least three obstacles and at least one first gap in the first area, and the first gap refers to the gap where the distance between adjacent obstacles is less than or equal to the width of the cleaning robot's body.

[0095] In some embodiments, the control module 1201 is configured to: obtain a first travel path pre-planned based on a first environmental map according to the current position of the cleaning robot and the first target position; and control the cleaning robot to travel towards the first target position according to the first travel path; wherein the first travel path has been planned to bypass the first area marked in the first environmental map; and the first target position is not in the first area.

[0096] In some embodiments, the control module 1201 is further configured to: determine that a new first area exists on the cleaning robot's travel path as the cleaning robot travels toward the first target location along the first travel path, and control the cleaning robot to bypass the new first area; wherein the new first area is not marked in the first environment map.

[0097] In other embodiments, the control module 1201 is configured to control the cleaning robot to enter the first area when a first area exists on the travel path of the cleaning robot and the first target position is located within the first area.

[0098] In some embodiments, the control module 1201 is configured to: control the cleaning robot to pass through the nearest first gap or second gap on the boundary of the first area to enter the first area; if the cleaning robot cannot enter the first area, control the cleaning robot to pass through the next nearest first gap or second gap on the boundary of the first area to enter the first area; wherein, the second gap refers to a gap in the first area where the distance between adjacent obstacles is greater than the width of the robot body.

[0099] In some embodiments, the control module 1201 is configured to control the cleaning robot to preferentially pass through the nearest second gap on the boundary of the first area to enter the first area.

[0100] In some other embodiments, the control module 1201 is further configured to: after the cleaning robot enters the first area, control the cleaning robot to pass through a second gap adjacent to its current position; wherein the second gap refers to a gap in the first area where the distance between adjacent obstacles is greater than the width of the robot body.

[0101] In some embodiments, the control module 1201 is further configured to: after the cleaning robot enters the first area and there is no second gap adjacent to the current position of the cleaning robot, control the cleaning robot to pass through the first gap it previously passed through; the first gap it previously passed through is the first gap that the cleaning robot passed through when it entered the first area.

[0102] The description of the above apparatus embodiments is similar to that of the above method embodiments, and has similar beneficial effects. For technical details not disclosed in the apparatus embodiments of this disclosure, please refer to the description of the method embodiments of this disclosure for understanding.

[0103] It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division; in actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, exist as separate physical units, or be integrated into one unit by two or more units. The integrated units described above can be implemented in hardware, as software functional units, or as a combination of software and hardware.

[0104] It should be noted that, in the embodiments of this disclosure, if the above methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this disclosure, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause the cleaning robot to execute all or part of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this disclosure are not limited to any specific hardware and software combination.

[0105] This disclosure provides a cleaning robot, and Figure 13 is a schematic diagram of the structure of the cleaning robot provided in this disclosure. As shown in Figure 13, the cleaning robot 130 includes: a body 1301, at least one cleaning component 1302, and a control unit 1303; wherein, the control unit 1303 is configured to:

[0106] If a first area exists on the path of the cleaning robot, the cleaning robot is controlled to either bypass or enter the first area; wherein, there are at least three obstacles and at least one first gap in the first area, the first gap being a gap where the distance between adjacent obstacles is less than or equal to the width of the cleaning robot's body.

[0107] In some embodiments, the control unit 1303 is configured to: obtain a first travel path pre-planned based on a first environmental map according to the current position of the cleaning robot and a first target position; and control the cleaning robot to travel towards the first target position according to the first travel path; wherein the first travel path has been planned to bypass a first area marked in the first environmental map; and the first target position is not in the first area.

[0108] In some embodiments, the control unit 1303 is further configured to: determine that a new first area exists on the cleaning robot's travel path as the cleaning robot travels toward the first target location along the first travel path, and control the cleaning robot to bypass the new first area; wherein the new first area is not marked in the first environment map.

[0109] In other embodiments, the control unit 1303 is configured to control the cleaning robot to enter the first area when a first area exists on the robot's path and a first target location is within the first area.

[0110] In some embodiments, the control unit 1303 is configured to: control the cleaning robot to pass through the nearest first gap or second gap on the boundary of the first area to enter the first area; and control the cleaning robot to pass through the next nearest first gap or second gap on the boundary of the first area to enter the first area if the cleaning robot cannot enter the first area; wherein the second gap refers to a gap in the first area where the distance between adjacent obstacles is greater than the width of the robot body.

[0111] In some embodiments, the control unit 1303 is configured to control the cleaning robot to preferentially pass through the nearest second gap on the boundary of the first area to enter the first area.

[0112] In some other embodiments, the control unit 1303 is further configured to: after the cleaning robot enters the first area, control the cleaning robot to pass through a second gap adjacent to its current position; wherein the second gap refers to a gap in the first area where the distance between adjacent obstacles is greater than the width of the robot body.

[0113] In some embodiments, the control unit 1303 is further configured to: after the cleaning robot enters the first area and there is no second gap adjacent to the current position of the cleaning robot, control the cleaning robot to pass through the first gap it previously passed through; the first gap it previously passed through is the first gap that the cleaning robot passed through when it entered the first area.

[0114] In some embodiments, the cleaning robot also includes a memory configured to store instructions and applications executable by the control unit 1303, and may also cache data to be processed or already processed (e.g., image data, point cloud data, etc.) in the control unit 1303 and the various modules in the cleaning robot 130, which may be implemented by flash memory or random access memory (RAM).

[0115] This disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a cleaning robot or a processor, implements the steps of the method provided in the above embodiments.

[0116] This disclosure provides a computer program product containing instructions that, when run on a cleaning robot or processor, cause the cleaning robot or processor to perform the steps in the method provided in the above-described method embodiments.

[0117] It should be noted that the descriptions of the cleaning robot, storage medium, and computer program product embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the cleaning robot, storage medium, and computer program product embodiments of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0118] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this disclosure. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this disclosure, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the above-described embodiments are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0119] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three kinds of relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0120] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0121] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or modules can be electrical, mechanical, or other forms.

[0122] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected to achieve the purpose of this embodiment according to actual needs.

[0123] In addition, each functional module in the various embodiments of this disclosure can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the integrated modules can be implemented in hardware or in the form of hardware plus software functional units.

[0124] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0125] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this disclosure, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause the cleaning robot to execute all or part of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0126] The methods disclosed in the several method embodiments provided in this disclosure can be arbitrarily combined without conflict to obtain new method embodiments.

[0127] The features disclosed in the several product embodiments provided in this disclosure can be combined arbitrarily without conflict to obtain new product embodiments.

[0128] The features disclosed in the several method or device embodiments provided in this disclosure can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0129] The above description is merely an embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A control method of a cleaning robot, characterized by, The method includes: If a first area exists on the path of the cleaning robot, the cleaning robot is controlled to either bypass the first area or enter the first area; wherein, there are at least three obstacles and at least one first gap in the first area, the first gap being a gap where the distance between adjacent obstacles is less than or equal to the width of the cleaning robot's body.

2. The method of claim 1, wherein, Controlling the cleaning robot to avoid the first area includes: Based on the current position of the cleaning robot and the first target position, a first travel path is obtained in advance based on a first environmental map; wherein, the first travel path has been planned to bypass the first area marked in the first environmental map; the first target position is not in the first area; The cleaning robot is controlled to move towards the first target location along the first travel path.

3. The method of claim 2, wherein, The method further includes: During the process of the cleaning robot moving towards the first target location along the first travel path, it is determined that there is a new first area on the travel path of the cleaning robot, and the cleaning robot is controlled to bypass the new first area; wherein, the new first area is not marked in the first environment map.

4. The method of claim 1, wherein, If a first area exists in the direction of the cleaning robot's travel path, controlling the cleaning robot to enter the first area includes: If the first area exists on the path of the cleaning robot and the first target location is within the first area, the cleaning robot is controlled to enter the first area.

5. The method of claim 4, wherein, The control of the cleaning robot to enter the first area includes: The cleaning robot is controlled to pass through the nearest first gap or second gap on the boundary of the first area to enter the first area; wherein, the second gap refers to a gap in the first area where the distance between adjacent obstacles is greater than the width of the robot body; If the cleaning robot is unable to enter the first area, the cleaning robot is controlled to pass through the next nearest gap on the boundary of the first area, either the first gap or the second gap, to enter the first area.

6. The method of claim 5, wherein, The cleaning robot is controlled to preferentially pass through the second gap, which is the nearest one on the boundary of the first area, to enter the first area.

7. The method according to any one of claims 4 to 6, characterized in that, The method further includes: After the cleaning robot enters the first area, it is controlled to pass through a second gap adjacent to its current position; wherein, the second gap refers to a gap in the first area where the distance between adjacent obstacles is greater than the width of the robot body.

8. The method of claim 7, wherein, The method further includes: After the cleaning robot enters the first area, and there is no second gap adjacent to the current position of the cleaning robot, the cleaning robot is controlled to pass through the first gap it previously passed through; the first gap it previously passed through is the first gap that the cleaning robot passed through when it entered the first area.

9. A control device of a cleaning robot characterized by comprising: The device includes a control module, which is configured to: If a first area exists on the path of the cleaning robot, the cleaning robot is controlled to either bypass the first area or enter the first area; wherein, there are at least three obstacles and at least one first gap in the first area, the first gap being a gap where the distance between adjacent obstacles is less than or equal to the width of the cleaning robot's body.

10. A cleaning robot, characterized in that, The cleaning robot includes: a body, at least one cleaning component, and a control unit; The control unit is configured to: control the cleaning robot to bypass or enter the first area when a first area exists on the robot's travel path; wherein, in the first area, there are at least three obstacles and at least one first gap, the first gap being a gap where the distance between adjacent obstacles is less than or equal to the width of the cleaning robot's body.

11. A computer-readable storage medium having a computer program stored thereon, which, when executed by a cleaning robot or a processor, implements the method of any one of claims 1-8.

12. A computer program product comprising a computer program or instructions that, when executed by a cleaning robot or processor, implement the method of any one of claims 1-8.

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