Control method and device for cleaning robot, and cleaning robot

Abstract

Provided are a control method and device for a cleaning robot, and a cleaning robot. In the method, in response to a first distance measurement assembly (102) of an upper housing of the body of the cleaning robot (10) colliding with a first obstacle but the body not colliding with the first obstacle, the cleaning robot (10) is controlled to release the collision between the first distance measurement assembly (102) and the first obstacle, and after the first distance measurement assembly (102) is lowered, the cleaning robot (10) is controlled to continue to travel. By means of the method, the coverage capability of the cleaning robot (10) can be enhanced, and erroneous control of the cleaning robot (10) can be reduced, thereby being beneficial for an improvement in the overall performance of the cleaning robot (10).

Description

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

[0001] This application is based on and claims priority to Chinese Patent Application No. 202411654576.X, 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. Summary of the Invention

[0004] The present disclosure includes a control method and apparatus for a cleaning robot, and the cleaning robot itself.

[0005] In a first aspect, this disclosure provides a control method for a cleaning robot, the method comprising: determining that a first collision event has occurred in the cleaning robot, wherein the first collision event refers to a collision between a first ranging component and a first obstacle, and the body of the cleaning robot not colliding with the first obstacle; the first ranging component being in a raised state, the first ranging component being located on the upper shell of the cleaning robot; in response to the first collision event, controlling the cleaning robot to remove the collision between the first ranging component and the first obstacle; if it is determined that the collision has been removed, controlling the first ranging component to descend a first height; and after the first ranging component descends a first height, controlling the cleaning robot to move.

[0006] Secondly, this disclosure provides a control device for a cleaning robot, the device comprising: a determining module configured to determine that the cleaning robot has experienced a first collision event, the first collision event being a collision between a first ranging component and a first obstacle, and the body of the cleaning robot not colliding with the first obstacle; wherein the first ranging component is in a raised state and is located on the upper shell of the cleaning robot; a first control module configured to, in response to the first collision event, control the cleaning robot to release the collision between the first ranging component and the first obstacle; a second control module configured to, upon determining that the collision has been released, control the first ranging component to descend a first height; and a third control module configured to, after the first ranging component has descended the first height, control the cleaning robot to move.

[0007] Thirdly, this disclosure provides a cleaning robot, comprising: a body, a first ranging component, and a control unit. The control unit is configured to: determine that a first collision event has occurred, wherein the first collision event refers to a situation where the first ranging component collides with a first obstacle but the body of the cleaning robot does not collide with the first obstacle; wherein the first ranging component is in a raised state and is located on the upper shell of the cleaning robot; in response to the first collision event, control the cleaning robot to remove the collision between the first ranging component and the first obstacle; if the collision has been removed, control the first ranging component to descend a first height; and after the first ranging component descends the first height, control the cleaning robot to move.

[0008] Fourthly, this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect above.

[0009] Fifthly, embodiments of this disclosure provide a computer program product, including a computer program or instructions, which, when executed by a processor, implement the method described in the first aspect above.

[0010] In this embodiment of the disclosure, in response to a first collision event occurring with the cleaning robot, the collision event is resolved (i.e., the collision between the first ranging component and the first obstacle is resolved), the first ranging component is lowered, and the cleaning robot is controlled to continue moving. This enhances the cleaning robot's coverage capability. Simultaneously, because subsequent control logic is triggered only after a collision between the cleaning robot and the first obstacle is confirmed, erroneous control of the cleaning robot is reduced, thereby improving the overall performance of the cleaning robot.

[0011] It is understandable that the trigger condition for controlling the cleaning robot to lower the first ranging component and continue moving is a certain event (i.e., the first collision event), rather than a probabilistic event. Compared to predicting whether a collision may occur before the first ranging component collides, it can avoid misjudging the first collision event (such as predicting that the first collision event will occur even though it will not actually occur). Therefore, it can reduce the erroneous control of the cleaning robot, thereby improving the overall performance of the cleaning robot.

[0012] 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

[0013] 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.

[0014] 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.

[0015] Figure 1 is a top view of a cleaning robot provided in an embodiment of this disclosure;

[0016] Figure 2 is a bottom view of a cleaning robot provided in an embodiment of this disclosure;

[0017] Figure 3 is a schematic diagram of the cleaning robot provided in this embodiment of the present disclosure after the first ranging component is lowered;

[0018] Figure 4 is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this disclosure;

[0019] Figure 5 is an example diagram of the state changes of the cleaning robot provided in an embodiment of this disclosure;

[0020] Figure 6 is a schematic flowchart illustrating a further implementation of collision resolution according to an embodiment of this disclosure;

[0021] Figure 7 is a flowchart illustrating another control method for a cleaning robot provided in an embodiment of this disclosure;

[0022] Figure 8 is a schematic diagram of the control device for the cleaning robot provided in an embodiment of this disclosure;

[0023] Figure 9 is a structural schematic diagram of the cleaning robot provided in an embodiment of this disclosure. Detailed Implementation

[0024] 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.

[0025] 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.

[0026] 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.

[0027] The terms "first," "second," and "third" used in the embodiments of this disclosure are for illustrative purposes only and to distinguish the objects being described. They do not indicate any particular order and do not imply any special limitation on the number of devices in the embodiments of this disclosure. They do not constitute any limitation on the embodiments of this disclosure.

[0028] 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.

[0029] 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.

[0030] Currently, some cleaning robots have a first ranging component (such as LiDAR) that can be raised and lowered on its body shell. When the cleaning robot encounters a low area, the first ranging component will automatically descend, allowing the cleaning robot to smoothly enter hard-to-reach areas for cleaning.

[0031] (1) Cleaning robot

[0032] A cleaning robot is an intelligent robotic device used to perform cleaning tasks. Depending on its application and purpose, cleaning robots can be categorized into various types, including but not limited to robotic vacuum cleaners (also known as sweeping robots) and robotic floor scrubbers (also known as floor scrubbers).

[0033] Cleaning robots are typically equipped with sensors and navigation systems, enabling them to detect and identify obstacles and dirt in their environment, automatically plan paths, and perform cleaning operations. Cleaning robots typically possess one or more of the following functions: sweeping, vacuuming, mopping, window wiping, obstacle avoidance, and intelligent navigation.

[0034] Figure 1 is a top view of a cleaning robot provided in an embodiment of the present disclosure; Figure 2 is a bottom view of a cleaning robot that may be applicable to an embodiment of the present disclosure. As shown in Figures 1 and 2, the cleaning robot 10 includes: a body 101, a first ranging component 102, a drive component 103, an edge-following component 104, and a main brush 105.

[0035] The body 101 forms the outer shell of the cleaning robot 10 and houses other components such as the control unit and memory.

[0036] The first ranging component 102 is located on the upper shell of the body 101, and the first ranging component 102 can be raised and lowered. The cleaning robot 10 can lower the component 102 into the body 101. For example, as shown in Figure 3, after being lowered, the top surface of the first ranging component 102 is flush with the surface of the upper shell of the body 101.

[0037] The first ranging component 102, in its raised state, is used to sense the surrounding environment of the cleaning robot 10, thereby helping the cleaning robot to autonomously plan its path and avoid obstacles. It is understood that the first ranging component 102, in its raised state, has a wider field of view, which reduces blind spots, thus improving navigation accuracy and obstacle avoidance, further enhancing the overall performance of the cleaning robot.

[0038] In this embodiment of the disclosure, there are no limitations on the first ranging component 102. The first ranging component 102 may include a laser distance sensor (LDS), an infrared distance sensor, an ultrasonic distance sensor, a camera, a contact sensor, or a Hall sensor, etc.

[0039] The drive assembly 103 is used to drive the cleaning robot 10 to move forward, backward, rotate, or lift. For example, as shown in FIG2, the drive assembly 103 includes one or more drive wheels mounted on the bottom of the body 101, which are used to drive the cleaning robot 10 to move forward, backward, rotate, or lift.

[0040] The edge assembly 104 is mounted on the side of the bottom of the housing 101 and includes an edge brush and an edge sensing element. The edge sensing element can be an infrared module or an ultrasonic sensor, etc.

[0041] The main brush 105 is mounted on the bottom of the body 101. Optionally, the main brush 105 may be a drum-shaped rotating brush that rotates relative to the ground in a roller-like manner.

[0042] It should be noted that the cleaning robot provided in this disclosure is not limited to the cleaning robot 10 shown in Figures 1 and 2. The cleaning robot 10 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 of various types; in short, the first ranging component of the cleaning robot is liftable, and the cleaning robot has autonomous cleaning capabilities.

[0043] (2) Laser Distance Sensor (LDS)

[0044] LDS (Laser Distance Measurement System) is an example of a first-order ranging component. An LDS typically includes a rotating laser emitter and receiver. The laser emitter continuously emits laser beams into the surrounding environment; these beams reflect off obstacles and are captured by the receiver. By calculating the time difference between laser emission and reception, the distance between the cleaning robot and obstacles can be accurately measured. Simultaneously, because the laser beam is constantly rotating, it can acquire omnidirectional information about the surrounding environment in real time, constructing a 3D model of the environment, thus helping the cleaning robot autonomously plan its path and avoid obstacles. Since LDS is unaffected by ambient light intensity, it can accurately acquire information about the surrounding environment even in dark environments, thus expanding the application scenarios of cleaning robots.

[0045] (3) Micro switch

[0046] A micro switch is a small mechanical switch that controls the on / off state of a circuit through minute mechanical movements. The working principle of a micro switch is primarily based on mechanical motion and electrical conduction. When the button of a micro switch is subjected to external force, it compresses a spring and moves the contacts. During this process, the contact state between the contacts changes, thereby opening or closing the circuit. Specifically, when the button is not subjected to external force, the contacts are in the open state; when the button is subjected to sufficient external force, the contacts close, energizing the circuit; when the external force disappears, the spring returns to its original position, the contacts open, and the circuit is de-energized.

[0047] In some embodiments, a micro switch may be disposed on the side of the first ranging component to detect whether the first ranging component collides with an obstacle.

[0048] (4) Bottom space

[0049] Bottom space specifically refers to the unoccupied, usable, or passable space beneath an obstacle. The size, shape, and passability of this space depend on the shape, size, height of the obstacle, and its relative position to the surrounding environment.

[0050] This disclosure provides a control method for a cleaning robot. Figure 4 is a flowchart illustrating the control method for a cleaning robot provided in this disclosure. As shown in Figure 4, the method may include steps 401 to 404.

[0051] Step 401: Determine that the cleaning robot has experienced a first collision event. The first collision event refers to the collision between the first ranging component and the first obstacle, while the body of the cleaning robot does not collide. In step 401, the first ranging component is in a raised state and is located on the upper shell of the cleaning robot.

[0052] Step 402: In response to the first collision event, control the cleaning robot to remove the collision between the first ranging component and the first obstacle.

[0053] Step 403: After determining that the collision has been resolved, control the first ranging component to descend to a first height.

[0054] Step 404: After the first ranging component descends to a first height, control the cleaning robot to move forward.

[0055] In one embodiment, step 404 may further include: after the first ranging component descends a first height, controlling the cleaning robot to move within the space at the bottom of the first obstacle. To help better understand the technical solutions provided by the embodiments of this disclosure, Figure 5 is an example diagram of the state changes of the cleaning robot provided by the embodiments of this disclosure; however, the embodiments of this disclosure are not limited to the application scenarios shown in Figure 5.

[0056] As shown in Figure 5, 501 indicates the first collision event. That is, during the movement of the cleaning robot, the first ranging component 102 collides with the obstacle (coffee table 50), while the body of the cleaning robot does not collide with the coffee table 50. To eliminate the collision between the first ranging component 102 and the coffee table 50, the cleaning robot is controlled to move in the opposite direction, as shown in state 502. After the cleaning robot moves in the opposite direction, the first ranging component 102 no longer contacts the coffee table 50. At this time, the first ranging component can be controlled to descend a first height, as shown in state 503. After the first ranging component descends the first height, the cleaning robot is controlled to enter the space under the coffee table 50, as shown in state 504.

[0057] In this embodiment of the disclosure, in response to a first collision event occurring with the cleaning robot, the collision event is resolved (i.e., the collision between the first ranging component and the first obstacle is resolved), the first ranging component is lowered, and the cleaning robot is controlled to continue moving. This enhances the cleaning robot's coverage capability. Simultaneously, since subsequent control logic (such as steps 402 to 404) is triggered only after a collision between the cleaning robot and the first obstacle is determined, erroneous control of the cleaning robot can be reduced, thereby improving the overall performance of the cleaning robot.

[0058] It is understandable that the triggering condition for the cleaning robot to lower the first ranging component and continue moving after the collision between the first ranging component and the first obstacle is a certain event (i.e., the first collision event), rather than a probabilistic event. Compared to predicting whether a collision may occur before the first ranging component collides, it can avoid misjudging the first collision event (such as predicting that the first collision event will occur even though it will not actually occur). Therefore, it can reduce the erroneous control of the cleaning robot, such as avoiding the accidental lowering of the first ranging component, which is beneficial to improving the overall performance of the cleaning robot.

[0059] The following describes further optional implementation methods and related terms for each of the above steps.

[0060] Step 401: Determine that the cleaning robot has experienced a first collision event. The first collision event refers to the first ranging component colliding with the first obstacle while the body of the cleaning robot does not collide with the first obstacle. The first ranging component is in a raised state and is located on the upper shell of the cleaning robot.

[0061] In this embodiment of the disclosure, there are no restrictions on the method for determining whether the first ranging component in the raised state collides with the first obstacle.

[0062] In some embodiments, a collision detection component (such as a microswitch) disposed on the side of the first ranging component can be used to detect whether the first ranging component has collided with the first obstacle. For example, a first collision signal sent by the collision detection component is received; the first collision signal is used to indicate that the first ranging component has collided with the first obstacle; based on the first collision signal, it is determined that the first ranging component has collided with the first obstacle.

[0063] This disclosure does not limit the detection method for whether the body of the cleaning robot collides with an obstacle. For example, the detection method can be based on microswitches, cameras or laser sensors on the side of the body.

[0064] Step 402: In response to the first collision event, control the cleaning robot to remove the collision between the first ranging component and the first obstacle.

[0065] In this embodiment, the method for resolving the collision between the first ranging component and the first obstacle is not limited. In short, after the collision is resolved, the first ranging component can be controlled to descend a first height. In one possible implementation, the resolution can be achieved by controlling the cleaning robot to move in the opposite direction. That is, step 402 may further include: in response to the first collision event, controlling the cleaning robot to move in the opposite direction to resolve the collision between the first ranging component and the first obstacle.

[0066] It should be noted that the direction of movement described in the above embodiments can be understood as the direction of movement of the cleaning robot before the first collision event occurs during its movement. For example, if the cleaning robot experiences the first collision event while moving forward, it is controlled to move backward in the opposite direction; or, if the cleaning robot experiences the first collision event while rotating, it is controlled to rotate in the opposite direction. In this way, the collision between the first ranging component and the first obstacle can be resolved.

[0067] Step 403: After determining that the collision has been resolved, control the first ranging component to descend to a first height.

[0068] Step 404: After the first ranging component descends to a first height, control the cleaning robot to move forward.

[0069] In some embodiments, step 404 may further include: after the first ranging component descends to a first height, controlling the cleaning robot to travel in the space under the first obstacle.

[0070] It is understandable that if the cleaning robot experiences the first collision, it can be preliminarily determined that the obstacle encountered by the cleaning robot is a suspended object (such as a sofa, bed, coffee table, TV cabinet, etc.), and the suspended object is above the height of the robot body shell, and the lowest position of the suspended object is lower than the upper surface of the first ranging component in the raised state. Therefore, the cleaning robot can lower the first ranging component to enter the bottom space of the first obstacle, and thus continue to move in the bottom space.

[0071] Based on this, in some embodiments, after determining that the first collision event has occurred, no further judgment can be made. Instead, the cleaning robot can be directly controlled to move in the opposite direction. After moving in the opposite direction, the first ranging component can be controlled to descend to a first height and enter the bottom space of the first obstacle.

[0072] In conjunction with steps 401 to 403, it can be understood that, in some embodiments, triggering the first ranging component to descend to a first height requires the following conditions (1) and (2):

[0073] Condition (1): The cleaning robot experienced its first collision event;

[0074] Condition (2): The collision in the first collision event has been resolved.

[0075] In other embodiments, after determining that a first collision event has occurred, a further judgment may be made, and based on the result of the further judgment, it may be determined whether to control the cleaning robot to move in the opposite direction.

[0076] Exemplary, in some embodiments, as shown in FIG6, the collision between the first ranging component and the first obstacle can be resolved by the following steps 601 and 602. That is, in response to the first collision event, controlling the cleaning robot to move in the opposite direction may further include the following steps 601 and 602.

[0077] Step 601: In response to the first collision event, determine whether there is a passable area in the direction of travel of the cleaning robot.

[0078] In some embodiments, step 601 can be implemented as follows: in response to a first collision event, determine whether there is a second obstacle within a first range in the direction of travel; if there is no second obstacle within the first range, determine that there is a passable area in the direction of travel; if there is a second obstacle within the first range, determine that there is no passable area in the direction of travel.

[0079] It is understood that the passable area refers to a first area where there are no second obstacles. For example, in the event of a first collision between a cleaning robot and the bottom edge of a bed, the passable area means that there are no objects placed under the bed within the first area.

[0080] In this embodiment of the disclosure, there are no restrictions on the method for determining whether a second obstacle exists. The cleaning robot can determine whether a second obstacle exists within the first range by using current or historical observation information from line laser, area array light, or LDS.

[0081] For example, in response to a first collision event, determine whether there is a second obstacle currently or previously observed by a line laser, area light, or LDS within a first range outside the front body of the cleaning robot; or, in response to a first collision event, determine whether there is a second obstacle currently or previously observed by a line laser, area light, or LDS within a first range outside the side of the cleaning robot (left turn triggers inspection of the right side, right turn triggers inspection of the left side).

[0082] Step 602: In response to the existence of a passable area in the direction of travel of the cleaning robot, control the cleaning robot to move in the opposite direction.

[0083] In other embodiments, the method further includes: in response to the absence of a passable area in the direction of travel of the cleaning robot, controlling the cleaning robot to move in the opposite direction and then moving in a direction different from the direction of travel.

[0084] In a scheme where it is determined that there is a passable area in the direction of travel of the cleaning robot, the cleaning robot can be directly controlled to move in the opposite direction. After moving in the opposite direction, the first ranging component is controlled to descend to a first height and then enter the bottom space of the first obstacle along the direction of travel.

[0085] In conjunction with step 601 and subsequent steps, it can be understood that, in some embodiments, triggering the first ranging component to descend to a first height requires satisfying the following conditions (1) to (3):

[0086] Condition (1): The cleaning robot experienced its first collision event;

[0087] Condition (2): The collision in the first collision event has been resolved;

[0088] Condition (3): There is a passable area in the direction of the cleaning robot’s movement.

[0089] It is understandable that triggering the first ranging component to descend to the first height requires meeting the above conditions (1) to (3). In this way, it can be avoided that the cleaning robot cannot clean or pass through the bottom of the first obstacle due to the obstruction / blockage of the second obstacle.

[0090] In a scheme where it is determined that there is a passable area in the direction of travel of the cleaning robot, further judgment can be made. Based on the results of the further judgment, it can be determined whether to control the cleaning robot to move in the opposite direction, and then control the first ranging component to descend to a first height after moving in the opposite direction.

[0091] For example, in some embodiments, step 602, in response to the existence of a passable area in the direction of travel of the cleaning robot, controls the cleaning robot to move in the opposite direction, includes: in response to the existence of a passable area in the direction of travel of the cleaning robot, determining whether the passable area is a low-lying area; in response to the passable area being a low-lying area, controlling the cleaning robot to move in the opposite direction.

[0092] In other embodiments, the method further includes: in response to the traversable area not being a low-lying area, controlling the cleaning robot to move in the opposite direction, and then moving in a direction different from the stated direction of travel.

[0093] For a solution where the passable area is a low-lying area, the cleaning robot can be directly controlled to move in the opposite direction. After moving in the opposite direction, the first ranging component can be controlled to descend to a first height and then enter the bottom space of the first obstacle.

[0094] In conjunction with step 601 and subsequent steps, it can be understood that, in some embodiments, triggering the first ranging component to descend to a first height requires satisfying the following conditions (1) to (4):

[0095] Condition (1): The cleaning robot experienced its first collision event;

[0096] Condition (2): The collision in the first collision event has been resolved;

[0097] Condition (3): There is a passable area in the direction of travel of the cleaning robot;

[0098] Condition (4): The passable area is a low-lying area.

[0099] Understandably, the so-called low-lying area refers to the area that the cleaning robot can enter after lowering the first ranging component to a first height. Triggering the first ranging component to lower to a first height requires meeting the above conditions (1) to (4). In this way, the misjudgment of the first collision event can be avoided, which would prevent the cleaning robot from entering the bottom space of the first obstacle after lowering the first ranging component.

[0100] For example, in some embodiments, it can be determined whether the passable area is a low-profile area by determining whether the height of the passable area is higher than a second height and lower than a third height; wherein the second height is greater than or equal to the height from the ground (i.e., the landing surface of the cleaning robot) to the upper shell of the cleaning robot; the third height is less than or equal to the height from the ground to the top cover of the first ranging component in the raised state; if the height of the passable area is higher than the second height and lower than the third height, the passable area is determined to be a low-profile area; otherwise, the passable area is not a low-profile area.

[0101] Step 403: After determining that the collision has been resolved, control the first ranging component to descend to a first height.

[0102] In this embodiment of the disclosure, the first height is not limited. For example, the first height is the first vertical distance from the top surface of the first ranging component in the raised state to the surface of the outer shell of the cleaning robot. Alternatively, the first height may be greater than or equal to a second vertical distance and less than or equal to the first vertical distance; wherein the second vertical distance refers to the vertical distance from the top surface of the first ranging component in the raised state to the extended plane of the bottom surface of the first obstacle.

[0103] In some embodiments, the collision may be determined to have been resolved by receiving a collision resolution signal from a collision detection component, the collision resolution signal indicating that the collision of the first ranging component has been resolved; and determining that the collision has been resolved based on the collision resolution signal. It is understood that the collision resolution signal is different from the first collision signal sent by the collision detection component.

[0104] Step 404: After the first ranging component descends to a first height, control the cleaning robot to move forward.

[0105] As mentioned above, in some embodiments, step 404 may further include: after the first ranging component descends to a first height, controlling the cleaning robot to move through the space at the bottom of the first obstacle.

[0106] It is understood that after the first ranging component descends to a first height, the cleaning robot can continue to move (including but not limited to entering the bottom space of the first obstacle and moving within that bottom space). In this embodiment of the disclosure, the working mode of the cleaning robot after the first ranging component descends to a first height may be the same as or different from the working mode before the first collision event occurs.

[0107] In some embodiments, step 404, after the first ranging component descends a first height, controlling the cleaning robot to move forward, may include: controlling the cleaning robot to move in a first mode in the space under the first obstacle; wherein the first mode refers to the operating mode used by the cleaning robot before the first collision event occurs. For example, the first mode includes an edge cleaning mode, a zigzag cleaning mode, or a mode of moving to a designated target point.

[0108] It is understood that in this embodiment of the present disclosure, even if the cleaning robot experiences a first collision event, the working mode / cleaning logic of the cleaning robot is not changed, and the cleaning robot continues to move according to the original working mode after entering the bottom space of the first obstacle; thus, it is beneficial to improve the working efficiency of the cleaning robot.

[0109] It should be noted that the cleaning robot travels in the space at the bottom of the first obstacle. During the journey, it can clean while traveling or it can travel without cleaning. This disclosure does not impose any restrictions on this.

[0110] In some embodiments, the method further includes: upon determining that the cleaning robot has moved out of the bottom space of the first obstacle, controlling the first ranging component to rise to a first height, and controlling the cleaning robot to travel in a first mode based on the ranging information of the first ranging component.

[0111] In some embodiments, determining whether a cleaning robot has moved out of the space under the first obstacle includes: measuring a distance using a second ranging component to obtain a first distance; and determining whether the cleaning robot has moved out of the space under the first obstacle based on the first distance.

[0112] The second ranging component is used to emit a laser beam perpendicular to the surface of the robot's upper shell and determine a first distance. In one possible implementation, the second ranging component can be embedded within the upper shell of the cleaning robot.

[0113] Furthermore, in some embodiments, the second ranging component can determine the first distance based on the flight time of a laser emitted upwards perpendicular to the surface of the fuselage. This disclosure does not limit the ranging method of the second ranging component.

[0114] This disclosure further provides a control method for a cleaning robot. Figure 7 is a schematic flowchart of another control method for a cleaning robot provided in this disclosure. As shown in Figure 7, the method includes the following steps 701 to 705.

[0115] Step 701: Control the cleaning robot to move in the target area in the first mode. If a first collision event occurs during the movement, record the location of the first collision event and continue to move in the first mode until the end of the target area is reached. Then control the cleaning robot to go to the recorded location.

[0116] In some embodiments, the first mode includes an edge cleaning mode, a zigzag cleaning mode, or a mode that proceeds to a designated target point.

[0117] Step 702: Determine that the cleaning robot has experienced a first collision event at the recorded location, and proceed to step 703; wherein, the recorded location refers to the location where the first collision event has previously occurred.

[0118] In some embodiments, the method shown in FIG7 further includes: if a first collision event occurs while controlling the cleaning robot to move in a first mode in a target area, identifying and recording area information of the bottom space of the first obstacle; and if no first collision event occurs at the recorded position, controlling the cleaning robot to move in the area corresponding to the area information based on the ranging information of the first ranging component.

[0119] It is understood that in this embodiment of the present disclosure, if a first collision event occurs while the cleaning robot is moving in the target area in the first mode, it does not directly execute steps 703 to 705 below, that is, it does not lower the first ranging component and enter the bottom space of the first obstacle. Instead, it records the location where the first collision event occurred and continues to move in the first mode until it reaches the end of the target area. Then, it controls the cleaning robot to go to the recorded location. If the first collision event still occurs at the recorded location, then it enters step 703. This avoids lowering the first ranging component when the first collision event occurs for the first time, which would affect the cleaning effect of the bottom space of the first obstacle.

[0120] Conversely, if the cleaning robot does not experience another collision at the recorded location, it will not lower the first ranging component. Instead, based on the ranging information from the first ranging component, the robot will move / clean within the area corresponding to the area information (i.e., the area before the first obstacle). This avoids immediately executing subsequent control logic after the initial collision, reducing unnecessary intervention and improving efficiency. Furthermore, by not lowering the first ranging component, the cleaning effect in the area before the first obstacle is enhanced.

[0121] Step 703: In response to the first collision event, control the cleaning robot to remove the collision between the first ranging component and the first obstacle.

[0122] It should be noted that for the technical details not disclosed in step 703, please refer to the description of step 402 in the above embodiments for further understanding.

[0123] Step 704: After determining that the collision has been resolved, control the first ranging component to descend to a first height.

[0124] It should be noted that for the technical details not disclosed in step 704, please refer to the description of step 403 in the above embodiments for further understanding.

[0125] Step 705: After the first ranging component descends to a first height, control the cleaning robot to move forward.

[0126] It should be noted that for the technical details not disclosed in step 705, please refer to the description of step 404 in the above embodiments for further understanding.

[0127] The following examples illustrate possible implementation schemes of the control method for the cleaning robot described in one or more of the above embodiments.

[0128] 1. During the edge cleaning process, if the bumper on the top cover of the LDS is triggered, but unrelated bumpers of the LDS (such as forward collision, object recognition and obstacle avoidance, etc.) are not triggered, it is assumed that the obstacle encountered by the robot vacuum is above the height of the robot body and the lowest point of the obstacle is below the top edge of the LDS. That is, the robot vacuum can enter the area after lowering the LDS.

[0129] Understandably, the LDS (Light Switch) of a robotic vacuum cleaner can be raised and lowered, reducing the overall height of the machine and allowing it to access lower areas. When the LDS is raised, the top cover can trigger a microswitch (bumper) when it collides with an obstacle from the front or side. Additionally, the robotic vacuum cleaner can detect the environment in front of it using line lasers and area laser arrays.

[0130] 2. Check if there is a cleanable area in the direction of the sweeper's movement. If the sweeper's LDS top cover bumper is triggered while it is moving forward, check if there are any obstacles within a preset distance beyond the front of the sweeper that have been observed or previously observed by the line laser, area beam, or LDS. If the sweeper's LDS top cover bumper is triggered while it is rotating, check if there are any obstacles within a preset distance beyond the side of the sweeper (check the right side if triggered for left turn, check the left side if triggered for right turn) that have been observed or previously observed by the line laser, area beam, or LDS. If no obstacles are detected within the preset distance, it is assumed that there is a cleanable area in the sweeper's forward or rotating direction. This cleanable area is the area from the outer edge of the sweeper to the aforementioned preset distance.

[0131] 3. For sweeping robots with area laser or vertical line laser, check whether the cleanable area blocked by the bumper of the LDS top cover is a low-lying area. If there are points in the cleanable area where the height of the area laser or line laser is lower than the preset height, then the cleanable area is considered a low-lying area.

[0132] 4. If all three conditions above are met in sequence (for machines without area beams or vertical line lasers, only conditions 1 and 2 need to be met), then control the sweeper to move backward or rotate to release the LDS top cover bumper trigger (if the forward trigger is released by moving backward, and if the rotation trigger is released by rotating in the opposite direction), then lower the LDS and enter the low area to continue cleaning along the edge.

[0133] 5. When the robot vacuum is moving towards the designated target point, if the bumper on the top cover of the LDS is triggered, but unrelated bumpers of the LDS (such as forward collision, object recognition and obstacle avoidance, etc.) are not triggered, it is assumed that the obstacle encountered by the robot vacuum is above the height of the robot body shell, and the lowest point of the obstacle is below the upper edge of the LDS. That is, the robot vacuum can enter the area after lowering the LDS.

[0134] 6. If condition 5 is met, control the sweeper to move backward or rotate to release the LDS top cover bumper trigger (if triggered forward, release it by moving backward; if triggered by rotating, release it by rotating in the opposite direction), then lower the LDS and enter the area to continue to the designated target point.

[0135] 7. During zigzag cleaning, if the bumper on the top cover of the LDS is triggered, but unrelated bumpers on the LDS (such as those for forward collision avoidance and object recognition) are not triggered, it is assumed that the obstacle encountered by the machine is above the height of the machine body, and the lowest point of the obstacle is below the top edge of the LDS. This means the machine can enter the area after lowering the LDS. Alternatively, the robot vacuum can determine that it has entered a low-lying area based on the upward dTof (dF) during zigzag cleaning.

[0136] 8. Record the trigger position in step 7, select and proceed to the next row for zigzag cleaning. Continue this zigzag cleaning task until all cleanable areas A in the current region are cleaned. Then, the machine attempts to enter area B, which was previously not zigzag cleaned, via the locations that block the robot vacuum in step 7. If the bumper on the LDS top cover is triggered again when passing through these locations, control the robot vacuum to move backward or rotate to deactivate the LDS top cover bumper trigger (deactivating forward triggers by moving backward, and deactivating rotation triggers by rotating in the opposite direction). Then, lower the LDS and enter area B to continue zigzag cleaning.

[0137] 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.

[0138] Based on the foregoing embodiments, this disclosure provides a control device for a cleaning robot. The device includes modules and units within each module, which can be implemented using a processor or specific logic circuits. In implementation, 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.

[0139] Figure 8 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 8, the control device 800 for the cleaning robot includes:

[0140] The determination module 801 is configured to determine that a first collision event has occurred in the cleaning robot. The first collision event refers to a collision between the first ranging component and the first obstacle, but the body of the cleaning robot does not collide with the first obstacle. The first ranging component is in a raised state and is located on the upper shell of the cleaning robot.

[0141] The first control module 802 is configured to respond to the first collision event and control the cleaning robot to remove the collision between the first ranging component and the first obstacle.

[0142] The second control module 803 is configured to control the first ranging component to descend a first height when it is determined that the collision has been resolved;

[0143] The third control module 804 is configured to control the movement of the cleaning robot after the first ranging component descends to a first height.

[0144] In some embodiments, the first control module 802 is configured to control the cleaning robot to move in the opposite direction in response to a first collision event, so as to avert a collision between the first ranging component and the first obstacle.

[0145] In some embodiments, the first control module 802 is configured to: determine whether there is a passable area in the direction of travel of the cleaning robot in response to a first collision event; and control the cleaning robot to move in the opposite direction in response to the existence of a passable area in the direction of travel of the cleaning robot.

[0146] Furthermore, in some embodiments, the first control module 802 is configured to: determine whether the passable area is a low-lying area in response to the existence of a passable area in the direction of travel of the cleaning robot; and control the cleaning robot to move in the opposite direction in response to the fact that the passable area is a low-lying area.

[0147] Furthermore, in some embodiments, the first control module 802 is configured to: in response to a first collision event, determine whether a second obstacle exists within a first range in the direction of travel; and if no second obstacle exists within the first range, determine that a passable area exists in the direction of travel.

[0148] Furthermore, in some embodiments, the first control module 802 is configured to: in response to the existence of a passable area in the direction of travel of the cleaning robot, determine whether the height of the passable area is higher than a second height and lower than a third height; wherein the second height is greater than or equal to the height from the ground to the upper shell of the cleaning robot; the third height is less than or equal to the height from the ground to the top cover of the first ranging component in the raised state; and if the height of the passable area is higher than the second height and lower than the third height, determine that the passable area is a low-lying area.

[0149] In some embodiments, the control device 800 further includes a fourth control module, which is configured to: control the cleaning robot to travel in a target area in a first mode; if a first collision event occurs during travel, record the location of the first collision event and continue traveling in the first mode until reaching the end point of the target area, and control the cleaning robot to move to the recorded location; and a determination module 801 is configured to: determine that the cleaning robot has experienced a first collision event at the recorded location; wherein the recorded location refers to the location where a first collision event has previously occurred.

[0150] In some embodiments, the fourth control module is further configured to: identify and record the area information of the bottom space of the first obstacle if a first collision event occurs while controlling the cleaning robot to move in the target area in a first mode; and control the cleaning robot to move in the area corresponding to the area information according to the ranging information of the first ranging component if no first collision event occurs at the recorded position.

[0151] In some embodiments, the third control module 804 is configured to control the cleaning robot to move in a first mode in the space under the first obstacle; wherein the first mode refers to the working mode used by the cleaning robot before the first collision event occurs.

[0152] In some embodiments, the third control module 804 is further configured to: control the first ranging component to rise to a first height when it is determined that the cleaning robot has moved out of the bottom space of the first obstacle, and control the cleaning robot to travel in a first mode according to the ranging information of the first ranging component.

[0153] In some embodiments, the third control module 804 is further configured to: measure distance using a second ranging component to obtain a first distance; wherein the second ranging component is used to emit a laser above a surface perpendicular to the outer shell of the machine body and determine the first distance; and determine whether the cleaning robot has moved out of the bottom space of the first obstacle based on the first distance.

[0154] In some embodiments, the first mode includes an edge cleaning mode, a zigzag cleaning mode, or a mode that proceeds to a designated target point.

[0155] In some embodiments, the determining module 801 is configured to: receive a first collision signal sent by a collision detection component; wherein the collision detection component is disposed on the side of the first ranging component, and the first collision signal is used to indicate that the first ranging component has collided with a first obstacle; and determine, based on the first collision signal, that the first ranging component has collided with the first obstacle.

[0156] In some embodiments, the second control module 803 is configured to: receive a collision release signal sent by the collision detection component, the collision release signal indicating that the collision of the first ranging component has been released; and determine that the collision has been released based on the collision release signal.

[0157] 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.

[0158] 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 can be implemented in hardware, as software functional units, or a combination of software and hardware.

[0159] 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.

[0160] This disclosure provides a cleaning robot. Figure 9 is a schematic diagram of the structure of the cleaning robot provided in this disclosure. As shown in Figure 9, the cleaning robot 90 includes: a body 901, a first ranging component 902, and a control unit 903. The control unit 903 is configured to:

[0161] It is determined that the cleaning robot 90 has experienced a first collision event. The first collision event refers to the first ranging component 902 colliding with the first obstacle while the body of the cleaning robot 90 does not collide with the first obstacle. The first ranging component 902 is located on the upper shell of the cleaning robot 90 and is in a raised state.

[0162] In response to the first collision event, the cleaning robot 90 is controlled to remove the collision between the first ranging component 902 and the first obstacle;

[0163] Once it is determined that the collision has been resolved, the first ranging component 902 is controlled to descend to a first height;

[0164] After the first ranging component 902 descends to a first height, the cleaning robot 90 is controlled to move forward.

[0165] In some embodiments, the cleaning robot also includes a memory configured to store instructions and applications executable by the control unit 903, and may also cache data to be processed or already processed (e.g., image data, point cloud data, etc.) in the control unit 903 and various modules in the cleaning robot 90, which may be implemented by flash memory or random access memory (RAM).

[0166] This disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the above embodiments.

[0167] This disclosure provides a computer program product containing instructions that, when run on a cleaning robot, cause the cleaning robot to perform the steps in the method provided in the above-described method embodiments.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] It will be understood by those skilled in the art 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.

[0176] 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.

[0177] The methods disclosed in the several method embodiments provided in this disclosure can be arbitrarily combined without conflict to obtain new method embodiments.

[0178] The features disclosed in the several product embodiments provided in this disclosure can be combined arbitrarily without conflict to obtain new product embodiments.

[0179] 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.

[0180] 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 for a cleaning robot, the method comprising: A first collision event is determined to have occurred in the cleaning robot, wherein the first collision event refers to a collision between the first ranging component and the first obstacle, but the body of the cleaning robot does not collide with the first obstacle; the first ranging component is in a raised state and is located on the upper shell of the cleaning robot; In response to the first collision event, the cleaning robot is controlled to remove the collision between the first ranging component and the first obstacle. Once it is determined that the collision has been resolved, the first ranging component is controlled to descend to a first height. After the first ranging component descends to the first height, the cleaning robot is controlled to move forward.

2. The method according to claim 1, wherein, The release is achieved by controlling the cleaning robot to move in the opposite direction.

3. The method according to claim 2, wherein, In response to the first collision event, controlling the cleaning robot to move in the opposite direction includes: In response to the first collision event, determine whether there is a passable area in the direction of travel of the cleaning robot; and In response to the existence of a passable area in the direction of travel of the cleaning robot, the cleaning robot is controlled to move in the opposite direction.

4. The method according to claim 3, wherein, The step of controlling the cleaning robot to move in the opposite direction in response to the existence of a passable area in the direction of travel of the cleaning robot includes: In response to the existence of a passable area in the direction of travel of the cleaning robot, it is determined whether the passable area is a low-lying area; and In response to the fact that the passable area is a low-lying area, the cleaning robot is controlled to move in the opposite direction.

5. The method according to claim 3, wherein, In response to the first collision event, determining whether there is a passable area in the direction of travel of the cleaning robot includes: In response to the first collision event, determine whether a second obstacle exists within a first range in the direction of travel; and If the second obstacle is not present within the first range, it is determined that the passable area exists in the direction of travel.

6. The method according to claim 4, wherein, The step of determining whether the passable area is a low-lying area in response to the existence of a passable area in the direction of travel of the cleaning robot includes: In response to the existence of a passable area in the direction of travel of the cleaning robot, it is determined whether the height of the passable area is higher than a second height and lower than a third height, wherein the second height is greater than or equal to the height from the ground to the upper shell of the cleaning robot, and the third height is less than or equal to the height from the ground to the top cover of the first ranging component in the raised state; and If the height of the passable area is higher than the second height but lower than the third height, the passable area is determined to be the low-lying area.

7. The method according to any one of claims 1 to 6, wherein, Before determining that the cleaning robot has experienced a first collision event, the method further includes: The cleaning robot is controlled to move in the target area in a first mode. If the first collision event occurs during the movement, the location of the first collision event is recorded, and the robot continues to move in the first mode until it reaches the end of the target area. The cleaning robot is then controlled to move to the recorded location. Determining that the cleaning robot has experienced a first collision event includes: determining that the cleaning robot has experienced the first collision event at the recorded location, wherein the recorded location refers to a location where the first collision event has previously occurred.

8. The method according to claim 7, further comprising: If the first collision event occurs while controlling the cleaning robot to move in the target area in the first mode, the area information of the bottom space of the first obstacle is identified and recorded. If the first collision event does not occur at the recorded location, the cleaning robot is controlled to travel within the area corresponding to the area information based on the ranging information from the first ranging component.

9. The method according to any one of claims 1 to 6, wherein, Controlling the movement of the cleaning robot includes: The cleaning robot is controlled to move in a first mode in the space under the first obstacle, wherein the first mode refers to the working mode used by the cleaning robot before the first collision event occurs.

10. The method of claim 9, further comprising: Upon determining that the cleaning robot has moved out of the bottom space of the first obstacle, the first ranging component is controlled to rise to the first height, and the cleaning robot is controlled to travel in the first mode based on the ranging information of the first ranging component.

11. The method according to claim 10, wherein, Determining whether the cleaning robot has moved out of the space under the first obstacle includes: A first distance is obtained by measuring distance using a second ranging component, wherein the second ranging component is used to emit a laser upwards toward a surface perpendicular to the fuselage shell and determine the first distance; and Based on the first distance, determine whether the cleaning robot has moved out of the bottom space of the first obstacle.

12. The method according to any one of claims 7 to 11, wherein, The first mode includes edge cleaning mode, zigzag cleaning mode, or heading to a designated target point mode.

13. The method according to claim 1, wherein, Determining that the first ranging component has collided with the first obstacle includes: The system receives a first collision signal from a collision detection component, wherein the collision detection component is disposed on the side of the first ranging component, and the first collision signal indicates that the first ranging component has collided with the first obstacle; and Based on the first collision signal, it is determined that the first ranging component has collided with the first obstacle.

14. The method according to claim 13, wherein, Determining that the collision has been resolved includes: The system receives a collision release signal sent by the collision detection component, the collision release signal being used to indicate that the collision of the first ranging component has been resolved. Based on the collision release signal, it is determined that the collision has been released.

15. A control device for a cleaning robot, the device comprising: The determination module is configured to determine that the cleaning robot has experienced a first collision event, wherein the first collision event refers to a collision between the first ranging component and the first obstacle, and the body of the cleaning robot does not collide with the first obstacle; The first ranging component is in the raised state and is located on the outer shell of the cleaning robot. A first control module is configured to respond to the first collision event by controlling the cleaning robot to remove the collision between the first ranging component and the first obstacle. The second control module is configured to control the first ranging component to descend a first height when it is determined that the collision has been resolved; as well as The third control module is configured to control the cleaning robot to move after the first ranging component descends to the first height.

16. A cleaning robot, the cleaning robot comprising: The fuselage, the first ranging component, and the control unit; the control unit is configured to: The cleaning robot is determined to have experienced a first collision event, wherein the first collision event refers to the first ranging component colliding with the first obstacle while the body of the cleaning robot does not collide with the first obstacle; The first ranging component is in the raised state and is located on the outer shell of the cleaning robot. In response to the first collision event, the cleaning robot is controlled to remove the collision between the first ranging component and the first obstacle. Upon determining that the collision has been resolved, control the first ranging component to descend to a first height; and After the first ranging component descends to the first height, the cleaning robot is controlled to move forward.

17. A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method as claimed in any one of claims 1 to 14.

18. A computer program product comprising a computer program or instructions which, when executed by a processor, implement the method as claimed in any one of claims 1 to 14.

Images