Movement control method for cleaning robot, cleaning robot, and storage medium
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Solution Overview
Problem
Existing cleaning robots struggle with refined and intelligent obstacle crossing, particularly on step-type obstacles, leading to abnormal situations such as falling, being suspended, or getting stuck due to the inability to identify and adapt to specific types of obstacles in complex household environments.
Innovation Solution
Equipping cleaning robots with a sensor system capable of obtaining three-dimensional information, including height, depth, width, and slope of step-type obstacles, and using predefined thresholds to determine appropriate crossing actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a cleaning robot uses a monotonous obstacle crossing action for all obstacles, then the device complexity is reduced, but the reliability of obstacle crossing is worsened due to inability to adapt to specific obstacle types
Solution Approach 1:
The patent applies parameter changes by using a sensor system to detect multiple parameters of step-type obstacles (height, depth, width, slope) and adjusting the obstacle crossing action based on these parameters. When the height is less than or equal to a first threshold, depth is greater than or equal to a second threshold, width is greater than or equal to a third threshold, and slope is less than or equal to a fourth threshold, the robot performs a specific obstacle crossing action. This parameter-based adaptation improves reliability without significantly increasing device complexity.
2Adaptability or versatility
If the cleaning robot collects comprehensive three-dimensional information of obstacles, then the adaptability to different obstacle types is improved, but the loss of time for information processing increases
Solution Approach 1:
The patent applies preliminary action by collecting and analyzing obstacle information in advance during the movement process. The sensor system continuously scans and identifies step-type obstacles before the robot reaches them, allowing the control system to pre-determine the appropriate crossing action. This preliminary identification reduces real-time processing delays and improves response efficiency.
3Productivity
If the cleaning robot performs refined obstacle crossing actions based on multiple threshold conditions, then the productivity of cleaning is improved by avoiding abnormal situations, but the device complexity increases due to multiple sensor requirements
Solution Approach 1:
The patent applies universality by designing a sensor system that performs multiple functions: detecting height, depth, width, and slope of obstacles simultaneously. This multi-functional sensor system enables the robot to identify various obstacle types and perform appropriate crossing actions, improving cleaning productivity by avoiding abnormal situations like getting stuck or falling, while managing device complexity through integrated sensing.
Data Source
AI summary
This specification relates to the field of smart household technologies, and in particular, to a movement control method for a cleaning robot, a cleaning robot, and a storage medium. The method includes: in a movement process of the cleaning robot, collecting three-dimensional information of a step-type obstacle in a front area by using a sensor system, where the three-dimensional information includes at least height information and depth information of the step-type obstacle; and at least when the height information and the depth information meet an obstacle crossing condition, performing an obstacle crossing action to cross the step-type obstacle, to clean the step-type obstacle. In embodiments of this specification, the depth information of the step-type obstacle is considered during obstacle crossing, so that refined and intelligent obstacle crossing can be performed on the step-type obstacle, thereby avoiding obstacle crossing abnormality.