CN110477820B

CN110477820B - Obstacle following cleaning method for cleaning robot, and storage medium

Info

Publication number: CN110477820B
Application number: CN201910760583.0A
Authority: CN
Inventors: 罗浩扬; 张峻彬
Original assignee: Yunjing Intelligence Technology Dongguan Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd
Priority date: 2019-08-16
Filing date: 2019-08-16
Publication date: 2021-11-16
Anticipated expiration: 2039-08-16
Also published as: CN110477820A

Abstract

The invention discloses an obstacle following cleaning method of a cleaning robot, the cleaning robot and a storage medium, wherein the bottom of the cleaning robot is provided with at least one mopping piece and a driving wheel capable of driving the cleaning robot to move forwards or backwards, and the obstacle following cleaning method of the cleaning robot comprises the following steps: and when an obstacle is detected in the cleaning process, controlling the cleaning robot to clean along the edge of the obstacle. The invention discloses a cleaning method along an obstacle of a cleaning robot, the cleaning robot and a storage medium, and aims to solve the technical problem that the conventional wheeled cleaning robot with a turntable cannot clean the side of the obstacle.

Description

Obstacle following cleaning method for cleaning robot, and storage medium

Technical Field

The present invention relates to the field of cleaning robots, and more particularly, to a method of cleaning along an obstacle, a cleaning robot, and a storage medium for a cleaning robot.

Background

The cleaning robot can be used for automatically cleaning the ground, and the application scene can be household indoor cleaning, large-scale place cleaning and the like. The cleaning robot is of a sweeping robot or a mopping robot. The cleaning robot is provided with a cleaning member and a driving device. The cleaning robot performs self-movement according to a preset cleaning path under the driving of the driving device, and cleans the floor by the cleaning member. For the sweeping robot, the cleaning piece is a sweeping brush, a dust suction device is arranged on the sweeping robot, and in the cleaning process, dust, garbage and the like are swept to a dust suction port of the dust suction device by the sweeping brush, so that the dust suction device absorbs and temporarily stores the dust, the garbage and the like. In the case of a floor mopping robot, the cleaning element is a mop (e.g., a mop cloth) that contacts the floor and that wipes the floor during movement of the floor mopping robot to clean the floor.

In order to facilitate the use of users, base stations are often used in cooperation with cleaning robots. The base station can be used for charging the cleaning robot, and when the electric quantity of the cleaning robot is less than the threshold value in the cleaning process, the cleaning robot automatically moves to the base station to be charged. For the mopping robot, the base station can also clean the mopping piece, and after the mopping piece of the mopping robot mops the ground, the mopping piece is always dirty and needs to be cleaned. For this purpose, the base station can be used for cleaning the mop of the mopping robot. Specifically, the mopping robot can move to the base station so that the cleaning mechanism on the base station automatically cleans the mopping member of the mopping robot.

The current floor mopping robot mainly comprises a body, a turntable and a driving wheel, wherein the turntable and the driving wheel are arranged at the bottom of the body, a mopping piece can be sleeved on the turntable, and the body is generally provided with 2 turntables and 2 driving wheels. Wherein each turntable is independently driven, and each driving wheel is also independently driven.

In order to make the cleaning robot complete the cleaning task, the planning and control of the cleaning path of the cleaning robot are particularly important, and mainly relate to how the cleaning robot crosses an obstacle, how the cleaning robot walks along the obstacle, the working modes under different modes and the like. For cleaning robots with different structures, the planning and control of the behaviors are required according to the specific structures and functions of the cleaning robots. In the prior art, wheeled cleaning robots with rotating discs have not been used to any great extent.

When a cleaning robot with a tray encounters a short obstacle such as a step during movement, the cleaning robot sometimes needs to continue to move along the obstacle. Because the tray and the step are easy to collide and bounce off, if the robot cannot be ensured to lean against the obstacle as much as possible to walk along the obstacle, the side of the obstacle cannot be cleaned.

Disclosure of Invention

The invention mainly aims to provide an obstacle following cleaning method of a cleaning robot, the cleaning robot and a storage medium, and aims to solve the technical problem that an existing wheeled cleaning robot with a turntable cannot clean the side of an obstacle.

In order to achieve the above object, the present invention provides an along-obstacle cleaning method for a cleaning robot, wherein a bottom of the cleaning robot is provided with at least one mop and driving wheels capable of driving the cleaning robot to move forward or backward, the along-obstacle cleaning method for the cleaning robot comprising: and when an obstacle is detected in the cleaning process, controlling the cleaning robot to clean along the edge of the obstacle.

Preferably, the cleaning robot includes a sensing unit, and the obstacle following cleaning method of the cleaning robot includes:

providing a driving force for the cleaning robot to move forward, wherein the sensing unit controls the cleaning robot to deviate or approach the obstacle by receiving the change of sensing data so that the cleaning robot always cleans along the obstacle; the change of the perception data is the increase or decrease of the signal or the change of the signal from the absence to the presence or from the presence to the absence.

Preferably, the cleaning robot includes a low obstacle detection sensor disposed on a chassis of the cleaning robot and disposed in front of the mopping member and at a corner between two side edges of the cleaning robot and a front end of the cleaning robot, the low obstacle detection sensor is configured to detect a low obstacle, an obstacle having an obstacle height smaller than a height of the chassis of the cleaning robot from the ground is defined as the low obstacle, a forward driving force of the cleaning robot is provided, and the sensing unit controls the cleaning robot to deviate from or approach the obstacle by receiving a change in sensing data so that the cleaning robot always performs cleaning along the obstacle, and the method includes:

when the sensing unit receives first sensing data output by the low obstacle detection sensor, the cleaning robot is controlled to deviate from an obstacle by a preset distance and clean along the obstacle, wherein the first sensing data represent signals when the low obstacle detection sensor detects the low obstacle, and when the sensing unit receives second sensing data output by the low obstacle detection sensor, the cleaning robot is controlled to be close to the obstacle for cleaning; the second sensing data represents a signal when the short obstacle detection sensor does not detect a short obstacle, and the cleaning robot is controlled to deviate from the obstacle by a preset distance and clean along the obstacle until the first sensing data output by the short obstacle detection sensor is received, and the step is repeated repeatedly to clean the cleaning robot along the obstacle; wherein the first perception data is larger than the second perception data, or the second perception data is larger than the first perception data; or when the first sensing data is 0, the second sensing data is not equal to 0; or when the second sensing data is 0, the first sensing data is not equal to 0.

Preferably, the obstacle following cleaning method of the cleaning robot includes:

when an obstacle is detected in the cleaning process, the output speed or the output torque of the driving wheel far away from the obstacle is larger than that of the driving wheel near the obstacle, so that the cleaning robot cleans along the obstacle.

and in the cleaning process, the sensing unit receives sensing data to judge that the obstacle is a short obstacle, the speed of the driving wheel far away from the obstacle is controlled to be higher than that of the driving wheel near the obstacle, so that the cleaning robot cleans along the obstacle, and the obstacle with the height smaller than the height of the chassis of the cleaning robot from the ground is defined as the short obstacle.

Preferably, the cleaning robot includes a cleaning driving motor, the cleaning driving motor provides power for movement of the mopping member, and the method for judging the obstacle as a short obstacle by the sensing unit receiving the sensing data in the cleaning process includes:

the sensing unit receives sensing data output by the cleaning driving motor in the cleaning process and judges that the obstacle is a short obstacle; the sensing data output by the cleaning driving motor is current increase of the worm motor and/or rotating speed reduction of the worm motor.

Preferably, the cleaning robot includes an acceleration sensor, and the method for determining that the obstacle is a short obstacle by receiving sensing data by the sensing unit during cleaning includes:

the sensing unit receives sensing data output by the acceleration sensor in the cleaning process and judges that the obstacle is a short obstacle; and sensing data output by the acceleration sensor is that the fluctuation range of the acceleration value of the cleaning robot exceeds a preset value.

Preferably, the cleaning robot includes a low obstacle detection sensor, the low obstacle detection sensor is disposed on a chassis of the cleaning robot and is disposed in front of the mopping component and at a corner between two side edges of the cleaning robot and a front end of the cleaning robot, the low obstacle detection sensor is used for detecting a height value of the chassis of the cleaning robot from the ground and/or detecting a hardness of an obstacle below the cleaning robot, and the method for determining that the obstacle is a low obstacle by receiving sensing data by the sensing unit in the cleaning process includes:

the sensing unit receives sensing data output by a low obstacle detection sensor in the cleaning process and judges that the obstacle is a low obstacle; and sensing data output by the low obstacle detection sensor is that the height value is smaller than the height of the cleaning robot chassis from the ground and/or a signal output by the low obstacle detection sensor is weakened.

Preferably, the method for judging the obstacle as a short obstacle by the sensing unit receiving the sensing data in the cleaning process comprises the following steps:

the sensing unit receives acquired sensing data in the cleaning process, wherein the acquired sensing data comprise obstacle information in acquired map information or obstacle information acquired in the process of operating along the obstacle before the cleaning robot passes through, and judges that the obstacle is a short obstacle.

Preferably, the method for controlling the driving wheel far away from the obstacle to have a speed greater than that of the driving wheel near the obstacle includes:

continuously providing the cleaning robot with a preset angular speed value;

when the angular speed of the cleaning robot is 0, the preset value of the angular speed is greater than 0;

when the angular speed of the cleaning robot is greater than 0, the angular speed output value is greater than or equal to the angular speed preset value; and controlling the cleaning robot to continuously adjust the cleaning robot by outputting the angular speed output value so that the speed of the driving wheel far away from the obstacle is higher than that of the driving wheel near the obstacle.

Preferably, the cleaning robot includes a sensing unit and a rear-drive motor, the rear-drive motor provides a driving force for driving the driving wheels to move, the driving wheel on the side far away from the obstacle is controlled to have a speed higher than that of the driving wheel on the side close to the obstacle, and the method for cleaning the cleaning robot along the obstacle includes:

when the cleaning robot performs cleaning along the obstacle, the sensing unit receives a signal that the current output by the rear-drive motor is increased or receives a signal that the rotating mileage metering value output by the driving wheel is increased and the position point of the driving wheel is not changed, and controls the driving wheel to rotate by a preset angle after retreating by a preset distance and deviating from the direction of the obstacle and advance.

Preferably, the method for controlling the cleaning robot to clean along the edge of the obstacle comprises the following steps:

and detecting the end of the edgewise cleaning, and controlling the cleaning robot to execute other cleaning strategies.

Preferably, the method of detecting the end of the edgewise cleaning performed by the method comprises:

and the cleaning robot performs edgewise cleaning at least one circle along the obstacle.

when a non-low obstacle approaches and triggers a sensor that detects the non-low obstacle, the cleaning robot performs an end of edgewise cleaning.

the rotating speed of the mopping piece is less than 100 r/min.

Preferably, the rotation direction is such that the direction of movement of the side of the mop adjacent to the obstacle is opposite to the direction of advance of the cleaning robot.

Furthermore, the invention also provides a cleaning robot, which comprises a processor, a memory and an obstacle following program of the cleaning robot stored on the memory and executable by the processor, wherein when the obstacle following program of the cleaning robot is executed by the processor, the steps of the obstacle following cleaning method of the cleaning robot are realized.

Furthermore, the present invention provides a computer readable storage medium, which is characterized in that the computer readable storage medium stores thereon an obstacle following program of a cleaning robot, which when executed by a processor implements the steps of the obstacle following cleaning method of the cleaning robot as described above.

In the scheme of this application, cleaning machines people's bottom is provided with at least one and drags the piece to and can drive cleaning machines people's drive wheel that gos forward or retreat, when cleaning machines people detects touching the barrier in the cleaning process, can control cleaning machines people cleans along the barrier edge. The mopping piece can be static or rotate outwards relatively, wherein the mopping piece can generate friction force on the obstacle in the rotating process, the obstacle generates a relative reaction force on the cleaning robot, the direction of the reaction force is the same as the advancing direction of the cleaning robot, the head of the robot is closer to the obstacle, meanwhile, the driving mechanism provides advancing force, the reaction force and the advancing force provided by the driving wheel jointly form advancing power of the cleaning robot, and the cleaning robot is enabled to clean along the edge of the obstacle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the cleaning robot shown in FIG. 1 with a portion of the housing removed;

fig. 3 is a bottom view of the cleaning robot shown in fig. 1;

FIG. 4 is another schematic view of the cleaning robot shown in FIG. 1;

fig. 5 is a front view of a base station according to an embodiment of the present invention;

fig. 6 is a perspective view of the base station shown in fig. 5 after the top cover is opened;

FIG. 7 is another schematic diagram of the base station shown in FIG. 5;

FIG. 8 is a schematic view of the cleaning robot heading to a base station;

fig. 9 is a schematic view of a state in which the cleaning robot is parked on a base station;

FIG. 10 is a detailed flowchart of a cleaning control method of a cleaning robot according to a first embodiment of the present invention;

FIG. 11 is a schematic view of the obstacle crossing process of the cleaning robot of the present invention;

FIG. 12 is a schematic view of another obstacle crossing process of the cleaning robot of the present invention;

FIG. 13 is an edge process schematic of the cleaning robot of the present invention;

FIG. 14 is another schematic edgewise process diagram of the cleaning robot of the present invention;

fig. 15 is a flowchart illustrating a cleaning control method of a cleaning robot according to a second embodiment of the present invention;

fig. 16 is a flowchart illustrating a cleaning control method of the cleaning robot according to the third embodiment of the present invention;

fig. 17 is a flowchart illustrating a cleaning control method of a cleaning robot according to a fourth embodiment of the present invention;

fig. 18 is a flowchart illustrating a cleaning control method of a cleaning robot according to a fifth embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, an embodiment of the present invention provides a cleaning robot 100, where the cleaning robot 100 may be used to automatically mop a floor surface, and an application scenario of the cleaning robot 100 may be household indoor cleaning, large-scale place cleaning, and the like.

Fig. 1 is a schematic perspective view of a cleaning robot 100 according to an embodiment of the present invention, fig. 2 is a schematic structural view of the cleaning robot 100 shown in fig. 1 with a partial housing removed, fig. 3 is a bottom view of the cleaning robot 100 shown in fig. 1, and fig. 4 is another schematic structural view of the cleaning robot 100 shown in fig. 1.

As shown in fig. 1 to 4, the cleaning robot 100 includes a robot main body 101, a driving motor 102, a sensor unit 103, a robot controller 104, a battery 105, a traveling unit 106, a robot memory 107, a robot communication unit 108, a robot interaction unit 109, a wiper 110, a charging member 111, and the like.

The robot main body 101 may have a circular structure, a square structure, or the like. In the embodiment of the present invention, the robot main body 101 is described as having a D-shaped configuration. As shown in fig. 1, the robot main body 101 has a rounded rectangular front portion and a semicircular rear portion. In the embodiment of the present invention, the robot main body 101 has a bilaterally symmetric structure.

The mopping member 110 is used for mopping the floor, and the number of the mopping members 110 can be one or more. The mop element 110 is for example a mop cloth. The mopping piece 110 is disposed at the bottom of the robot main body 101, specifically, at a position near the front of the bottom of the robot main body 101. The robot main body 101 is internally provided with a driving motor 102, two rotating shafts extend out of the bottom of the robot main body 101, and a mopping piece 110 is sleeved on the rotating shafts. The driving motor 102 can drive the rotation shaft to rotate, so that the rotation shaft drives the mop 110 to rotate.

The traveling unit 106 is a component related to the movement of the cleaning robot 100, and the traveling unit 106 includes driving wheels 1061 and universal wheels 1062. The universal wheel 1062 and the driving wheel 1061 cooperate to steer and move the cleaning robot 100. One drive wheel 1061 is provided on each of the left and right sides of the bottom surface of the robot main body 101 near the rear. The universal wheel 1062 is disposed on the center line of the bottom surface of the robot main body 101 between the two mopping pieces 110.

Wherein, each driving wheel 1061 is provided with a driving wheel motor, and the driving wheel 1061 is driven by the driving wheel motor to rotate. The driving wheel 1061 rotates to drive the cleaning robot 100 to move. The steering angle of the cleaning robot 100 can be controlled by controlling the difference in the rotation speed of the left and right driving wheels 1061.

Fig. 4 is another structural schematic diagram of the cleaning robot 100 shown in fig. 1.

A robot controller 104 is provided inside the robot main body 101, and the robot controller 104 is used to control the cleaning robot 100 to perform a specific operation. The robot controller 104 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. As shown in fig. 4, the robot controller 104 is electrically connected to components such as a battery 105, a robot memory 107, a driving motor 102, a walking unit 106, a sensor unit 103, and a robot interaction unit 109 to control these components.

A battery 105 is provided inside the robot main body 101, and the battery 105 is used to supply power to the cleaning robot 100.

The robot main body 101 is also provided with a charging member 111, and the charging member 111 is used to obtain power from an external device to charge the battery 105 of the cleaning robot 100.

A robot memory 107 is provided on the robot main body 101, and the robot memory 107 stores thereon a program that realizes a corresponding operation when executed by the robot controller 104. The robot memory 107 is also used to store parameters for use by the cleaning robot 100. The robot Memory 107 includes, but is not limited to, a magnetic disk Memory, a Compact Disc Read-Only Memory (CD-ROM), an optical Memory, and the like.

A robot communication unit 108 is provided on the robot main body 101, the robot communication unit 108 is used for the cleaning robot 100 to communicate with external devices, and the robot communication unit 108 includes, but is not limited to, a WIreless-Fidelity (WI-FI) communication module 1081, a short-range communication module 1082, and the like. The cleaning robot 100 may communicate with the terminal by connecting a WI-FI router through the WI-FI communication module 1081. The cleaning robot 100 communicates with the base station through the short-range communication module 1082. Wherein the base station is a cleaning device used in cooperation with the cleaning robot 100.

The sensor unit 103 provided on the robot main body 101 includes various types of sensors such as a laser radar 1031, an impact sensor 1032, a distance sensor 1033, a fall sensor 1034, a counter 1035, a gyroscope 1036, and the like.

The laser radar 1031 is arranged at the top of the robot main body 101, and when the robot main body 101 works, the laser radar 1031 rotates and transmits a laser signal through a transmitter on the laser radar 1031, and the laser signal is reflected by an obstacle, so that a receiver of the laser radar 1031 receives the laser signal reflected by the obstacle. The circuit unit of laser radar 1031 analyzes the received laser signal, and thereby obtains surrounding environment information such as the distance and angle of an obstacle with respect to laser radar 1031. In addition, a camera can be used to replace the laser radar, and the distance, the angle and the like of the obstacle relative to the camera can be obtained by analyzing the obstacle in the image shot by the camera.

Impact sensor 1032 includes an impact housing 10321 and a trigger sensor 10322. The collision housing 10321 surrounds the head of the robot main body 101, and specifically, the collision housing 10321 is provided at a front position of the head of the robot main body 101 and left and right sides of the robot main body 101. The trigger sensor 10322 is provided inside the robot main body 101 behind the collision case 10321. An elastic buffer is provided between the collision case 10321 and the robot main body 101. When the cleaning robot 100 collides with an obstacle through the collision case 10321, the collision case 10321 moves toward the inside of the cleaning robot 100 and compresses the elastic buffer. After the impact housing 10321 moves a certain distance into the cleaning robot 100, the impact housing 10321 comes into contact with the trigger sensor 10322, and the trigger sensor 10322 is triggered to generate a signal, which can be sent to the robot controller 104 in the robot main body 101 for processing. After the obstacle is hit, the cleaning robot 100 is away from the obstacle, and the collision housing 10321 moves back to the home position by the elastic buffer member. It can be seen that impact sensor 1032 can detect an obstacle and provide cushioning after impact with the obstacle.

The distance sensor 1033 may be specifically an infrared detection sensor, and may be used to detect a distance from an obstacle to the distance sensor 1033. The distance sensor 1033 is provided at a side surface of the robot main body 101 so that a distance value from an obstacle located near the side surface of the cleaning robot 100 to the distance sensor 1033 can be measured by the distance sensor 1033. The distance sensor 1033 may be an ultrasonic distance measuring sensor, a laser distance measuring sensor, a depth sensor, or the like.

The drop sensors 1034 are disposed at the bottom edge of the robot body 101, and may be one or more in number. When the cleaning robot 100 moves to an edge position of the floor, it can be detected by the drop sensor 1034 that the cleaning robot 100 is at risk of dropping from a high position, thereby performing a corresponding drop-prevention reaction, such as the cleaning robot 100 stopping moving, or moving away from the drop position.

A counter 1035 and a gyroscope 1036 are also provided inside the robot main body 101. The counter 1035 is configured to count the total number of rotational angles of the driving wheel 1061, so as to calculate the distance that the cleaning robot 100 is driven by the driving wheel 1061. The gyroscope 1036 is used to detect the angle at which the cleaning robot 100 rotates, so that the orientation of the cleaning robot 100 can be determined.

The robot interaction unit 109 is provided on the robot main body 101, and a user can interact with the cleaning robot 100 through the robot interaction unit 109. The robot interaction unit 109 includes, for example, a switch button 1091, and a speaker 1092. The user can control the cleaning robot 100 to start or stop the operation by pressing the switch button 1091. The cleaning robot 100 may play a warning tone to the user through the speaker 1092.

It should be understood that the cleaning robot 100 described in the embodiment of the present invention is only a specific example, and the cleaning robot 100 of the embodiment of the present invention is not limited to the specific example, and the cleaning robot 100 of the embodiment of the present invention may be implemented in other specific ways. For example, in other implementations, the cleaning robot may have more or fewer components than the cleaning robot 100 shown in fig. 1.

The embodiment of the present invention further provides a base station 200, where the base station 200 is used in cooperation with the cleaning robot 100, for example, the base station 200 may charge the cleaning robot 100, and the base station 200 may provide a parking position for the cleaning robot 100. The base station 200 may also clean the mop 110 of the cleaning robot 100. Wherein the mop element 110 is used for mopping and cleaning the floor.

Fig. 5 is a front view of a base station 200 according to an embodiment of the present invention. Fig. 6 is a perspective view of the base station 200 shown in fig. 5 after the top cover 201 is opened.

As shown in fig. 5 and 6, the base station 200 of the embodiment of the present invention includes a base station main body 202, a washing tank 203, and a water tank 204.

A cleaning tank 203 is provided on the base station main body 202, and the cleaning tank 203 is used to clean the mop 110 of the cleaning robot. The cleaning rib 2031 provided on the cleaning bath 203 can perform a scrub cleaning of the scrub member 110.

A notch 205 is provided in the base station main body 202, and the notch 205 leads to the cleaning tank 203. The cleaning robot 100 may be driven into the base station 200 through the entry slot 205 such that the cleaning robot 100 is parked at a preset parking position on the base station 200.

The water tank 204 is provided in the base station main body 202, and the water tank 204 specifically includes a fresh water tank and a dirty water tank. The clean water tank is used for storing clean water. The mop 110 of the cleaning robot 100 is received on the cleaning tank 203 while the cleaning robot 100 is parked on the base station 200. The clean water tank supplies cleaning water to the cleaning tank 203, and the cleaning water is used to clean the mop 110. The dirty water after cleaning the mop 110 is then collected in a dirty water tank. A top cover 201 is provided on the base station main body 202, and a user can take out the water tank 204 from the base station main body 202 by opening the top cover 201.

Fig. 7 is another schematic structural diagram of the base station 200 shown in fig. 5.

Referring to fig. 7, the base station 200 of the embodiment of the present invention further includes a base station controller 206, a base station communication unit 207, a base station memory 208, a water pump 209, a base station interaction unit 210, and the like.

A base station controller 206 is provided inside the base station body 202, and the base station controller 206 is used to control the base station 200 to perform a specific operation. The base station controller 206 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. The base station controller 206 is electrically connected to the base station communication unit 207, the base station memory 208, the water pump 209, and the base station interaction unit 210.

A base station memory 208 is provided on the base station main body 202, and the base station memory 208 stores a program that implements a corresponding operation when executed by the base station controller 206. The base station memory 208 is also used to store parameters for use by the base station 200. The base station memory 208 includes, but is not limited to, disk memory, CD-ROM, optical memory, and the like.

The water pumps 209 are provided inside the base station main body 202, and specifically, there are two water pumps 209, one of the water pumps 209 is for controlling the clean water tank to supply cleaning water to the cleaning tank 203, and the other water pump 209 is for collecting dirty water after cleaning the mop 110 into the dirty water tank.

A base station communication unit 207 is provided on the base station main body 202, the base station communication unit 207 is used for communicating with external devices, and the base station communication unit 207 includes, but is not limited to, a WIreless-Fidelity (WI-FI) communication module 2071, a short-range communication module 2072, and the like. The base station 200 may communicate with the terminal by connecting to the WI-FI router through the WI-FI communication module 2071. The base station 200 may communicate with the cleaning robot 100 through the short-range communication module 2072.

The base station interacting unit 210 is used for interacting with the user. The base station interaction unit 210 includes, for example, a display screen 2101 and a control button 2102, the display screen 2101 and the control button 2102 are disposed on the base station main body 202, the display screen 2101 is used to display information to a user, and the control button 2102 is used for a user to perform a pressing operation to control the start-up or shutdown of the base station 200.

The base station main body 202 is further provided with a power supply part, and the cleaning robot is provided with a charging part 111, and when the cleaning robot 100 stops at a preset stop position on the base station 200, the charging part 111 of the cleaning robot 100 contacts with the power supply part of the base station 200, so that the base station 200 charges the cleaning robot 100. Wherein, the power of the base station 200 can be derived from the commercial power.

The following exemplifies a process in which the cleaning robot 100 and the base station 200 cooperate:

the cleaning robot 100 cleans the floor of the room, and when the power of the battery 105 on the cleaning robot 100 is less than the preset power threshold, the cleaning robot 100 automatically drives to the base station 200 as shown in fig. 8. The cleaning robot 100 enters the base station 200 through the entry slot 205 on the base station 200 and stops at a preset stop position on the base station 200. The state where the cleaning robot 100 is parked on the base station 200 can be referred to fig. 9.

At this time, the charging part 111 on the cleaning robot 100 contacts the power supply part on the base station 200, and the base station 200 receives power from the commercial power and charges the battery 105 of the cleaning robot 100 through the power supply part and the charging part 111. After the cleaning robot 100 is fully charged, it moves away from the base station 200 and continues to clean the floor of the room.

The cleaning robot 100 may be used for mopping a floor. After the cleaning robot 100 mops the floor of the room for a period of time and the mopping member 110 becomes dirty, the cleaning robot 100 travels to the base station 200. The cleaning robot 100 enters the base station 200 through the entry slot 205 on the base station 200 and stops at a preset stop position on the base station 200. The state where the cleaning robot 100 is parked on the base station 200 can be referred to fig. 9. At this time, the mop 110 of the cleaning robot 100 is accommodated on the cleaning tank 203, and under the action of the water pump 209, the cleaning water in the clean water tank in the base station 200 flows to the cleaning tank 203 and is sprayed onto the mop 110 through the liquid inlet structure on the cleaning tank 203, and meanwhile, the mop 110 scrapes the convex cleaning rib 2031 in the cleaning tank, so that the cleaning of the mop 110 is realized. The dirty water after cleaning the mop 110 flows out of the cleaning tank 203 from the drainage structure on the cleaning tank, and is collected into the dirty water tank under the action of the water pump 209.

It should be understood that the base station 200 described in the embodiment of the present invention is only a specific example, and is not limited to the base station 200 in the embodiment of the present invention, and the base station 200 in the embodiment of the present invention may also be implemented in other specific ways, for example, the base station 200 in the embodiment of the present invention may not include the water tank 204, and the base station main body 202 may be connected to a tap water pipe and a drain pipe, so that the mop 110 of the cleaning robot 100 is cleaned by using tap water from the tap water pipe, and dirty water after cleaning the mop 110 flows out of the base station 200 through the drain pipe by the cleaning tank 203. Alternatively, in other implementations, the base station may have more or fewer components than the base station 200 shown in fig. 5.

In the cleaning robot shown in fig. 4, the controller 104 may be configured to call an obstacle crossing program of the cleaning robot stored in the memory 107, and perform the following operations:

detecting an obstacle in the cleaning process, and judging whether the obstacle information is acquired;

when the obstacle information is judged not to be acquired, controlling the cleaning robot to execute an obstacle following cleaning mode to enable the cleaning robot to carry out cleaning along the obstacle;

and when the obstacle information is judged to be acquired and the obstacle needs to be crossed, controlling the cleaning robot to execute an obstacle crossing mode so that the cleaning robot crosses the obstacle.

Further, the controller 104 may be configured to invoke an obstacle crossing program of the cleaning robot stored in the memory 107, and also perform the following operations:

and controlling the two mopping pieces respectively positioned at two sides of the cleaning robot in the mopping pieces to relatively rotate inwards and driving the driving wheels to enable the head of the cleaning robot to move forwards towards the obstacle and cross the obstacle.

the cleaning robot is driven, the angle between the cleaning robot and the obstacle is detected in real time, and the output torque or the output speed of the two driving wheels is adjusted in real time, so that the angle deviation between the cleaning robot and the obstacle is always kept within a preset range.

Further, the cleaning robot includes an angle sensor for detecting an angle of the cleaning robot with respect to the obstacle, the angle of the cleaning robot deviates from the obstacle by a preset range β, and the controller 104 may be configured to invoke an obstacle crossing program of the cleaning robot stored in the memory 107, and further perform the following operations:

the angle sensor records an initial position of the cleaning robot head after the cleaning robot head faces the obstacle and forms an angle with the obstacle after adjustment and receives the change of the angle between the cleaning robot and the obstacle in real time;

when the angle sensor feeds back that the cleaning robot deviates from the initial direction by an angle alpha which is greater than beta, the cleaning robot is provided with an angular speed opposite to the deviation direction of the cleaning robot to adjust the angular deviation of the cleaning robot and the obstacle to be always kept within a preset range beta, and assuming that the allowable maximum time for adjusting the angle is t, the angular speed omega is: ω ═ α - β)/t.

Further, the controller 104 may be configured to invoke an obstacle following program for the cleaning robot stored in the memory 107, and also perform the following operations:

judging whether the obstacle is a short obstacle or not;

when the obstacle is judged to be a short obstacle, the method for enabling the cleaning robot to clean along the obstacle in the obstacle mode by the cleaning robot comprises the following steps:

the driving mopping piece is driven to rotate outwards or to be static, the output speed or the output torque of the driving wheel at the side far away from the obstacle in the driving wheel is larger than the output speed or the output torque of the driving wheel at the side close to the obstacle, and therefore the cleaning robot can clean along the obstacle.

continuously providing the cleaning robot with a preset angular speed value;

Further, the cleaning robot comprises a sensing unit, and the controller 104 may be configured to invoke an obstacle following program of the cleaning robot stored in the memory 107, and further perform the following operations:

judging whether the obstacle is a short obstacle or not;

the cleaning robot is driven to rotate outwards or stop, a driving force for the cleaning robot to move forwards is provided, and the sensing unit receives the change of sensing data to control the cleaning robot to deviate or approach to the obstacle so that the cleaning robot can always clean along the obstacle; the change of the perception data is the increase or decrease of the signal or the change of the signal from the absence to the presence or from the presence to the absence.

Furthermore, the cleaning robot comprises a low obstacle detection sensor, the low obstacle detection sensor is arranged on a chassis of the cleaning robot and is arranged in front of the mopping piece and at a corner between the two side edges of the cleaning robot and the front end of the cleaning robot, the low obstacle detection sensor is used for detecting a low obstacle, an obstacle with the height smaller than the height of the chassis of the cleaning robot from the ground is defined as the low obstacle, the mopping piece is driven to rotate outwards or to be static, a forward driving force of the cleaning robot is provided, and the sensing unit receives the change of sensing data to control the cleaning robot to deviate or approach the obstacle so that the cleaning robot can clean along the obstacle all the time; the controller 104 may be used to invoke an obstacle following program for the cleaning robot stored in the memory 107, and also perform the following operations:

Further, the cleaning robot includes a sensing unit and a cleaning motor, and the controller 104 may be configured to call an obstacle following program of the cleaning robot stored in the memory 107, and further perform the following operations:

the sensing unit receives sensing data output by the cleaning driving motor in the cleaning process and judges that an obstacle is detected; the sensing data output by the cleaning driving motor is current increase of the worm motor and/or rotating speed reduction of the worm motor.

Further, the cleaning robot includes a low obstacle detection sensor, the low obstacle detection sensor is disposed on the chassis of the cleaning robot and disposed in front of the mopping component and at a corner between two side edges of the cleaning robot and the front end of the cleaning robot, the low obstacle detection sensor is configured to detect a height of the chassis of the cleaning robot from the ground and/or detect a hardness of an obstacle below the cleaning robot, the controller 104 may be configured to invoke an obstacle following program of the cleaning robot stored in the memory 107, and further perform the following operations:

the sensing unit receives sensing data output by a low obstacle detection sensor in the cleaning process and judges that the obstacle is a low obstacle; and sensing data output by the low obstacle detection sensor is that the height value is smaller than the height of the cleaning robot chassis from the ground and/or a signal output by the low obstacle detection sensor is weakened. The low obstacles are mainly obstacles such as doorsills, steps and carpets.

Further, the cleaning robot includes a non-low obstacle detection sensor for detecting a non-low obstacle, and the controller 104 may be configured to invoke an obstacle following program of the cleaning robot stored in the memory 107, and further perform the following operations:

judging whether the obstacle is a short obstacle or not;

when the obstacle is judged to be a non-short obstacle, the method for enabling the cleaning robot to clean along the obstacle in the obstacle mode by the cleaning robot comprises the following steps:

the cleaning robot is driven to rotate outwards or to be static, and the cleaning robot is always away from the obstacle by a certain preset distance and cleans along the obstacle through the information feedback of the obstacle detected by the non-short obstacle detection sensor. (the sensor includes an infrared sensor, a lidar sensor, and a touch sensor)

Further, the cleaning robot controller 104 may be configured to invoke an obstacle following program of the cleaning robot stored in the memory 107, and further perform the following operations:

and when the obstacle information is judged to be acquired and the obstacle does not need to be crossed, controlling the cleaning robot to execute an obstacle crossing mode so that the cleaning robot can clean along the obstacle.

Further, the cleaning robot cooperates with a base station, the base station is used for charging the cleaning robot, the working modes of the cleaning robot include a charging mode, and the controller 104 can be used for calling the obstacle crossing program of the cleaning robot stored in the memory 107, and further executing the following operations:

receiving a low-power early warning signal;

and controlling the two mopping pieces respectively positioned at two sides of the cleaning robot in the mopping pieces to relatively rotate inwards and driving the driving wheels to enable the head of the cleaning robot to move forwards towards the base station, so that the cleaning robot enters a charging mode of charging the base station to finish charging.

Further, the cleaning robot is cooperated with a base station, the base station is used for cleaning a mop of the cleaning robot, the working mode of the cleaning robot comprises a cleaning mop mode, and the controller 104 can be used for calling an obstacle crossing program of the cleaning robot stored in the memory 107 and further executing the following operations:

receiving an early warning signal of dirt of the mopping piece;

and controlling the two mopping pieces respectively positioned at two sides of the cleaning robot in the mopping pieces to relatively rotate inwards and driving the driving wheel to enable the head of the cleaning robot to move forwards towards the base station, so that the cleaning robot enters the base station to clean the mopping pieces to complete a cleaning mopping piece mode.

The specific embodiment of the cleaning robot of the present invention is substantially the same as the following embodiments of the obstacle crossing method of the cleaning robot, and will not be described herein again.

The bottom of the cleaning robot is provided with at least two mopping pieces, the number of the mopping pieces can be 2, 4 or 6, and the mopping pieces are symmetrically distributed on two sides of the bottom of the cleaning robot.

Fig. 10 is a flowchart illustrating a cleaning control method of a cleaning robot according to a first embodiment of the present invention, the cleaning control method of the cleaning robot includes:

s10, detecting the obstacle in the cleaning process, and judging whether the obstacle information is acquired;

when the cleaning robot detects an obstacle in the cleaning process, whether the obstacle information is acquired or not is judged firstly. The obstacle information may be stored in advance by a user or acquired by the cleaning robot while walking along the obstacle.

S20, when judging that the obstacle information is not acquired, controlling the cleaning robot to execute an obstacle following cleaning mode to enable the cleaning robot to carry out cleaning along the obstacle;

and when the obstacle information is not acquired, controlling the cleaning robot to execute an obstacle cleaning mode to enable the cleaning robot to clean along the obstacle, and acquiring the position information of the obstacle through recording a path in the process of cleaning along the obstacle by the robot and storing the position information into the cleaning robot.

And S30, when the obstacle information is acquired and the obstacle needs to be crossed, controlling the cleaning robot to execute an obstacle crossing mode so that the cleaning robot crosses the obstacle.

And when the obstacle information is judged to be acquired and the obstacle needs to be crossed, controlling the cleaning robot to execute an obstacle crossing mode so that the cleaning robot crosses the obstacle. And judging whether the obstacle needs to be crossed or not, wherein the judgment is made by the task planning of the cleaning robot at the moment, and if the cleaning robot needs to enter another area or room for cleaning at the moment, the judgment is made that the obstacle needs to be crossed.

According to the scheme of the application, when the cleaning robot detects an obstacle in the cleaning process, whether the obstacle information is acquired is judged firstly. The obstacle information may be stored in advance by a user or acquired by the cleaning robot while walking along the obstacle. And when the obstacle information is not acquired, controlling the cleaning robot to execute an obstacle cleaning mode to enable the cleaning robot to clean along the obstacle, and acquiring the position information of the obstacle through recording a path in the process of cleaning along the obstacle by the robot and storing the position information into the cleaning robot. And when the obstacle information is judged to be acquired and the obstacle needs to be crossed, controlling the cleaning robot to execute an obstacle crossing mode so that the cleaning robot crosses the obstacle. And when the obstacle information is judged to be acquired and the obstacle does not need to be crossed, controlling the cleaning robot to execute an obstacle following mode so that the cleaning robot can clean along the obstacle. The cleaning robot can always lean against the barrier to walk along the barrier, and cleans the barrier beside the barrier or crosses the barrier to clean other areas. The cleaning robot with the wheel-type rotating disc can smoothly complete obstacle crossing or obstacle following work according to actual conditions when meeting obstacles in the working process.

As a specific embodiment of the present invention, the method of controlling a cleaning robot to perform a cross obstacle mode to make the cleaning robot cross the obstacle includes:

In this embodiment, the cleaning robot controls the driving wheels to adjust the position of the cleaning robot such that the head of the cleaning robot faces the obstacle. The adjustment process of the driving wheels may include a backward movement, a steering, and a posture adjustment, and the head of the cleaning robot faces the obstacle, i.e., a forward direction of the cleaning robot. When the driving wheel is driven to cross the obstacle, the two mopping pieces positioned on the two sides of the cleaning robot relatively rotate inwards to enable the received friction force to be relatively outward, and the two internally-rotated mopping pieces can perform spontaneous feedback adjustment, so that the cleaning robot can always advance in a direction perpendicular to the extending direction of the low obstacle. Therefore, the cleaning robot can avoid steering and even slipping in the crossing process, so that the cleaning robot can smoothly cross short obstacles.

Specifically, referring to the structure shown in fig. 11 and 12 as an example, after the cleaning robot is ready to cross a short obstacle, the two mopping members 110 are rotated inwards, i.e. the rotating disc rotates inwards. When looking down the robot on the ground, at this time, the right side mopping piece 110 rotates clockwise, the right side mopping piece 110 rotates counterclockwise, and the two mopping pieces 110 rotate inwards relatively, so that the friction force applied to the two mopping pieces is outward. As shown in fig. 10, when the right side of the robot is closer to the obstacle and the left side of the robot is farther from the obstacle (the forward direction of the robot is not completely perpendicular to the obstacle), the right wiping part 110 rotating counterclockwise contacts the obstacle first, the friction force F1 given to the right wiping part 110 by the obstacle is directed to one side of the right wiping part 110 of the robot, and a clockwise angular acceleration is generated on the robot, so that the left side of the robot is closer to the obstacle, and the forward direction of the robot is perpendicular to the obstacle. When the forward direction of the robot is perpendicular to the obstacle, the friction force F1 applied to the right side friction member 110 and the friction force F2 applied to the left side friction member 110 are mutually offset. In the preparation work of the robot, it may not be guaranteed that the forward direction of the cleaning robot is exactly perpendicular to the extending direction of the obstacle, but when the driving wheels 1061 are driven to cross the obstacle, the two inwardly-rotated mopping members 110 perform a spontaneous feedback adjustment, so that the cleaning robot can smoothly cross the low obstacle while advancing perpendicular to the low obstacle as much as possible.

As a further embodiment of the present invention, the method for controlling the two of the mopping parts respectively located at the two sides of the cleaning robot to relatively rotate inwards and driving the driving wheels to advance the head of the cleaning robot towards the obstacle, and the method for crossing the obstacle comprises:

In this embodiment, in the obstacle crossing process of the cleaning robot, the angle between the cleaning robot and the obstacle is determined in real time, specifically, the angle information between the head orientation of the cleaning robot and the extending direction of the obstacle is determined, and the angle information may be obtained by a gyro sensor or a laser radar. The angle information is illustrated by taking 90 degrees as an example, when the angle is 90 degrees, the advancing direction of the cleaning robot is perpendicular to the extending direction of the step, the cleaning robot is adjusted in angle by adjusting the output torque or the output speed of the two driving wheels, the angular deviation between the cleaning robot and the obstacle is always kept within a preset range, and therefore the obstacle can be smoothly crossed. Specifically, a speed difference is generated between a speed on the left side and a speed on the right side of the cleaning robot, so that the cleaning robot generates an angular acceleration, the angular acceleration enables the angular deviation between the cleaning robot and the obstacle to be always kept within a preset range, and the angular information is not limited and can be any angle.

In order to perform feedback on the adjustment of the left and right speed values of the driving mechanism according to the angle information, an angular acceleration sensor may be further disposed on the cleaning robot, and the difference between the left and right speed values of the driving wheel may cause the cleaning robot to generate an angular acceleration, which is obtained by the angular acceleration sensor. Based on the information of the angular acceleration acquired by the angular acceleration sensor, the left and right speed values of the driving wheel are fed back and adjusted, so that the purpose of closed-loop control is achieved. Wherein the angular acceleration sensor may be a gyroscope that detects a circumferential angular acceleration of the cleaning robot.

Further, the method for driving the cleaning robot and adjusting the angle of the cleaning robot to the obstacle in real time by adjusting the output torque or output speed of the two driving wheels so that the angle deviation of the cleaning robot to the obstacle is always maintained within a preset range includes:

In this embodiment, the cleaning robot is provided with an angle sensor for detecting an angle between the cleaning robot and the obstacle, and the range of angular deviation between the cleaning robot and the obstacle is reserved as β, and when the cleaning robot detects a deviation angle α > β in crossing the obstacle, the cleaning robot is provided with an angular velocity opposite to the direction of deviation of the cleaning robot to adjust the angular deviation between the cleaning robot and the obstacle to be always within the preset range β. The magnitude of the angular velocity may be determined by a preset adjustment time, and assuming that the maximum time allowed for adjusting the angle is t, the magnitude of the angular velocity ω is: ω ═ α - β)/t.

As a specific embodiment of the present invention, the method for controlling two of the mopping units respectively located at two sides of the cleaning robot to relatively rotate inwards and driving the driving wheel to advance the head of the cleaning robot towards the obstacle, and crossing the obstacle includes:

and controlling the two mopping pieces respectively positioned at two sides of the cleaning robot in the mopping pieces to relatively rotate inwards and driving the driving wheels to enable the head of the cleaning robot to move forwards towards the obstacle, and driving the cleaning robot to enable the speed of the cleaning robot to be larger than 0.1m/s when the cleaning robot crosses the obstacle.

Further, before starting the crossing, the method further comprises the following steps:

detecting a position of an obstacle;

adjusting the cleaning robot to enable the head of the cleaning robot to face the direction of the obstacle.

In this embodiment, when the position of the obstacle is determined, the driving wheels are controlled to adjust the position of the cleaning robot so that the head of the cleaning robot faces the obstacle. The adjustment process of the driving wheel can comprise backing, steering and posture adjustment, in a preferred embodiment, the head of the cleaning robot faces the obstacle, namely the forward direction of the cleaning robot is opposite to the obstacle, at present, the forward direction of the cleaning robot can be perpendicular to the extending direction of the obstacle as far as possible to prepare for crossing the obstacle, and the angle between the head of the cleaning robot and the extending direction of the obstacle can be any angle.

Further, the method of detecting the position of an obstacle includes:

and acquiring the position information of the obstacle after the cleaning robot is controlled to move around the edge of the obstacle or reading the position information of the obstacle from the acquired map information.

In the present embodiment, the map information is previously input to the cleaning robot, and the map information is information in the work area or room map information, and the cleaning robot can read the position information of the obstacle from the acquired map information. Of course, the position information read by the cleaning robot from the acquired map information is not necessarily accurate. In order to detect the position of the obstacle, the cleaning robot may acquire the position information of the obstacle after the cleaning robot makes a circle along the edge of the obstacle, and the cleaning robot may record path information to generate the position information about the obstacle.

As an optional embodiment of the present invention, the method for controlling two of the mopping units respectively located at two sides of the cleaning robot to relatively rotate inwards and driving the driving wheel to advance the head of the cleaning robot towards the obstacle, and the method for crossing the obstacle comprises:

detecting a slip of the cleaning robot while the cleaning robot is crossing an obstacle;

controlling the cleaning robot to retreat to a certain distance away from an obstacle and driving the driving wheel to enable the head of the cleaning robot to advance towards the obstacle and keep the angle deviation between the cleaning robot and the obstacle within a preset range to cross the obstacle.

In the present embodiment, after the cleaning robot touches the obstacle, the cleaning robot may not be knocked away due to the short obstacle, and the cleaning robot directly slips on the obstacle. Therefore, when the cleaning robot slips, the cleaning robot is controlled to retreat to a certain distance away from the obstacle to release the slipping state. And then driving the driving wheels to make the head of the cleaning robot advance towards the obstacle and keep the angle deviation between the cleaning robot and the obstacle within a preset range to cross the obstacle.

Further, the cleaning robot comprises a sensing unit and a rear drive motor, the rear drive motor provides driving force for driving the driving wheel to move, a positioning radar and a mileage metering device are further arranged on the cleaning robot, the positioning radar is used for determining a position point of the cleaning robot, the mileage metering device is used for recording a rotating mileage value of the driving wheel, and in the process that the cleaning robot crosses an obstacle, the method for detecting that the cleaning robot slips comprises the following steps:

when the cleaning robot performs the process of crossing the obstacle, the sensing unit receives a signal that the current output by the rear drive motor is increased or receives a signal that the rotating mileage metering value output by the driving wheel is increased and the position point of the cleaning robot is not changed.

In the present embodiment, although the driving wheels are in a rotating state, the position of the cleaning robot cannot be changed, and the current output from the rear drive motor also increases. In addition, the measured value of the cleaning robot obtained by the odometry device is changed, but the position point of the cleaning robot obtained by the positioning radar is not changed. Therefore, the sensing unit can receive a signal that the current output by the rear drive motor is increased or a signal that the rotating mileage metering value output by the driving wheel is increased and the position point of the driving wheel is not changed, determine that the cleaning robot is in a slipping state, and control the driving wheel to rotate in a direction deviating from the obstacle by a preset angle after retreating by a preset distance and advance, so that the cleaning robot can be released from the slipping state and continue to work.

Fig. 15 is a flowchart illustrating a cleaning control method of a cleaning robot according to a second embodiment of the present invention, wherein step S20 specifically includes:

s21, when the obstacle information is not obtained, judging whether the obstacle is a short obstacle or not;

and S22, when the obstacle is judged to be a short obstacle, the driving mopping piece is driven to rotate outwards or to be static, the output speed or the output torque of the driving wheel far away from the obstacle is larger than that of the driving wheel near the obstacle, and the cleaning robot is enabled to clean along the obstacle.

In the present embodiment, the short obstacle is an obstacle having a height smaller than that of the chassis of the cleaning robot, and can be cleaned by the wiper 110 provided on the chassis of the cleaning robot. When the obstacle is judged to be a short obstacle, the driving dragging piece 110 is driven to rotate outwards or to be static. When the mopping piece 110 rotates outwards, friction force is generated on an obstacle, the obstacle generates a relative reaction force on the cleaning robot, the direction of the reaction force is the same as the advancing direction of the cleaning robot, so that the head of the cleaning robot is closer to the obstacle, meanwhile, the advancing force is provided by the driving wheels, and the reaction force and the advancing force provided by the driving wheels jointly form the advancing power of the cleaning robot, so that the cleaning robot is enabled to clean along the edge of the obstacle. And controlling the output speed or the output torque of the driving wheel far away from the obstacle to be larger than the output speed or the output torque of the driving wheel near the obstacle, so that the cleaning robot cleans along the obstacle.

Referring to fig. 13 and 14, in this embodiment, since the speed or the output torque of the driving wheel 1061 on the side far from the obstacle is greater than the speed or the output torque on the side near the obstacle, a force F4 is generated to the cleaning robot to make the cleaning robot close to the obstacle, and F4 is offset by a reaction force F1 of the obstacle to the cleaning robot. When the cleaning robot moves away from the obstacle, F1 will become smaller until it disappears, and F4 generated by the driving wheel 1061 will allow the cleaning robot to approach the obstacle again. When the robot runs to a corner along an obstacle, the cleaning robot is separated from the obstacle, and the cleaning robot is only subjected to the forces F3 and F4 generated by the driving wheels 1061, F4 to turn towards the direction close to the obstacle, continue to close and work along the obstacle after turning.

In addition, the cleaning robot comprises a sensing unit, a driving force for advancing the cleaning robot is provided in the process of controlling the cleaning robot to clean along the edge of the obstacle, and the sensing unit controls the cleaning robot to deviate from or approach the obstacle by receiving the change of sensing data so that the cleaning robot always cleans along the obstacle; the change of the perception data is the increase or decrease of the signal or the change of the signal from the absence to the presence or from the presence to the absence. In this embodiment, the sensing unit may perform feedback adjustment on the driving wheel by determining parameters such as a distance between the cleaning robot and the obstacle, an included angle between the cleaning robot and the obstacle, and the sensing data changes with a change in a relative positional relationship between the cleaning robot and the obstacle, and the change in the sensing data may become an increase or decrease in a signal, or a signal from absence to presence or from presence to absence, so as to perform real-time adjustment on the cleaning robot, and keep the cleaning robot walking along the obstacle.

As a preferred embodiment of the present invention, the cleaning robot includes a low obstacle detection sensor disposed on a chassis of the cleaning robot in front of a mop and at a corner between both side edges of the cleaning robot and a front end of the cleaning robot, the low obstacle detection sensor is configured to detect a low obstacle, an obstacle having an obstacle height smaller than a height of the chassis of the cleaning robot from a floor surface is defined as the low obstacle, a driving force for providing a forward movement of the cleaning robot is provided, and the sensing unit receives a change in sensing data to control the cleaning robot to deviate from or approach the obstacle so that the cleaning robot always performs cleaning along the obstacle, the method includes:

the sensing unit controls the cleaning robot to deviate from the obstacle by a preset distance and clean along the obstacle when receiving first sensing data output by the low obstacle detection sensor,

the first sensing data represents a signal when the low obstacle detection sensor detects a low obstacle, and the sensing unit controls the cleaning robot to approach the obstacle for cleaning when receiving second sensing data output by the low obstacle detection sensor;

the second sensing data represents a signal when the short obstacle detection sensor does not detect a short obstacle, and the cleaning robot is controlled to deviate from the obstacle by a preset distance and clean along the obstacle until the first sensing data output by the short obstacle detection sensor is received, and the step is repeated repeatedly to clean the cleaning robot along the obstacle; wherein the first perception data is larger than the second perception data, or the second perception data is larger than the first perception data; or when the first sensing data is 0, the second sensing data is not equal to 0; or when the second sensing data is 0, the first sensing data is not equal to 0.

In this embodiment, the cleaning robot controls the cleaning robot to deviate from or approach the obstacle through the sensing unit. When the cleaning robot touches an obstacle, first sensing data can be obtained; when the cleaning robot deviates from the obstacle, second perception data is obtained. The low obstacle detection sensor is arranged on the chassis of the cleaning robot and is arranged in front of the mopping piece and at a corner between two side edges of the cleaning robot and the front end of the cleaning robot, so that the low obstacle detection sensor can be in contact with a low obstacle and generates first sensing data to the sensing unit. The cleaning robot determines the position of the obstacle through the first sensing data, and controls the cleaning robot to deviate from the obstacle by a preset distance and clean along the obstacle when receiving the first sensing data.

Wherein the obstacle with the height smaller than the height of the cleaning robot chassis from the ground is defined as a low obstacle. When the cleaning robot receives sensing data in the cleaning process, the sensing unit judges that the obstacle is a short obstacle, the speed of the driving wheel far away from the obstacle is controlled to be higher than that of the driving wheel near the obstacle, and the cleaning robot is enabled to clean along the obstacle. Low obstacles may include obstacles such as carpet, low steps, door frame flanges, etc.

As a preferred embodiment of the present invention, the cleaning robot includes a cleaning driving motor, the cleaning driving motor provides power for movement of the mop, and the method for determining that the obstacle is a short obstacle by receiving sensing data by the sensing unit during cleaning includes:

the sensing unit receives sensing data output by the cleaning driving motor in the cleaning process and judges that the obstacle is a short obstacle; wherein, the sensing data output by the cleaning driving motor is the current increase of the worm motor and/or the rotating speed reduction of the worm motor.

In this embodiment, since the cleaning robot may touch the obstacle during the process of detecting the obstacle, when the mopping unit touches the obstacle, the output data of the cleaning driving motor may change, and the sensing unit receives the sensing data output by the cleaning driving motor to determine that the obstacle is a short obstacle. The cleaning driving motor is preferably a worm motor, and the sensing data output by the cleaning driving motor is current increase of the worm motor and/or rotating speed reduction of the worm motor.

As an optional embodiment of the present invention, the cleaning robot includes an acceleration sensor, and the method for determining that the obstacle is a short obstacle by receiving sensing data by the sensing unit during the cleaning process includes:

In this embodiment, the obstacle will give the cleaning robot a reaction force when the cleaning robot collides with the obstacle, so that the acceleration of the cleaning robot is changed, and the acceleration can be obtained by measuring the rotation speed of the wiping member or the movement of the entire cleaning robot. And if the sensing data output by the acceleration sensor is that the fluctuation range of the acceleration value of the cleaning robot exceeds a preset value, the sensing unit receives the sensing data output by the acceleration sensor and judges that the obstacle is a short obstacle. Further, the shape of the mop may be triangular, and the acceleration sensor measures the acceleration change by being disposed on the mop. The triangular dragging piece and the obstacle can generate larger obstruction when colliding, so that the fluctuation range of the acceleration value exceeds a preset value, and the sensing unit receives sensing data output by the acceleration sensor and judges that the obstacle is a short obstacle.

Further, the cleaning robot includes a short obstacle detection sensor, the short obstacle detection sensor is disposed on the chassis of the cleaning robot and disposed in front of the mopping member and at a corner between two side edges of the cleaning robot and the front end of the cleaning robot, the short obstacle detection sensor is used for detecting a height of the chassis of the cleaning robot from the ground and/or detecting a hardness of an obstacle below the cleaning robot, and the method for determining that the obstacle is a short obstacle by the sensing unit receiving the sensing data in the cleaning process includes:

In this embodiment, the cleaning robot includes a short obstacle detection sensor, the short obstacle detection sensor is disposed on the chassis of the cleaning robot and is disposed in front of the mopping member and at a corner between two side edges of the cleaning robot and the front end of the cleaning robot, and the short obstacle detection sensor can detect a height of the chassis of the cleaning robot from the ground and/or a hardness of an obstacle below the cleaning robot. The low obstacle detection sensor may be an ultrasonic detector that detects an obstacle by emitting a sound wave, and determines a low obstacle when the sensing data indicates a signal reduction. The low obstacle detection sensor can also be an infrared detector, the height of the obstacle can be measured through the infrared detector, and when the detected height value is smaller than the height of the cleaning robot chassis from the ground, the low obstacle is judged.

As a specific implementation manner of the embodiment of the present invention, the method for enabling the cleaning robot to clean along the obstacle includes:

continuously providing the cleaning robot with a preset angular speed value;

In the present embodiment, in order to enable the cleaning robot to walk against (along) the obstacle, a preset angular velocity value is continuously provided to the cleaning robot, and when the angular velocity of the cleaning robot is 0, the preset angular velocity value is greater than 0; so that the head part faces the obstacle and gradually approaches the obstacle during the walking process of the cleaning robot. When the angular speed of the cleaning robot is greater than 0, the angular speed output value is greater than or equal to the angular speed preset value; and controlling the cleaning robot to continuously adjust the cleaning robot by outputting the angular speed output value so that the speed of the driving wheel far away from the obstacle is higher than that of the driving wheel near the obstacle. So that the cleaning robot generates a force F4, F4 to bring the cleaning robot close to the obstacle, which counteracts the obstacle's reaction force F1 against the cleaning robot. When the cleaning robot is far away from the obstacle, F1 will be smaller until disappearing, and F4 generated by the driving wheel will enable the cleaning robot to approach the obstacle again. When the robot runs to a corner along an obstacle, the cleaning robot is separated from the obstacle, and the cleaning robot is only subjected to forces F3, F4 and F4 generated by the driving wheels to turn towards the direction close to the obstacle and continue to close and work along the obstacle after turning.

Further, the cleaning robot comprises a sensing unit and a rear drive motor, the rear drive motor provides driving force for driving the driving wheels to move, the speed of the driving wheel far away from the obstacle is controlled to be higher than that of the driving wheel near the obstacle, and the method for enabling the cleaning robot to clean along the obstacle comprises the following steps:

In this embodiment, the cleaning robot includes a sensing unit and a rear-drive motor, and provides a driving force for driving the driving wheel to move through the rear-drive motor. During the cleaning process, the mopping piece of the cleaning robot can be hung on an obstacle, so that the driving wheel cannot move forward continuously. Although the driving wheel is in a rotating state, the position of the cleaning robot cannot be changed, and the current output by the rear drive motor is increased. Therefore, the sensing unit can receive a signal that the current output by the rear drive motor is increased or a signal that the rotating mileage metering value output by the driving wheel is increased and the position point of the driving wheel is not changed, determine that the cleaning robot is in a slipping state, and control the driving wheel to rotate in a direction deviating from the obstacle by a preset angle after retreating by a preset distance and advance, so that the cleaning robot can be released from the slipping state and continue to work.

Further, the method for controlling the cleaning robot to clean along the edge of the obstacle comprises the following steps:

In this embodiment, the cleaning robot detects that the execution of the edgewise cleaning is finished during the working process, and executes another cleaning strategy after the execution of the edgewise cleaning is finished. Such as crossing obstacles, returning to base station charging, etc.

Further, the method for detecting the end of the edge cleaning executed by the method comprises the following steps:

In this embodiment, the cleaning robot ensures that the edge of the obstacle is cleaned at least once along the obstacle, and then performs the edge cleaning operation, and starts another cleaning strategy.

As an embodiment of the invention, the mopping member can move in a variety of ways, either rotating, stationary, or horizontally reciprocating relative to the ground. When the mopping piece is in a rotating state, the rotating speed of the mopping piece is less than 100r/min, so that the phenomenon that the rotating speed is too high to cause the mopping piece to collide with an obstacle violently can be avoided.

Further, during the edgewise cleaning process of the cleaning robot, the rotation direction meets the condition that the movement direction of one side of the mopping piece close to the obstacle is opposite to the advancing direction of the cleaning robot.

Fig. 16 is a flowchart illustrating a cleaning control method of a cleaning robot according to a third embodiment of the present invention, wherein step S20 specifically includes:

and S23, when the obstacle is judged to be a non-short obstacle, the dragging piece is driven to rotate outwards or to be static, and the cleaning robot is always kept at a certain preset distance from the obstacle and cleans along the obstacle through the information feedback of the obstacle detected by the non-short obstacle detection sensor.

In this embodiment, the non-short obstacle is an obstacle having a height greater than the chassis of the cleaning robot. And when the obstacle is judged to be a non-low obstacle, the dragging piece is driven to rotate outwards or to be static. When the mopping piece rotates outwards, friction force can be generated on the obstacle, the obstacle generates a relative reaction force on the cleaning robot, the direction of the reaction force is the same as the advancing direction of the cleaning robot, the head of the robot is closer to the obstacle, meanwhile, the advancing force is provided by the driving wheels, and the reaction force and the advancing force provided by the driving wheels jointly form the advancing power of the cleaning robot, so that the cleaning robot is enabled to clean along the edge of the obstacle. Meanwhile, the cleaning robot is always away from the obstacle by a certain preset distance through the information feedback of the obstacle detected by the non-short obstacle detection sensor and cleans along the obstacle. The non-low obstacle detection sensor comprises an infrared sensor, a laser radar sensor and a touch sensor

Fig. 17 is a schematic flowchart of a cleaning control method for a cleaning robot according to a fourth embodiment of the present invention, in which the cleaning robot is cooperated with a base station, the base station is used for charging the cleaning robot, the working mode of the cleaning robot includes a charging mode, and the cleaning control method for the cleaning robot further includes:

s40, receiving a low-power early warning signal;

and S50, controlling the two mopping pieces respectively positioned at two sides of the cleaning robot in the mopping pieces to relatively rotate inwards and driving the driving wheels to enable the head of the cleaning robot to move forwards towards the base station, and enabling the cleaning robot to enter a charging mode of completing charging of the base station.

In this embodiment, the cleaning robot is provided with a base station for charging the cleaning robot, the cleaning robot can detect the electric quantity of the cleaning robot during the working process, and when the low-electric-quantity early warning signal is received, the two mopping pieces respectively located at two sides of the cleaning robot in the mopping pieces are controlled to relatively rotate inwards and drive the driving wheels to enable the head of the cleaning robot to move forwards towards the base station, so that the cleaning robot enters a charging mode in which the base station is charged.

Fig. 18 is a schematic flow chart of a fifth embodiment of the cleaning control method for a cleaning robot according to the present invention, in which a base station is further configured to clean a mop of the cleaning robot, the working mode of the cleaning robot includes a cleaning mop mode, and the cleaning control method for a cleaning robot further includes:

s60, receiving a dirty early warning signal of the mopping piece;

and S70, controlling the two mopping pieces respectively positioned at two sides of the cleaning robot in the mopping pieces to relatively rotate inwards and driving the driving wheels to enable the head of the cleaning robot to move forwards towards the base station, and enabling the cleaning robot to enter the base station to clean the mopping pieces to finish the mopping piece cleaning mode.

In this embodiment, the base station is further configured to clean the mopping piece of the cleaning robot, and when the cleaning robot receives an early warning signal that the mopping piece is dirty, the cleaning robot returns to the base station to clean the mopping piece, specifically, the base station controls two mopping pieces located on two sides of the cleaning robot in the mopping pieces to relatively rotate inwards and drives the driving wheels to make the head of the cleaning robot advance toward the base station, so that the cleaning robot enters the base station to clean the mopping piece, and the cleaning robot completes a cleaning mopping piece mode. The early warning signal of the dirt of the mopping piece can be determined according to the working time of the cleaning robot, for example, the mopping piece is considered to be dirty and needs to be cleaned after each preset working time period.

Further, in the process that the cleaning robot returns to the base station, the method for controlling the two mopping pieces respectively positioned at the two sides of the cleaning robot to relatively rotate inwards and driving the driving wheels to enable the head of the cleaning robot to advance towards the base station comprises the following steps:

In this embodiment, since the cleaning robot may need to cross a short obstacle or a bottom plate of the base station in the process of returning to the base station, the cleaning robot detects the angle between the cleaning robot and the obstacle in real time, and adjusts the output torques or the output speeds of the two driving wheels in real time so that the angular deviation between the cleaning robot and the obstacle is always kept within a preset range. The angle between the cleaning robot and the obstacle is that the head of the cleaning robot is perpendicular to the obstacle as much as possible so as to carry out obstacle crossing. The cleaning robot can adjust the angle by adjusting the output torque or the output speed of the two driving wheels, and the angular deviation between the cleaning robot and the obstacle is always kept within a preset range, so that the obstacle can be smoothly crossed. Specifically, a speed difference is generated between the speed of the left side of the cleaning robot and the speed of the right side of the cleaning robot, so that the cleaning robot generates an angular acceleration which enables the angular deviation of the cleaning robot and the obstacle to be always kept within a preset range.

A sixth embodiment of the cleaning control method of a cleaning robot according to the present invention, the cleaning control method of a cleaning robot further includes:

when it is determined that the obstacle information is acquired and it is determined that the obstacle does not need to be crossed, the cleaning robot is controlled to execute an obstacle following mode to clean the cleaning robot along the obstacle, and specific embodiments of the cleaning robot to execute the obstacle following mode to clean the cleaning robot along the obstacle are described in the first to fifth embodiments, which are not described herein again.

Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, in which a cleaning control program of a cleaning robot is stored, and the cleaning control program, when executed by a processor, implements the steps of the embodiments of the cleaning control method of the cleaning robot.

The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the cleaning control method for a cleaning robot, and will not be described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on this understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a robot to perform the methods according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A method for cleaning along an obstacle of a cleaning robot, wherein the cleaning robot is provided at a bottom thereof with at least one mopping member and driving wheels capable of driving the cleaning robot to advance or retreat, the method comprising: when an obstacle is detected in the cleaning process, controlling the cleaning robot to clean along the edge of the obstacle;

the method for controlling the cleaning robot to clean along the edge of the obstacle comprises the following steps:

the cleaning robot drives the mopping piece to rotate outwards or to be static, and a forward driving force is provided for the cleaning robot;

the obstacle following cleaning method of the cleaning robot further includes:

when an obstacle is detected in the cleaning process, the output speed or the output torque of the driving wheel far away from the obstacle is larger than that of the driving wheel close to the obstacle, so that the cleaning robot cleans along the obstacle;

the obstacle is a low obstacle, and the low obstacle is an obstacle with the height smaller than the height of the chassis of the cleaning robot from the ground.

2. A method of cleaning along an obstacle by a cleaning robot as claimed in claim 1, wherein the cleaning robot includes a sensing unit, the driving wiper is rotated outward or is stationary, and after the step of providing a forward driving force to the cleaning robot, the method further comprises:

the sensing unit receives the change of sensing data to control the cleaning robot to deviate or approach the obstacle so that the cleaning robot always cleans along the obstacle; the change of the perception data is the increase or decrease of the signal or the change of the signal from the absence to the presence or from the presence to the absence.

3. The obstacle following cleaning method of a cleaning robot according to claim 2, wherein the cleaning robot includes a low obstacle detecting sensor provided on a chassis of the cleaning robot in front of a mop and at a corner between both side edges of the cleaning robot and a front end of the cleaning robot, the low obstacle detecting sensor being for detecting a low obstacle, the driving force providing a forward movement of the cleaning robot, the sensing unit controlling the cleaning robot to deviate from or approach the obstacle by receiving a change in sensing data so that the cleaning robot always performs cleaning along the obstacle, the method comprising:

4. The along-obstacle cleaning method of a cleaning robot according to claim 1, wherein the cleaning robot includes a sensing unit, the along-obstacle cleaning method of a cleaning robot includes:

and in the cleaning process, the sensing unit receives sensing data to judge that the obstacle is a short obstacle, controls the speed or the output torque of the driving wheel far away from the obstacle to be larger than the speed or the output torque of the driving wheel near the obstacle, so that the cleaning robot cleans along the obstacle, and defines the obstacle with the height smaller than the height of the chassis of the cleaning robot from the ground as the short obstacle.

5. The method of claim 4, wherein the cleaning robot includes a cleaning driving motor for providing power to move the mop, and the method of determining the obstacle as a short obstacle by the sensing unit receiving the sensing data during the cleaning process includes:

6. The obstacle following cleaning method of a cleaning robot according to claim 4 or 5, wherein the cleaning robot includes an acceleration sensor, and the method of determining that the obstacle is a short obstacle by receiving sensing data by the sensing unit during cleaning includes:

7. The method as claimed in claim 4 or 5, wherein the cleaning robot includes a low obstacle detecting sensor disposed on a chassis of the cleaning robot in front of the mopping member and at a corner between two side edges of the cleaning robot and a front end of the cleaning robot, the low obstacle detecting sensor is used for detecting a height of the chassis of the cleaning robot from a floor and/or detecting a hardness of an obstacle under the cleaning robot, and the method for determining the obstacle as a low obstacle by the sensing unit receiving the sensing data during the cleaning process includes:

8. The method for cleaning along an obstacle of a cleaning robot according to claim 4 or 5, wherein the method for judging the obstacle as a short obstacle by receiving the sensing data by the sensing unit in the cleaning process comprises:

9. The along-obstacle cleaning method of a cleaning robot according to claim 1 or 4, wherein the method of controlling the speed or the output torque of the drive wheel on the side away from the obstacle to be larger than the speed or the output torque of the drive wheel on the side close to the obstacle, so that the cleaning robot performs cleaning along the obstacle comprises:

continuously providing the cleaning robot with a preset angular speed value;

10. A method of cleaning along an obstacle by a cleaning robot according to claim 9, wherein the cleaning robot includes a sensing unit and a rear drive motor, the rear drive motor provides a driving force for movement of a driving wheel, a speed or an output torque of the driving wheel on a side away from the obstacle is controlled to be greater than a speed or an output torque of the driving wheel on a side close to the obstacle, and the method of cleaning along the obstacle by the cleaning robot includes:

11. Method for obstacle following cleaning of a cleaning robot according to any of claims 1-5, characterised in that the method step of controlling the cleaning robot to clean along an obstacle edge is followed by:

12. The obstacle following cleaning method of a cleaning robot according to claim 11, wherein the method of detecting that it performs the edge following cleaning end includes:

13. The obstacle following cleaning method of a cleaning robot according to claim 11, wherein the method of detecting that it performs the edge following cleaning end includes:

14. The along-obstacle cleaning method of a cleaning robot according to any one of claims 1 to 5, wherein the method of controlling the cleaning robot to perform cleaning along an obstacle edge includes:

the rotating speed of the mopping piece is less than 100 r/min.

15. A method for cleaning along an obstacle by a cleaning robot as claimed in any one of claims 1 to 5, wherein the direction of rotation is such that the direction of movement of the wiper member on the side thereof adjacent the obstacle is opposite to the direction in which the cleaning robot is advanced.

16. A cleaning robot comprising a processor, a memory, and an obstacle following program of the cleaning robot stored on the memory and executable by the processor, wherein the obstacle following program of the cleaning robot when executed by the processor implements the steps of the obstacle following cleaning method of the cleaning robot according to any one of claims 1 to 15.

17. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an obstacle following program of a cleaning robot, which when executed by a processor implements the steps of the obstacle following cleaning method of a cleaning robot according to any one of claims 1 to 15.