CN116115118A - A cleaning robot and its control method - Google Patents

Abstract

The embodiment of the present application discloses a cleaning robot. Including positioning and navigation module, multi-sensor module, motion control module, path planning module and upper application APP module; multi-sensor module includes multiple sensors; multi-sensor module is used to monitor the position and posture of the cleaning robot in the world coordinate system and its surroundings The physical environment information is collected for map construction and robot pose estimation; the positioning and navigation module is used to receive the data sent by the multi-sensor module to construct the motion observation equation of the cleaning robot according to the received data; the path planning module is based on the constructed The map and the current pose of the cleaning robot are used for path planning and obstacle avoidance; the motion control module is used to receive the path information sent by the path planning module to control the movement of the cleaning robot in real time based on the path information; the upper layer application APP module and The cleaning robot is wired or wirelessly connected for remote control of the cleaning robot.

Description

A cleaning robot and its control method

technical field

The present application relates to the technical field of robots, in particular to a cleaning robot and a control method thereof.

Background technique

With the development of artificial intelligence interaction methods such as robot perception, robot navigation and positioning, path planning, robot control algorithms, battery and power management technology, robot power drive technology, and machine vision, the scene perception and human-computer interaction capabilities of service robots have been improved. It has been greatly improved, and the application in many scenarios has been implemented.

With the intensification of population aging and the low willingness of the new generation to engage in the cleaning industry, the impact of various factors such as rising labor costs will inevitably lead to increasing labor conflicts in the cleaning industry. Especially in recent years, there has been a shortage of cleaning personnel in many public scenes such as airports, hospitals, and office areas, resulting in low cleaning efficiency and high cleaning costs in public places.

Contents of the invention

The embodiment of the present application provides a cleaning robot and its control method, which are used to solve the following technical problems: there is a shortage of cleaning personnel in public scenes, resulting in low cleaning efficiency and high cleaning costs in public places .

The embodiment of the application adopts the following technical solutions:

An embodiment of the present application provides a cleaning robot. Including, positioning and navigation module, multi-sensor module, motion control module, path planning module and upper application APP module; multi-sensor module includes multiple sensors; The surrounding physical environment information is collected for map construction and robot pose estimation; the positioning and navigation module is used to receive the data sent by the multi-sensor module to construct the motion observation equation of the cleaning robot according to the received data; the path planning module is based on the construction The map and the current pose of the cleaning robot are used for path planning and obstacle avoidance; the motion control module is used to receive the path information sent by the path planning module to control the movement of the cleaning robot in real time based on the path information; the upper layer application APP module Wired or wireless connection with the cleaning robot for remote control of the cleaning robot.

In the embodiment of the present application, by setting a positioning navigation module, a multi-sensor module, a motion control module, a path planning module, and an upper-layer application APP module, the perception calculation of the clean environment, the automatic planning of the cleaning path, and the real-time control of the underlying motion module are realized. It provides safe and reliable technical capabilities for the driving of cleaning robots. Secondly, a variety of sensors can conduct all-round real-time health monitoring of the motion module, power, water, etc. In addition, the robot can perform real-time environmental perception of the external environment and issue an alarm for abnormal information. In addition, the cleaning robot in the embodiment of the present application is liberated to a certain extent and saves manpower, which not only improves the cleaning efficiency, but also reduces the cleaning cost.

In an implementation manner of the present application, the multi-sensor module includes at least one of a laser radar, a depth camera module, a speed odometer, an IMU inertial measurement unit, and an ultrasonic wave.

In one implementation of the present application, the motion control module at least includes a motor motion control unit, a power conversion unit, and a motor unit; the motion control module controls the servo driver of the chassis of the cleaning robot after receiving the robot motion command.

In an implementation manner of the present application, the cleaning robot further includes a task report module; the task report module is used to record the cleaning task information of the cleaning robot in real time; wherein, the cleaning task information includes at least the duration of the cleaning process, the water consumption , electricity consumption, cleaning area, and cleaning efficiency; and the cleaning report displays the completion status of the current cleaning task through a map view; wherein, the completion status of the current cleaning task includes at least the complete cleaning path, completed One of the cleaned area information and the uncleaned area information.

In an implementation manner of the present application, the upper-layer application APP module is used to receive robot cleaning task information uploaded by the user; and the upper-layer application APP module is used to receive cleaning task feedback information sent by the cleaning robot.

In an implementation manner of the present application, the cleaning robot also includes a ground detection module; the ground detection module includes a camera and an image analysis unit; the camera is used to capture the ground image of the current cleaning area, and upload the captured image to An image analysis unit; the image analysis unit is used to analyze the received ground image, so as to determine the movement mode information of the cleaning robot according to the identified ground material information, and send the movement mode information to the motion control module.

An embodiment of the present application provides a method for controlling a cleaning robot. Including: through the multi-sensor module of the cleaning robot, collect the pose of the cleaning robot in the world coordinate system and the surrounding physical environment information for map construction and robot pose estimation; through the positioning and navigation module of the cleaning robot, receive multi-sensor The data sent by the module is to construct the motion observation equation of the cleaning robot according to the data; through the path planning module of the cleaning robot, based on the constructed map and the current pose of the cleaning robot, path planning and obstacle avoidance are performed; The motion control module controls the movement of the cleaning robot in real time; the cleaning robot is remotely controlled through the upper application APP module of the cleaning robot; wherein, the upper application APP module is wired or wirelessly connected to the cleaning robot.

In one implementation of the present application, the positioning and navigation module of the cleaning robot is used to model and estimate the motion observation equation of the cleaning robot, which specifically includes: using the positioning and navigation module of the cleaning robot, based on the depth camera and the laser radar respectively corresponding Measure the data, extract and optimize the key frame to construct the motion observation equation of the cleaning robot; through the positioning and navigation module of the cleaning robot, based on the least square method, the error calculation is performed on the motion observation equation of the cleaning robot to estimate the motion of the cleaning robot Observation equations are error-handled.

In an implementation manner of the present application, after collecting the pose and the surrounding physical environment information of the cleaning robot in the world coordinate system, the method further includes: in the case of abnormal data in the collected information, installing it on the cleaning robot and the multi-sensor module of the cleaning robot uploads the abnormal data to the upper-layer App application, so as to send an alarm message to the current user through the upper-layer App application.

In one implementation of the present application, the map construction specifically includes: using the multi-sensor module of the cleaning robot, based on the SLAM algorithm, processing the pose and the surrounding physical environment information of the cleaning robot in the world coordinate system to obtain information based on The processed data is used to construct maps.

The at least one technical solution adopted in the embodiment of the present application can achieve the following beneficial effects: the embodiment of the present application realizes the perception of a clean environment by setting a positioning navigation module, a multi-sensor module, a motion control module, a path planning module, and an upper-layer application APP module Calculation, automatic decision-making and planning of cleaning paths, and real-time control of the underlying motion modules provide safe and reliable technical capabilities for the driving of cleaning robots. Secondly, a variety of sensors can conduct all-round real-time health monitoring of the motion module, power, water, etc. In addition, the robot can perform real-time environmental perception of the external environment and issue an alarm for abnormal information. In addition, the cleaning robot in the embodiment of the present application is liberated to a certain extent and saves manpower, which not only improves the cleaning efficiency, but also reduces the cleaning cost.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in this application. Those skilled in the art can also obtain other drawings based on these drawings without any creative effort. in the attached

In the picture:

FIG. 1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application;

Fig. 2 is a flow chart of a cleaning robot control method provided by an embodiment of the present application.

Detailed ways

An embodiment of the present application provides a machine control method for a cleaning robot.

In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described The embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments of this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

With the development of artificial intelligence interaction methods such as robot perception, robot navigation and positioning, path planning, robot control algorithms, battery and power management technology, robot power drive technology, and machine vision, the scene perception and human-computer interaction capabilities of service robots have been improved. It has been greatly improved, and the application in many scenarios has been implemented.

With the intensification of population aging and the low willingness of the new generation to engage in the cleaning industry, the impact of various factors such as rising labor costs will inevitably lead to increasing labor conflicts in the cleaning industry. Especially in recent years, due to the impact of the new coronavirus epidemic, there has been a shortage of cleaning personnel in airports, hospitals, office areas and other public scenes, resulting in low cleaning efficiency and high cleaning costs in public places.

In order to solve the above problems, an embodiment of the present application provides a cleaning robot machine control method. By setting the positioning navigation module, multi-sensor module, motion control module, path planning module and upper application APP module, the perception calculation of the cleaning environment, the automatic planning of the cleaning path, and the real-time control of the underlying motion module are realized. The ride provides a safe and reliable technical capability. Secondly, a variety of sensors can conduct all-round real-time health monitoring of the motion module, power, water, etc. In addition, the robot can perform real-time environmental perception of the external environment and issue an alarm for abnormal information. In addition, the cleaning robot in the embodiment of the present application is liberated to a certain extent and saves manpower, which not only improves the cleaning efficiency, but also reduces the cleaning cost.

The technical solutions proposed in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application. As shown in Figure 1, the cleaning robot includes a positioning and navigation module, a multi-sensor module, a motion control module, a path planning module, and an upper-layer application APP module. The multi-sensor module includes multiple sensors; the multi-sensor module is used to collect the pose of the cleaning robot in the world coordinate system and the surrounding physical environment information for map construction and robot pose estimation. The positioning and navigation module is used to receive the data sent by the multi-sensor module, so as to construct the motion observation equation of the cleaning robot according to the received data. The path planning module performs path planning and obstacle avoidance according to the constructed map and the current pose of the cleaning robot. The motion control module is configured to receive the path information sent by the path planning module, so as to control the movement of the cleaning robot in real time based on the path information. The upper application APP module is connected with the cleaning robot by wire or wirelessly for remote control of the cleaning robot.

In an embodiment of the present application, the multi-sensor module includes at least one of a laser radar, a depth camera module, a speed odometer, an IMU inertial measurement unit, and an ultrasonic wave.

Specifically, the cleaning robot in the embodiment of the present application includes a positioning and navigation module, a multi-sensor module, a motion control module, a path planning module, and an upper-layer application APP module. The multi-sensor module includes a variety of sensors such as laser radar, depth camera module, speed odometer, IMU inertial measurement unit and ultrasonic, which are used to collect the pose of the robot in the world coordinate system and the surrounding physical environment information, and complete map construction and Robot pose estimation, perception and judgment of obstacles on the way. The positioning and navigation module models and estimates the motion and observation equations of the robot. The path planning module completes path planning, obstacle avoidance, and optimal path planning through the constructed map and the current pose of the robot. The motion control module is equipped with a power management module, a motor driver, and a servo motor to control the flexible movement of the intelligent cleaning robot in real time.

Further, the multi-sensor module includes a variety of sensor modules such as lidar, depth camera module, speed odometer, IMU inertial measurement unit and ultrasonic. Collect the coordinates of the robot and the surrounding physical environment information, complete the map construction and state estimation of the robot position, and realize real-time mapping and positioning.

Furthermore, the positioning and navigation module realizes the integration of the measurement data of the depth camera and the laser radar, extracts and optimizes key frames, constructs the motion and observation equations of the robot, and uses the least square method for error estimation to obtain a more accurate kinematics model. imitate the real. At the same time, by analyzing and extracting local environmental information and global mapping data, it is passed to the path planning module.

Furthermore, the path planning module analyzes and processes the motion of the robot to realize the path planning and the sensory obstacle avoidance function of the physical environment. Firstly, it receives the data from the perception computing module, plans the navigation route and avoids obstacles, completes the planning of the cleaning path, and at the same time sends the above control information to the motion control module of the robot.

Furthermore, the upper-level application App module in the embodiment of the present application customizes the cleaning task through a smart phone or a tablet computer, realizes the autonomous cleaning function and remote control of the cleaning robot, and realizes real-time feedback on the cleaning process, etc. Secondly, the cleaning robot in the embodiment of the present application records the cleaning process and related data in the form of a task report, and records the cleaning path in the form of a map. Through the above intuitive and concise presentation form, customers can understand the entire cleaning process and meet daily needs. Human-computer interaction business needs.

In one embodiment of the present application, the cleaning robot further includes a ground detection module. The ground detection module includes a camera device and an image analysis unit. The camera device is used to shoot the ground image of the current cleaning area, and upload the captured image to the image analysis unit. The image analysis unit is used to analyze the received ground image to determine the movement mode information of the cleaning robot according to the identified ground material information, and send the movement mode information to the motion control module.

Specifically, the floor detection module of the cleaning robot automatically detects the floor surface, from carpet to hard floor, or from hard floor to carpet, and it will automatically adjust the speed and suction for better cleaning.

Specifically, the camera device in the ground detection module can capture the ground image of the cleaning area in real time, and upload the captured ground image to the image analysis unit. After receiving the ground image, the image analysis unit analyzes the image to determine the material of the ground in the image. Based on different materials, determine the corresponding driving speed and suction force of the current cleaning robot, and send the corresponding driving speed and suction force to the motion control module, so as to adjust the robot's running speed and cleaning suction through the motion control module.

In one embodiment of the present application, the motion control module at least includes a motor motion control unit, a power conversion unit and a motor unit. The motion control module controls the servo driver of the chassis of the cleaning robot after receiving the robot motion instruction.

Specifically, the motion control module includes an installed motor motion control unit, a power conversion module and a motor module. By receiving the instruction signal from the path planning module, it controls the servo drive of the robot chassis, and completes the operation of driving the motor module, starting and stopping, and speed control instructions.

In one embodiment of the present application, the cleaning robot further includes a task reporting module. The task report module is used to record the cleaning task information of the cleaning robot in real time; wherein, the cleaning task information includes at least one of the cleaning time, water consumption, electricity consumption, cleaning area and cleaning efficiency. And the cleaning report shows the completion of the current cleaning task through the map view. Wherein, the completion status of the current cleaning task includes at least one of the complete cleaning path, cleaned area information, and uncleaned area information.

In one embodiment of the present application, the upper-layer application APP module is used to receive robot cleaning task information uploaded by users. And the upper application APP module is used to receive the cleaning task feedback information sent by the cleaning robot.

Specifically, the cleaning robot in the embodiment of the present application records cleaning task information in the form of a task report. There is a detailed record and real-time feedback on the time spent in the cleaning process, water consumption, electricity consumption, cleaning area, and cleaning efficiency. In addition, the cleaning report shows the complete cleaning path, cleaned area, uncleaned area, etc. of the entire cleaning task in the form of a map view, providing users with a brief and intuitive cleaning report.

Fig. 2 is a flow chart of a cleaning robot control method provided by an embodiment of the present application. As shown in Figure 2, the cleaning robot control method includes the following steps:

S101. Using the multi-sensor module of the cleaning robot, collect the pose of the cleaning robot in the world coordinate system and the surrounding physical environment information, so as to construct a map and estimate the pose of the robot.

In one embodiment of the present application, the pose of the cleaning robot in the world coordinate system and the surrounding physical environment information are processed based on the SLAM algorithm through the multi-sensor module of the cleaning robot to construct a map based on the processed data.

Specifically, the embodiment of the present application realizes the autonomous navigation and positioning function of the robot through the laser radar and the navigation and positioning algorithm, and realizes the environmental perception ability of pedestrians, vehicles, and other obstacles through machine vision and other artificial intelligence technologies, which improves the autonomous navigation of the robot to a certain extent. ability. Through the self-developed chassis, the robot can drive smoothly and respond quickly, covering various application scenarios, especially in complex environments such as underground garages and shopping malls, and can perform cleaning functions normally. By installing sensors such as lidar and depth cameras, the cleaning robot can monitor the surrounding environment in real time, and process the data obtained by the sensor through the SLAM algorithm to build a map. On the basis of the environmental map, the global path planning of the cleaning robot can be realized.

S102. Receive data sent by the multi-sensor module through the positioning and navigation module of the cleaning robot, so as to construct a motion observation equation of the cleaning robot according to the data.

In one embodiment of the present application, key frames are extracted and optimized based on the measurement data corresponding to the depth camera and the laser radar through the positioning and navigation module of the cleaning robot, so as to construct the motion observation equation of the cleaning robot. Through the positioning and navigation module of the cleaning robot, based on the least squares method, the error calculation is performed on the motion observation equation of the cleaning robot, so as to perform error processing on the motion observation equation of the cleaning robot.

Specifically, through the positioning and navigation module of the cleaning robot, the measurement data of the depth camera and lidar are fused, the key frames are extracted and optimized, and the motion and observation equations of the robot are constructed. The least squares method is used for error estimation to obtain more accurate kinematics modeling and simulation. At the same time, the local environmental information and global mapping data are analyzed and extracted, and passed to the path planning module.

S103. Through the path planning module of the cleaning robot, based on the constructed map and the current pose of the cleaning robot, path planning and obstacle avoidance are performed.

In one embodiment of the present application, the path planning module of the cleaning robot analyzes and processes the decision-making of the robot's motion rules, so as to realize the function of path planning and sensory obstacle avoidance of the physical environment. Firstly, it receives the location and environment data of the robot, plans the navigation route and avoids obstacles, completes the planning of the cleaning path, and at the same time sends the above control information to the motion control module of the robot.

S104. Control the motion of the cleaning robot in real time through the motion control module of the cleaning robot.

In one embodiment of the present application, the motion control module includes an installed motor motion control unit, a power conversion module, and a motor module. By receiving command signals from the path planning module, it controls the servo driver of the robot chassis to complete the control of the motor module. Drive and start and stop, speed control commands and other operations.

S105. Remotely control the cleaning robot through the upper application APP module of the cleaning robot; wherein, the upper application APP module is wired or wirelessly connected with the cleaning robot.

In one embodiment of the present application, the upper-level application App module customizes the cleaning task through a smart phone or a tablet computer, realizes the autonomous cleaning function and remote control of the cleaning robot, and realizes real-time feedback on the cleaning process. The cleaning robot records the cleaning process and related data in the form of task reports, and records the cleaning path in the form of a map. Through the above intuitive and concise presentation forms, customers can understand the entire cleaning process, which can meet the needs of daily human-computer interaction business.

In one embodiment of the present application, when abnormal data appears in the collected information, the warning device installed on the cleaning robot will give an alarm. And the multi-sensor module of the cleaning robot uploads the abnormal data to the upper-layer App application, so as to send an alarm message to the current user through the upper-layer App application.

Specifically, the various sensors provided by the cleaning robot in the embodiment of the present application can perform all-round real-time health monitoring on the motion module, electricity, water volume, etc. In addition, the robot can perform real-time environmental perception of the external environment, and perform abnormal information for abnormal information. alarm. At the same time, abnormal information alarms are carried out in multiple ways such as the robot's own alarm lights flashing, SMS notifications, and upper-layer App application reminders. The cleaning robot in the embodiment of the present application has multiple cleaning modes such as economical, normal, enhanced, and polishing, and has two working modes, manual and automatic, to meet different cleaning needs of customers. The intelligent cleaning robot of the embodiment of the present application liberates and saves manpower to a certain extent, and at the same time can realize 24-hour uninterrupted work, which has great use value and economic significance.

Furthermore, compared with the cleaning robot in the embodiment of the present application, compared with the sweeping robot of the random collision type, the product of the global planning type achieves high-efficiency full-area coverage. The intelligent cleaning mode of the cleaning robot is realized through intelligent positioning and path planning. The intelligent positioning function solves the problem of unstable robot motion control. The cleaning robot in the embodiment of the application has six cleaning modes: economical, normal, enhanced, floor brushing, suction, and polishing; it can provide three cleaning path modes: hand-painted, teaching, and automatic planning; it can realize multi-path and multi-cycle cleanliness.

Secondly, the cleaning robot in the embodiment of the present application has two working modes, manual and automatic, and at the same time, it can realize the functions of timing cleaning, automatic recharging, automatic parking, automatic injection, automatic drainage and other functions to realize the full-time cleaning function of the robot . Through the use of laser technology measurement and calculation technology to realize path planning, the system planning of cleaning routes can avoid missed scanning and repeated cleaning, and achieve a significant increase in efficiency. In addition, the robot also has the function of interrupting the cleaning to ensure the integrity of the cleaning, avoiding the full coverage of the cleaning area, avoiding the traditional disadvantages of re-scanning and missed scanning, improving cleaning efficiency, greatly shortening the cleaning time, and achieving higher cleaning coverage. Rate.

In addition, the cleaning robot in the embodiment of the present application has manual modes such as manual cleaning, manual parking, and manual refilling, which improves the flexibility of the robot. The advantage of adopting the lifting V-shaped main brush cleaning system is that it can intelligently fit the ground for cleaning, especially when encountering uneven ground, it can be automatically lifted and lowered to increase the area covered on the ground surface. Cleaning with double-sided brushes, the liftable V-shaped main brush and vacuum suction realize three-stage deep cleaning. In the choice of brushes, the bottom of the cleaning robot is made of soft rubber and fiber brushes, which improves the cleaning ability and can also protect the floor material to a certain extent. The cleaning robot has a three-in-one function of vacuuming, washing and sweeping. It also has functions such as cleaning, dry mopping, and wet mopping. The whole process of self-cleaning, water filling, charging, and drainage works efficiently in a 24-hour cycle, reducing operation and management costs, effectively liberating manpower and reducing operating costs. The cleaning robot in the embodiment of this application supports fast and efficient map building, automatic path planning, intelligent obstacle avoidance, precise control, fast data return through intelligent cloud management, and accurate feedback of task reports to achieve efficient human-computer interaction. It can be used in high-speed rail, airports, hotels, shopping ZTE, office buildings, warehouses, hospitals and other application scenarios. Customized cleaning and remote operation can be realized through the APP.

Each embodiment in the present application is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the apparatus, equipment, and non-volatile computer storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for relevant parts, please refer to the part of the description of the method embodiments.

The foregoing describes specific embodiments of the present application. Other implementations are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain embodiments.

The above descriptions are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes can be made to the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present application shall be included within the scope of the claims of the present application.

Claims (10)

1. A cleaning robot, characterized in that, the cleaning robot includes a positioning navigation module, a multi-sensor module, a motion control module, a path planning module and an upper layer application APP module; The multi-sensor module includes a plurality of sensors; the multi-sensor module is used to collect the pose of the cleaning robot in the world coordinate system and the surrounding physical environment information for map construction and robot pose estimation; The positioning and navigation module is configured to receive the data sent by the multi-sensor module, so as to construct the motion observation equation of the cleaning robot according to the received data; The path planning module performs path planning and obstacle avoidance according to the constructed map and the current pose of the cleaning robot; The motion control module is configured to receive path information sent by the path planning module, so as to control the movement of the cleaning robot in real time based on the path information; The upper layer application APP module is wired or wirelessly connected to the cleaning robot for remote control of the cleaning robot. 2. A cleaning robot according to claim 1, wherein the multi-sensor module includes at least one of a laser radar, a depth camera module, a speed odometer, an IMU inertial measurement unit, and an ultrasonic wave. 3. A cleaning robot according to claim 1, wherein the motion control module at least includes a motor motion control unit, a power conversion unit and a motor unit; The motion control module controls the servo driver of the chassis of the cleaning robot after receiving the robot motion command. 4. A kind of cleaning robot according to claim 1, is characterized in that, described cleaning robot also comprises task reporting module; The task report module is used to record the cleaning task information of the cleaning robot in real time; wherein, the cleaning task information includes at least the duration of the cleaning process, water consumption, electricity consumption, cleaning area and cleaning efficiency. one item; and The cleaning report displays the completion status of the current cleaning task in a map view; wherein, the completion status of the current cleaning task includes at least one of the complete cleaning route, cleaned area information, and uncleaned area information . 5. The cleaning robot according to claim 1, wherein the upper layer application APP module is used to receive robot cleaning task information uploaded by users; and The upper layer application APP module is used to receive the cleaning task feedback information sent by the cleaning robot. 6. A kind of cleaning robot according to claim 1, is characterized in that, described cleaning robot also comprises ground detection module; The ground detection module includes a camera and an image analysis unit; The camera device is used to shoot the ground image of the current cleaning area, and upload the captured image to the image analysis unit; The image analysis unit is used to analyze the received ground image to determine the movement mode information of the cleaning robot according to the identified ground material information, and send the movement mode information to the motion control module . 7. A cleaning robot control method, characterized in that the method comprises: Through the multi-sensor module of the cleaning robot, the pose of the cleaning robot in the world coordinate system and the surrounding physical environment information are collected for map construction and robot pose estimation; receiving the data sent by the multi-sensor module through the positioning and navigation module of the cleaning robot, so as to construct the motion observation equation of the cleaning robot according to the data; Through the path planning module of the cleaning robot, based on the constructed map and the current pose of the cleaning robot, path planning and obstacle avoidance are performed; Real-time control of the motion of the cleaning robot through the motion control module of the cleaning robot; The cleaning robot is remotely controlled through the upper application APP module of the cleaning robot; wherein, the upper application APP module is wired or wirelessly connected with the cleaning robot. 8. The cleaning robot control method according to claim 7, wherein the positioning and navigation module of the cleaning robot receives the data sent by the multi-sensor module, so as to construct the cleaning robot according to the data. The motion observation equation of the cleaning robot, including: Through the positioning and navigation module of the cleaning robot, based on the measurement data corresponding to the depth camera and the laser radar, the key frames are extracted and optimized, so as to construct the motion observation equation of the cleaning robot; Through the positioning and navigation module of the cleaning robot, error calculation is performed on the motion observation equation of the cleaning robot based on the least square method, so as to perform error processing on the motion observation equation of the cleaning robot. 9. A cleaning robot control method according to claim 7, characterized in that, after collecting the pose and the surrounding physical environment information of the cleaning robot in the world coordinate system, the method further comprises: In the case of abnormal data in the collected information, an alarm is issued through an alarm device installed on the cleaning robot; and The multi-sensor module of the cleaning robot uploads the abnormal data to the upper-layer App application, so as to issue an alarm message to the current user through the upper-layer App application. 10. A method for controlling a cleaning robot according to claim 7, wherein said performing map construction specifically comprises: Through the multi-sensor module of the cleaning robot, based on the SLAM algorithm, the pose of the cleaning robot in the world coordinate system and the surrounding physical environment information are processed to construct a map based on the processed data.

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