CN-116195927-B - Cleaning control method and system of cleaning robot and cleaning robot

CN116195927BCN 116195927 BCN116195927 BCN 116195927BCN-116195927-B

Abstract

The invention discloses a cleaning robot cleaning control method, a cleaning robot cleaning control system and a cleaning robot, wherein the cleaning robot cleaning control method comprises the steps of acquiring environmental information in a cleaning direction of the cleaning robot in the cleaning process of the cleaning robot cleaning a cleaning area according to a preset cleaning path; when the environment information indicates that the cleaning robot has an obstacle in the cleaning direction, the cleaning robot is controlled to clean around the obstacle, and when the cleaning robot detects that the obstacle disappears in the moving process around the obstacle, the cleaning robot is controlled to clean a cleaning area according to a preset cleaning path. The cleaning control method provided by the invention can solve the idle running problem of the cleaning robot after the obstacle suddenly disappears in the process of cleaning the obstacle, and improves the working efficiency and the intelligence of the cleaning robot.

Inventors

LIU YAFENG
Qiu Weinan
GENG WENFENG

Assignees

追觅创新科技(苏州)有限公司

Dates

Publication Date: 20260505
Application Date: 20211130

Claims (4)

1. A cleaning control method of a cleaning robot, the method comprising: Acquiring environmental information in a cleaning direction of a cleaning robot in the process that the cleaning robot cleans a cleaning area according to a preset cleaning path; Controlling the cleaning robot to clean around an obstacle when the environmental information indicates that the obstacle exists in the cleaning direction of the cleaning robot; In the course that the cleaning robot moves around the obstacle, when detecting that the obstacle disappears, timely stopping the walking action around the obstacle, and controlling the cleaning robot to clean the cleaning area according to the preset cleaning path, including: when the disappearance of the obstacle is detected, acquiring the preset cleaning path before the cleaning robot moves around the obstacle and cleans; Acquiring a target coordinate point closest to a current position coordinate point of the cleaning robot in the preset cleaning path according to the obtained preset cleaning path; Planning a navigation path from the current position coordinate point to the target coordinate point by adopting a navigation algorithm, and carrying out smooth calculation on sampling points of the navigation path to obtain a smooth navigation track; And controlling the cleaning robot to move from the current position coordinate point to the target coordinate point according to the obtained smooth navigation track.
2. The cleaning robot cleaning control method according to claim 1, wherein the acquiring environmental information in a cleaning direction of the cleaning robot includes: Acquiring a collision detection signal of a collision sensor of the cleaning robot to identify obstacle information in a cleaning direction of the cleaning robot, and, Acquiring sensing signals of a distance sensor of the cleaning robot to identify obstacle information in the cleaning direction of the cleaning robot.
3. A cleaning control system for a cleaning robot, comprising: the obstacle detection module is used for acquiring environmental information in the cleaning direction of the cleaning robot in the process that the cleaning robot cleans a cleaning area according to a preset cleaning path; The obstacle-surrounding cleaning control module is in communication connection with the obstacle detection module and is used for controlling the cleaning robot to clean around an obstacle when the environment information indicates that the obstacle exists in the cleaning direction of the cleaning robot; Reset and clean control module, with obstacle around cleaning control module communication connection is used for cleaning robot is around the barrier removes the in-process, when detecting the barrier disappears, timely stop around the walking action of barrier, and control cleaning robot is according to predetermine cleans the route and to clean the clean area includes: when the disappearance of the obstacle is detected, acquiring the preset cleaning path before the cleaning robot moves around the obstacle and cleans; Acquiring a target coordinate point closest to a current position coordinate point of the cleaning robot in the preset cleaning path according to the obtained preset cleaning path; Planning a navigation path from the current position coordinate point to the target coordinate point by adopting a navigation algorithm, and carrying out smooth calculation on sampling points of the navigation path to obtain a smooth navigation track; And controlling the cleaning robot to move from the current position coordinate point to the target coordinate point according to the obtained smooth navigation track.
4. A cleaning robot, comprising: A robot main body; The controller is arranged on the robot main body; Wherein the controller is configured to: Acquiring environmental information in a cleaning direction of a cleaning robot in the process that the cleaning robot cleans a cleaning area according to a preset cleaning path; Controlling the cleaning robot to clean around an obstacle when the environmental information indicates that the obstacle exists in the cleaning direction of the cleaning robot; In the course that the cleaning robot moves around the obstacle, when detecting that the obstacle disappears, timely stopping the walking action around the obstacle, and controlling the cleaning robot to clean the cleaning area according to the preset cleaning path, including: when the disappearance of the obstacle is detected, acquiring the preset cleaning path before the cleaning robot moves around the obstacle and cleans; Acquiring a target coordinate point closest to a current position coordinate point of the cleaning robot in the preset cleaning path according to the obtained preset cleaning path; Planning a navigation path from the current position coordinate point to the target coordinate point by adopting a navigation algorithm, and carrying out smooth calculation on sampling points of the navigation path to obtain a smooth navigation track; And controlling the cleaning robot to move from the current position coordinate point to the target coordinate point according to the obtained smooth navigation track.

Description

Cleaning control method and system of cleaning robot and cleaning robot Technical Field The invention belongs to the technical field of cleaning equipment, and particularly relates to a cleaning control method and system of a cleaning robot and the cleaning robot. Background The existing cleaning robot has a map function, can automatically establish a map of a cleaning area, and can position the cleaning robot based on the map so as to judge the position of the cleaning robot relative to the cleaning area, and can clean the cleaning robot in a planned manner. However, in an actual cleaning scenario, there are many different types of obstacles in the cleaning area, and after encountering an obstacle, the existing cleaning robot performs a cleaning action around the obstacle. However, when the obstacle is moving, such as a foot of a person, the obstacle disappears after the person leaves, and at this time, the cleaning robot can idle, so that the cleaning efficiency is reduced, and bad use experience is brought to the user. Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art. Disclosure of Invention Therefore, the invention aims to solve the technical problem that the cleaning robot suddenly idles after surrounding an obstacle in the cleaning process of surrounding the obstacle in the prior art. In order to solve the above technical problems, the present invention provides a cleaning control method of a cleaning robot, including: Acquiring environmental information in a cleaning direction of a cleaning robot in the process that the cleaning robot cleans a cleaning area according to a preset cleaning path; Controlling the cleaning robot to clean around an obstacle when the environmental information indicates that the obstacle exists in the cleaning direction of the cleaning robot; And when the obstacle is detected to disappear in the process of moving the cleaning robot around the obstacle, controlling the cleaning robot to clean the cleaning area according to the preset cleaning path. In one embodiment, when the absence of the obstacle is detected, controlling the cleaning robot to clean the cleaning area according to the preset cleaning path includes: when the disappearance of the obstacle is detected, acquiring the preset cleaning path before the cleaning robot moves around the obstacle and cleans; and controlling the cleaning robot to clean the cleaning area according to the preset cleaning path. In one embodiment, the controlling the cleaning robot to clean the cleaning area according to the preset cleaning path includes: Acquiring a target coordinate point closest to a current position coordinate point of the cleaning robot in the preset cleaning path according to the obtained preset cleaning path; And controlling the cleaning robot to move from the current position coordinate point to the target coordinate point, and continuously controlling the cleaning robot to clean the cleaning area according to the preset cleaning path. In one embodiment, the controlling the cleaning robot to move from the current position coordinate point to the target coordinate point includes: Planning a navigation path from the current position coordinate point to the target coordinate point by adopting a navigation algorithm, and carrying out smooth calculation on sampling points of the navigation path to obtain a smooth navigation track; And controlling the cleaning robot to move from the current position coordinate point to the target coordinate point according to the obtained smooth navigation track. In one embodiment, when detecting that there is an obstacle in the cleaning direction of the cleaning robot, the cleaning robot is controlled to clean around the obstacle, and the method specifically includes: When detecting that an obstacle exists in the cleaning direction of the cleaning robot, controlling an obstacle recognition sensor to scan the obstacle to obtain the outline size of the obstacle; When the outline size of the obstacle is detected to be within a preset threshold range, controlling the cleaning robot to clean around the obstacle; And when the outline size of the obstacle is detected to exceed the preset threshold range, controlling the cleaning robot to turn around the obstacle and then continuously cleaning the cleaning area. In one embodiment, when the obstacle outline size is detected to be within a preset threshold, the controlling the cleaning robot to clean around the obstacle includes: controlling the cleaning robot to perform rotating movement and cleaning around the periphery of the obstacle; And controlling the cleaning robot to bypass the obstacle, and continuously controlling the cleaning robot to clean the cleaning area according to the preset cleaning path. In one embodiment, the controlling the cleaning robot to bypass the obstacle includes: after controlling the cleaning robot to sweep around the obstacle for at least one