CN-121971004-A - Obstacle surmounting cleaning component control method for cleaning robot

CN121971004ACN 121971004 ACN121971004 ACN 121971004ACN-121971004-A

Abstract

The present disclosure relates to a cleaning robot obstacle-surmounting cleaning member control method. The obstacle crossing cleaning component control method of the cleaning robot comprises the steps of controlling a fixed cleaning component and a telescopic cleaning component to rotate when the cleaning robot works along the edge, controlling the cleaning robot to close and supply water to at least one water supply component at a slipping position after the cleaning robot is detected to slip at a target obstacle, and/or controlling the cleaning robot to conduct water stain cleaning treatment on the target obstacle, controlling the telescopic cleaning component to retract, controlling the cleaning robot to move to the slipping position to perform obstacle crossing sprint, and controlling the cleaning robot to continue to work along the edge after the cleaning robot is detected to successfully cross the obstacle. According to the scheme of the application, the residual water stain of the obstacle can be removed, the slipping of the cleaning robot is reduced, and the obstacle surmounting/getting-out efficiency and success rate are improved.

Inventors

WANG XUNING
Fan Pengshuai
CHEN JIEMING

Assignees

杭州九阳小家电有限公司
深圳甲壳虫智能有限公司

Dates

Publication Date: 20260505
Application Date: 20241028

Claims (10)

1. A cleaning robot obstacle-surmounting cleaning member control method, comprising: When the cleaning robot works along the edge, the fixed cleaning component and the telescopic cleaning component are controlled to rotate; After the cleaning robot is detected to skid at a target obstacle, controlling the cleaning robot to close water supply to at least one water supply component at a skid position, and/or controlling the cleaning robot to perform water stain cleaning treatment on the target obstacle; controlling the telescopic cleaning component to retract, and controlling the cleaning robot to move to the slipping position to perform obstacle-surmounting sprint; And after the obstacle crossing success of the cleaning robot is detected, controlling the cleaning robot to continue the edge work.
2. The method of claim 1, wherein controlling the rotation of the fixed cleaning member and the retractable cleaning member while the cleaning robot is in operation along the edge comprises: When the cleaning robot works along the edge, the fixed cleaning component is controlled to rotate and the corresponding first water supply component is controlled to start water supply, the telescopic cleaning component is controlled to extend and rotate and the corresponding second water supply component is controlled to start water supply.
3. The method according to claim 1, wherein the method further comprises: acquiring real-time position information of the cleaning robot; And calculating the actual moving distance of the cleaning robot according to the real-time position information, and judging whether the cleaning robot slips or not based on the error of the actual moving distance and the estimated moving distance.
4. A method according to claim 3, wherein said determining whether the cleaning robot is slipping based on an error of the actual moving distance and the estimated moving distance comprises: If the error is smaller than a preset threshold value, determining that the cleaning robot is slightly slipping; And if the error is greater than or equal to the preset threshold value, determining that the cleaning robot has serious slipping.
5. The method according to claim 2, wherein controlling the cleaning robot to shut off water supply to at least one water supply part in a slip position and/or controlling the cleaning robot to perform a water spot cleaning process on a target obstacle after detecting that the cleaning robot has slipped at the target obstacle comprises: After detecting that the cleaning robot slightly slips at the target obstacle, controlling the fixed cleaning member to rotate and controlling the first water supply member to turn off water supply, and controlling the telescopic cleaning member to extend and rotate and controlling the second water supply member to keep water supply.
6. The method according to claim 2, wherein controlling the cleaning robot to shut off water supply to at least one water supply part in a slip position and/or controlling the cleaning robot to perform a water spot cleaning process on a target obstacle after detecting that the cleaning robot has slipped at the target obstacle comprises: controlling the first water supply part and the second water supply part to close water supply after detecting that the cleaning robot has a serious slip at a target obstacle; Controlling a driving wheel part of the cleaning robot to rotate at the slip position by a preset angle relative to an initial slip direction; and controlling the telescopic cleaning component and the fixed cleaning component to move at least one machine body distance along the target obstacle for water stain cleaning treatment.
7. The method of claim 6, wherein said controlling retraction of said telescoping cleaning elements and controlling movement of said cleaning robot to said slip position for obstacle surmounting sprint comprises: Controlling the retraction of the telescoping cleaning element; and controlling the cleaning robot to move to the slipping position, and controlling the cleaning robot to perform obstacle-surmounting sprint towards the initial slipping direction.
8. The method of claim 5, wherein controlling the cleaning robot to continue the edge work after detecting that the cleaning robot is successful in surmounting the obstacle comprises: after the obstacle crossing success of the cleaning robot is detected, controlling the cleaning robot to continue working along the edge; The fixed cleaning component is controlled to rotate and work, the corresponding first water supply component is controlled to start water supply, the telescopic cleaning component is controlled to extend and rotate, and the corresponding second water supply component is controlled to start water supply.
9. The method of claim 1, wherein after the controlling the cleaning robot to move to the slip position for obstacle surmounting sprint, the method further comprises: after detecting that the cleaning robot fails to surmount an obstacle, determining a target tilt orientation of the cleaning robot; And controlling the fixed cleaning component and the telescopic cleaning component to rotate towards the target inclined direction so as to enable the cleaning robot to move towards the target inclined direction.
10. The method of claim 9, wherein the controlling the fixed cleaning component and the telescoping cleaning component to perform rotational operations toward the target tilt orientation to move the cleaning robot toward the target tilt orientation comprises: Determining a linear velocity direction and/or an angular velocity direction of the cleaning robot based on the target tilt orientation; Determining a rotation working direction of the fixed cleaning component and a rotation working direction of the telescopic cleaning component, which correspond to the linear speed direction and/or the angular speed direction, based on a preset rotation direction table; And controlling the fixed cleaning component and the telescopic cleaning component to perform rotary work according to the rotary working direction of the fixed cleaning component and the rotary working direction of the telescopic cleaning component so as to enable the cleaning robot to move towards the target in an inclined mode.

Description

Obstacle surmounting cleaning component control method for cleaning robot Technical Field The disclosure relates to the technical field of intelligent equipment, in particular to a control method for obstacle-surmounting cleaning components of a cleaning robot. Background Cleaning robots are becoming increasingly functional, not only sweeping and sucking dust, but also mopping, and also need to deal with many different ground scenarios. The cleaning robot can meet the easily slippery obstacles such as a threshold in the cleaning process, and the wheel speed of the main driving wheel is controlled to be changed to do special actions to help the robot to surmount/get rid of the obstacle, but the cleaning part in the running of the robot often also affects the movement of the robot, even aggravates the skidding degree, and causes obstacle surmounting/getting rid of failure. For example, patent document CN 113171038a discloses a method of controlling a water supply device during obstacle surmounting, the water supply device being controlled according to the device position and the relative obstacle distance, for reducing residual water stains generated at the time of obstacle surmounting. However, although the method can reduce partial water stains, the lack of control over other cleaning components still has the problem that slipping may be aggravated during obstacle surmounting of other cleaning components, and the assistance of the cleaning components to the robot movement is not fully utilized, so that obstacle surmounting/escaping failure is caused. Disclosure of Invention In order to solve the technical problems described above, the present disclosure provides a cleaning robot obstacle-surmounting cleaning member control method. In a first aspect, the present disclosure provides a cleaning robot obstacle-surmounting cleaning member control method, comprising: When the cleaning robot works along the edge, the fixed cleaning component and the telescopic cleaning component are controlled to rotate; After the cleaning robot is detected to seriously skid at the target obstacle, controlling the cleaning robot to close water supply to at least one water supply part at the skid position, and/or controlling the cleaning robot to perform water stain cleaning treatment on the target obstacle; controlling the telescopic cleaning component to retract, and controlling the cleaning robot to move to the slipping position to perform obstacle-surmounting sprint; and after detecting that the obstacle crossing of the cleaning robot is successful, controlling the cleaning robot to continue working along the edge. In some embodiments, the controlling the rotation of the fixed cleaning member and the telescopic cleaning member while the cleaning robot is working along the edge includes: When the cleaning robot works along the edge, the fixed cleaning component is controlled to rotate and the corresponding first water supply component is controlled to start water supply, the telescopic cleaning component is controlled to extend and rotate and the corresponding second water supply component is controlled to start water supply. In some embodiments, the method further comprises: acquiring real-time position information of the cleaning robot; And calculating the actual moving distance of the cleaning robot according to the real-time position information, and judging whether the cleaning robot slips or not based on the error of the actual moving distance and the estimated moving distance. In some embodiments, the determining whether the cleaning robot slips based on the error of the actual moving distance and the estimated moving distance includes: If the error is smaller than a preset threshold value, determining that the cleaning robot is slightly slipping; And if the error is greater than or equal to the preset threshold value, determining that the cleaning robot has serious slipping. In some embodiments, after detecting that the cleaning robot slips at the target obstacle, controlling the cleaning robot to shut off water supply to at least one water supply part at the slip position, and/or controlling the cleaning robot to perform a water stain cleaning process on the target obstacle, includes: After detecting that the cleaning robot slightly slips at the target obstacle, controlling the fixed cleaning member to rotate and controlling the first water supply member to turn off water supply, and controlling the telescopic cleaning member to extend and rotate and controlling the second water supply member to keep water supply. In some embodiments, after detecting that the cleaning robot slips at the target obstacle, controlling the cleaning robot to shut off water supply to at least one water supply part at the slip position, and/or controlling the cleaning robot to perform a water stain cleaning process on the target obstacle, includes: controlling the first water supply part and the second water supply part to close water supply a