CN-122004704-A - Cleaning robot control method and cleaning robot

CN122004704ACN 122004704 ACN122004704 ACN 122004704ACN-122004704-A

Abstract

The invention discloses a cleaning robot control method and a cleaning robot, wherein the cleaning robot comprises a cleaning robot body, a laser ranging unit and an obstacle recognition unit; and acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit and/or the cleaning mode of the cleaning robot according to the real-time obstacle distance. According to the invention, through the linkage of the obstacle recognition unit and the laser ranging unit, the recognition distance and the recognition height of the suspended obstacle are increased, the recognition precision is improved, and the passing performance and the cleaning coverage rate of the cleaning robot are remarkably improved.

Inventors

ZENG SIYUAN
CHEN CHAO

Assignees

佛山就选智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (10)

1. A cleaning robot control method, wherein the cleaning robot includes a cleaning robot body, a laser ranging unit liftably provided on the cleaning robot body, and an obstacle recognition unit rotatably provided on the cleaning robot body, the control method comprising: in the forward process of the cleaning robot, controlling the obstacle recognition unit to detect an obstacle in real time to obtain obstacle information; If the obstacle information changes and the laser ranging unit does not detect the obstacle, judging that the obstacle is a suspended obstacle; and acquiring a real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit and/or the cleaning mode of the cleaning robot according to the real-time obstacle distance.
2. The cleaning robot control method according to claim 1, wherein the obstacle information includes an obstacle slope, an obstacle entrance position, and a robot forward distance, the acquiring a real-time obstacle distance of the obstacle recognizing unit from the obstacle, and controlling a lifting state of the laser ranging unit, a rotation angle of the obstacle recognizing unit, and/or a cleaning mode of the cleaning robot according to the real-time obstacle distance, includes: acquiring the obstacle slope, the obstacle entrance position and the robot advancing distance in the process that the laser ranging unit is in a lifting state and advances under the obstacle; Calculating the real-time height between the horizontal plane of the bottom of the obstacle and the horizontal plane of the top of the cleaning robot body according to the slope of the obstacle, the position of the obstacle inlet and the advancing distance of the robot; and adjusting the lifting state of the laser ranging unit according to the real-time height and a preset height threshold, wherein the preset height threshold is a minimum height value allowing the cleaning robot to pass through when the laser ranging unit is lifted.
3. The cleaning robot control method according to claim 2, further comprising: When the laser ranging unit is in a lifting state, controlling the obstacle identifying unit and the top surface of the cleaning robot body to form a first included angle; When the laser ranging unit is in a descending state, the obstacle recognition unit is controlled to rotate to form a second included angle with the top surface of the cleaning robot body, wherein the second included angle is used for measuring the real-time height after the laser ranging unit descends.
4. The cleaning robot control method according to claim 1, wherein the real-time obstacle distance includes a first distance between the obstacle recognizing unit and a first face of the obstacle perpendicular to the cleaning robot advancing direction, the acquiring the real-time obstacle distance of the obstacle recognizing unit from the obstacle, and controlling a lifting state of the laser ranging unit, a rotation angle of the obstacle recognizing unit, and/or a cleaning mode of the cleaning robot according to the real-time obstacle distance includes: if the obstacle information changes, acquiring the first distance; If the first distance is greater than or equal to a preset first distance threshold, controlling the laser ranging unit to rise, wherein the first distance threshold is a distance allowing the laser ranging unit to rise through the obstacle; And if the first distance is greater than or equal to a preset second distance threshold and is smaller than the first distance threshold, controlling the laser ranging unit to descend, wherein the second distance threshold is a distance allowing the laser ranging unit to descend through the obstacle.
5. The cleaning robot control method according to claim 4, wherein the acquiring the real-time obstacle distance of the obstacle recognizing unit from the obstacle and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognizing unit, and/or the cleaning mode of the cleaning robot according to the real-time obstacle distance includes: acquiring a distance between a third face and the first face of the obstacle, and determining a suspension depth of the obstacle, wherein the third face is parallel to the first face; if the real-time obstacle distance is greater than or equal to the first distance threshold and the suspended depth is greater than or equal to a preset depth threshold, controlling the laser ranging unit to lift up to enter below the obstacle, wherein the depth threshold is the lateral distance between the laser ranging unit and the cleaning robot body; And if the first distance is greater than or equal to the second distance threshold and smaller than the first distance threshold, and the suspension depth is greater than or equal to the depth threshold, controlling the laser ranging unit to descend to enter the lower part of the obstacle.
6. The cleaning robot control method according to claim 5, wherein the acquiring the real-time obstacle distance of the obstacle recognizing unit from the obstacle and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognizing unit, and/or the cleaning mode of the cleaning robot according to the real-time obstacle distance includes: And if the first distance is greater than or equal to the second distance threshold and the suspension depth is smaller than the depth threshold, controlling the cleaning robot to enter a rim cleaning mode.
7. The cleaning robot control method according to claim 5, wherein the acquiring the real-time obstacle distance of the obstacle recognizing unit from the obstacle and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognizing unit, and/or the cleaning mode of the cleaning robot according to the real-time obstacle distance includes: and if the first distance is smaller than the second distance threshold, controlling the cleaning robot to advance to a third distance threshold preset from the obstacle, and then entering a rim cleaning mode.
8. The cleaning robot control method according to claim 2, wherein the adjusting the elevation state of the laser ranging unit according to the real-time elevation and a preset elevation threshold value comprises: If the real-time height is greater than or equal to a preset first height threshold, controlling the laser ranging unit to be in a lifting state, wherein the first height threshold is the minimum height allowing the laser ranging unit to lift through the obstacle; and if the real-time height is smaller than the first height threshold value, controlling the laser ranging unit to descend.
9. The cleaning robot control method according to claim 2, wherein the adjusting the elevation state of the laser ranging unit according to the real-time elevation and a preset elevation threshold value comprises: if the real-time height is larger than or equal to a preset first height threshold value and the travelling distance of the cleaning robot is larger than a preset fourth distance threshold value, controlling the laser ranging unit to rise; if the real-time height is larger than a preset second height threshold value and smaller than the first height threshold value, controlling the laser ranging unit to keep a descending state, wherein the second height threshold value is the minimum height allowing the laser ranging unit to descend through the obstacle; and if the real-time height is equal to the second height threshold value, controlling the cleaning robot to enter an edge cleaning mode.
10. A cleaning robot, comprising: a cleaning robot body; the laser ranging unit is arranged on the cleaning robot body in a lifting manner; An obstacle recognition unit rotatably provided on the cleaning robot body; A controller configured to perform the cleaning robot control method according to any one of claims 1 to 9.

Description

Cleaning robot control method and cleaning robot Technical Field The invention relates to the technical field of cleaning robots, in particular to a cleaning robot control method and a cleaning robot. Background Currently, cleaning robots on the market are usually equipped with laser diode scanners (Laser Diode Scanner, LDS) in order to achieve a full perception of the environment and path planning. However, most of the conventional LDS devices are fixedly and convexly arranged at the top of the robot body, which increases the overall height of the robot, so that the conventional LDS devices have poor trafficability when facing suspended obstacles such as a table bottom, a bed bottom, etc., and cannot enter into the areas for cleaning, thereby reducing the cleaning coverage rate. To solve this problem, some cleaning robots have been designed with an LDS that can be raised and lowered. The robot can be matched with an obstacle recognition system, and can descend the LDS when detecting a short suspended obstacle, so that the robot can pass smoothly. The existing obstacle recognition systems are mainly divided into a contact type and a non-contact type. The contact system needs to be triggered after the robot collides with an obstacle physically, and the robot is trapped due to the lack of prejudgment capability. Although the non-contact system can detect in advance, the obstacle recognition device is usually fixed on the robot, and only one surface of the obstacle can be detected, so that the recognition rate of small obstacles such as table legs, chair legs and the like is low, and the recognition distance is limited. Therefore, how to optimize the linkage strategy of LDS lifting and obstacle recognition so as to realize a longer recognition distance and a higher recognition accuracy, and further improve the passing performance and the cleaning coverage rate of the cleaning robot is a technical problem to be solved in the field. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a cleaning robot control method and a cleaning robot, which can increase the recognition distance of suspended obstacles and the recognition accuracy of fine obstacles, thereby improving the cleaning coverage rate of the cleaning robot. The technical scheme of the invention provides a cleaning robot control method, which comprises a cleaning robot body, a laser ranging unit arranged on the cleaning robot body in a lifting manner, and an obstacle identifying unit rotatably arranged on the cleaning robot body, wherein the control method comprises the following steps: in the forward process of the cleaning robot, controlling the obstacle recognition unit to detect an obstacle in real time to obtain obstacle information; If the obstacle information changes and the laser ranging unit does not detect the obstacle, judging that the obstacle is a suspended obstacle; and acquiring a real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit and/or the cleaning mode of the cleaning robot according to the real-time obstacle distance. Further, the obstacle information includes an obstacle slope, an obstacle entrance position, and a robot forward distance, the acquiring the real-time obstacle distance between the obstacle recognition unit and the obstacle, and controlling the lifting state of the laser ranging unit, the rotation angle of the obstacle recognition unit, and/or the cleaning mode of the cleaning robot according to the real-time obstacle distance, includes: acquiring the obstacle slope, the obstacle entrance position and the robot advancing distance in the process that the laser ranging unit is in a lifting state and advances under the obstacle; Calculating the real-time height between the horizontal plane of the bottom of the obstacle and the horizontal plane of the top of the cleaning robot body according to the slope of the obstacle, the position of the obstacle inlet and the advancing distance of the robot; and adjusting the lifting state of the laser ranging unit according to the real-time height and a preset height threshold, wherein the preset height threshold is a minimum height value allowing the cleaning robot to pass through when the laser ranging unit is lifted. Further, the method further comprises the following steps: When the laser ranging unit is in a lifting state, controlling the obstacle identifying unit and the top surface of the cleaning robot body to form a first included angle; When the laser ranging unit is in a descending state, the obstacle recognition unit is controlled to rotate to form a second included angle with the top surface of the cleaning robot body, wherein the second included angle is used for measuring the real-time height after the laser ranging unit descends. Further, the real-time obstacle distance includes a fi