Method and system for controlling autonomous mobile robot, and autonomous mobile robot

Patent metadata

Field	Value
Publication number	US-12429879-B2
Application number	US-202117926132-A
Country	US
Kind code	B2
Filing date	Apr 12, 2021
Priority date	May 18, 2020
Publication date	Sep 30, 2025
Grant date	Sep 30, 2025

Abstract

The present disclosure discloses a method and system for controlling an autonomous mobile robot, and the autonomous mobile robot. The method includes: when cleaning in a current region, recognizing, by the autonomous mobile robot, information of a line object appearing in a cleaning path, where the information at least includes one of pose information of the line object, a length of the line object, and a cross-sectional radius of the line object; and determining a target control strategy matched with the recognized information from preset control strategies, and causing the autonomous mobile robot to execute the target control strategy.

First claim

What is claimed is:

1. A method for controlling an autonomous mobile robot, the method comprising:
when cleaning in a current region, recognizing, by the autonomous mobile robot, information of a line object appearing in a cleaning path,
determining whether the line object divides a region to be cleaned into two closed regions;
in response to the line object divides the region to be cleaned into two closed regions, cleaning the current region;
after cleaning of the current region is completed, the autonomous mobile robot recognizing a target radius range where a cross-sectional radius of the line object is located, and determining a target control strategy according to the target radius range; wherein, the target control strategy comprises striding across the line object to a next region, to clean the next region; the two closed regions comprise the current region and the next region.

2. The method according to claim 1 , further comprising determining the target control strategy from preset control strategies, wherein the determining the target control strategy from the preset control strategies comprises:
recognizing a current cleaning mode of the autonomous mobile robot, and determining the target control strategy from the preset control strategies according to the cleaning mode and the information, wherein the cleaning mode is configured for representing whether the autonomous mobile robot performs edgewise cleaning.

3. The method according to claim 2 , wherein when the current cleaning mode of the autonomous mobile robot represents that the autonomous mobile robot is performing edgewise cleaning, and pose information represents that the line object is completely placed on a floor, the determined target control strategy is configured for controlling the autonomous mobile robot to perform cleaning along an edge of the line object, and to turn off a side brush close to a side of the line object.

4. The method according to claim 1 , wherein when a current cleaning mode of the autonomous mobile robot represents that the autonomous mobile robot is performing edgewise cleaning, and pose information represents that the line object is completely placed on a floor, the determined target control strategy is configured for controlling the autonomous mobile robot to perform cleaning along an edge of the line object, and to turn off a side brush close to a side of the line object.

5. The method according to claim 1 , wherein when a current cleaning mode of the autonomous mobile robot represents that the autonomous mobile robot is performing edgewise cleaning, and pose information represents that part of the line object is hung on a wall, it is determined whether space between part of the line object hung on the wall and a to-be-cleaned floor allows the autonomous mobile robot to pass through, and the target control strategy is determined according to a determination result.

6. The method according to claim 5 , wherein the target control strategy being determined according to the determination result comprises:
when the space allows the autonomous mobile robot to pass through, the determined target control strategy being configured for controlling the autonomous mobile robot to pass through the space, and to turn off a side brush close to a side of the line object; and
when the space does not allow the autonomous mobile robot to pass through, the determined target control strategy being configured for controlling the autonomous mobile robot to perform cleaning along an edge of the line object, and to turn off the side brush close to the side of the line object.

7. The method according to claim 1 , further comprising:
when a length of the line object represents that the current region and the next region are separated from each other by the line object, after cleaning of the current region is completed, the autonomous mobile robot moving to a lowest point of the line object away from a to-be-cleaned floor, and striding across from the lowest point to the next region to clean the next region.

8. The method according to claim 7 , wherein when the autonomous mobile robot strides across from the lowest point, the determined target control strategy is configured for controlling the autonomous mobile robot to disable a cleaning function.

9. The method according to claim 7 , wherein the autonomous mobile robot moving to the lowest point of the line object away from the to-be-cleaned floor comprises:
after the cleaning of the current region is completed, the autonomous mobile robot planning a shortest path from a current position to the lowest point, and moving to the lowest point along the shortest path.

10. The method according to claim 1 , further comprising determining the target control strategy from preset control strategies, wherein the cross-sectional radius of the line object is divided into a plurality of radius ranges; and the determining the target control strategy from the preset control strategies comprises:
recognizing a current cleaning mode of the autonomous mobile robot and the target radius range where the cross-sectional radius is located, and determining the target control strategy according to the cleaning mode and the target radius range.

11. The method according to claim 10 , wherein when the cleaning mode represents that the autonomous mobile robot is performing edgewise cleaning:
when the target radius range is a first radius range or a third radius range, the determined target control strategy is configured for controlling the autonomous mobile robot to perform cleaning along an edge of the line object, and to turn off a side brush close to a side of the line object; and
when the target radius range is a second radius range, the determined target control strategy is configured for controlling the autonomous mobile robot to maintain the currently planned cleaning path and cleaning mode to perform cleaning; wherein the first radius range is smaller than the second radius range, and the second radius range is smaller than the third radius range.

12. The method according to claim 10 , wherein when the cleaning mode represents that the autonomous mobile robot performs non-edgewise cleaning:
when the target radius range is a first radius range or a third radius range, the determined target control strategy is configured for controlling the autonomous mobile robot to perform cleaning along a direction opposite to a current moving direction; and
when the target radius range is a second radius range, it is determined whether pose information of the line object represents that the line object separates different cleaned regions from each other, and the corresponding target control strategy is determined according to a determination result; wherein the first radius range is smaller than the second radius range, and the second radius range is smaller than the third radius range.

13. The method according to claim 12 , wherein the corresponding target control strategy being determined according to the determination result comprises:
when the pose information of the line object does not represent that the line object separates the different cleaned regions from each other, the determined target control strategy being configured for controlling the autonomous mobile robot to maintain the currently planned cleaning path and cleaning mode to perform cleaning; and
when the pose information of the line object represents that the line object separates the different cleaned regions from each other, the determined target control strategy being configured for controlling the autonomous mobile robot to perform cleaning along the direction opposite to the current movi

Assignees

• Ecovacs Robotics Co Ltd

Inventors

• Jiang Jiaxin
• Shan Junjie
• Xu Kaili

Classifications

• G05D1/6482

  by dividing the whole area or space in sectors to be processed separately · CPC title

• A47L11/4061

  Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated · CPC title

• A47L11/4011

  Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor · CPC title

• A47L11/24 Primary

  Floor-sweeping machines, motor-driven · CPC title

• G05D1/0231

  using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16) · CPC title