US 12,303,082 B2
Autonomous cleaning device, method for travel control for autonomous cleaning device, and storage medium
Yongcheng Zuo, Beijing (CN); Cheng Tang, Beijing (CN); Fei Duan, Beijing (CN); Liang Zhong, Beijing (CN); Shan Gao, Beijing (CN); and Tiantian Zhang, Beijing (CN)
Assigned to Beijing Shunzao Technology Co., Ltd., Beijing (CN); and BEIJING XIAOMI MOBILE SOFTWARE CO., LTD., Beijing (CN)
Filed by Beijing Shunzao Technology Co., Ltd., Beijing (CN); and BEIJING XIAOMI MOBILE SOFTWARE CO., LTD., Beijing (CN)
Filed on Mar. 30, 2022, as Appl. No. 17/709,312.
Claims priority of application No. 202110785700.6 (CN), filed on Jul. 12, 2021.
Prior Publication US 2023/0009863 A1, Jan. 12, 2023
Int. Cl. A47L 11/40 (2006.01); A47L 9/00 (2006.01); A47L 9/28 (2006.01); A47L 11/00 (2006.01); G05D 1/00 (2024.01)
CPC A47L 11/4011 (2013.01) [A47L 9/009 (2013.01); A47L 9/2805 (2013.01); A47L 9/2815 (2013.01); A47L 9/2852 (2013.01); A47L 11/00 (2013.01); A47L 11/4002 (2013.01); A47L 11/4061 (2013.01); G05D 1/024 (2013.01); A47L 2201/04 (2013.01)] 8 Claims
OG exemplary drawing
 
1. An autonomous cleaning device, comprising a body, a cleaning assembly, a driving assembly, a plurality of detection sensors, and a controller disposed on the body, wherein:
the cleaning assembly is configured to clean a surface to be cleaned;
the driving assembly is configured to drive the autonomous cleaning device to move;
the plurality of detection sensors are configured to transmit detection signals and receive reflection data, and the reflection data comprises detection signals reflected by an obstacle; and
the controller, coupled with the plurality of detection sensors and the driving assembly, is configured to:
obtain reflection data reflected by the obstacle and received by the plurality of detection sensors;
determine whether the obstacle has a gap according to the reflection data received by the detection sensors, wherein the detection sensors comprise a first detection sensor and a second detection sensor, and the first detection sensor comprises a time of flight (ToF) sensor, the ToF sensor is configured to determine a distance between the obstacle and the body, and object size data within a ToF measurement range, the second detection sensor comprises a laser distance sensor (LDS), the LDS is configured to determine absence or presence of the obstacle in front of the body and the distance between the obstacle and the body; and
in response to determining that the obstacle has the gap, control the autonomous cleaning device to move, by sending control instructions to the driving assembly, according to reflection data of the ToF sensor at different time points and basic information of the autonomous cleaning device;
the controller is configured to, in response to determining that the obstacle has the gap, determine whether the gap allows the autonomous cleaning device to pass according to a change value between reflection data of the ToF sensor at adjacent time points;
wherein the controller is configured to: obtain first reflection data reflect by the obstacle and received by the first detection sensor, and obtain second reflection data reflect by the obstacle and received by the second detection sensor; determine that the obstacle has the gap in response to determining that the first reflection data comprises third reflection data, wherein the third reflection data is configured to indicate at least one of width information or height information of the gap; and
the controller is further configured to: in response to determining that third reflection data at a second time point is greater than third reflection data at a first time point, control the autonomous cleaning device to travel according to a speed same as a cleaning speed at the first time point; and in response to determining that the third reflection data at the second time point is less than or equal to the third reflection data at the first time point, control the autonomous cleaning device to gradually reduce the cleaning speed, and stop traveling or avoid the obstacle in response to determining that a first condition is satisfied; wherein the second time point is later than the first time point.