US 12,390,072 B2
Escaping method and apparatus of cleaning robot, medium and electronic device
Lei Wang, Beijing (CN); and Lei Zhang, Beijing (CN)
Assigned to Beijing Roborock Innovation Technology Co., Ltd., Beijing (CN)
Appl. No. 18/264,978
Filed by Beijing Roborock Innovation Technology Co., Ltd., Beijing (CN)
PCT Filed Jun. 9, 2021, PCT No. PCT/CN2021/099201
§ 371(c)(1), (2) Date Aug. 10, 2023,
PCT Pub. No. WO2022/170712, PCT Pub. Date Aug. 18, 2022.
Claims priority of application No. 202110184810.7 (CN), filed on Feb. 10, 2021.
Prior Publication US 2024/0122435 A1, Apr. 18, 2024
Int. Cl. A47L 11/40 (2006.01); A47L 11/24 (2006.01); G05D 1/242 (2024.01); G05D 1/246 (2024.01); G05D 1/639 (2024.01); G05D 105/10 (2024.01); G05D 107/40 (2024.01)
CPC A47L 11/4061 (2013.01) [A47L 11/24 (2013.01); A47L 11/4002 (2013.01); A47L 11/4011 (2013.01); G05D 1/2424 (2024.01); G05D 1/246 (2024.01); G05D 1/639 (2024.01); A47L 2201/04 (2013.01); G05D 2105/10 (2024.01); G05D 2107/40 (2024.01)] 20 Claims
OG exemplary drawing
 
1. An escaping method of a cleaning robot applied to a cleaning robot comprising a surface medium sensor, the escaping method comprising:
when the cleaning robot encounters an obstacle and turns around while performing cleaning along an edge of a first surface medium area, in response to a surface medium change signal from the surface medium sensor indicates that a second surface medium area is detected, searching an established room map to determine whether the second surface medium area exists in the room map;
if the second surface medium area exists in the room map, determining whether a route bypassing the second surface medium area exists based on the room map and a boundary of the second surface medium area in the room map;
if the route exists, controlling the cleaning robot to travel along the route to bypass the second surface medium area; and
if the route does not exist, controlling the cleaning robot to return along a cleaned route to bypass the second surface medium area.