US 12,440,079 B2
Cleaning robot and control method thereof
Yiyun Tan, Suzhou (CN); Mingjian Xie, Suzhou (CN); and Shisong Zhang, Suzhou (CN)
Assigned to Positec Power Tools (Suzhou) Co., LTD., Suzhou (CN)
Appl. No. 17/638,795
Filed by Positec Power Tools (Suzhou) Co., Ltd., Suzhou (CN)
PCT Filed Aug. 26, 2020, PCT No. PCT/CN2020/111411
§ 371(c)(1), (2) Date Feb. 25, 2022,
PCT Pub. No. WO2021/037065, PCT Pub. Date Mar. 4, 2021.
Claims priority of application No. 201910788271.0 (CN), filed on Aug. 26, 2019.
Prior Publication US 2022/0280009 A1, Sep. 8, 2022
Int. Cl. G05D 1/00 (2024.01); A47L 11/28 (2006.01); A47L 11/40 (2006.01)
CPC A47L 11/4011 (2013.01) [A47L 11/28 (2013.01); A47L 11/4055 (2013.01); A47L 11/4066 (2013.01); G05D 1/0214 (2013.01); G05D 1/0274 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01); G05D 1/0227 (2013.01); G05D 1/024 (2013.01); G05D 1/0255 (2013.01); G05D 1/0257 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A method of controlling a cleaning robot, the method comprising:
driving the cleaning robot to move on a ground and performing cleaning work thereon;
detecting a ground feature in front of the cleaning robot;
obtaining position information of the cleaning robot;
storing or obtaining a map of a working region of the cleaning robot;
determines a position of the cleaning robot within the map according to the position information of the cleaning robot, the map including a traveling region and an entrance/exit region for entering or leaving the traveling region;
recognizing the ground feature according to a detection result, the ground feature including a carpet, the recognizing the ground feature according to the detection result including recognizing the ground feature as the carpet;
controlling, according to the position of the cleaning robot in the map, based on a first location of the ground feature, the cleaning robot to perform a first corresponding action, the first corresponding action including:
in response to determining that the cleaning robot is located away from the entrance/exit region such that the carpet is located beyond a range of a first predetermined distance to the entrance/exit region, controlling the cleaning robot not to enter a region in which the carpet is located; and
controlling, according to the position of the cleaning robot in the map, based on a second location of the ground feature, the cleaning robot to perform a second corresponding action, the first location being different from the second location, the second corresponding action being different from the first corresponding action.