阅读说明：本技术 清洁机器人的控制方法、装置、清洁机器人及存储介质 (Control method and device for cleaning robot, cleaning robot and storage medium ) 是由 陈飞 霍峰 陈侃 卜大鹏 秦宝星 程昊天 于 2019-11-26 设计创作，主要内容包括：本申请公开了一种清洁机器人的控制方法、装置、清洁机器人以及存储介质。控制方法包括：根据清洁标识地图确定清洁机器人的清洁路径,判断清洁路径是否包括特殊区域,若清洁路径包括特殊区域,根据特殊区域生成对应的控制指令以控制清洁机器人。本申请实施方式的清洁机器人的控制方法中,通过确定清洁机器人的清洁路径是否包括特殊区域,使得清洁机器人经过特殊区域时可做出相应的措施,避免了清洁机器人经过特殊区域时对特殊区域造成损坏或者造成清洁机器人自身的损坏。如此,提高了清洁机器人对场景的适应性,而使得清洁机器人的应用范围更广。(The application discloses a control method and device of a cleaning robot, the cleaning robot and a storage medium. The control method comprises the following steps: and determining a cleaning path of the cleaning robot according to the cleaning identification map, judging whether the cleaning path comprises a special area, and if the cleaning path comprises the special area, generating a corresponding control instruction according to the special area to control the cleaning robot. In the control method of the cleaning robot in the embodiment of the application, whether the cleaning path of the cleaning robot includes the special area or not is determined, so that the cleaning robot can take corresponding measures when passing through the special area, and damage to the special area or damage to the cleaning robot when passing through the special area is avoided. Therefore, the adaptability of the cleaning robot to scenes is improved, and the application range of the cleaning robot is wider.)

1. A control method of a cleaning robot, characterized by comprising:

determining a cleaning path of the cleaning robot according to a cleaning identification map;

judging whether the cleaning path comprises a special area or not;

and if the cleaning path comprises the special area, generating a corresponding control instruction according to the special area to control the cleaning robot.

2. The method of claim 1, wherein the cleaning robot includes a cleaning device and a liquid spraying device, the special area includes a carpet area, and if the cleaning path includes the special area, generating a corresponding control command to control the cleaning robot according to the special area includes:

determining a distance between the cleaning robot and the carpet area;

and if the distance between the cleaning robot and the carpet area is larger than a first distance threshold value, controlling the cleaning device and the liquid spraying device to continue to operate.

3. The control method of claim 2, wherein the determining the distance between the cleaning robot and the carpet area comprises:

and if the distance between the cleaning robot and the carpet area is smaller than or equal to the first distance threshold and larger than a second distance threshold, controlling the liquid spraying device to stop spraying liquid and keeping the cleaning device to continue to operate.

4. The control method of claim 3, wherein the determining the distance between the cleaning robot and the carpet area further comprises:

and if the distance between the cleaning robot and the carpet area is smaller than or equal to a second distance threshold value, controlling the cleaning device and the liquid spraying device to stop running.

5. The method of claim 1, wherein the cleaning robot includes a cleaning device and a liquid spraying device, the special region includes a deceleration strip region, and if the cleaning path includes the special region, generating a corresponding control command to control the cleaning robot according to the special region further includes:

determining a distance between the cleaning robot and the deceleration strip region;

and if the distance between the cleaning robot and the deceleration belt area is larger than a third distance threshold value, controlling the cleaning device and the liquid spraying device to continue to operate.

6. The control method of claim 5, wherein if the cleaning path includes the special area, generating a corresponding control command to control the cleaning robot according to the special area further comprises:

and if the distance between the cleaning robot and the deceleration strip area is smaller than or equal to the third distance threshold value, controlling the cleaning robot to reduce the traveling speed and controlling the cleaning device and the liquid spraying device to stop running.

7. The control method of claim 1, comprising, before the step of determining the cleaning path of the cleaning robot based on the cleaning identification map:

constructing a clean map of a clean area;

setting the special area in the cleaning map to form the cleaning identification map.

8. A control device of a cleaning robot, characterized by comprising:

a determination module to determine a cleaning path of the cleaning robot from a cleaning identification map;

a detection module, so the detection module is used for judging whether the cleaning path comprises a special area;

and the control module is used for generating a corresponding control instruction according to the special area to control the cleaning robot if the cleaning path comprises the special area.

9. A cleaning robot, comprising a processor configured to:

determining a cleaning path of the cleaning robot according to a cleaning identification map;

judging whether the cleaning path comprises a special area or not;

and if the cleaning path comprises the special area, generating a corresponding control instruction according to the special area to control the cleaning robot.

10. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the method of controlling the cleaning robot of any one of claims 1-7.

Technical Field

The present disclosure relates to the field of robots, and more particularly, to a method and an apparatus for controlling a cleaning robot, and a storage medium.

Background

Disclosure of Invention

In view of the above, the present application provides a method and an apparatus for controlling a cleaning robot, and a storage medium.

The control method of the cleaning robot of the embodiment of the application comprises the following steps:

determining a cleaning path of the cleaning robot according to a cleaning identification map;

judging whether the cleaning path comprises a special area or not;

and if the cleaning path comprises the special area, generating a corresponding control instruction according to the special area to control the cleaning robot.

Therefore, if the cleaning robot passes through a special area in the cleaning process, the cleaning robot can take corresponding measures according to the special area, and damage to the special area or damage to the cleaning robot per se caused by the cleaning robot is avoided.

In some embodiments, the cleaning robot includes a cleaning device and a liquid spraying device, the special area includes a carpet area, and if the cleaning path includes the special area, generating a corresponding control command to control the cleaning robot according to the special area includes:

determining a distance between the cleaning robot and the carpet area;

and if the distance between the cleaning robot and the carpet area is larger than a first distance threshold value, controlling the cleaning device and the liquid spraying device to continue to operate.

In this way, if a carpet area exists in a cleaning path of the cleaning robot, the cleaning robot can normally perform a cleaning task when a distance between the cleaning robot and the carpet area is greater than a first distance threshold.

In some embodiments, the determining the distance between the cleaning robot and the carpet area comprises:

and if the distance between the cleaning robot and the carpet area is smaller than or equal to the first distance threshold and larger than a second distance threshold, controlling the liquid spraying device to stop spraying liquid and keeping the cleaning device to continue to operate.

In this manner, the liquid spray device is turned off before the cleaning robot reaches the carpet area to avoid spraying liquid into the carpet area and causing damage to the carpet area.

In some embodiments, the determining the distance between the cleaning robot and the carpet area further comprises:

and if the distance between the cleaning robot and the carpet area is smaller than or equal to a second distance threshold value, controlling the cleaning device and the liquid spraying device to stop running.

In this way, the cleaning device can clean the carpet area and the liquid spraying device can spray liquid into the carpet area to damage the carpet area in the process that the cleaning robot passes through the carpet area.

In some embodiments, the cleaning robot includes a cleaning device and a liquid spraying device, the special area includes a deceleration strip area, and if the cleaning path includes the special area, generating a corresponding control command according to the special area to control the cleaning robot further includes:

determining a distance between the cleaning robot and the deceleration strip region;

and if the distance between the cleaning robot and the deceleration belt area is larger than a third distance threshold value, controlling the cleaning device and the liquid spraying device to continue to operate.

As such, the cleaning robot may normally perform a cleaning task when the distance from the deceleration strip region is greater than a third threshold value.

In some embodiments, if the cleaning path includes the special area, generating a corresponding control command according to the special area to control the cleaning robot further includes:

and if the distance between the cleaning robot and the deceleration strip area is smaller than or equal to the third distance threshold value, controlling the cleaning robot to reduce the traveling speed and controlling the cleaning device and the liquid spraying device to stop running.

In this way, when the distance between the cleaning robot and the deceleration strip area is smaller than or equal to the third distance threshold, the cleaning robot can safely pass through the deceleration strip area, and the cleaning robot is prevented from being damaged due to collision with the deceleration strip area when passing through the deceleration strip area.

In some embodiments, before the determining a cleaning path of the cleaning robot based on the cleaning identification map step, the method further comprises:

constructing a clean map of a clean area;

setting the special area in the cleaning map to form the cleaning identification map.

In this way, by constructing the cleaning map and setting a special area on the cleaning map, it can be determined whether the cleaning path traveled by the cleaning robot includes the set special area so as to take a correct countermeasure when encountering the special area.

The control device for a cleaning robot according to an embodiment of the present invention includes:

a determination module to determine a cleaning path of the cleaning robot from a cleaning identification map;

a detection module, so the detection module is used for judging whether the cleaning path comprises a special area;

and the control module is used for generating a corresponding control instruction according to the special area to control the cleaning robot if the cleaning path comprises the special area.

Therefore, through the arrangement of the determining module, the detecting module and the control module which are included by the control device, the cleaning robot can generate a corresponding control instruction in the process of passing through the special area so as to control the cleaning robot to take a corresponding measure.

The cleaning robot of the embodiment of the present application includes a processor for:

determining a cleaning path of the cleaning robot according to a cleaning identification map;

judging whether the cleaning path comprises a special area or not;

and if the cleaning path comprises the special area, generating a corresponding control instruction according to the special area to control the cleaning robot.

Therefore, the cleaning robot can generate corresponding control instructions when encountering special areas in the cleaning process so as to control the cleaning robot to take corresponding measures.

A non-transitory computer-readable storage medium of an embodiment of the present application includes a medium storing computer-executable instructions that, when executed by one or more processors, cause the processors to perform a control method of the cleaning robot of any one of the above.

As such, the control method of the cleaning robot according to any one of the above can be implemented by the processor executing computer-executable instructions.

In the control method and device for charging the pile by the cleaning robot, the cleaning robot and the storage medium, whether the cleaning path of the cleaning robot comprises the special area or not is determined, and if the cleaning path comprises the special area is determined, the cleaning robot can generate the corresponding control instruction according to the position of the special area to take a countermeasure, so that damage to the special area or damage to the cleaning robot per se by the cleaning robot is avoided. Therefore, the adaptability of the cleaning robot to scenes is improved, and the application range of the cleaning robot is wider.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart illustrating a control method of a cleaning robot according to some embodiments of the present disclosure.

Fig. 2 is a schematic structural diagram of a control device of a cleaning robot according to some embodiments of the present disclosure.

FIG. 3 is a block schematic diagram of a cleaning robot according to certain embodiments of the present application.

Fig. 4 is a flowchart illustrating a control method of a cleaning robot according to some embodiments of the present disclosure.

Fig. 5 is another flowchart illustrating a control method of a cleaning robot according to some embodiments of the present disclosure.

Fig. 6 is another flowchart illustrating a control method of a cleaning robot according to some embodiments of the present disclosure.

Fig. 7 is another flowchart illustrating a control method of a cleaning robot according to some embodiments of the present disclosure.

Fig. 8 is a schematic structural view of a storage medium of a cleaning robot according to some embodiments of the present disclosure.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

With the development of science and technology, robots are more and more intelligent. Wherein, cleaning robot can realize accomplishing the cleaning task automatically. Brings great convenience and convenience to the life of people, and the demand of people is more and more extensive.

However, in the related art, the cleaning robot can perform automatic cleaning only in some simple scenes, and for some complex scenes, for example, the scene includes a carpet area, a solid wood floor area, a deceleration strip area, a blind track area, and the like, the cleaning robot often cannot take appropriate countermeasures. If a specific area is included in the cleaning area, the cleaning robot may cause damage to the specific area or damage to the cleaning robot itself when passing through the specific area. For example, if the cleaning robot cleans a carpet area or a special area such as a solid wood floor area, the carpet and the floor may be damaged, and if the cleaning robot cleans the floor, the cleaning robot may easily damage the floor by passing through a deceleration zone or a blind zone.

Referring to fig. 1, the present application provides a method for controlling a cleaning robot, including:

s10, determining a cleaning path of the cleaning robot according to the cleaning identification map;

s20, judging whether the cleaning path comprises a special area;

and S30, if the cleaning path comprises the special area, generating a corresponding control command according to the special area to control the cleaning robot.

Referring to fig. 2, the present embodiment provides a control device 100 for a cleaning robot. The control device 100 comprises a determination module 11, a detection module 12 and a control module 13. S10 may be implemented by the determination module 11, S20 may be implemented by the detection module 12, and S30 may be implemented by the control module 13. Alternatively, the determination module 11 may be configured to determine the cleaning path of the cleaning robot based on the cleaning identification map, respectively. The detection module 12 may be used to determine whether the cleaning path includes a particular region. The control module 13 may be configured to generate a corresponding control command to control the cleaning robot according to the specific area if the cleaning path includes the specific area.

Referring to fig. 3, the cleaning robot 1000 according to the present embodiment further includes a processor 200, where the processor 200 is configured to determine a cleaning path of the cleaning robot 1000 according to the cleaning identifier map, determine whether the cleaning path includes a special area, and generate a corresponding control instruction according to the special area to control the cleaning robot 1000 if the cleaning path includes the special area.

Specifically, the cleaning robot 1000 is provided with a navigation system, the navigation system includes a cleaning identification map, and the cleaning identification map covers all cleaning areas of the cleaning robot 1000, for example, the cleaning areas may be public areas with large cleaning areas, such as shopping malls, roads, airports, office buildings, warehouses, and squares, that is, the cleaning robot may be applied to public areas with complex environmental conditions. The method for obtaining the clean identification map may include various methods, for example, a simultaneous localization and mapping (SLAM) technique, a manual drawing and image recognition technique, and the like may be used. The instant positioning and mapping technology is a technology of placing a robot at an unknown position in an unknown environment, driving the robot to move while acquiring data around the environment by using a sensor, and gradually drawing a map complete with the environment around the robot. In the embodiment, the instant positioning and map building technology is adopted to obtain the clean identification map.

Further, the location of the cleaning robot 1000 and the location of a specific area may be determined in the cleaning identification map. When the cleaning robot 1000 starts a cleaning task, the cleaning robot 1000 generates a cleaning path according to the cleaning identification map and the position of the cleaning robot 1000, and the control device 100 controls the cleaning robot 1000 to clean the floor along the cleaning path according to the cleaning identification map, thereby finally completing the cleaning task. If the cleaning path includes a specific area, the cleaning robot 1000 may not achieve the desired cleaning effect when passing through the specific area when the cleaning robot 1000 cleans the floor along the cleaning path. Therefore, when the determination module 11 determines the cleaning path, the detection module 12 determines whether the cleaning path includes a special area to determine whether the cleaning robot 1000 takes a countermeasure. If the cleaning path includes a special area, the cleaning robot 1000 may generate a corresponding control command according to the special area, so that the cleaning robot 1000 may adopt a corresponding measure to smoothly pass through the special area when passing through the special area, and finally complete a cleaning task.

It should be noted that the cleaning area includes a general area and a special area, and the general area is an area where the floor is flat and the cleaning robot 1000 can normally complete the cleaning task without being affected by the floor. In the cleaning path, the region excluding the special region is the normal region. The special area refers to an area where the cleaning robot 1000 may affect or interfere with a normal cleaning work of the cleaning robot, such as a carpet area, a solid wood floor, a deceleration strip area, and an area where obstacles exist to cause no-driving, and the like. If the cleaning path includes the non-drivable area, the cleaning robot regenerates the cleaning path to avoid the non-drivable area.

In the control method of the cleaning robot 1000, the control device 100, and the cleaning robot 1000 according to the embodiment of the present application, by determining whether the cleaning path of the cleaning robot 1000 includes the special area, the cleaning robot 1000 generates a corresponding control command when encountering the special area, and takes a corresponding countermeasure, thereby preventing the cleaning robot 1000 from damaging the special area or the cleaning robot 1000 itself. Thus, the adaptability of the cleaning robot 1000 to a scene is improved, and the application range of the cleaning robot 1000 is wider.

Referring to fig. 4, in some embodiments, the cleaning robot 1000 includes a cleaning device 300 and a liquid spraying device 400, the specific area includes a carpet area, and S30 includes:

s31, judging the distance between the cleaning robot and the carpet area;

and S32, if the distance between the cleaning robot and the carpet area is larger than the first distance threshold value, controlling the cleaning device and the liquid spraying device to continue to operate.

In some embodiments, the control module 13 includes a first comparing unit 131 and a first control unit 132, and S31 may be implemented by the first comparing unit 131, and S32 may be implemented by the first control unit 132. Or, the first comparison unit 131 is used to judge the distance between the cleaning robot 1000 and the carpet area. The first control unit 132 is configured to control the cleaning device 300 and the liquid spraying device 400 to continue to operate if the distance between the cleaning robot 1000 and the carpet area is greater than a first distance threshold.

In some embodiments, the processor 200 is configured to determine a distance between the cleaning robot 1000 and the carpet area, and control the cleaning device 300 and the liquid spraying device 400 to continue to operate if the distance between the cleaning robot 1000 and the carpet area is greater than a first distance threshold.

Specifically, when the cleaning robot 1000 starts the cleaning task, the cleaning robot 1000 starts the cleaning device 300 and the liquid spray device 400. During the cleaning robot 1000 travels along the cleaning path, the cleaning device 300 may contact with the floor surface to clean the floor surface, and the liquid spraying device 400 sprays the liquid to the floor surface and the cleaning device 300 to improve the cleaning effect of the cleaning robot 1000. The liquid may be water or a cleaning liquid or the like. In addition, the cleaning robot 1000 acquires the positions of the cleaning robot 1000 and the specific area at each cycle to determine the distance between the cleaning robot 1000 and the specific area, thereby determining whether the cleaning robot 1000 generates a corresponding control command. The duration of each cycle is not limited and may be determined according to the traveling speed of the cleaning robot 1000, for example, when the traveling speed of the cleaning robot 1000 is 2 meters per second, each cycle of the cleaning robot 1000 may be set to 0.5 second, that is, the distance of the cleaning robot 1000 from the specific area is determined every 0.5 second by the cleaning robot 1000.

Further, the first comparing unit 131 is provided with a first distance threshold. Since the special area includes the carpet area, the acquired distance between the cleaning robot 1000 and the carpet area per cycle is compared with the first distance threshold, thereby determining whether the cleaning robot 1000 starts a control command. If the distance between the cleaning robot 1000 and the carpet area is greater than the first distance threshold, it is determined that the cleaning robot 1000 may continue the cleaning task, and thus the cleaning device 300 and the liquid spray device 400 may continue to operate to complete the cleaning task. For example, the first distance threshold is 1 meter, and when the distance between the cleaning robot 1000 and the carpet area during the cleaning process along the cleaning path is greater than 1 meter, the cleaning robot 1000 can normally clean the floor.

Referring to fig. 5, in some embodiments, S31 includes:

and S312, if the distance between the cleaning robot and the carpet area is smaller than or equal to the first distance threshold and larger than the second distance threshold, controlling the liquid spraying device to stop spraying the liquid and keeping the cleaning device to continuously run.

In some embodiments, S312 may be implemented by the first control unit 132. That is, the first control unit 132 may be configured to control the liquid spraying device 400 to stop spraying the liquid and keep the cleaning device 300 running if the distance between the cleaning robot 1000 and the carpet area is less than or equal to the first distance threshold and greater than the second distance threshold.

In some embodiments, the processor 200 is configured to control the liquid spraying device 400 to stop spraying liquid and keep the cleaning device 300 running if the distance between the cleaning robot 1000 and the carpet area is less than or equal to the first distance threshold and greater than the second distance threshold.

Specifically. The cleaning robot 1000 also includes a second distance threshold, the second distance threshold being less than the first distance threshold. During cleaning of the cleaning robot 1000 along the cleaning path, the acquired distance between the cleaning robot 1000 and the carpet area per cycle is compared with a first distance threshold, and if the acquired distance is smaller than the first distance threshold, the acquired distance between the cleaning robot 1000 and the carpet area per cycle is compared with a second distance threshold. If the distance between the cleaning robot 1000 and the carpet area is greater than the second distance threshold, the first control unit 132 generates a stop liquid spraying command to control the liquid spraying device 400 to stop spraying the liquid to the floor and the cleaning device 300, and the cleaning device 300 continues to clean the floor. In this way, the cleaning robot 1000 can avoid the damage of the carpet area caused by the sprayed liquid scattering into the carpet area, and meanwhile, the cleaning device 300 can continue to clean the floor when the distance between the cleaning device and the carpet area is greater than the second distance threshold.

In certain embodiments, S31 further comprises:

and S314, if the distance between the cleaning robot and the carpet area is smaller than or equal to the second distance threshold value, controlling the cleaning device and the liquid spraying device to stop running.

In some embodiments, S314 may be implemented by the first control unit 132. That is, the first control unit 132 may be configured to control the cleaning device 300 and the liquid spray device 400 to stop operating if the distance between the cleaning robot and the carpet area is less than or equal to the second distance threshold.

In some embodiments, the processor 200 is configured to control the cleaning device 300 and the liquid spraying device 400 to stop operating if the distance between the cleaning robot 1000 and the carpet area is less than or equal to a second distance threshold.

It can be understood that, since the cleaning robot 1000 cleans the floor by the cleaning device 300 contacting with the floor during the cleaning process, if the cleaning robot 1000 passes through the carpet area, the carpet area may be damaged by the cleaning device 300 due to the fuzz on the surface of the carpet area. Accordingly, when detecting that the distance between the cleaning robot 1000 and the carpet area within a certain period is less than or equal to the second distance threshold, the first control unit 132 may control the cleaning robot 1000 to generate a stop cleaning instruction so as to avoid the cleaning device 300 from contacting the carpet area to damage the carpet area.

Further, after the cleaning robot 1000 passes through the carpet area, the cleaning device 300 and the liquid spraying device 400 are turned on, the cleaning device 300 continues to clean the floor and the liquid spraying device 400 sprays liquid to the cleaning device 300 and the floor until the cleaning task is finally completed. In this way, even if the cleaning robot 1000 passes through the carpet area during cleaning, it is ensured that the carpet area is not damaged. It will be appreciated that similar control instructions may be taken as if the cleaning path includes an area similar to a carpeted area, such as a lawn area, a solid wood floor area, or the like. For example, in some examples, the cleaning path includes a lawn area, and if the distance between the cleaning robot 1000 and the lawn is less than or equal to the second distance threshold, the first control unit 132 may generate instructions to control the cleaning device 300 and the liquid spray device 400 to stop operating to control the cleaning robot 1000 not to damage the lawn during passage of the lawn.

Referring to fig. 6, in some embodiments, the cleaning robot 1000 includes a cleaning device 300 and a liquid spraying device 400, the special area includes a deceleration strip area, and S30 further includes:

s33, judging the distance between the cleaning robot and the deceleration strip area;

and S34, if the distance between the cleaning robot and the deceleration strip area is larger than the third distance threshold value, controlling the cleaning device and the liquid spraying device to continue to operate.

In some embodiments, the control module 13 includes a second comparing unit 133 and a second control unit 134, and S33 may be implemented by the second comparing unit 133, and S34 may be implemented by the second control unit 134. Alternatively, the second comparison unit 133 may be used to determine the distance between the cleaning robot 1000 and the deceleration strip region. The second control unit 134 may be configured to control the cleaning device 300 and the liquid spray device 400 to continue to operate if the distance between the cleaning robot 1000 and the deceleration strip area is greater than a third distance threshold.

In some embodiments, the processor 200 may be further configured to determine a distance between the cleaning robot 1000 and the deceleration strip area, and control the cleaning device 300 and the liquid spraying device 400 to continue to operate if the distance between the cleaning robot 1000 and the deceleration strip area is greater than a third distance threshold.

It can be understood that if the cleaning path includes the deceleration strip area, if the cleaning robot 1000 passes through the deceleration strip area at the normal cleaning speed, the cleaning robot 1000 may collide with the deceleration strip area, and further the cleaning robot 1000 may be tripped to fail to complete the cleaning work and even damage the cleaning robot 1000. Therefore, the cleaning robot 1000 is provided with a third distance threshold value, and the second comparing unit 133 compares the acquired distance between the cleaning robot 1000 and the carpet area during the cleaning of the cleaning robot 1000 along the cleaning path with the third distance threshold value. If it is the distance between the cleaning robot 1000 and the carpet area that is greater than the first threshold value, it is determined that the cleaning robot 1000 can continue the cleaning task, and thus the second control unit 134 controls the cleaning device 300 and the liquid spray device 400 to continue operating. As such, even if a deceleration belt region is included in the cleaning path, normal cleaning of the cleaning robot 1000 is not affected.

In certain embodiments, S30 further comprises:

and S35, if the distance between the cleaning robot and the deceleration strip area is less than or equal to the third distance threshold, controlling the cleaning robot to reduce the travel speed and controlling the cleaning device and the liquid spraying device to stop running.

In certain embodiments, S35 may be implemented by the second control unit 134. Alternatively, the second control unit 134 may be configured to control the cleaning robot 1000 to reduce the traveling speed and control the cleaning device 300 and the liquid spray device 400 to stop operating if the distance between the cleaning robot 1000 and the deceleration strip region is less than or equal to the third distance threshold.

In some embodiments, the processor 200 may be further configured to control the cleaning robot 1000 to reduce the travel speed and control the cleaning device 300 and the liquid spray device 400 to stop operating if the distance between the cleaning robot 1000 and the deceleration strip region is less than or equal to a third distance threshold.

Specifically, when the cleaning path includes a deceleration strip region and the distance between the cleaning robot 1000 and the deceleration strip region is less than or equal to the third distance threshold, the cleaning robot 1000 generates an instruction to reduce the travel speed and control the cleaning device 300 and the liquid spray device 400 to stop running, and the cleaning robot 1000 travels at a speed lower than the normal travel speed to smoothly pass through the deceleration strip region. Meanwhile, the cleaning device 300 stops working and is separated from the ground to prevent the cleaning device 300 from being pressed against a deceleration strip area protruding relative to the ground to affect the movement of the cleaning robot 1000, and the liquid spraying device 400 stops spraying liquid to the ground and the cleaning device 300. After the cleaning robot 1000 moves away from the deceleration strip area, the cleaning robot 1000 resumes the normal traveling speed and turns on the cleaning device 300 and the liquid spray device 400, so that the cleaning robot 1000 continues the cleaning task until completion. In this way, the cleaning robot 1000 can smoothly pass through the cleaning path including the deceleration strip area. It is to be understood that if the cleaning path includes areas similar to the deceleration strip area, such as a street light area and a blind road, and the cleaning robot passes through the areas, which is likely to cause damage to the cleaning robot, control instructions similar to those passing through the deceleration strip area may be taken. For example, in some examples, the cleaning path includes a blind zone, and the cleaning robot is controlled to reduce the travel speed if a distance between the cleaning robot and the blind zone is less than or equal to a third distance threshold.

Referring to fig. 7, in some embodiments, before S10, the method further includes:

s40, constructing a clean map of the clean area;

and S50, setting a special area in the cleaning map to form a cleaning identification map.

In certain embodiments, the control apparatus 100 further comprises a building module 14 and a setting module 15, S40 may be implemented by the building module 14, and S50 may be implemented by the setting module 15. That is, the building module 14 may be used to build a clean map of the clean area. The setup module 15 may be used to set up specific areas in the cleaning map to form a cleaning identification map.

In some embodiments, the processor 200 is also used to construct a cleaning map of the cleaning area, with specific areas set in the cleaning map to form a cleaning identification map.

Specifically, the cleaning robot 1000 moves in a desired cleaning area to acquire data during travel with, for example, a laser, an image, an inertial conduction sensor, and the like. The building module 14 processes the acquired sensor data to obtain a built clean map, determines the position of the special area included in the clean map, and the setting module 15 marks the position of the special area on the clean map, such as a street lamp, a deceleration strip, a lawn, and the like, to form a clean identification map. Accordingly, the control device 100 may determine whether the cleaning path of the cleaning robot 1000 includes the marked specific area, and thus, if the cleaning path includes the marked specific area, the control device 100 may control the cleaning robot 1000 to take corresponding measures according to the position of the marked specific area.

Referring to fig. 8, embodiments of the present application also provide one or more non-volatile computer-readable storage media 500, where the readable storage media 500 include computer-executable instructions 501. The computer executable instructions 501, when executed by the one or more processors 200, cause the processors 200 to perform any of the above-described embodiments of the control method of the cleaning robot 1000.

It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by specifying relevant hardware by a computer program, and the program of the control method of the cleaning robot 1000 may be stored in a non-volatile computer readable storage medium 500, and when executed, may include the processes of the embodiments of the methods as described above.

The above embodiments are merely representative of several embodiments of the present application, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.