A control method for a cleaning robot crossing floors and a cleaning robot

Abstract

The present disclosure provides a control method for a cleaning robot to cross floors, the control method comprising: obtaining the change in altitude of the cleaning robot; determining at least one estimated floor to which the cleaning robot moves based on the change in altitude of the cleaning robot and a preset estimated value of the floor height; obtaining environmental information of the current location of the cleaning robot; and determining an environmental map that matches the environmental information from the environmental map of the at least one estimated floor as the environmental map of the floor where the cleaning robot is currently located. The control method of the present disclosure enables the cleaning robot to accurately determine the current floor where it is located, thereby enabling the cleaning robot to accurately switch to the map of the current floor.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning equipment, and in particular to a method for controlling a cleaning robot to cross floors and the cleaning robot. Background Art

[0002] A cleaning robot is a robot that can intelligently clean a home environment, such as a sweeping robot, a mopping robot, a sweeping, suction and mopping robot, etc. When an existing cleaning robot performs the first cleaning of a home environment, it can generally autonomously obtain an environmental map and store it, so that the cleaning robot can plan a path based on the stored map and traverse and clean the home environment.

[0003] When cleaning a home environment, the cleaning robot needs to rely on the correct map for positioning and navigation. At the same time, due to the differences in home environments between different floors, the cleaning robot needs to switch maps when cleaning different floors to match the corresponding maps. However, since the cleaning robot cannot autonomously determine the actions of rising and falling, the cleaning robot cannot automatically switch maps as the floors change. Summary of the invention

[0004] The present disclosure provides a method for controlling a cleaning robot across floors and a cleaning robot, which are used to solve the following technical problem in the prior art: the cleaning robot cannot automatically switch maps as the floors change.

[0005] In a first aspect, the present disclosure provides a method for controlling a cleaning robot to cross floors, the control method comprising:

[0006] Obtaining the altitude change of the cleaning robot;

[0007] Determining at least one estimated floor to which the cleaning robot moves based on the change in altitude of the cleaning robot and a preset estimated value of the floor height;

[0008] Obtaining environmental information of the current location of the cleaning robot;

[0009] From the environmental map of the at least one estimated floor, an environmental map that matches the environmental information is determined as the environmental map of the floor where the cleaning robot is currently located.

[0010] Optionally, the aforementioned environment map includes contour information and / or obstacle information of the corresponding estimated floor;

[0011] The aforementioned acquisition of the environmental information of the current location of the aforementioned cleaning robot includes:

[0012] The contour information and / or obstacle information around the current position of the cleaning robot is obtained through the environment detection sensor.

[0013] Optionally, the aforementioned environment map includes at least one wireless fingerprint information of the corresponding estimated floor;

[0014] The aforementioned acquisition of the environmental information of the current location of the aforementioned cleaning robot includes:

[0015] Acquire the wireless fingerprint information that can be received by the current location of the cleaning robot.

[0016] Optionally, before determining at least one estimated floor to which the cleaning robot moves based on the altitude change of the cleaning robot and a preset estimated floor height, the control method further includes:

[0017] Determining whether the altitude change of the cleaning robot satisfies a preset change condition;

[0018] If so, the step of determining at least one estimated floor to which the cleaning robot moves based on the change in altitude of the cleaning robot and a preset estimated floor height is executed.

[0019] Optionally, the preset change condition is: the altitude change of the cleaning robot reaches a set threshold within a preset time.

[0020] Optionally, the obtaining of the altitude change of the cleaning robot includes: detecting the altitude change of the cleaning robot by means of an air pressure sensor.

[0021] Optionally, the obtaining of the altitude change of the cleaning robot includes: detecting the altitude change of the cleaning robot by means of an inertial sensor.

[0022] Optionally, the aforementioned estimated value of floor height is at least one;

[0023] The determining of at least one estimated floor according to the altitude change of the cleaning robot and a preset estimated floor height value includes:

[0024] Determine the integer part of the ratio of the aforementioned altitude change to at least one estimated floor height;

[0025] At least one estimated floor corresponding to at least one of the aforementioned integer parts is determined.

[0026] Optionally, before determining an environmental map matching the environmental information from the environmental map of the at least one estimated floor as the environmental map of the floor where the cleaning robot is currently located, the control method further includes:

[0027] Build an environment map for each floor separately;

[0028] Obtain wireless fingerprint information at all locations on each floor;

[0029] Each acquired wireless fingerprint information is associated with the corresponding environment map.

[0030] In a second aspect, the present disclosure provides a cleaning robot, comprising a processor, a memory, and execution instructions stored in the aforementioned memory, wherein the aforementioned execution instructions are configured to enable the aforementioned cleaning robot to execute any one of the aforementioned control methods in the first aspect when executed by the aforementioned processor.

[0031] Based on the foregoing description, those skilled in the art can understand that the present disclosure can preliminarily determine at least one floor that the cleaning robot may move to by obtaining the change in altitude of the cleaning robot and determining at least one estimated floor to which the cleaning robot moves based on the change in altitude and a preset estimated value of the floor height. Then, the environmental information of the current location of the cleaning robot is obtained so as to determine an environmental map that matches the environmental information from the environmental map of at least one estimated floor determined, so as to use the successfully matched environmental map as the environmental map of the floor where the cleaning robot is currently located, so that the cleaning robot can autonomously switch environmental maps as the floors change.

[0032] Further, by acquiring contour information and / or obstacle information around the current location of the cleaning robot, an environmental map that matches the contour information and / or obstacle information is determined from the environmental map of at least one estimated floor, thereby determining the environmental map of the floor where the cleaning robot is currently located. And / or, by acquiring wireless fingerprint information that can be received by the current location of the cleaning robot, and then determining an environmental map that matches the wireless fingerprint information from the environmental map of at least one estimated floor, thereby determining the environmental map of the floor where the cleaning robot is currently located. It can be understood by those skilled in the art that the present disclosure can accurately determine the floor where the cleaning robot is currently located at least through multiple verifications of contour information and / or obstacle information and wireless fingerprint information, thereby allowing the cleaning robot to accurately switch to the map of the current floor.

[0033] Furthermore, by determining whether the cleaning robot has crossed a floor only after the change in the cleaning robot's altitude has reached a set threshold within a preset time, the cleaning robot is prevented from repeatedly determining whether it has crossed a floor, thereby avoiding consuming data processing memory of the processor or computing unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solution of the present disclosure, some embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, in which:

[0035] Figure 1 This is a schematic flow chart of the main steps of the method for controlling a cleaning robot to cross floors in the first embodiment of the present disclosure;

[0036] Figure 2 This is a schematic flow chart of some steps of a method for controlling a cleaning robot to cross floors in a second embodiment of the present disclosure;

[0037] Figure 3 It is a schematic diagram of the functional structure of the cleaning robot in the fourth embodiment of the present disclosure. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present disclosure clearer, the technical solution of the present disclosure will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. It should be understood by those skilled in the art that the embodiments described in the specific embodiments of this section are only part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure. Based on the embodiments described in the specific embodiments of this section, all other embodiments obtained by ordinary technicians in this field without creative work will not deviate from the technical principles of the present disclosure, and therefore should fall within the scope of protection of the present disclosure.

[0039] It should be noted that in the description of the present disclosure, each functional module can be a physical module composed of multiple structures, components or electronic components, or a virtual module composed of multiple programs; each functional module can be a module that exists independently of each other, or a module divided according to the function of an integral module. It should be understood by those skilled in the art that, under the premise of being able to implement the technical solution described in the present disclosure, the composition mode, implementation mode, and positional relationship of each functional module will not deviate from the technical principle of the present disclosure no matter how it changes, and therefore should fall within the protection scope of the present disclosure.

[0040] In addition, it should be noted that in the description of the present disclosure, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a wired connection, a wireless connection, or a communication connection (including a wired connection and a wireless connection). For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0041] Some embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0042] In the first embodiment of the present disclosure:

[0043] like Figure 1 As shown, the control method for the cleaning robot across floors in this embodiment includes:

[0044] Step S110, obtaining the altitude change of the cleaning robot.

[0045] As example one, the cleaning robot of this embodiment is provided with an air pressure sensor, so that the cleaning robot can detect the air pressure of the environment in which the cleaning robot is located through the air pressure sensor. Since the atmospheric pressure values ​​at different altitudes are different in the same weather environment, the cleaning robot of this example can determine the change in altitude of the cleaning robot based on the change in air pressure. Specifically, the cleaning robot first detects the atmospheric pressure of the environment through the air pressure sensor, calculates the air pressure difference when the atmospheric pressure changes, and then converts the air pressure difference into the change in altitude.

[0046] It is understood by those skilled in the art that, since different weather conditions (such as sunny, cloudy, windy, etc.) have a relatively large impact on air pressure, in this example, preferably, when the cleaning robot detects a change in the atmospheric pressure value, the cleaning robot is enabled to obtain local weather information. If the weather conditions are relatively stable (such as always sunny or continuous rain), the cleaning robot is enabled to determine the altitude change according to the change in the air pressure. If the weather conditions are unstable, the cleaning robot is prohibited from determining the altitude change according to the change in the air pressure.

[0047] Furthermore, since weather changes usually do not complete within a few minutes, technicians in this field can also use this to enable the cleaning robot to determine the change in altitude based on the change in air pressure when the air pressure changes continuously over a period of time (e.g., 3 minutes, 5 minutes, 10 minutes, etc.).

[0048] As a second example, the cleaning robot of this embodiment is provided with an inertial sensor so that the cleaning robot can detect the change in altitude of the cleaning robot through the inertial sensor. Specifically, the cleaning robot can determine the distance value of the cleaning robot moving up or down according to the magnitude, direction (upward or downward), duration of acceleration, magnitude, direction (upward or downward), duration of deceleration, and duration between acceleration and deceleration detected by the inertial sensor, and the distance value is the change in altitude of the cleaning robot.

[0049] Step S120, determining at least one estimated floor to which the cleaning robot moves based on the change in altitude of the cleaning robot and a preset estimated floor height.

[0050] Among them, the preset floor height estimate is at least one. The reason is that the floor heights of different building types are different due to different standards, resulting in different floor heights. The existing floor heights are generally between 2m and 5m. Therefore, if only one floor height estimate is set, the cleaning robot will not be able to accurately determine how many floors it has moved. For example, if the floor height estimate is 2 meters, but the actual floor height is 5 meters, the cleaning robot actually rises or falls by 5 meters, and it will be judged that it has risen or fallen by two floors, and the environmental map cannot be accurately determined. For another example, if the floor height estimate is 5 meters, but the actual floor height is 2 meters, the cleaning robot actually rises or falls by 2 meters, and it will be judged that it has not moved the floor, and the environmental map cannot be switched.

[0051] Therefore, those skilled in the art need to determine the number of estimated floor height values ​​and the specific value of each estimated floor height value according to actual conditions. For example, there are three preset estimated floor height values, and their values ​​are 2m, 3.4m, and 5m respectively.

[0052] Furthermore, step S120 further includes:

[0053] Step S121, determining the integer part of the ratio of the altitude change to at least one estimated floor height.

[0054] As an example 1, the altitude change is 10 meters, and there are three preset floor height estimates, which are 2m, 3m, and 5m. Then, the ratios of the altitude change to the three floor height estimates are 5, 3.33, and 2, respectively. The integer parts of the ratios are 5, 3, and 2, respectively.

[0055] Step S122, determining at least one estimated floor corresponding to at least one integer part.

[0056] For example, according to the three values ​​5, 3 and 2 in Example 1 of step S121, it is determined that the estimated floor to which the cleaning robot may rise is the 5th floor, the 3rd floor or the 2nd floor. That is, the cleaning robot may rise 5 floors, 3 floors or 2 floors.

[0057] It can be seen that this embodiment enables the cleaning robot to be suitable for environments with almost all floor heights by determining at least one estimated floor to which the cleaning robot will move, thereby avoiding the problem of the cleaning robot misidentifying floors due to cross-floor recognition or missed floor recognition after the cleaning robot moves up or down.

[0058] Step S130, obtaining environmental information of the current location of the cleaning robot.

[0059] As an example 1, the environment map corresponding to each floor includes contour information and / or obstacle information, wherein the contour information may be contour information of the edge of the environment map. Furthermore, the cleaning robot is provided with an environment detection sensor, which includes but is not limited to a camera and / or a laser radar. The cleaning robot obtains contour information and / or obstacle information around the current location of the cleaning robot through the environment detection sensor.

[0060] As a second example, the environment map corresponding to each floor includes wireless fingerprint information, which includes but is not limited to the names of all WiFi signal sources on the floor and the WiFi signal strength of each WiFi signal source at each position on the floor. Furthermore, a wireless fingerprint receiver is provided on the cleaning robot so that the cleaning robot can obtain the wireless fingerprint information that can be received at its current location through the wireless fingerprint receiver.

[0061] As Example 3, based on the contents recorded in Example 1 and Example 2 of this step, the technicians in this field can also, as needed, make the environmental map corresponding to each floor include wireless fingerprint information, contour information and / or obstacle information, and enable the cleaning robot to obtain the wireless fingerprint information that can be received at its current position while obtaining the contour information and / or obstacle information around the current position of the cleaning robot.

[0062] Based on the three examples of this step, it can be seen that the cleaning robot of this embodiment can at least identify the local environmental information of the current floor, so that the cleaning robot can compare the local environmental information with the entire environmental information of the corresponding floor in step S140.

[0063] Step S140, determining an environmental map that matches the environmental information from the environmental maps of at least one estimated floor as the environmental map of the current floor of the cleaning robot, so that the cleaning robot cleans the current floor according to the determined environmental map.

[0064] Corresponding to Example 1 in step S130, an environmental map containing contour information and / or obstacle information currently acquired by the cleaning robot (or an environmental map having contour information and / or obstacle information consistent with the contour information and / or obstacle information currently acquired by the cleaning robot) is determined from the environmental map of at least one estimated floor (for example, the second, third, and fifth floors calculated from the initial floor), and the determined environmental map is used as the environmental map of the floor where the cleaning robot is currently located.

[0065] Corresponding to Example 2 in step S130, an environmental map containing the wireless fingerprint information currently received by the cleaning robot (or an environmental map with wireless fingerprint information consistent with the wireless fingerprint information currently received by the cleaning robot) is determined from the environmental map of at least one estimated floor (for example, the second, third and fifth floors starting from the initial floor), and the determined environmental map is used as the environmental map of the floor where the cleaning robot is currently located.

[0066] Corresponding to Example three in step S130, an environmental map including contour information and / or obstacle information currently acquired by the cleaning robot and wireless fingerprint information currently received by the cleaning robot is determined from the environmental map of at least one estimated floor (for example, the second, third and fifth floors calculated from the initial floor), and the determined environmental map is used as the environmental map of the floor where the cleaning robot is currently located.

[0067] Based on the foregoing description, those skilled in the art can understand that, in this embodiment, by obtaining the change in altitude of the cleaning robot and determining at least one estimated floor to which the cleaning robot moves based on the change in altitude and a preset estimated value of the floor height, at least one floor to which the cleaning robot may move can be preliminarily determined. Then, the environmental information of the current location of the cleaning robot is obtained, so as to determine an environmental map that matches the environmental information from the environmental map of at least one estimated floor determined, so as to use the successfully matched environmental map as the environmental map of the floor where the cleaning robot is currently located, so that the cleaning robot can autonomously switch environmental maps as the floors change.

[0068] It should be noted that the first embodiment of the present disclosure is only a basic embodiment of the control method of the present disclosure, and other optional embodiments may be obtained based on the first embodiment, such as the following second embodiment.

[0069] In the second embodiment of the present disclosure:

[0070] like Figure 2 As shown, compared with the first embodiment of the present disclosure, the control method of this embodiment further includes, before step S140:

[0071] Step S210, construct an environmental map for each floor and store it, so that when the cleaning robot moves to the corresponding floor and switches the environmental map to the environmental map of that floor, it can plan the cleaning path for the corresponding floor according to the environmental map, thereby cleaning the corresponding floor along the planned cleaning path.

[0072] Step S220, obtain the wireless fingerprint information at all positions on each floor, so that each position on each floor has a separate identity (wireless fingerprint information), so that the cleaning robot can determine the floor it is on and the position of the floor according to the matched identity (wireless fingerprint information), thereby realizing the positioning of the floor.

[0073] Step S230, each acquired wireless fingerprint information is associated with the corresponding environmental map, so that the cleaning robot can determine the wireless fingerprint information matching the wireless fingerprint information received at the current location from the environmental map, thereby determining the environmental map corresponding to the current floor of the cleaning robot.

[0074] Based on the foregoing description, those skilled in the art will understand that the present embodiment marks each position on each floor separately through wireless fingerprint information, so that the cleaning robot can compare its currently detected wireless fingerprint information with the wireless fingerprint information corresponding to each position on the estimated floor, so as to determine the current position of the cleaning robot according to the successfully matched wireless fingerprint information, and then enable the cleaning robot to determine the environmental map of the current floor according to its current position.

[0075] In the third embodiment of the present disclosure:

[0076] Compared with the first and / or second embodiments of the present disclosure, the control method of this embodiment further includes, before step S120: determining whether the change in altitude of the cleaning robot satisfies a preset change condition; and when the preset change condition is met, causing the cleaning robot to execute step S120; when the preset change condition is not met, causing the cleaning robot not to execute step S120.

[0077] Among them, the preset change conditions include: the change in altitude of the cleaning robot reaches a set threshold within a preset time.

[0078] In this embodiment, the preset change condition can avoid the influence of climate factors on the cleaning robot's acquisition of altitude changes (please refer to Example 1 of step S110 in the first embodiment for details). The preset change condition can also avoid frequently or continuously determining the number of floors the cleaning robot ascends or descends before the cleaning robot ascends or descends a floor, thereby reducing the amount of calculation of the cleaning robot.

[0079] The preset time may be any feasible time, such as 3 minutes, 5 minutes, 11 minutes, 12.3 minutes, etc.

[0080] The preset threshold is greater than or equal to the actual minimum floor height. For example, the preset threshold may be 2m, 2.3m, 3.2m, 4m, etc.

[0081] Furthermore, those skilled in the art may also, as required, make the preset change condition further include: determining the estimated floor for a period of time after the altitude change stops changing, so as to ensure that the cleaning robot has finished ascending and descending. The period of time may be any feasible time, such as 5 seconds, 8 seconds, 13 seconds, 25 seconds, etc.

[0082] Based on the foregoing description, those skilled in the art will understand that by determining whether the cleaning robot has crossed a floor only after the change in the altitude of the cleaning robot has reached a set threshold within a preset time, it is possible to avoid the cleaning robot repeatedly determining whether it has crossed a floor, thereby avoiding the consumption of data processing memory of the processor or computing unit.

[0083] In the fourth embodiment of the present disclosure:

[0084] like Figure 3 As shown, the present disclosure also provides a cleaning robot. The cleaning robot includes a processor at the hardware level, and optionally also includes a memory and a bus. In addition, the cleaning robot is also allowed to include hardware required by other services.

[0085] The memory is used to store execution instructions, which are specifically executable computer programs. Further, the memory may include a memory and a non-volatile memory, and provide execution instructions and data to the processor. Exemplarily, the memory may be a high-speed random access memory (RAM), and the non-volatile memory may be at least one disk storage.

[0086] The bus is used to connect the processor, memory and network interface to each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Although only one bidirectional arrow is used in the diagram, this does not mean that there is only one bus or only one type of bus.

[0087] In a feasible implementation of the cleaning robot, the processor may first read the corresponding execution instruction from the non-volatile memory into the memory and then run it, or may first obtain the corresponding execution instruction from other devices and then run it. When the processor executes the execution instruction stored in the memory, it can implement the control method in any one of the control method embodiments disclosed above.

[0088] It will be understood by those skilled in the art that the above control method can be applied to a processor or implemented with the aid of a processor. Exemplarily, a processor is an integrated circuit chip having the ability to process signals. In the process of the processor executing the above control method, each step of the above control method can be completed by an integrated logic circuit in the form of hardware or an instruction in the form of software in the processor. Further, the above processor can be a general-purpose processor, such as a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, microprocessors and any other conventional processors.

[0089] Those skilled in the art can also understand that the steps of the above control method embodiment of the present disclosure can be executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. Among them, the software module can be located in a random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, and other mature storage media in the field. The storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the execution of the steps in the above control method embodiment.

[0090] So far, the description of the technical solution of the present disclosure has been completed with reference to the accompanying drawings and in combination with the above embodiments.

[0091] It should be noted that, in order to highlight the differences between the above-mentioned multiple embodiments of the present disclosure, the above-mentioned multiple embodiments of the present disclosure are arranged and described in a parallel manner and / or a progressive manner, and the following embodiments only focus on the differences between them and other embodiments, and the same or similar parts between the various embodiments can refer to each other. For example, for the device / product embodiment, since the device / product embodiment is basically similar to the control method embodiment, the description is relatively simple, and the relevant parts can refer to the description of the corresponding part of the control method embodiment.

[0092] The above description is only an embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the technical principle of the present disclosure shall fall within the protection scope of the present disclosure.

Claims

1. A method for controlling a cleaning robot across floors, characterized in that: The control method comprises: Obtaining a change in altitude of the cleaning robot; Determining at least one estimated floor to which the cleaning robot moves according to the change in altitude of the cleaning robot and a preset estimated value of the floor height; Obtaining environmental information of the current location of the cleaning robot; Determining, from the environmental map of the at least one estimated floor, an environmental map that matches the environmental information as the environmental map of the floor where the cleaning robot is currently located; Before determining at least one estimated floor to which the cleaning robot moves based on the altitude change of the cleaning robot and a preset estimated floor height, the control method further includes: Determine whether the altitude change of the cleaning robot meets a preset change condition, wherein the preset change condition is: the altitude change of the cleaning robot reaches a set threshold within a preset time; If the conditions are met, the step of determining at least one estimated floor to which the cleaning robot moves based on the change in altitude of the cleaning robot and a preset estimated value of the floor height is executed; Detecting the altitude change of the cleaning robot by means of an air pressure sensor; When the air pressure value changes continuously within a preset time, the cleaning robot determines the altitude change according to the change value of the air pressure; The estimated value of the floor height is at least one; and determining at least one estimated floor according to the altitude change of the cleaning robot and the preset estimated value of the floor height includes: Determining an integer part of a ratio of the altitude change to at least one estimated floor height; At least one estimated floor corresponding to at least one of the integer parts is determined.

2. The control method according to claim 1, characterized in that: The environmental map includes contour information and / or obstacle information of the corresponding estimated floor; the obtaining of environmental information of the current location of the cleaning robot includes: The contour information and / or obstacle information around the current position of the cleaning robot is obtained through the environment detection sensor.

3. The control method according to any one of claims 1 or 2, characterized in that: The environmental map includes at least one wireless fingerprint information of the corresponding estimated floor; the obtaining of the environmental information of the current location of the cleaning robot includes: Acquire wireless fingerprint information that can be received by the current location of the cleaning robot.

4. The control method according to claim 3, characterized in that: Before determining, from the environmental maps of the at least one estimated floor, an environmental map matching the environmental information as the environmental map of the floor where the cleaning robot is currently located, the control method further includes: Build an environment map for each floor separately; Obtain wireless fingerprint information at all locations on each floor; Each acquired wireless fingerprint information is associated with the corresponding environment map.

5. A cleaning robot, characterized in that: The cleaning robot comprises a processor, a memory and execution instructions stored in the memory, wherein the execution instructions are configured to enable the cleaning robot to execute the control method according to any one of claims 1 to 4 when executed by the processor.

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