Cleaning robot control method, apparatus, electronic device, and medium

Abstract

The present disclosure relates to the technical field of robot cleaning, and provides a cleaning robot control method and device, electronic equipment and a medium. The method comprises: acquiring ground water information of a to-be-cleaned area; determining a water depth value of the to-be-cleaned area based on the ground water information; determining a cleaning strategy of the to-be-cleaned area according to the water depth value; and controlling the cleaning robot to perform cleaning work on the to-be-cleaned area based on the cleaning strategy. According to the embodiment, the water depth value of the to-be-cleaned area can be determined according to the ground water information of the to-be-cleaned area, the cleaning strategy of the to-be-cleaned area can be determined according to the water depth value, and the to-be-cleaned area can be cleaned according to the determined cleaning strategy, so that the short circuit failure of the cleaning robot caused by too deep water in the water-involved section is avoided, and the cleaning efficiency of the cleaning robot is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cleaning robots, and particularly relates to a cleaning robot control method and device, electronic equipment and a medium. BACKGROUND

[0002] At present, the Internet of Things and smart home are the development directions of many global technology industries, and with the development of artificial intelligence technology and the improvement of people's living standards, the demand for smart home is increasing. As a daily household appliance, cleaning robots are increasingly recognized by the Chinese people. In the future, this device will become a household appliance product like air conditioners and refrigerators, and the market prospect is broad. At the same time, consumers have higher and higher requirements for the functions of cleaning robots.

[0003] At present, in the process of cleaning robot working, the water area may appear in the cleaning area to be cleaned. If the water is too deep, it is easy to cause the cleaning robot to short circuit and malfunction, which affects the cleaning efficiency of the cleaning robot. SUMMARY

[0004] Therefore, the embodiments of the present disclosure provide a cleaning robot control method and device, electronic equipment and a medium to solve the problem of the cleaning robot quickly cleaning the water area of the ground surface in the prior art.

[0005] In a first aspect, the embodiments of the present disclosure provide a cleaning robot control method, including: obtaining ground water information of a cleaning area to be cleaned; determining a water depth value of the cleaning area to be cleaned based on the ground water information; determining a cleaning strategy of the cleaning area to be cleaned according to the water depth value; and controlling the cleaning robot to perform cleaning work on the cleaning area to be cleaned based on the cleaning strategy.

[0006] In a second aspect, the embodiments of the present disclosure provide a cleaning robot control device, including: a water information obtaining unit configured to obtain ground water information of a cleaning area to be cleaned; a water depth value determining unit configured to determine a water depth value of the cleaning area to be cleaned based on the ground water information; a cleaning strategy determining unit configured to determine a cleaning strategy of the cleaning area to be cleaned according to the water depth value; and a control unit configured to control the cleaning robot to perform cleaning work on the cleaning area to be cleaned based on the cleaning strategy.

[0007] In a third aspect, the embodiments of the present disclosure provide electronic equipment, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the above method.

[0008] In a fourth aspect, the present disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above method.

[0009] Compared with the prior art, the present disclosure has the following beneficial effects. First, the ground water information of the entire cleaning area is obtained, and the water depth value of the cleaning area is determined according to the ground water information. Then, the cleaning strategy for the cleaning area is determined according to the water depth value. Finally, the cleaning robot is controlled to clean the cleaning area according to the cleaning strategy. The method provided by the present disclosure can determine the cleaning strategy for the cleaning area according to the water depth of the cleaning area, so as to control the cleaning robot to complete the cleaning work of the ground water area according to the determined cleaning strategy. In addition, the cleaning strategy for the cleaning area is determined according to different water depth values, which can not only avoid the short circuit failure of the cleaning robot caused by too deep water depth, but also improve the cleaning efficiency of the cleaning robot. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0011] Figure 1 is a schematic diagram of an application scenario of a cleaning robot control method according to some embodiments of the present disclosure;

[0012] Figure 2 is a flowchart of some embodiments of a cleaning robot control method according to the present disclosure;

[0013] Figure 3 is a structural schematic diagram of some embodiments of a cleaning robot control device according to the present disclosure;

[0014] Figure 4 is a structural schematic diagram of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0015] Embodiments of the present disclosure will be described below in greater detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be interpreted as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly and completely understood. It should be understood that the drawings and embodiments of the present disclosure are only for illustrative purposes and are not intended to limit the scope of protection of the present disclosure.

[0016] It should also be noted that only parts related to the present application are shown in the drawings for ease of description. The embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0017] It should be noted that the concepts of "first", "second", etc. mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0018] It should be noted that the adjectives "one", "multiple" mentioned in the present disclosure are illustrative and not limiting, and those skilled in the art should understand that unless otherwise explicitly stated in the context, it should be understood as "one or more".

[0019] The names of the messages or information exchanged between the devices in the embodiments of the present disclosure are only for illustrative purposes and are not intended to limit the scope of the messages or information.

[0020] Figure 1 is a schematic diagram of an application scenario of a cleaning robot control method according to some embodiments of the present disclosure.

[0021] In Figure 1 In the application scenario of the present disclosure, the computing device 101 can obtain the ground water information 102 of the to-be-cleaned area. Then, the computing device 101 can determine the water depth value 103 of the to-be-cleaned area based on the above ground water information 102. After that, the computing device 101 can determine the cleaning strategy 104 of the to-be-cleaned area according to the water depth value 103. Finally, the computing device 101 can control the cleaning robot to perform cleaning work on the to-be-cleaned area based on the above cleaning strategy 104, as shown by reference numeral 105.

[0022] The cleaning robot may pass through a water-involved section during the working travel, and water that is too deep may cause the cleaning robot to fail to travel. Based on this, embodiments of the present application determine whether the cleaning robot needs to normally perform washing and mopping work by determining the water depth value of the to-be-cleaned area in the cleaning robot control method. If the ground water depth is lower than the preset depth value, the cleaning robot is controlled to normally perform cleaning work. If the ground water depth is higher than the preset depth value, the cleaning robot is controlled to re-plan a working route or send help information to a management platform. In this way, for different water depth to-be-cleaned areas, the cleaning robot can select a suitable cleaning mode to complete the cleaning work of the water-involved area, which not only meets the needs of consumers for the work of the cleaning robot, but also quickly completes the cleaning work of a complex cleaning area.

[0023] It should be noted that the computing device 101 described above can be hardware or software. When the computing device 101 is hardware, it can be implemented as a distributed cluster composed of multiple servers or terminal devices, or as a single server or a single terminal device. When the computing device 101 is software (for example, a program or system for controlling a cleaning robot), it can be installed in the hardware devices listed above. It can be implemented as multiple software or software modules for providing distributed services, or as a single software or software module. No specific limitation is made herein.

[0024] It should be understood that Figure 1 The number of computing devices in the above-mentioned computing device is only illustrative. According to the needs of implementation, there can be any number of computing devices.

[0025] Figure 2 is a flowchart of some embodiments of the cleaning robot control method according to the present disclosure. Figure 2 The cleaning robot control method of Figure 1 may be executed by the computing device 101 of Figure 2 As shown in

[0026] Step S201: Obtain ground water information of a to-be-cleaned area.

[0027] In some embodiments, the above-mentioned obtaining ground water information of a to-be-cleaned area includes: obtaining image information of the to-be-cleaned area sent by an image sensor; and determining ground water information of the to-be-cleaned area based on the above-mentioned image information.

[0028] In some embodiments, the execution subject of the cleaning robot control method (such as Figure 1The computing device 101 shown can acquire image information of the area to be cleaned using an image sensor installed on the cleaning robot. Then, based on the image information, it determines the surface water information of the area to be cleaned. As an example, the area to be cleaned can be understood as the area in the cleaning robot's working environment that needs to be cleaned, such as the living room or bedroom in a home. Here, the surface water information can be information about the surface water in the area to be cleaned. The image information can be multiple image frames of the ground surface captured by the cleaning robot using the image sensor.

[0029] As an example, after arriving at the area to be cleaned, the cleaning robot can scan the surrounding environment using its visual sensors and / or laser sensors to obtain environmental scanning information. Based on this information, it can determine its location. Then, based on the location information, it identifies the current area and compares it with pre-recorded areas to determine whether cleaning can begin. Furthermore, after the cleaning robot decides to start cleaning, its control server first obtains information about the water accumulation on the ground in the area to be cleaned. This information helps determine the appropriate cleaning strategy for the waterlogged area.

[0030] In some embodiments, the control server can acquire image information of the area to be cleaned from various angles using image sensors configured in the cleaning robot, thereby accurately identifying water accumulation on the ground surface. The cleaning robot needs to collect multiple surface image frames in a short period of time to comprehensively determine the water accumulation information in the area to be cleaned. This embodiment does not limit the specific method of acquiring surface image frames.

[0031] The control method for the cleaning robot disclosed herein facilitates the determination of the water depth value of the area to be cleaned by acquiring information on the water accumulation in the area to be cleaned.

[0032] It should be noted that in order for the cleaning robot to accurately determine the water accumulation information in the area to be cleaned, it can be determined through methods such as image analysis and image comparison. This embodiment does not make specific limitations on this.

[0033] Step S202: Based on the above-mentioned ground water information, determine the water depth value of the area to be cleaned.

[0034] In some embodiments, the aforementioned executing entity may determine the water depth value of the area to be cleaned based on the aforementioned ground water information through the following steps:

[0035] In a first step, based on the above ground water information, the liquid detection component of the cleaning robot is controlled to detect the water depth; as an example, the execution subject controls the liquid detection component of the cleaning robot to detect the water depth according to the ground water information. It should be noted that the ground water information can include the area of the water accumulation area, the reflectivity of the water accumulation area, and other information.

[0036] In a second step, the water depth value of the to-be-cleaned area is determined according to the detection result. The liquid detection component of the cleaning robot can calculate the water depth value according to the received various information parameters; the calculation method of the water depth value in the embodiment is not limited here.

[0037] In step S203, the cleaning strategy of the to-be-cleaned area is determined according to the water depth value.

[0038] In actual application, after the execution subject determines the water depth value of the current to-be-cleaned area, the water depth of the to-be-cleaned area can be determined according to the water depth value, so as to determine whether the cleaning robot can normally perform the cleaning work. If the water depth is too deep, the cleaning robot will not be controlled to normally perform the cleaning work. If the water depth is not deep, the cleaning robot can be controlled to normally perform the cleaning work.

[0039] In some embodiments, the execution subject determines the cleaning strategy of the to-be-cleaned area according to the water depth value, including: in the case where the water depth value is greater than a preset depth threshold, acquiring the road section information of the to-be-cleaned area; and determining the cleaning strategy of the to-be-cleaned area based on the road section information. Specifically, in the case where the water depth value is greater than the preset depth threshold, the execution subject can acquire the road section information of the to-be-cleaned area, and determine the cleaning strategy of the current to-be-cleaned area according to the road section information.

[0040] It should be noted that in the embodiments provided in the present application, different cleaning strategies are adopted for different to-be-cleaned road sections. In the case where the road section information of the current to-be-cleaned area is a midway point, the cleaning robot can be controlled to execute a first cleaning strategy; in the case where the road section information of the current to-be-cleaned area is a target work site, the cleaning robot can be controlled to execute a second cleaning strategy; the two cases are described below.

[0041] In some embodiments, the execution subject determines the cleaning strategy of the to-be-cleaned area based on the road section information, including: in a case where the road section information is determined to be a middle road section, determining the cleaning strategy of the to-be-cleaned area to be a first cleaning strategy, where the first cleaning strategy is to control the cleaning robot to re-plan a cleaning route and then perform cleaning work according to the re-planned cleaning route. As an example, when the execution subject determines that the current road section information is a middle road section, a new cleaning route is planned for the cleaning robot, so as to control the cleaning robot to reach a target work point according to the re-planned route and then complete normal cleaning work.

[0042] In some embodiments, the execution subject determines the cleaning strategy of the to-be-cleaned area based on the road section information, including: in a case where the road section information is determined to be a target work point, determining the cleaning strategy of the to-be-cleaned area to be a second cleaning strategy, where the second cleaning strategy is to control the cleaning robot to stop cleaning work and perform an alarm strategy. As an example, in a case where the execution subject determines that the current to-be-cleaned area is a target work point and the water depth is too deep, the cleaning strategy performed by the cleaning robot is to stop the current cleaning work, so as to prevent the cleaning robot from being short-circuited and malfunctioning. At the same time, alarm information can be sent to the management platform, and parameters such as the water location and the water depth value of the current cleaning robot can also be sent, so as to facilitate the user to determine the subsequent ground water treatment mode in a timely manner. This embodiment is not limited in this regard.

[0043] In addition, in some embodiments, the execution subject determines the cleaning strategy of the to-be-cleaned area according to the water depth value, including: in a case where the water depth value is determined to be less than or equal to a preset depth threshold, determining the cleaning strategy of the to-be-cleaned area to be a third cleaning strategy, where the third cleaning strategy is to control the cleaning robot to normally perform cleaning work. In actual application, in a case where the execution subject determines that the water depth value of the current to-be-cleaned area is less than or equal to a preset depth threshold, it indicates that the cleaning robot can normally process the current water area and will not cause the robot to be short-circuited and malfunction. Therefore, the execution subject can determine the cleaning strategy of the to-be-cleaned area to be the third cleaning strategy, that is, the cleaning robot normally performs cleaning work on the ground water.

[0044] The cleaning robot control method provided by the embodiments of the present disclosure can determine a suitable cleaning strategy for a to-be-cleaned area with different water depths, so as to facilitate the cleaning robot to complete the ground surface cleaning work after determining the dust cleaning strategy. This not only avoids the malfunction of the cleaning robot being short-circuited, but also achieves a certain cleaning effect.

[0045] At step 204, the cleaning robot is controlled to clean the to-be-cleaned area according to the cleaning strategy.

[0046] In some embodiments, the execution subject controls the cleaning robot to clean the to-be-cleaned area according to the cleaning strategy, including: controlling the cleaning robot to clean the to-be-cleaned area according to the cleaning route re-planned by the cleaning robot. For example, when the cleaning strategy determined by the execution subject is the first cleaning strategy, the cleaning robot can be re-planned to reach the target work point according to the cleaning route, and the cleaning robot is controlled to reach the target work point according to the cleaning route to complete the cleaning work of the to-be-cleaned area.

[0047] In actual application, after the execution subject determines the cleaning strategy corresponding to each to-be-cleaned area, the to-be-cleaned area can be cleaned according to the cleaning strategy. It should be noted that, in order to avoid the water on the ground causing the failure of the cleaning robot, the cleaning robot needs to identify the current processing strategy when identifying the water area, and complete the processing of the water area according to the corresponding cleaning strategy.

[0048] Further, in some embodiments, the execution subject can also complete the cleaning work of the to-be-cleaned area according to the determined second cleaning strategy and third cleaning strategy, which will not be described and limited herein.

[0049] It should be noted that the cleaning work of the cleaning robot on the water ground can be combined with the water pump and the sweeping and mopping assembly of the cleaning robot, on the one hand, the water pump of the cleaning robot is controlled to directly suck the surface water, and on the other hand, the mop is controlled to sweep and mop the remaining surface water, so as to complete the cleaning process of the to-be-cleaned area, which will not be limited herein.

[0050] The beneficial effects of the embodiments of the present disclosure compared with the prior art are as follows: first, the ground water information of the entire to-be-cleaned area is obtained, and the water depth value of the to-be-cleaned area is determined according to the ground water information; then, the cleaning strategy of the to-be-cleaned area is determined according to the water depth value; finally, the cleaning robot is controlled to clean the to-be-cleaned area according to the cleaning strategy. The method provided by the present disclosure can determine the cleaning strategy of the to-be-cleaned area according to the water depth of the to-be-cleaned area, so as to control the cleaning robot to complete the cleaning work of the water area on the ground according to the determined cleaning strategy, and determine the cleaning strategy of the to-be-cleaned area according to different water depth values, which not only can avoid the short circuit failure of the cleaning robot caused by too deep water depth, but also can improve the cleaning efficiency of the cleaning robot.

[0051] All the optional technical solutions described above can be combined to form optional embodiments of the present application, which will not be described here.

[0052] The following is an embodiment of the device of the present disclosure, which can be used to execute the method embodiments of the present disclosure. For details not disclosed in the device embodiments of the present disclosure, please refer to the method embodiments of the present disclosure.

[0053] Figure 3 is a structural schematic diagram of some embodiments of a cleaning robot control device according to the present disclosure. As Figure 3 shown, the cleaning robot control device includes: a water accumulation information acquisition unit 301, a water accumulation depth value determination unit 302, a cleaning strategy determination unit 303, and a control unit 304. The water accumulation information acquisition unit 301 is configured to acquire ground water accumulation information of a to-be-cleaned area; the water accumulation depth value determination unit 302 is configured to determine a water accumulation depth value of the to-be-cleaned area based on the ground water accumulation information; the cleaning strategy determination unit 303 is configured to determine a cleaning strategy of the to-be-cleaned area according to the water accumulation depth value; and the control unit 304 is configured to control the cleaning robot to perform cleaning work on the to-be-cleaned area based on the cleaning strategy.

[0054] In some optional implementations of some embodiments, the cleaning strategy determination unit 303 of the cleaning robot control device is further configured to: in a case where it is determined that the water accumulation depth value is greater than a preset depth threshold, acquire road segment information of the to-be-cleaned area; and determine the cleaning strategy of the to-be-cleaned area based on the road segment information.

[0055] In some optional implementations of some embodiments, the cleaning strategy determination unit 303 of the cleaning robot control device is further configured to: in a case where it is determined that the road segment information is a middle road segment, determine that the cleaning strategy of the to-be-cleaned area is a first cleaning strategy, wherein the first cleaning strategy is to control the cleaning robot to re-plan a cleaning route and then perform cleaning work.

[0056] In some optional implementations of some embodiments, the control unit 304 of the cleaning robot control device is further configured to: control the cleaning robot to perform cleaning work on the to-be-cleaned area based on the cleaning route re-planned by the cleaning robot.

[0057] In some optional implementations of some embodiments, the cleaning strategy determination unit 303 of the cleaning robot control device is further configured to: in a case where it is determined that the road segment information is a target work point, determine that the cleaning strategy of the to-be-cleaned area is a second cleaning strategy, wherein the second cleaning strategy is to control the cleaning robot to stop cleaning work and control the cleaning robot to perform an alarm strategy.

[0058] In some optional implementations of some embodiments, the cleaning strategy determination unit 303 of the cleaning robot control apparatus is further configured to determine that the cleaning strategy for the to-be-cleaned area is a third cleaning strategy if it is determined that the water depth value is less than or equal to the preset depth threshold, where the third cleaning strategy is to control the cleaning robot to perform normal cleaning work.

[0059] In some optional implementations of some embodiments, the water information acquisition unit 301 of the cleaning robot control apparatus is further configured to acquire image information of the to-be-cleaned area sent by the image sensor, and determine ground water information of the to-be-cleaned area based on the image information.

[0060] In some optional implementations of some embodiments, the water depth value determination unit 302 of the cleaning robot control apparatus is further configured to control the liquid detection component of the cleaning robot to perform water depth detection based on the ground water information, and determine the water depth value of the to-be-cleaned area according to the detection result.

[0061] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0062] Reference is made below to Figure 4 , which shows a structural schematic diagram of an electronic device (for example, the computing device 101 in Figure 1 ) 400 suitable for implementing some embodiments of the present disclosure. Figure 4 The server shown is only an example and should not limit the function and use range of the embodiments of the present disclosure in any way.

[0063] As shown in Figure 4 , the electronic device 400 can include a processing apparatus (for example, a central processor, a graphics processor, etc.) 401, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 402 or loaded into a random access memory (RAM) 403 from a storage apparatus 408. In the RAM 403, various programs and data required for the operation of the electronic device 400 are also stored. The processing apparatus 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0064] In general, the following devices can be connected to the I / O interface 405: input devices 406, including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, and the like; output devices 407, including, for example, a liquid crystal display (LCD), a speaker, a vibrator, and the like; storage devices 408, including, for example, a magnetic tape, a hard disk, and the like; and communication devices 409. The communication devices 409 can allow the electronic device 400 to communicate wirelessly or via a wire with other devices to exchange data. Although Figure 4 The electronic device 400 is shown with various devices, but it is understood that all of the shown devices are not required to be implemented or present. More or fewer devices can alternatively be implemented or present. Figure 4 Each block shown in the flowcharts can represent a device or multiple devices as needed.

[0065] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to some embodiments of the present disclosure. For example, some embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the methods shown in the flowcharts. In some such embodiments, the computer program can be downloaded and installed from a network through the communication devices 409, or installed from the storage devices 408, or installed from the ROM 402. When the computer program is executed by the processing devices 401, the above-mentioned functions defined in the methods of some embodiments of the present disclosure are performed.

[0066] Note that the computer-readable medium or media used to provide the computer program sequence to the computer system can be embedded in a computer program product, which comprises all the respective features, which are provided with the computer program sequence, and which are enumerated above. It is understood that the computer-readable medium or media described herein are included in the computer program product, or are a component of the computer program product. In some embodiments of the disclosure, the computer-readable storage medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer-readable storage medium can be any tangible medium that contains, or stores a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the disclosure, a computer-readable signal medium can include a computer-readable storage medium in baseband or propagated as a carrier wave in a propagated data signal, which contains a computer-readable program code. Such a propagated signal can take a wide variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium that is not a computer-readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0067] In some embodiments, the client, server, or both can communicate using any current known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet, and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any current known or future developed networks.

[0068] The computer readable medium can be included in the device; or alternatively, the computer readable medium can exist as a separate entity, which is not incorporated into the electronic device. The computer readable medium carries one or more programs, which are executed by the electronic device and cause the electronic device to perform: obtaining ground water information of a to-be-cleaned area; determining a water depth value of the to-be-cleaned area based on the ground water information; determining a cleaning strategy of the to-be-cleaned area according to the water depth value; and controlling the cleaning robot to perform cleaning work on the to-be-cleaned area based on the cleaning strategy.

[0069] Computer program code for carrying out operations of some embodiments of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0070] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present disclosure. In this regard, each block in the flow diagrams or block diagrams can represent a module, a procedure, or a part of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that noted in the figures. For example, two blocks noted in succession can in fact be executed substantially concurrently or in the opposite order, depending on the functionality involved. It will also be noted that each block in the block diagrams and / or flow diagrams, and combinations of blocks in the block diagrams and / or flow diagrams, can be implemented by dedicated hardware-based systems that perform the specified functions or operations, or can be implemented by a combination of dedicated hardware-based systems and computer instructions.

[0071] The units described in some embodiments of the present disclosure can be implemented in the form of software, or can be implemented in the form of hardware. The described units can also be arranged in a processor, for example, a processor can be described as including a waterlogging information acquisition unit, a waterlogging depth value determination unit, a cleaning strategy determination unit, and a control unit. Among them, the names of these units do not constitute a limitation on the units themselves in some cases, for example, the waterlogging information acquisition unit can also be described as "a unit that acquires ground waterlogging information of a to-be-cleaned area".

[0072] The functions described above herein can be executed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on a chip (SOCs), complex programmable logic devices (CPLDs), and so on.

[0073] The above description is merely some preferred embodiments of the present disclosure and a description of the principles of the technology used. Those skilled in the art should understand that the scope of the application involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features and the technical features disclosed in the embodiments of the present disclosure (but not limited to) with similar functions are replaced with each other to form a technical solution.

Claims

1. A cleaning robot control method, characterized by, The method comprises the following steps: acquiring ground water information of a to-be-cleaned area; determining a water depth value of the to-be-cleaned area based on the ground water information; determining a cleaning strategy of the to-be-cleaned area according to the water depth value; controlling the cleaning robot to perform cleaning work on the to-be-cleaned area based on the cleaning strategy; the determining of the cleaning strategy of the to-be-cleaned area according to the water depth value comprises: if it is determined that the water depth value is greater than a preset depth threshold, acquiring road section information of the to-be-cleaned area; determining the cleaning strategy of the to-be-cleaned area based on the road section information; the determining of the cleaning strategy of the to-be-cleaned area based on the road section information comprises: if it is determined that the road section information is a middle road section, determining that the cleaning strategy of the to-be-cleaned area is a first cleaning strategy, wherein the first cleaning strategy is to control the cleaning robot to re-plan a cleaning route and perform cleaning work according to the re-planned cleaning route; the controlling of the cleaning robot to perform cleaning work on the to-be-cleaned area based on the cleaning strategy comprises: controlling the cleaning robot to perform cleaning work on the to-be-cleaned area based on the re-planned cleaning route of the cleaning robot; the determining of the cleaning strategy of the to-be-cleaned area based on the road section information further comprises: if it is determined that the road section information is a target work point, determining that the cleaning strategy of the to-be-cleaned area is a second cleaning strategy, wherein the second cleaning strategy is to control the cleaning robot to stop cleaning work and control the cleaning robot to perform an alarm strategy.

2. The method of claim 1, wherein, the determining of the cleaning strategy of the to-be-cleaned area according to the water depth value comprises: if it is determined that the water depth value is less than or equal to the preset depth threshold, determining that the cleaning strategy of the to-be-cleaned area is a third cleaning strategy, wherein the third cleaning strategy is to control the cleaning robot to normally perform cleaning work.

3. The method of claim 1, wherein, the acquiring of the ground water information of the to-be-cleaned area comprises: acquiring image information of the to-be-cleaned area sent by an image sensor; determining the ground water information of the to-be-cleaned area based on the image information.

4. The method of claim 3, wherein, the determining of the water depth value of the to-be-cleaned area based on the ground water information comprises: controlling a liquid detection component of the cleaning robot to perform water depth detection based on the ground water information; determining the water depth value of the to-be-cleaned area according to a detection result.

5. A cleaning robot control device characterized by comprising: The method comprises the following steps: a water information acquisition unit configured to acquire ground water information of a to-be-cleaned area; a water depth value determination unit configured to determine a water depth value of the to-be-cleaned area based on the ground water information; a cleaning strategy determination unit configured to determine a cleaning strategy of the to-be-cleaned area according to the water depth value; a control unit configured to control the cleaning robot to perform cleaning work on the to-be-cleaned area based on the cleaning strategy; the determining of the cleaning strategy of the to-be-cleaned area according to the water depth value comprises: if it is determined that the water depth value is greater than a preset depth threshold, acquiring road section information of the to-be-cleaned area; determine a cleaning strategy of the to-be-cleaned area based on the road segment information; The method further includes: In a case where the road segment information is determined as a middle road segment, the cleaning strategy of the to-be-cleaned area is determined as a first cleaning strategy, wherein the first cleaning strategy is to control the cleaning robot to re-plan a cleaning route and perform cleaning work according to the re-planned cleaning route. The method further includes: In a case where the road segment information is determined as a middle road segment, the cleaning strategy of the to-be-cleaned area is determined as a first cleaning strategy, wherein the first cleaning strategy is to control the cleaning robot to re-plan a cleaning route and perform cleaning work according to the re-planned cleaning route. The method further includes: In a case where the road segment information is determined as a target work point, the cleaning strategy of the to-be-cleaned area is determined as a second cleaning strategy, wherein the second cleaning strategy is to control the cleaning robot to stop cleaning work and perform an alarm strategy.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, wherein the computer program comprises the following steps of: receiving a request for a resource from a client; determining whether the client is authorized to access the resource; and if the client is authorized to access the resource, providing the resource to the client. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 4.

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