Control Method, Device, Cleaning Robot and Storage Medium of a Cleaning Robot

Abstract

The present application discloses a control method, device, cleaning robot and storage medium for a cleaning robot. The method includes: obtaining a side cleaning trajectory marked by the cleaning robot on a grid map; determining the central area grid of the cleaning robot in real time; determining that the cleaning robot is performing side cleaning repeatedly according to the side cleaning trajectory and the central area grid, and controlling the cleaning robot to exit the side cleaning state. Compared with the prior art, the present application can enable the cleaning robot to exit the side cleaning state in time, avoid multiple side cleanings, and improve the cleaning efficiency.

Description

Technical Field

[0001] This application belongs to the technical field of household appliances, and particularly relates to a control method, device, cleaning robot and storage medium for a cleaning robot. Background Art

[0002] A floor sweeper, also known as an automatic cleaning machine, intelligent vacuum cleaner, cleaning robot, etc., is a type of intelligent household appliance that can automatically clean the floor in a room by virtue of a certain degree of artificial intelligence. Currently, floor cleaning robots have gradually become essential intelligent helpers in people's lives.

[0003] When a cleaning robot performs coverage cleaning on a cleaning area, due to the presence of low obstacles inside the area, after colliding with an obstacle, the robot needs to perform edge cleaning on the obstacle. The edge cleaning of the obstacle only needs to be performed once, and the isolated area is marked to avoid performing edge cleaning in this area again during navigation or coverage cleaning. However, the robot may be guided to an area that has been edge-cleaned before due to dynamic obstacles or when performing edge cleaning in other areas. At this time, if there is no operation, the robot will perform edge cleaning on the same obstacle again and even multiple times, reducing the cleaning efficiency. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a control method, device, cleaning robot and storage medium for a cleaning robot to improve the cleaning efficiency of the cleaning robot.

[0005] The first aspect embodiment of the present application provides a control method for a cleaning robot, including:

[0006] Obtain the edge cleaning trajectory marked by the cleaning robot on the grid map, where the grid map is constructed by the cleaning robot on the target area;

[0007] Determine the central area grid of the cleaning robot in real time. The central area grid refers to the grid covered by the central area of the cleaning robot on the grid map and is composed of a first number of grids;

[0008] Determine that the cleaning robot is performing repeated edge cleaning according to the edge cleaning trajectory and the central area grid, and control the cleaning robot to exit the edge cleaning state.

[0009] The control method for the cleaning robot according to the first aspect embodiment of the present application obtains the edge cleaning trajectory marked by the cleaning robot on the grid map; determines the central area grid of the cleaning robot in real time; determines that the cleaning robot is performing repeated edge cleaning according to the edge cleaning trajectory and the central area grid, and controls the cleaning robot to exit the edge cleaning state. Compared with the prior art, the present application can enable the cleaning robot to exit the edge cleaning state in a timely manner, avoid multiple edge cleanings, and improve the cleaning efficiency.

[0010] In a possible implementation, in the above-mentioned control method of the cleaning robot provided in the present application, the determining that the cleaning robot repeats edge cleaning according to the edge cleaning trajectory and the central area grid includes:

[0011] Determining that the cleaning robot repeats edge cleaning according to the central area grid and the edge cleaning trajectory having repeated grids, and the number of the repeated grids being greater than or equal to a preset threshold.

[0012] In a possible implementation, in the above-mentioned control method of the cleaning robot provided in the present application, the real-time determining of the central area grid of the cleaning robot includes:

[0013] Determining the central area grid of the cleaning robot once for each grid the cleaning robot moves.

[0014] In a possible implementation, in the above-mentioned control method of the cleaning robot provided in the present application, the determining that the cleaning robot repeats edge cleaning according to the edge cleaning trajectory and the central area grid includes:

[0015] Calculating a stepping score according to the central area grid and the edge cleaning trajectory having repeated grids, the stepping score being the ratio of the number of the repeated grids to the first quantity;

[0016] Determining that the cleaning robot repeats edge cleaning according to at least two adjacent stepping scores being greater than or equal to a preset score threshold.

[0017] In a possible implementation, in the above-mentioned control method of the cleaning robot provided in the present application, the determining that the cleaning robot repeats edge cleaning according to the edge cleaning trajectory and the central area grid includes:

[0018] Calculating a stepping score according to the central area grid and the edge cleaning trajectory having repeated grids;

[0019] Determining a total stepping score according to the difference between the current stepping score and the previous stepping score;

[0020] Determining that the cleaning robot repeats edge cleaning according to the total stepping score being greater than a preset total score threshold.

[0021] In a possible implementation, in the above-mentioned control method of the cleaning robot provided in the present application, the determining a total stepping score according to the difference between the current stepping score and the previous stepping score includes:

[0022] Determining the total stepping score after the previous update;

[0023] Based on the difference between the current point-scoring score and the previous point-scoring score being less than or equal to a preset difference threshold, the sum of the current point-scoring score and the previously updated point-scoring score is used as the currently updated sum of the point-scoring scores.

[0024] In a possible implementation manner, in the above-mentioned control method of the cleaning robot provided in this application, the determination of the total point-scoring score based on the difference between the current point-scoring score and the previous point-scoring score includes:

[0025] Determine the previously updated total point-scoring score;

[0026] Based on the difference between the current point-scoring score and the previous point-scoring score being greater than the preset difference threshold, the result of subtracting the previous point-scoring score from the previously updated total point-scoring score is used as the currently updated total point-scoring score;

[0027] Based on the result of subtracting the previous point-scoring score from the previously updated total point-scoring score being less than or equal to 0, the currently updated total point-scoring score is recorded as 0.

[0028] The control device of the cleaning robot according to the second aspect embodiment of this application includes:

[0029] An acquisition module, configured to acquire the edge-cleaning trajectory marked by the cleaning robot on the grid map, where the grid map is constructed by the cleaning robot in the target area;

[0030] A determination module, configured to determine in real time the central area grid of the cleaning robot, where the central area grid refers to the grid covered by the central area of the cleaning robot on the grid map and is composed of a first number of grids;

[0031] A control module, configured to determine that the cleaning robot is repeating edge cleaning according to the edge-cleaning trajectory and the central area grid, and control the cleaning robot to exit the edge-cleaning state.

[0032] The control device of the cleaning robot according to the second aspect embodiment of this application acquires the edge-cleaning trajectory marked by the cleaning robot on the grid map; determines in real time the central area grid of the cleaning robot; determines that the cleaning robot is repeating edge cleaning according to the edge-cleaning trajectory and the central area grid, and controls the cleaning robot to exit the edge-cleaning state. Compared with the prior art, this application can enable the cleaning robot to exit the edge-cleaning state in a timely manner, avoid multiple edge cleanings, and improve the cleaning efficiency.

[0033] In a possible implementation manner, in the above-mentioned control device of the cleaning robot provided in this application, the control module is specifically configured to:

[0034] Determine that the cleaning robot is repeating edge cleaning based on the central area grid and the edge cleaning trajectory having repeated grids, and the number of the repeated grids being greater than or equal to a preset threshold.

[0035] In a possible implementation, in the control device of the cleaning robot provided in the present application, the determining module is specifically configured to:

[0036] Determine the central area grid of the cleaning robot once for each grid the cleaning robot moves.

[0037] In a possible implementation, in the control device of the cleaning robot provided in the present application, the control module is specifically configured to:

[0038] Calculate a stepping score based on the central area grid and the edge cleaning trajectory having repeated grids, where the stepping score is the ratio of the number of the repeated grids to the first quantity;

[0039] Determine that the cleaning robot is repeating edge cleaning based on at least two adjacent stepping scores being greater than or equal to a preset score threshold.

[0040] In a possible implementation, in the control method of the cleaning robot provided in the present application, the control module is specifically configured to:

[0041] Calculate a stepping score based on the central area grid and the edge cleaning trajectory having repeated grids;

[0042] Determine a total stepping score based on the difference between the current stepping score and the previous stepping score;

[0043] Determine that the cleaning robot is repeating edge cleaning based on the total stepping score being greater than a preset total score threshold.

[0044] In a possible implementation, in the control method of the cleaning robot provided in the present application, the control module is specifically configured to:

[0045] Determine the total stepping score after the previous update;

[0046] Based on the difference between the current stepping score and the previous stepping score being less than or equal to a preset difference threshold, use the sum of the current stepping score and the total stepping score after the previous update as the current total stepping score after the update.

[0047] In a possible implementation, in the control method of the cleaning robot provided in the present application, the control module is specifically configured to:

[0048] Determine the total stepping score after the previous update;

[0049] If the difference between the current scoring of the point stepping and the previous scoring of the point stepping is greater than a preset difference threshold, then use the result of subtracting the previous scoring of the point stepping from the total score of the previous updated point stepping as the total score of the current updated point stepping;

[0050] If the result of subtracting the previous scoring of the point stepping from the total score of the previous updated point stepping is less than or equal to 0, then record the total score of the current updated point stepping as 0.

[0051] The cleaning robot according to the third aspect embodiment of the present application includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor runs the computer program, it is configured to implement the control method of the cleaning robot according to the first aspect embodiment.

[0052] The computer-readable storage medium according to the fourth aspect embodiment of the present application stores computer-readable instructions thereon, and the computer-readable instructions can be executed by a processor to implement the control method of the cleaning robot according to the first aspect embodiment. Brief Description of the Drawings

[0053] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0054] Figure 1 A flowchart showing a control method of a cleaning robot according to an embodiment of the present application is shown;

[0055] Figure 2 A schematic diagram of a grid map according to an embodiment of the present application is shown;

[0056] Figure 3 A flowchart showing step S103 according to an embodiment of the present application is shown;

[0057] Figure 4 A flowchart showing step S202 according to an embodiment of the present application is shown;

[0058] Figure 5 A schematic diagram of a control device of a cleaning robot according to an embodiment of the present application is shown;

[0059] Figure 6 A schematic diagram of a cleaning robot according to an embodiment of the present application is shown.

[0060] The realization of the object of the present invention, functional features, and advantages will be further described in conjunction with the embodiments and with reference to the drawings. Detailed Embodiments

[0061] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the protection scope of the present invention.

[0062] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0063] In addition, the descriptions such as "first" and "second" in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0064] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0065] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0066] Figure 1 The flowchart of a control method for a cleaning robot provided by an embodiment of the present application is shown. As Figure 1 shown, the method includes the following steps S101 to S103:

[0067] S101. Obtain the edge cleaning trajectory marked by the cleaning robot on the grid map, where the grid map is constructed by the cleaning robot in the target area;

[0068] Specifically, when the cleaning robot performs coverage cleaning on the target area, it will perform autonomous navigation and mapping. In this application, the cleaning robot draws a grid map on the target area, performs edge cleaning on the obstacles on the target area, and marks the grids that have been edge-cleaned to form an edge-cleaning trajectory, as Figure 2 shown.

[0069] Each grid in the above grid map can be represented by a unique identifier. For example, some identifiers indicate that there are obstacles at these grids, and some identifiers indicate that the cleaning robot passes through these grids when moving along the edge, and so on.

[0070] S102. Determine the central area grids of the cleaning robot in real time. The central area grids refer to the grids covered by the central area of the cleaning robot on the grid map, which are composed of a first number of grids;

[0071] As Figure 2 shown, the first number can be 9. The grids covered by the central area of the cleaning robot on the grid map are 9, including one in the center and one in each of the 8 surrounding directions. That is to say, the cleaning robot is represented by 9 grid identifiers as shown in the figure on the grid map.

[0072] In a possible implementation manner, step S102 can be implemented as: determining the central area grids of the cleaning robot every time the cleaning robot moves one grid.

[0073] Specifically, every time the cleaning robot moves one grid, the central area of the cleaning robot will re-cover 9 grids on the grid map, that is, the central area grids of the cleaning robot are determined again.

[0074] S103. Determine that the cleaning robot is performing edge cleaning repeatedly according to the edge cleaning trajectory and the central area grids, and control the cleaning robot to exit the edge cleaning state.

[0075] In a possible implementation manner, step S103 can be implemented as follows:

[0076] Determine that the cleaning robot is performing edge cleaning repeatedly according to the central area grids of the cleaning robot and the repeated grids in the edge cleaning trajectory, and the number of the repeated grids is greater than or equal to a preset threshold.

[0077] For example, the preset threshold can be set to 3, as Figure 2As shown, there are 4 repeated grids in the central area grid of the cleaning robot and the edge cleaning trajectory, namely 1, 2, 3, and 4. If the number of repeated grids is greater than 3, it can be determined that for some reason, the cleaning robot is repeating the edge cleaning. At this time, the cleaning robot can be controlled to exit the edge cleaning state. For example, it can clean in a different direction to avoid multiple edge cleanings and improve the cleaning efficiency.

[0078] In order to avoid the problem of being overly sensitive to determining repeated edge cleaning due to parameter issues, in another possible implementation, step S103 can be implemented as follows:

[0079] Based on the central area grid of the cleaning robot and the repeated grids in the edge cleaning trajectory, a stepping score is calculated, and the stepping score is the ratio of the number of repeated grids to the first quantity;

[0080] Based on at least two adjacent stepping scores being greater than or equal to a preset score threshold, it is determined that the cleaning robot is repeating the edge cleaning.

[0081] For example, the preset score threshold can be set to 3 / 9. As Figure 2 shown, there are 4 repeated grids in the central area grid of the cleaning robot and the edge cleaning trajectory, then the stepping score is 4 / 9; if 5 repeated grids appear immediately after determining the central area grid of the cleaning robot next time, then the stepping score is 5 / 9. Then, since two adjacent stepping scores are greater than 3 / 9, it can be determined that the cleaning robot is repeating the edge cleaning, which can avoid misjudgment caused by only one comparison. Of course, it can also be set that three adjacent stepping scores are greater than 3 / 9 to determine that the cleaning robot is repeating the edge cleaning. This application does not make a limitation.

[0082] It is worth mentioning that if all the grids in the central area grid of the cleaning robot and the edge cleaning trajectory are repeated, the stepping score is 9 / 9 = 1; if there is no repetition between the central area grid of the cleaning robot and the edge cleaning trajectory, the stepping score is 0 / 9 = 0.

[0083] In another possible implementation, similarly to avoid the problem of being overly sensitive to determining repeated edge cleaning due to parameter issues, as Figure 3 shown, step S103 can be implemented as follows:

[0084] S201. Based on the central area grid of the cleaning robot and the repeated grids in the edge cleaning trajectory, calculate the stepping score;

[0085] S202. Determine the total stepping score based on the difference between the current stepping score and the previous stepping score;

[0086] S203. Based on the total stepping score being greater than the preset total score threshold, determine that the cleaning robot is repeating the edge cleaning.

[0087] Specifically, the total score of the point marking can be understood as the total length of the cleaning robot repeating along the edge, and the preset total score threshold can be understood as the tolerance of the total length of the cleaning robot repeating along the edge. For example, it can be set to 12.1, corresponding to an actual edge distance of about 50 cm. When the tolerance is exceeded, it is determined as repeating along the edge.

[0088] Specifically, as Figure 4 shown, the above step S202 may include:

[0089] S301. Determine the total score of the point marking after the last update; specifically, if it is the first update, the total score of the point marking after the last update is 0. If it is not the first update, the total score of the point marking after the last update is also updated through the following steps, which is a cyclic process.

[0090] S302. Determine whether the difference between the current point marking score and the previous point marking score is less than or equal to the preset difference threshold;

[0091] S303. If so, use the result of adding the current point marking score to the total score of the point marking after the last update as the total score of the point marking after the current update.

[0092] It can be understood that if the difference between the current point marking score and the previous point marking score is small, that is, the current number of repeated grids is close to the previous number of repeated grids, it is considered that the cleaning robot is continuously cleaning along the edge repeatedly. When the total score of the point marking is greater than the preset total score threshold, it can be determined that the cleaning robot is cleaning along the edge repeatedly.

[0093] For example, the previous point marking score is 1, and the preset difference threshold is set to 0.2 times the previous point marking score, that is, 0.2. If the current point marking score is 1 and the difference between the two is 0, which is less than 0.2, then add the current point marking score 1 to the total score of the point marking after the last update 12 to get the total score of the point marking after the current update as 13, which is greater than the preset total score threshold 12.1. Then it can be determined that the cleaning robot is cleaning along the edge repeatedly.

[0094] In actual situations, the point marking score is only a score when the cleaning robot just enters the edge cleaning trajectory or exits the edge cleaning trajectory. In most cases, it is 1 or 0. Therefore, it is highly unlikely that the point marking score remains a score continuously and exceeds the preset total score threshold after accumulation.

[0095] S304. If not, use the result of subtracting the previous point marking score from the total score of the point marking after the last update as the total score of the point marking after the current update;

[0096] S305. If the result of subtracting the previous scoring sum of the edge detection points from the current updated scoring sum of the edge detection points is less than or equal to 0, record the current updated scoring sum of the edge detection points as 0.

[0097] For example, the previous scoring of the edge detection points is 1, and the preset difference threshold is set to 0.2. If the current scoring of the edge detection points is 4 / 9, and the difference between the two is 5 / 9, which is greater than 0.2, then subtract the previous scoring of the edge detection points, which is 1, from the previous updated scoring sum of the edge detection points, which is 12, to obtain the current updated scoring sum of the edge detection points as 11. Since it is less than the preset scoring sum threshold of 12.1, it cannot be determined that the cleaning robot is repeatedly performing edge cleaning. If the sum of the adjacent scoring of the edge detection points starts to be equal and is less than the preset scoring sum threshold, it means that the cleaning robot no longer accumulates or subtracts the scoring of the edge detection points, that is, it no longer repeats the edge cleaning. Then, clear the sum of the scoring of the edge detection points to 0.

[0098] In the above method, the cleaning robot marks the edges of the cleaning area and judges the current edge state according to the previous edge cleaning trajectory, which can avoid collisions of the cleaning robot at the same position and repeated edge cleaning.

[0099] The control method of the cleaning robot in the embodiment of the present application obtains the edge cleaning trajectory marked by the cleaning robot on the grid map; determines the central area grid of the cleaning robot in real time; determines that the cleaning robot is repeatedly performing edge cleaning according to the edge cleaning trajectory and the central area grid, and controls the cleaning robot to exit the edge cleaning state. Compared with the prior art, the present application can enable the cleaning robot to exit the edge cleaning state in time, avoid repeated edge cleaning, and improve the cleaning efficiency.

[0100] The embodiment of the present application also provides a control device of a cleaning robot corresponding to the above control method of the cleaning robot. For the related parts, refer to the partial description of the foregoing embodiments. The following description of the method embodiments is only illustrative.

[0101] Figure 5 The schematic diagram of a control device of a cleaning robot provided by the embodiment of the present application is shown. As Figure 5 shown, the control device 10 of the cleaning robot includes:

[0102] An acquisition module 101, configured to acquire the edge cleaning trajectory marked by the cleaning robot on the grid map, where the grid map is constructed by the cleaning robot in the target area;

[0103] A determination module 102, configured to determine the central area grid of the cleaning robot in real time, where the central area grid refers to the grid covered by the central area of the cleaning robot on the grid map and is composed of a first number of grids;

[0104] The control module 103 is configured to determine that the cleaning robot is repeatedly performing edge cleaning according to the edge cleaning trajectory and the central area grid, and control the cleaning robot to exit the edge cleaning state.

[0105] In a possible implementation manner, in the above-mentioned control device of the cleaning robot provided in the present application, the control module 103 is specifically configured to:

[0106] Determine that the cleaning robot is repeatedly performing edge cleaning according to the repeated grids in the central area grid and the edge cleaning trajectory, and the number of the repeated grids is greater than or equal to a preset threshold.

[0107] In a possible implementation manner, in the above-mentioned control device of the cleaning robot provided in the present application, the determining module 102 is specifically configured to:

[0108] Determine the central area grid of the cleaning robot once for each grid the cleaning robot moves.

[0109] In a possible implementation manner, in the above-mentioned control device of the cleaning robot provided in the present application, the control module 103 is specifically configured to:

[0110] Calculate a stepping score according to the repeated grids in the central area grid and the edge cleaning trajectory, where the stepping score is the ratio of the number of the repeated grids to the first quantity;

[0111] Determine that the cleaning robot is repeatedly performing edge cleaning according to at least two adjacent stepping scores being greater than or equal to a preset score threshold.

[0112] In a possible implementation manner, in the above-mentioned control method of the cleaning robot provided in the present application, the control module 103 is specifically configured to:

[0113] Calculate a stepping score according to the repeated grids in the central area grid and the edge cleaning trajectory;

[0114] Determine the total stepping score according to the difference between the current stepping score and the previous stepping score;

[0115] Determine that the cleaning robot is repeatedly performing edge cleaning according to the total stepping score being greater than a preset total score threshold.

[0116] In a possible implementation manner, in the above-mentioned control method of the cleaning robot provided in the present application, the control module 103 is specifically configured to:

[0117] Determine the total stepping score after the previous update;

[0118] Based on the difference between the current point-scoring and the previous point-scoring being less than or equal to a preset difference threshold, the sum of the current point-scoring and the previously updated point-scoring is used as the currently updated total point-scoring.

[0119] In a possible implementation, in the control method of the cleaning robot provided in this application, the control module 103 is specifically configured to:

[0120] Determine the total point-scoring after the previous update;

[0121] Based on the difference between the current point-scoring and the previous point-scoring being greater than the preset difference threshold, the result of subtracting the previous point-scoring from the total point-scoring after the previous update is used as the currently updated total point-scoring;

[0122] Based on the result of subtracting the previous point-scoring from the total point-scoring after the previous update being less than or equal to 0, the currently updated total point-scoring is recorded as 0.

[0123] The control device of the cleaning robot according to the embodiments of this application acquires the edge-cleaning trajectory marked by the cleaning robot on the grid map; determines the central area grid of the cleaning robot in real time; determines that the cleaning robot is repeating edge cleaning according to the edge-cleaning trajectory and the central area grid, and controls the cleaning robot to exit the edge-cleaning state. Compared with the prior art, this application can enable the cleaning robot to exit the edge-cleaning state in a timely manner, avoid multiple edge cleanings, and improve the cleaning efficiency.

[0124] As Figure 6 shown, the embodiments of this application also provide a cleaning robot 20, including: a memory 201, a processor 202, and a computer program stored on the memory and executable on the processor. When the processor 202 runs the computer program, it is configured to implement the control method of the cleaning robot in any one of the embodiments in Embodiment 1.

[0125] Specifically, the cleaning robot may include: a processor, a memory, a bus, and a communication interface. The processor, the communication interface, and the memory are connected through the bus; a computer program executable on the processor is stored in the memory. When the processor runs the computer program, it executes the control method of the cleaning robot provided in any one of the foregoing embodiments of this application.

[0126] Among them, the memory may include high-speed random access memory (RAM: Random Access Memory), and may also include non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0127] The bus can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. Among them, the memory is used to store programs, and after receiving an execution instruction, the processor executes the program. Any implementation manner of the control method of the cleaning robot disclosed in any implementation manner of the embodiments of the present application can be applied to the processor or implemented by the processor.

[0128] The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit in the hardware of the processor or the instructions in the form of software. The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0129] The cleaning robot provided by the embodiments of the present application and the control method of the cleaning robot provided by the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by them.

[0130] The embodiments of the present application also provide a computer-readable storage medium, on which computer-readable instructions (i.e., program products) are stored, and the computer-readable instructions can be executed by a processor to implement the control method of the cleaning robot in any implementation manner in the first embodiment.

[0131] Examples of the computer-readable storage medium may further include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other optical and magnetic storage media, which will not be elaborated herein one by one.

[0132] The computer-readable storage medium provided by the above embodiments of the present application and the control method of the cleaning robot provided by the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run, or implemented by the application programs stored therein.

[0133] It should be noted that:

[0134] In the specification provided herein, a large number of specific details are set forth. However, it is understood that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures, and technologies have not been shown in detail so as not to obscure the understanding of this specification.

[0135] Similarly, it should be understood that, in order to streamline the present application and assist in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed subject matter of the present application requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the present application.

[0136] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and set in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise clearly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0137] In addition, those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means that it is within the scope of this application and forms different embodiments. For example, in the following claims, any one of the claimed embodiments can be used in any combination.

[0138] Each component embodiment of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the virtual machine creation device according to the embodiments of the present application. The present application can also be implemented as a device or device program (such as a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0139] It should be noted that the above embodiments are illustrative of the present application rather than restrictive of the present application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim enumerating several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0140] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that, Including: Obtain the edge cleaning trajectory marked by the cleaning robot on the grid map, where the grid map is constructed by the cleaning robot in the target area; According to the cleaning robot moving one grid each time, determine the central area grid of the cleaning robot once. The central area grid refers to the grid covered by the central area of the cleaning robot on the grid map and consists of a first number of grids; Determine that the cleaning robot is repeating edge cleaning according to the edge cleaning trajectory and the central area grid, and control the cleaning robot to exit the edge cleaning state; Wherein, the determining that the cleaning robot is repeating edge cleaning according to the edge cleaning trajectory and the central area grid includes: Calculate a stepping score based on the appearance of repeated grids in the central area grid and the edge cleaning trajectory. The stepping score is the ratio of the number of the repeated grids to the first number; Determine that the cleaning robot is repeating edge cleaning according to at least two adjacent stepping scores being greater than or equal to a preset score threshold; 2. The control method of the cleaning robot according to claim 1, characterized in that, The determining that the cleaning robot is repeating edge cleaning according to the edge cleaning trajectory and the central area grid includes: Determine that the cleaning robot is repeating edge cleaning according to the appearance of repeated grids in the central area grid and the edge cleaning trajectory, and the number of the repeated grids being greater than or equal to a preset threshold; 3. The control method of the cleaning robot according to claim 1, wherein, The determining that the cleaning robot is repeating edge cleaning according to the edge cleaning trajectory and the central area grid includes: Calculate a stepping score based on the appearance of repeated grids in the central area grid and the edge cleaning trajectory; Determine the total stepping score according to the difference between the current stepping score and the previous stepping score; Determine that the cleaning robot is repeating edge cleaning according to the total stepping score being greater than a preset total score threshold; 4. The control method of the cleaning robot according to claim 3, wherein, The determining the total stepping score according to the difference between the current stepping score and the previous stepping score includes: Determine the total stepping score after the previous update; According to the difference between the current stepping score and the previous stepping score being less than or equal to a preset difference threshold, use the result of adding the current stepping score to the total stepping score after the previous update as the current updated total stepping score; 5. The control method of the cleaning robot according to claim 4, wherein The determining the total stepping score according to the difference between the current stepping score and the previous stepping score includes: Determine the total stepping score after the previous update; According to the difference between the current stepping score and the previous stepping score being greater than a preset difference threshold, use the result of subtracting the previous stepping score from the total stepping score after the previous update as the current updated total stepping score; According to the result of subtracting the previous stepping score from the total stepping score after the previous update being less than or equal to 0, record the current updated total stepping score as 0; 6. A control device for a cleaning robot, characterized in that, Including: An obtaining module, configured to obtain the edge cleaning trajectory marked by the cleaning robot on the grid map, where the grid map is constructed by the cleaning robot in the target area; A determination module, configured to determine a central area grid of the cleaning robot once the cleaning robot moves one grid. The central area grid refers to the grid covered by the central area of the cleaning robot on the grid map and is composed of a first number of grids; A control module, configured to determine that the cleaning robot repeats edge cleaning according to the edge cleaning trajectory and the central area grid, and control the cleaning robot to exit the edge cleaning state; The control module is specifically configured to: Calculate a stepping score according to the repetition of the central area grid and the edge cleaning trajectory. The stepping score is the ratio of the number of the repeated grids to the first number; Determine that the cleaning robot repeats edge cleaning according to at least two adjacent stepping scores being greater than or equal to a preset score threshold.

7. A cleaning robot, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor runs the computer program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, on which computer-readable instructions are stored, and the computer-readable instructions can be executed by a processor to implement the method according to any one of claims 1 to 5.

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