Cleaning method and apparatus for mobile robot, storage medium, and electronic device

Abstract

This invention provides a cleaning method and apparatus for a mobile robot, a storage medium, and an electronic device. The method includes: controlling the mobile robot to identify obstacles in a target area and obtaining an identification result; when the identification result indicates that the parameter information of the obstacle meets preset conditions, sending the obstacle information to a mobile terminal corresponding to the mobile robot to prompt the target object to tidy up the obstacle; and when the obstacle has been tidyed up, controlling the mobile robot to clean the target area. According to the technical solution provided by this invention, the problem of incomplete cleaning of the area corresponding to the obstacle after the mobile robot avoids it is solved, improving the cleaning effect of the mobile robot on the target area and increasing the working efficiency of the mobile robot.

Description

[0001] This application is a divisional application of application number 202110971057.6, filed on August 23, 2021, entitled "Cleaning method and apparatus, storage medium and electronic device for mobile robot". Technical Field

[0002] This invention relates to the field of smart homes, and more specifically, to a cleaning method and apparatus for a mobile robot, a storage medium, and an electronic device. Background Technology

[0003] With the rapid development of technology, more and more smart devices have emerged, and mobile robots, as a type of cleaning device, are widely used. However, mobile robots often encounter obstacles during their cleaning process. Currently, when encountering obstacles, mobile robots will first bypass the area containing the obstacle before proceeding with the cleaning operation. However, in some application scenarios, due to the large number of obstacles in an area, although the mobile robot can bypass these obstacles, the cleaning work in that area may be incomplete, affecting the cleaning effect.

[0004] Regarding the relevant technologies, there are currently no effective solutions to problems such as incomplete cleaning of the area corresponding to the obstacle after the mobile robot avoids it.

[0005] Therefore, it is necessary to improve the relevant technology to overcome the aforementioned defects. Summary of the Invention

[0006] The purpose of this invention is to provide a cleaning method and apparatus, storage medium and electronic device for a mobile robot, so as to at least solve the problem that the area corresponding to the obstacle is not thoroughly cleaned after the mobile robot avoids the obstacle.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] According to one aspect of the present invention, a cleaning method for a mobile robot is provided, the method comprising: controlling the mobile robot to identify obstacles in a target area and obtaining an identification result; when the identification result indicates that the parameter information of the obstacle meets preset conditions, sending the obstacle information of the obstacle to a mobile terminal corresponding to the mobile robot to prompt a target object to tidy up the obstacle; and controlling the mobile robot to clean the target area after the obstacle has been tidyed up.

[0009] Further, when the parameter information includes at least one of the following: the type of the obstacle, the state of the obstacle, the number of obstacles, and the coverage area of ​​the obstacle, the method further includes: determining that the parameter information of the obstacle satisfies a preset condition by at least one of the following methods: when the parameter information includes the type of the obstacle, determining that the type of the obstacle is a target type; when the parameter information includes the state of the obstacle, determining that the state of the obstacle is a target state; when the parameter information includes the number of obstacles, determining that the number of obstacles exceeds a first preset threshold; when the parameter information includes the coverage area of ​​the obstacle, determining that the ratio of the coverage area of ​​the obstacle to the area of ​​the target region is greater than a second preset threshold.

[0010] Furthermore, the obstacle information is sent to the mobile terminal corresponding to the mobile robot to prompt the target object to clear the obstacle, including: controlling the mobile robot to exit the target area and sending the obstacle information to the mobile terminal; or controlling the mobile robot to continue executing the currently executing cleaning mode and sending the obstacle information to the mobile terminal.

[0011] Furthermore, controlling the mobile robot to clean the target area includes: after controlling the mobile robot to exit the target area and sending the obstacle information to the mobile terminal, determining whether the target object has cleared the obstacles; if the obstacles have been cleared, controlling the mobile robot to travel to the target area to continue cleaning the target area.

[0012] Furthermore, controlling the mobile robot to clean the target area also includes: when the mobile robot has been controlled to continue executing the currently executing cleaning mode and the obstacle information has been sent to the mobile terminal, determining whether the obstacle has been cleared from the target object; and when the obstacle has been cleared, controlling the mobile robot to travel to the target area to perform supplementary cleaning of the area where the obstacle is located.

[0013] Furthermore, the method further includes: determining that the obstacle has been cleared by at least the following means: receiving a clearing completion instruction sent by the mobile terminal; or, determining that the identification result of the obstacle after a preset time indicates that the parameter information of the obstacle does not meet the preset conditions.

[0014] According to another aspect of the present invention, a cleaning device for a mobile robot is also provided, comprising: a first control module, configured to control the mobile robot to identify obstacles in a target area and obtain identification results; a sending module, configured to send obstacle information of the obstacle to a mobile terminal corresponding to the mobile robot when the identification results indicate that the parameter information of the obstacle meets preset conditions, so as to prompt the target object to tidy up the obstacle; and a second control module, configured to control the mobile robot to clean the target area when the obstacle has been tidyed up.

[0015] Furthermore, the device further includes: a determining module, wherein the determining module is configured to determine, when the parameter information includes at least one of the following: the type of the obstacle, the state of the obstacle, the number of obstacles, and the coverage area of ​​the obstacle, that the parameter information of the obstacle satisfies a preset condition by at least one of the following methods: when the parameter information includes the type of the obstacle, determining that the type of the obstacle is a target type; when the parameter information includes the state of the obstacle, determining that the state of the obstacle is a target state; when the parameter information includes the number of obstacles, determining that the number of obstacles exceeds a first preset threshold; when the parameter information includes the coverage area of ​​the obstacle, determining that the ratio of the coverage area of ​​the obstacle to the area of ​​the target region is greater than a second preset threshold.

[0016] According to another aspect of the present invention, a computer-readable storage medium is also provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute the cleaning method of the mobile robot described in any of the preceding embodiments when running.

[0017] According to yet another embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the cleaning method of the mobile robot described in any of the preceding embodiments.

[0018] This invention addresses the problem of incomplete cleaning of areas by mobile robots after they have been avoided. It improves the cleaning efficiency of mobile robots on target areas and increases their working efficiency. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0020] Figure 1 This is a hardware structure block diagram of a mobile robot for a cleaning method according to an embodiment of the present invention.

[0021] Figure 2 This is a flowchart (a) of a cleaning method using a mobile robot according to an embodiment of the present invention.

[0022] Figure 3 This is a flowchart (II) of a cleaning method for a mobile robot according to an embodiment of the present invention.

[0023] Figure 4 This is a structural block diagram (a) of a cleaning device for a mobile robot according to an embodiment of the present invention.

[0024] Figure 5 This is a structural block diagram (II) of a cleaning device for a mobile robot according to an embodiment of the present invention. Detailed Implementation

[0025] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0027] The method embodiments provided in this invention can be executed in a mobile robot or a similar computing device. Taking its operation on a mobile robot as an example, Figure 1 This is a hardware structure block diagram of a mobile robot used in a cleaning method according to an embodiment of the present invention. (See diagram below.) Figure 1 As shown, a mobile robot may include one or more ( Figure 1 Only one is shown in the image. A processor 102 (which may include, but is not limited to, a microprocessor unit (MPU) or a programmable logic device (PLD) and a memory 104 for storing data; optionally, the mobile robot may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that...) Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile robot described above. For example, the mobile robot may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0028] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the cleaning method of the mobile robot in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some embodiments, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile robot via a network. Embodiments of the above-described network include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0029] The transmission device 106 is used to receive or send data via a network. Specific network embodiments described above may include a wireless network provided by the mobile robot's communication provider. In one embodiment, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another embodiment, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0030] The aforementioned mobile terminals include, but are not limited to, smartphones, tablets, PDA (Personal Digital Assistant) smart devices, wearable devices, etc.

[0031] This embodiment provides a cleaning method for a mobile robot, applicable to mobile robots. Figure 2 This is a flowchart (a) of a cleaning method using a mobile robot according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps:

[0032] Step S202: Control the mobile robot to identify obstacles in the target area and obtain the identification results.

[0033] Step S204: If the recognition result indicates that the parameter information of the obstacle meets the preset conditions, the obstacle information is sent to the mobile terminal corresponding to the mobile robot to prompt the target object to tidy up the obstacle.

[0034] Step S206: After the obstacles have been cleared, control the mobile robot to clean the target area.

[0035] Through the above steps, during the cleaning process of the mobile robot, obstacles in the target area are identified. Based on the identification results, it is determined whether the parameter information of the obstacle meets the preset conditions. If the parameter information of the obstacle meets the preset conditions, the obstacle information is sent to the mobile terminal to prompt the target object to clear the obstacle. After the obstacle is cleared, the target area is cleaned again. This solves the problem that the target area is not thoroughly cleaned after the mobile robot avoids obstacles.

[0036] It should be noted that the aforementioned mobile robot can be understood as a smart home appliance used for cleaning, such as a robot vacuum cleaner. A robot vacuum cleaner can use brushing and / or vacuuming to collect debris from the ground into a dust collection box set up by the robot vacuum cleaner to complete the cleaning work.

[0037] The target area mentioned above can be the room to be cleaned by the mobile robot. After the mobile robot enters the room to be cleaned, it obtains environmental information and parameter information of obstacles in the room, such as the type of room, furniture information, type of obstacles, and location of obstacles.

[0038] The obstacles mentioned above can be understood as trash that the mobile robot cannot clean or items that hinder its cleaning work. If the obstacle is trash that the mobile robot cannot clean, it could be excrement, fruit peels, liquids, electronic waste, etc. If the obstacle is an item that hinders the mobile robot's cleaning work, it could be large toys, overturned tables and chairs, water glasses on the ground, etc.

[0039] The obstacle information mentioned above is used to indicate the presence of obstacles within the target area, and may include at least one of the following: obstacle type, obstacle state, obstacle quantity, and obstacle location.

[0040] It should be noted that in step S202, the mobile robot can use ultrasonic detection, lidar detection, infrared detection, etc., to identify obstacles. Taking ultrasonic detection as an example, during obstacle identification, the mobile robot emits ultrasonic signals within the target area and receives the reflected wave signals from the obstacles. If an obstacle is confirmed to exist within the target area, the distance between the obstacle and the mobile robot can be further determined using ultrasonic ranging, thus determining the number and location of obstacles. Additionally, the mobile robot can use its built-in camera to photograph the obstacles to obtain images. Image recognition of these images can determine any of the aforementioned obstacle information.

[0041] In an optional embodiment, the target area can be a bedroom, kitchen, dining room, living room, bathroom, toilet, etc. If the target area is a bedroom, the mobile robot enters the bedroom and identifies the furniture. If the identification results include overturned tables and chairs, the robot sends the location of the overturned tables and chairs as obstacle information to the mobile terminal, prompting the target to tidy up the overturned tables and chairs.

[0042] To better understand how step S204 involves sending the obstacle information to the mobile terminal corresponding to the mobile robot, based on the recognition result indicating that the obstacle's parameter information meets preset conditions, to prompt the target object to organize the obstacles, optionally, this can be achieved through the following technical solutions: When the parameter information includes at least one of the following: the type of the obstacle, the state of the obstacle, the number of obstacles, and the coverage area of ​​the obstacle, the obstacle's parameter information is determined to meet preset conditions through at least one of the following methods: when the parameter information includes the type of the obstacle, the type of the obstacle is determined to be the target type; when the parameter information includes the state of the obstacle, the state of the obstacle is determined to be the target state; when the parameter information includes the number of obstacles, the number of obstacles exceeds a first preset threshold; when the parameter information includes the coverage area of ​​the obstacle, the ratio of the coverage area of ​​the obstacle to the area of ​​the target region is greater than a second preset threshold.

[0043] It should be noted that the above parameter information can be used to provide a basis for identifying obstacles. The target type can be preset for the target object. For example, the target type can be set as excrement, fruit peel, liquid, electronic waste, large toys, overturned tables and chairs, water cups on the ground, etc. If the parameter information includes the type of obstacle, and it is determined that the type of obstacle includes one of the following: excrement, fruit peel, liquid, electronic waste, large toys, tables and chairs, water cups, then the type of obstacle is determined to be the target type. That is, the parameter information of the obstacle meets the preset conditions. Furthermore, the type of obstacle can be sent as obstacle information to the mobile terminal corresponding to the mobile robot to prompt the target object to tidy up the obstacle.

[0044] It should be noted that the target state mentioned above can be preset for the target object. For example, the target state can be liquid or upside down. The state of the obstacle mentioned above can be understood as the state of the items in the target area that hinder the mobile robot from carrying out cleaning work. For example, the obstacle's state is liquid, or the obstacle's state is upside down.

[0045] In an optional embodiment, if the obstacle is determined to be in a liquid state, the mobile robot cannot clean the liquid obstacle. Therefore, the mobile robot sends the liquid state of the obstacle as obstacle information to the mobile terminal to prompt the target object to clean up the obstacle.

[0046] In an optional embodiment, if the parameter information includes the type and state of the obstacle, and it is determined that the type of obstacle is a table and chair, and the state of the obstacle is overturned, then the parameter information of the obstacle is determined to meet the preset conditions. The mobile robot sends the type and state of the obstacle as obstacle information to the mobile terminal to prompt the target object to tidy up the obstacle.

[0047] It should be noted that the first preset threshold can be set according to the size of the target area. For example, if the area of ​​the target area is 10m², the threshold can be set accordingly. 2 In this case, the first preset threshold can be set to 10, or the target area can be 15m². 2 In this case, the first preset threshold can be set to 15. If the parameter information includes the number of obstacles and the first preset threshold is 10, and it is determined that the number of obstacles in the target area is 20, then it is determined that the number of obstacles exceeds the first preset threshold, i.e., the parameter information of the obstacles meets the preset conditions. Furthermore, the number of obstacles can be sent as obstacle information to the mobile terminal corresponding to the mobile robot to prompt the target object to organize the obstacles.

[0048] In an optional embodiment, the ratio of the obstacle's coverage area to the target area can be understood as the ratio of the obstacle's coverage area to the target area. The second preset threshold can be set to 40%. If the parameter information includes the obstacle's coverage area, and the target area is 10m², then... 2 The obstacle covers an area of ​​5m. 2 If the ratio of the obstacle's coverage area to the target area is 50%, meaning the ratio is greater than the second preset threshold, then the obstacle's parameter information meets the preset conditions. Furthermore, the obstacle's coverage area can be sent as obstacle information to the mobile terminal corresponding to the mobile robot to prompt the target object to organize the obstacle.

[0049] It should be noted that the aforementioned target object can be understood as the entity that organizes the obstacles. This entity can be a human or a robot, and this embodiment of the invention does not impose any limitations on this. The method by which the target object organizes the obstacles is related to the type, state, and number of obstacles, and the method of organizing the obstacles must include at least one of the following:

[0050] In an optional embodiment, when the target object is a robot, if the obstacle is determined to be electronic waste, the robot sorts it as follows: The radiation intensity of the electronic waste is detected. If the radiation intensity is determined to be less than a preset intensity, the robot stores the electronic waste in a trash can without radiation shielding. The preset intensity can be 0.001 mSv, but is not limited to this.

[0051] In an optional embodiment, when the target object is a robot, if the number of obstacles is determined to be less than a preset value, for example, if the preset value is 5 and the number of obstacles is 2, the robot organizes the obstacles directly. If the number of obstacles is determined to be greater than a preset value, for example, if the preset value is 5 and the number of obstacles is 8, the robot determines the distance between itself and the obstacles based on the positions of the obstacles and its own position, sorts the distances between the obstacles and itself using a sorting algorithm to determine the sorting order, and then sorts the obstacles according to the sorting order.

[0052] In an optional embodiment, when the target object is a robot, if the obstacle is determined to be in a liquid state, the robot cleans it by detecting the pH value of the liquid obstacle. If the pH value of the liquid obstacle meets a preset range, the robot uses cleaning tools to clean the liquid obstacle. The preset range can be [6,8], and the cleaning tools can include, but are not limited to, brooms, dustpans, mops, wrenches, buckets, scouring pads, etc.

[0053] To better understand how step S204 sends obstacle information to the mobile terminal corresponding to the mobile robot to prompt the target object to tidy up the obstacle, optionally, the mobile robot can be controlled to exit the target area and send the obstacle information to the mobile terminal; or the mobile robot can be controlled to continue executing the currently executing cleaning mode and send the obstacle information to the mobile terminal.

[0054] It should be noted that if the obstacle is determined to be liquid, the mobile robot can be controlled to leave the target area. This can reduce the possibility of the mobile robot malfunctioning due to contact with the liquid obstacle, thereby reducing the probability of damage to the mobile robot and increasing its service life.

[0055] To better understand how step S206 controls the mobile robot to clean the target area, further, it can be determined whether the target object has cleared the obstacles after the mobile robot has been controlled to leave the target area and the obstacle information has been sent to the mobile terminal; if the obstacles have been cleared, the mobile robot can be controlled to travel to the target area to continue cleaning the target area.

[0056] In one optional embodiment, if an obstacle is detected during the cleaning process, the mobile robot is controlled to exit the target area. After sending the obstacle information to the mobile terminal and confirming that the obstacle has been cleared, the mobile robot is controlled to move to the target area to continue cleaning the target area. This can increase the number of times obstacle information is fed back, speed up the clearing of obstacle information, improve the feedback speed of work progress, and further enhance the user experience.

[0057] To better understand how step S206 controls the mobile robot to clean the target area, further, it can be determined whether the obstacle has been cleared from the target object, provided that the mobile robot is already controlled to continue executing the currently executing cleaning mode and the obstacle information is sent to the mobile terminal; if the obstacle has been cleared, the mobile robot is controlled to travel to the target area to perform supplementary cleaning of the area where the obstacle is located.

[0058] In an optional embodiment, if an obstacle is detected during the cleaning process, the mobile robot is controlled to continue executing the currently running cleaning mode. After sending the obstacle information to the mobile terminal and confirming that the obstacle has been cleared, the area where the obstacle is located is cleaned again. This can improve the cleaning effect of the mobile robot on the target area and increase the working efficiency of the mobile robot.

[0059] During the cleaning process, the mobile robot uses various sensors installed on it to obtain parameter information of obstacles in the target area, and automatically selects different working modes based on the parameter information, or selects the working mode according to the control instructions of the mobile terminal.

[0060] It should be noted that the above cleaning modes can be understood as the working modes of the mobile robot when performing cleaning work, which may include automatic mode, edge cleaning mode, spot cleaning mode and fine cleaning mode.

[0061] In an optional embodiment, when the mobile robot is operating in automatic mode, it cleans along a straight line. If it detects an obstacle, it changes its cleaning direction to avoid it and continues cleaning along a straight line after avoiding the obstacle.

[0062] In an optional embodiment, when the mobile robot is operating in edge-following mode during cleaning, if the mobile robot detects an obstacle, it will clean along the perimeter of the obstacle.

[0063] In an optional embodiment, when the mobile robot is working in a fixed-point mode, if it is determined that the mobile robot has identified an obstacle, the mobile robot will perform a concentrated cleaning of the area surrounding the obstacle in a spiral manner, with the location of the obstacle as the fixed point. The surrounding area can be a circular area with a diameter of 1m.

[0064] In an optional embodiment, when the mobile robot is operating in a fine cleaning mode, if it is determined that the mobile robot has detected an obstacle, the mobile robot avoids the obstacle and updates the cleaning direction to be consistent with the automatic mode.

[0065] To better understand how step S206 controls the mobile robot to clean the target area after the obstacle has been cleared, optionally, the clearance of the obstacle can be determined at least in the following ways: receiving a clearance completion instruction sent by the mobile terminal; or, determining that the identification result of the obstacle after a preset time indicates that the parameter information of the obstacle does not meet the preset conditions.

[0066] In an optional embodiment, since the mobile robot sends obstacle information to the mobile terminal to prompt the target object to tidy up the obstacles, if the target object completes the tidying up of the obstacles and sends a tidying up completion instruction to the mobile robot, the mobile robot responds to the received tidying up completion instruction and determines that the obstacles have been tidyed up.

[0067] It should be noted that the above preset time can be set according to the parameter information. For example, if the parameter information includes the number of obstacles, the preset time can be set to different durations according to the number of obstacles.

[0068] In one optional embodiment, the preset time can be 20 minutes, 40 minutes, or one hour. If the preset time is 20 minutes, and it is determined that the parameter information does not meet the preset conditions after 20 minutes, then it is determined that the obstacle has been cleared.

[0069] Obviously, the embodiments described above are merely some embodiments of the present invention, and not all embodiments. To better understand the cleaning method of the mobile robot, the above process is described below in conjunction with embodiments, but this is not intended to limit the technical solutions of the embodiments of the present invention. Specifically:

[0070] In an optional embodiment, Figure 3 This is a flowchart (II) of a cleaning method for a mobile robot according to an embodiment of the present invention. The specific steps are as follows:

[0071] Step S302: Obtain parameter information during the cleaning process;

[0072] Step S304: Determine whether the parameter information indicated by the recognition result meets the preset conditions. If yes, proceed to step S308; if no, proceed to step S306.

[0073] It should be noted that in step S304, the parameter information includes at least one of the following: obstacle type, obstacle state, obstacle quantity, and obstacle coverage area. Accordingly, the obstacle's parameter information can be determined to meet preset conditions through at least one of the following methods:

[0074] If the parameter information includes the type of obstacle, the type of obstacle is determined to be the target type. For example, if the target type is fruit peel, the type of obstacle is also fruit peel. If the parameter information includes the state of the obstacle, the state of the obstacle is determined to be the target state. For example, if the target state is liquid, the state of the obstacle is liquid. If the parameter information includes the number of obstacles, the number of obstacles is determined to exceed a first preset threshold. For example, if the first preset threshold is 6, the number of obstacles is 8. If the parameter information includes the coverage area of ​​the obstacle, the ratio of the coverage area of ​​the obstacle to the area of ​​the target region is determined to be greater than a second preset threshold. For example, if the second preset threshold is 40%, the ratio of the coverage area of ​​the obstacle to the area of ​​the target region is 50%.

[0075] Step S306: If the parameter information indicated by the identification result does not meet the preset conditions, control the mobile robot to continue executing the currently executing cleaning mode;

[0076] Step S308: If the parameter information indicated by the identification result meets the preset conditions, select the following cleaning strategy: if cleaning strategy A is selected, proceed to step S310; if cleaning strategy B is selected, proceed to step S312.

[0077] Step S310, Cleaning Strategy A: Exit the target area and send obstacle information and obstacle location to the mobile terminal;

[0078] It should be noted that in cleaning strategy A, the cleaning mode can be exited while leaving the target area, or the currently running cleaning mode can continue while leaving the target area.

[0079] Step S312, Cleaning strategy B: Avoid obstacles, continue to execute the currently executing cleaning mode, record the location of obstacles during the cleaning process, and send obstacle information and obstacle location to the mobile terminal after cleaning is completed;

[0080] Step S314: Prompt the target object to tidy up the obstacles;

[0081] It should be noted that in step S314, the prompting method for the target object can be either a voice reminder sent through a mobile device or a vibration reminder sent through a mobile device. At the same time, the obstacle type, obstacle location, obstacle quantity, obstacle status, and obstacle coverage area are sent to the mobile device as obstacle information.

[0082] Step S316: Determine whether the obstacles have been cleared. If yes, proceed to step S318; otherwise, execute step S314.

[0083] Step S318: After the obstacles have been cleared, control the mobile robot to clean the target area.

[0084] It should be noted that steps S316-S318 can also be implemented through the following technical solutions:

[0085] The system can determine whether obstacles have been cleared within a preset time. Specific steps include:

[0086] Step 1: Record the duration of the tidying process and determine whether the duration of the tidying process is greater than the preset time;

[0087] Step 2: If the cleaning process lasts longer than the preset time, re-enter the target area for cleaning;

[0088] Step 3: If the time taken for the sorting process is less than the preset time, repeat step 1.

[0089] Alternatively, the completion of obstacle clearing can be determined by whether a clearing completion command has been received from the mobile terminal. Specific steps include:

[0090] Step 1: Determine whether a completion instruction has been received from the mobile terminal;

[0091] Step 2: Upon receiving the cleaning completion command from the mobile terminal, respond to the completion command sent by the mobile terminal and re-enter the target area to clean.

[0092] Step 3: If no completion instruction is received from the mobile terminal, repeat step 1.

[0093] It should be noted that the process of obtaining parameter information in step S302 above can be completed by the following steps:

[0094] Step 1: Enter cleaning mode;

[0095] It should be noted that in cleaning mode, the mobile robot can perform cleaning work according to the cleaning route planned by the path algorithm.

[0096] Step 2, mark the obstacles;

[0097] It should be noted that during the cleaning process, the mobile robot records the cleaning position in real time, corrects the cleaning route in real time based on the cleaning position, and marks the location of obstacles on the cleaning route;

[0098] Step 3: Identify obstacles and obtain identification results, including parameter information.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM), random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0100] This embodiment also provides a cleaning device for a mobile robot, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0101] Figure 4 This is a structural block diagram (a) of a cleaning device for a mobile robot according to an optional embodiment of the present invention. Figure 4 As shown:

[0102] The first control module 42 is used to control the mobile robot to identify obstacles in the target area and obtain the identification results;

[0103] The sending module 44 is used to send the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot when the recognition result indicates that the parameter information of the obstacle meets the preset conditions, so as to prompt the target object to tidy up the obstacle;

[0104] The second control module 46 is used to control the mobile robot to clean the target area after the obstacles have been cleared.

[0105] Optionally, the first control module 42 is also used to control the mobile robot to identify obstacles using ultrasonic detection. During obstacle identification, the mobile robot emits ultrasonic signals within the target area and receives reflected wave signals from the obstacles. If an obstacle is confirmed to exist within the target area, the distance between the obstacle and the mobile robot can be further determined based on the ultrasonic ranging principle, thus determining the number and location of the obstacles. Additionally, the mobile robot can use its built-in camera to take pictures of the obstacles to obtain images. Image recognition of these images can determine the type and state of the obstacles.

[0106] Optionally, the sending module 44 is also used to send the liquid state of the obstacle to the mobile terminal as obstacle information when the mobile robot is unable to clean the liquid obstacle if the obstacle is determined to be in a liquid state, so as to prompt the target object to clean up the obstacle.

[0107] Optionally, the sending module 44 is also used to determine that if the obstacle type is a table and chair and the obstacle state is overturned, the obstacle parameter information meets the preset conditions, and the mobile robot sends the obstacle type and obstacle state as obstacle information to the mobile terminal to prompt the target object to tidy up the obstacle.

[0108] Optionally, the area of ​​the target region is 10m². 2 In this case, the first preset threshold can be set to 10 or 15. If the parameter information includes the number of obstacles and the first preset threshold is 10, and it is determined that the number of obstacles in the target area is 20, then it is determined that the number of obstacles exceeds the first preset threshold, i.e., the parameter information of the obstacles meets the preset conditions. Furthermore, the number of obstacles can be sent as obstacle information to the mobile terminal corresponding to the mobile robot to prompt the target object to organize the obstacles.

[0109] Optionally, if the parameter information includes the coverage area of ​​obstacles, and the area of ​​the target area is 10m... 2 The obstacle covers an area of ​​5m. 2 If the ratio of the obstacle's coverage area to the target area is 50%, meaning the ratio is greater than the second preset threshold, then the obstacle's parameter information meets the preset conditions. Furthermore, the obstacle's coverage area can be sent as obstacle information to the mobile terminal corresponding to the mobile robot to prompt the target object to organize the obstacle.

[0110] Figure 5 This is a structural block diagram (II) of a cleaning device for a mobile robot according to an optional embodiment of the present invention. Figure 5 As shown, the cleaning device of the mobile robot also includes:

[0111] The determining module 50 is configured to determine, when the parameter information includes at least one of the following: the type of obstacle, the state of the obstacle, the number of obstacles, and the coverage area of ​​the obstacle, that the parameter information of the obstacle satisfies a preset condition by at least one of the following methods:

[0112] If the parameter information includes the type of the obstacle, the type of the obstacle is determined to be the target type; if the parameter information includes the state of the obstacle, the state of the obstacle is determined to be the target state; if the parameter information includes the number of obstacles, the number of obstacles is determined to exceed a first preset threshold; if the parameter information includes the coverage area of ​​the obstacle, the ratio of the coverage area of ​​the obstacle to the area of ​​the target region is determined to be greater than a second preset threshold.

[0113] Optionally, the sending module 44 is also used to control the mobile robot to exit the target area and send the obstacle information to the mobile terminal; or to control the mobile robot to continue executing the currently executing cleaning mode and send the obstacle information to the mobile terminal.

[0114] Optionally, the second control module 46 is further configured to, when the mobile robot has been controlled to exit the target area and the obstacle information has been sent to the mobile terminal, determine whether the target object has cleared the obstacles; and if the obstacles have been cleared, control the mobile robot to travel to the target area to continue cleaning the target area.

[0115] Optionally, the second control module 46 is further configured to, when the mobile robot has been controlled to continue executing the currently executing cleaning mode and the obstacle information has been sent to the mobile terminal, determine whether the target object has finished clearing the obstacles; and if the obstacles have been cleared, control the mobile robot to travel to the target area to perform supplementary cleaning of the area where the obstacles are located.

[0116] Optionally, the second control module 46 is further configured to determine that the obstacle has been cleared by at least the following means: receiving a clearing completion instruction sent by the mobile terminal; or, determining that the identification result of the obstacle after a preset time indicates that the parameter information of the obstacle does not meet the preset conditions.

[0117] Optionally, the second control module 46 is further configured to, if the target object completes the clearing of the obstacle and sends a clearing completion instruction to the mobile robot, the mobile robot responds to the received clearing completion instruction and determines that the obstacle has been cleared.

[0118] Optionally, the second control module 46 is also used to determine that the obstacle has been cleared if the parameter information does not meet the preset conditions after 20 minutes, provided that the preset time is 20 minutes.

[0119] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0120] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program configured to perform the steps in any of the above method embodiments when executed.

[0121] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0122] S1 controls the mobile robot to identify obstacles within the target area and obtain the identification results.

[0123] S2, if the recognition result indicates that the parameter information of the obstacle meets the preset conditions, the obstacle information is sent to the mobile terminal corresponding to the mobile robot to prompt the target object to tidy up the obstacle.

[0124] S3, after the obstacles have been cleared, control the mobile robot to clean the target area.

[0125] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0126] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0127] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0128] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0129] S1 controls the mobile robot to identify obstacles within the target area and obtain the identification results.

[0130] S2, if the recognition result indicates that the parameter information of the obstacle meets the preset conditions, the obstacle information is sent to the mobile terminal corresponding to the mobile robot to prompt the target object to tidy up the obstacle.

[0131] S3, after the obstacles have been cleared, control the mobile robot to clean the target area.

[0132] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0133] Embodiments of the present invention also provide a robot, including a body, a motion component, and a controller, the controller being configured to perform the steps in any of the above method embodiments.

[0134] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0135] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A cleaning method using a mobile robot, characterized in that, The method includes: The mobile robot is controlled to identify obstacles within a target area and obtain identification results. The obstacles are garbage that the mobile robot cannot clean or items that hinder the mobile robot from cleaning. When the recognition result indicates that the parameter information of the obstacle meets the preset conditions, the obstacle information is sent to the mobile terminal corresponding to the mobile robot to prompt the target object to organize the obstacle; the parameter information includes at least one of the following: the type of obstacle, the state of the obstacle, the number of obstacles, and the coverage area of ​​the obstacle; Once the obstacles have been cleared, the mobile robot is controlled to clean the target area. The method further includes determining that the parameter information of the obstacle satisfies a preset condition through at least one of the following methods: If the parameter information includes the type of obstacle, then the type of obstacle is determined to be the target type; If the parameter information includes the state of the obstacle, the state of the obstacle is determined to be the target state; If the parameter information includes the number of obstacles, it is determined that the number of obstacles exceeds a first preset threshold. If the parameter information includes the coverage area of ​​the obstacle, then the ratio of the coverage area of ​​the obstacle to the area of ​​the target region is determined to be greater than a second preset threshold. The obstacles have been cleared by at least the following means: Received the sorting completion instruction sent by the mobile terminal; Alternatively, the identification result of the obstacle identified after a preset time indicates that the parameter information of the obstacle does not meet the preset conditions.

2. The cleaning method for a mobile robot according to claim 1, characterized in that, Sending obstacle information to the mobile terminal corresponding to the mobile robot to prompt the target object to clear the obstacles, including: Control the mobile robot to exit the target area and send the obstacle information to the mobile terminal; or The mobile robot is controlled to continue executing the currently running cleaning mode and the obstacle information is sent to the mobile terminal.

3. The cleaning method for a mobile robot according to claim 2, characterized in that, Controlling the mobile robot to clean the target area includes: If the mobile robot has been controlled to exit the target area and the obstacle information has been sent to the mobile terminal, determine whether the target object has cleared the obstacles; Once the obstacles have been cleared, the mobile robot is controlled to move to the target area to continue cleaning the target area.

4. The cleaning method of the mobile robot according to claim 2, characterized in that, Controlling the mobile robot to clean the target area includes: If the mobile robot is controlled to continue executing the currently executing cleaning mode and the obstacle information is sent to the mobile terminal, determine whether the target object has cleared the obstacles; Once the obstacles have been cleared, the mobile robot is controlled to travel to the target area to perform additional cleaning of the area where the obstacles were located.

5. A cleaning device for a mobile robot, characterized in that, include: The first control module is used to control the mobile robot to identify obstacles in the target area and obtain the identification results. The obstacles are garbage that the mobile robot cannot clean or items that hinder the mobile robot from cleaning. The sending module is used to send the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot when the recognition result indicates that the parameter information of the obstacle meets the preset conditions, so as to prompt the target object to tidy up the obstacle; The second control module is used to control the mobile robot to clean the target area after the obstacles have been cleared. The device further includes a determining module, wherein the determining module is configured to determine, when the parameter information includes at least one of the following: the type of obstacle, the state of the obstacle, the number of obstacles, and the coverage area of ​​the obstacle, that the parameter information of the obstacle satisfies a preset condition by at least one of the following methods: If the parameter information includes the type of obstacle, then the type of obstacle is determined to be the target type; If the parameter information includes the state of the obstacle, the state of the obstacle is determined to be the target state; If the parameter information includes the number of obstacles, it is determined that the number of obstacles exceeds a first preset threshold. If the parameter information includes the coverage area of ​​the obstacle, then the ratio of the coverage area of ​​the obstacle to the area of ​​the target region is determined to be greater than a second preset threshold. The second control module is also used to determine that the obstacles have been cleared by at least the following means: Received the sorting completion instruction sent by the mobile terminal; Alternatively, the identification result of the obstacle identified after a preset time indicates that the parameter information of the obstacle does not meet the preset conditions.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 4 when it is run.

7. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method described in any one of claims 1 to 4.

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