Cleaning robot, control method and device thereof, and readable storage medium

Abstract

The present invention provides a cleaning robot, a control method and device thereof, and a readable storage medium. The control method for the cleaning robot includes: receiving a first input on an operation page; determining a touch position of the first input on the operation page based on the first input; determining a movement direction of the cleaning robot based on the touch position; and controlling the movement of the cleaning robot based on the movement direction. The cleaning robot automatically moves forward or rotates before moving forward based on the touch position, eliminating the need for the user to manually adjust the rotation angle of the cleaning robot, thereby effectively avoiding the problem of performing multiple operations due to the cleaning robot over-rotating or under-rotating.

Description

[0001] This application is a divisional application of the Chinese patent application with the application date of April 21, 2022, application number "202210420690.0", and invention name "Cleaning robot, its control method and device, and readable storage medium". Technical Field

[0002] The present invention belongs to the technical field of intelligent cleaning equipment, and specifically relates to a cleaning robot, a control method and device thereof, and a readable storage medium. Background Art

[0003] Currently, the operation page of the cleaning robot is usually provided with four buttons: forward, backward, left rotate and right rotate. When there is an angle between the forward direction of the cleaning robot and the current direction of the cleaning robot, the user needs to rotate the cleaning robot first and then control the cleaning robot to move forward or backward.

[0004] When the user controls the cleaning robot to rotate, over-rotation or under-rotation may occur, so the user needs to adjust the rotation angle of the cleaning robot multiple times, which makes the user's control operation of the cleaning robot cumbersome and brings great inconvenience to the user. Summary of the Invention

[0005] The present invention aims to solve one of the technical problems existing in the prior art or related technologies.

[0006] In view of this, in the first aspect, the present invention proposes a control method for a cleaning robot, comprising: receiving a first input on an operation page; determining a touch position of the first input on the operation page based on the first input; determining a moving direction of the cleaning robot based on the touch position; and controlling the movement of the cleaning robot based on the moving direction.

[0007] The cleaning robot control method provided by the present invention, upon receiving a first input executed by a user on an operation page, determines, based on the first input, the touch position of the user on the operation page when the first input was executed. After obtaining the touch position executed by the user on the operation page, the movement direction of the cleaning robot is determined based on the touch position. Based on the determined movement direction, the cleaning robot is controlled to move along the movement direction.

[0008] In a possible application, the operation page is an interface for executing control functions on the cleaning robot on the terminal. The operation page can also be an interface for executing control functions on a controller used in conjunction with the cleaning robot.

[0009] The first input may be a control input, for example, the first input is one of a click input, a slide input, and a long press input. The user controls the movement of the cleaning robot through the first input on the operation interface.

[0010] When the movement of the cleaning robot needs to be controlled, the user can perform the first input on the operation page. The position of the first input is the direction of the front of the cleaning robot. Therefore, after obtaining the touch position of the first input, the cleaning robot automatically moves towards the touch position of the first input.

[0011] To control the movement of the cleaning robot, the user only needs to select a touch location on the touch interface and then touch the touch location to control the movement of the cleaning robot. Compared to the related art method where the user first controls the rotation of the cleaning robot and then controls the forward movement of the cleaning robot, the present invention only requires a single touch to control the cleaning robot, simplifying the user's operation.

[0012] Moreover, after the user executes the first input on the operation page, if the current front direction of the cleaning robot deviates from the touch position, the cleaning robot will rotate first and then move forward. However, in the present invention, after selecting to execute the first input, the cleaning robot automatically moves forward according to the touch position or rotates first and then moves forward. The user does not need to manually adjust the rotation angle of the cleaning robot, thereby effectively avoiding the problem of performing multiple operations due to excessive rotation or insufficient rotation of the cleaning robot, further simplifying the user's operation, and helping to improve the user's control convenience of the cleaning robot.

[0013] In addition, the control method of the cleaning robot in the above technical solution provided by the present invention may also have the following additional technical features:

[0014] In the above technical solution, determining the moving direction of the cleaning robot according to the touch position includes: determining the moving direction of the cleaning robot according to a line connecting the geometric center of the operation page and the touch position.

[0015] In this technical solution, when a user touches an operation page, the touch location on the operation page is obtained. The touch location is then connected to the geometric center of the operation page, with the geometric center of the operation page as the starting point and the touch location as the end point. A line is then drawn from the geometric center of the operation page to the touch location, and the direction of the line represents the direction of movement of the cleaning robot. After determining the direction of movement of the cleaning robot, the cleaning robot can automatically turn and move forward, without the user having to operate the cleaning robot to turn, which helps improve the user's convenience in using the cleaning robot.

[0016] The user's first input can be a click input or a slide input. If the first input is a click input, the touch position can be directly determined. If the first input is a slide input, the touch position changes at any time as the user's finger moves on the operation page. Therefore, it can be understood that the slide input generates multiple touch positions over time, and the movement direction of the cleaning robot may change at any time. As the user slides on the operation page, the cleaning robot automatically turns and moves forward, improving the user's flexibility in using the cleaning robot.

[0017] For example, a wheel is provided on the operation page. As the user touches the operation page, the button icons on the wheel will move toward the user's touch position. The direction of the button icon is the movement direction of the cleaning robot. As can be seen from the figure, the button can move in any direction along the wheel, so the cleaning robot can achieve omnidirectional movement.

[0018] In any of the above technical solutions, determining the moving direction of the cleaning robot according to the touch position includes: determining the moving direction of the cleaning robot according to a line connecting the display icon of the cleaning robot and the touch position in the operation page.

[0019] In this technical solution, a display image of the cleaning robot is displayed on the operation page, and the display image may be a proportionally reduced image of the cleaning robot.

[0020] When a user touches an operation page, the touch location on the operation page is obtained. This location is then connected to the cleaning robot's display icon, with the display icon as the starting point and the touch location as the end point. A line is drawn from the display icon on the operation page to the touch location, and the direction of the line represents the robot's movement direction. After determining the robot's movement direction, the robot automatically turns and moves forward, eliminating the need for the user to manipulate the robot, making it more convenient for users to use the robot.

[0021] The user's first input can be a click input or a slide input. If the first input is a click input, the touch position can be directly determined. If the first input is a slide input, the touch position changes at any time as the user's finger moves on the operation page. Therefore, it can be understood that the slide input generates multiple touch positions over time, and the movement direction of the cleaning robot may change at any time. As the user slides on the operation page, the cleaning robot automatically turns and moves forward, improving the user's flexibility in using the cleaning robot.

[0022] In any of the above technical solutions, after determining the touch position of the first input on the operation page, the method further includes: determining the moving speed of the cleaning robot according to the touch position.

[0023] In this technical solution, the user's touch position on the operation page can not only indicate the moving direction of the cleaning robot, but also the moving speed of the cleaning robot.

[0024] Depending on the user's touch location on the operation page, the cleaning robot's movement speed may also vary. Therefore, the user can adjust the cleaning robot's movement direction by adjusting the touch location. When controlling the movement of the cleaning robot, the user only needs to select the touch location on the touch interface and touch the touch location to control the cleaning robot's movement speed. Compared to the related art method of manually adjusting the cleaning robot's movement speed, the present invention only requires a single touch to control the cleaning robot, further simplifying the user's operation.

[0025] For example, let's take the case where the line connecting the geometric center of the operating page and the touch position is used as the direction of the cleaning robot. After determining the line connecting the geometric center and the touch position, the direction of movement of the cleaning robot is determined. On the basis of not changing the direction of movement of the cleaning robot, the user's finger can slide on the line. In other words, even if the touch position is changed, the direction of movement of the cleaning robot will not be changed. However, the movement speed of the cleaning robot can be changed in this way.

[0026] In any of the above technical solutions, determining the moving speed of the cleaning robot according to the touch position includes: determining the moving speed of the cleaning robot according to the distance between the geometric center of the operation page and the touch position.

[0027] In this technical solution, when a user touches an operation page, the touch position on the operation page can be obtained. When the distance between the geometric center of the operation page and the touch position is determined, the movement speed of the cleaning robot can be controlled based on the distance between the geometric center and the touch position.

[0028] For example, the distance between the geometric center and the touch position is proportional to the movement speed. The greater the distance between the user's touch position on the operation page and the geometric center of the operation page, the faster the cleaning robot moves. The smaller the distance, the slower the movement speed.

[0029] After the user clicks a certain position on the touch page, the cleaning robot starts moving. If the user feels that the cleaning robot moves too slowly or too quickly, the user can slide the finger away from or close to the geometric center of the operation page to quickly adjust the moving speed of the cleaning robot.

[0030] For example, a wheel is provided on the operation page, and the distance from the user's touch position on the operation page to the center of the wheel determines the moving speed of the cleaning robot. The user can control the moving direction and moving speed at the same time by sliding.

[0031] In any of the above technical solutions, determining the movement speed of the cleaning robot according to the touch position includes: determining the movement speed of the cleaning robot according to the distance between the display icon of the cleaning robot in the operation page and the touch position.

[0032] In this technical solution, a display image of the cleaning robot is displayed on the operation page, and the display image may be a proportionally reduced image of the cleaning robot.

[0033] When the user touches the operation page, the touch position on the operation page can be obtained. When the distance between the display icon on the operation page and the touch position is determined, the moving speed of the cleaning robot can be controlled according to the distance between the display icon and the touch position.

[0034] For example, the distance between the displayed icon and the touch position is proportional to the movement speed. The greater the distance between the user's touch position on the operation page and the displayed icon, the faster the cleaning robot moves. The smaller the distance, the slower the movement speed.

[0035] After the user clicks a certain position on the touch page, the cleaning robot starts moving. If the user feels that the cleaning robot moves too slowly or too quickly, the user can slide the finger away from or towards the displayed icon to quickly adjust the moving speed of the cleaning robot.

[0036] In any of the above technical solutions, controlling the movement of the cleaning robot according to the moving direction includes: controlling the rotation and movement of the cleaning robot according to the angle between the moving direction and the center line of the field of view of the cleaning robot.

[0037] In this technical solution, the angle of the field of view represents the range within which the cleaning robot can capture images. The centerline of the field of view represents the current orientation of the cleaning robot's head. If the movement direction coincides with the centerline of the field of view, the cleaning robot does not need to turn and can move forward or backward. If the movement direction is at an angle to the centerline of the field of view, the cleaning robot needs to rotate and move.

[0038] The angle between the moving direction and the center line of the field of view angle can reflect the angle at which the cleaning robot needs to rotate. After obtaining the angle at which the cleaning robot needs to rotate, the moving mode of the cleaning robot is controlled so that the cleaning robot can move stably.

[0039] In any of the above technical solutions, the cleaning robot is controlled to rotate and move according to the angle between the moving direction and the center line of the cleaning robot's field of view angle, including: when the angle between the moving direction and the center line of the cleaning robot's field of view angle is greater than a preset angle, the cleaning robot is controlled to rotate first and then move; when the angle between the moving direction and the center line of the cleaning robot's field of view angle is less than or equal to the preset angle, the cleaning robot is controlled to rotate and move simultaneously.

[0040] In this technical solution, when the angle between the moving direction and the center line of the field of view angle is larger than the preset angle, it means that the cleaning robot needs to rotate a larger angle. At this time, it is necessary to control the cleaning robot to rotate to the position where the center line of the field of view angle coincides with the moving direction, and then control the cleaning robot to move forward, so as to ensure that the cleaning robot can accurately move to the target position. When the angle between the moving direction and the center line of the field of view angle is less than or equal to the preset angle, it means that the cleaning robot needs to rotate a smaller angle to move to the target position. At this time, the cleaning robot can be controlled to adjust the angle while moving. Since the angle that needs to be rotated is small, the angle adjustment can be easily completed, which is conducive to increasing the speed at which the cleaning robot moves to the target position.

[0041] It should be noted that no matter whether the cleaning robot rotates first and then moves, or rotates and moves at the same time, no user operation is required. The user only needs to select the touch position according to the moving direction and speed.

[0042] Exemplarily, the preset angle may be the angle between the center line of the field of view and the boundary of the field of view.

[0043] In the second aspect, the present invention proposes a control device for a cleaning robot, comprising: a receiving module, receiving a first input on an operation page; a first determination module, determining the touch position of the first input on the operation page according to the first input; a second determination module, determining the moving direction of the cleaning robot according to the touch position; and a control module, controlling the movement of the cleaning robot according to the moving direction.

[0044] When a first input is received from a user on an operation page, a touch position of the user on the operation page when the first input is performed is determined based on the first input. After obtaining the touch position of the user on the operation page, a movement direction of the cleaning robot is determined based on the touch position. Based on the determined movement direction, the cleaning robot is controlled to move along the movement direction.

[0045] In a possible application, the operation page is an interface for executing control functions on the cleaning robot on the terminal. The operation page can also be an interface for executing control functions on a controller used in conjunction with the cleaning robot.

[0046] The first input may be a control input, for example, the first input is one of a click input, a slide input, and a long press input. The user controls the movement of the cleaning robot through the first input on the operation interface.

[0047] When the movement of the cleaning robot needs to be controlled, the user can perform the first input on the operation page. The position of the first input is the direction of the front of the cleaning robot. Therefore, after obtaining the touch position of the first input, the cleaning robot automatically moves towards the touch position of the first input.

[0048] To control the movement of the cleaning robot, the user only needs to select a touch location on the touch interface and then touch the touch location to control the movement of the cleaning robot. Compared to the related art method where the user first controls the rotation of the cleaning robot and then controls the forward movement of the cleaning robot, the present invention only requires a single touch to control the cleaning robot, simplifying the user's operation.

[0049] Moreover, after the user executes the first input on the operation page, if the current front direction of the cleaning robot deviates from the touch position, the cleaning robot will rotate first and then move forward. However, in the present invention, after selecting to execute the first input, the cleaning robot automatically moves forward according to the touch position or rotates first and then moves forward. The user does not need to manually adjust the rotation angle of the cleaning robot, thereby effectively avoiding the problem of performing multiple operations due to excessive rotation or insufficient rotation of the cleaning robot, further simplifying the user's operation, and helping to improve the user's control convenience of the cleaning robot.

[0050] In the above technical solution, the second determination module is specifically used to determine the moving direction of the cleaning robot according to the line connecting the geometric center of the operation page and the touch position.

[0051] In this technical solution, when a user touches an operation page, the touch location on the operation page is obtained. The touch location is then connected to the geometric center of the operation page, with the geometric center of the operation page as the starting point and the touch location as the end point. A line is then drawn from the geometric center of the operation page to the touch location, and the direction of the line represents the direction of movement of the cleaning robot. After determining the direction of movement of the cleaning robot, the cleaning robot can automatically turn and move forward, without the user having to operate the cleaning robot to turn, which helps improve the user's convenience in using the cleaning robot.

[0052] The user's first input can be a click input or a slide input. If the first input is a click input, the touch position can be directly determined. If the first input is a slide input, the touch position changes at any time as the user's finger moves on the operation page. Therefore, it can be understood that the slide input generates multiple touch positions over time, and the movement direction of the cleaning robot may change at any time. As the user slides on the operation page, the cleaning robot automatically turns and moves forward, improving the user's flexibility in using the cleaning robot.

[0053] For example, a wheel is provided on the operation page. As the user touches the operation page, the button icons on the wheel will move toward the user's touch position. The direction of the button icon is the movement direction of the cleaning robot. As can be seen from the figure, the button can move in any direction along the wheel, so the cleaning robot can achieve omnidirectional movement.

[0054] In any of the above technical solutions, the second determination module is specifically used to determine the moving direction of the cleaning robot according to a line connecting the display icon of the cleaning robot and the touch position in the operation page.

[0055] In this technical solution, a display image of the cleaning robot is displayed on the operation page, and the display image may be a proportionally reduced image of the cleaning robot.

[0056] When a user touches an operation page, the touch location on the operation page is obtained. This location is then connected to the cleaning robot's display icon, with the display icon as the starting point and the touch location as the end point. A line is drawn from the display icon on the operation page to the touch location, and the direction of the line represents the robot's movement direction. After determining the robot's movement direction, the robot automatically turns and moves forward, eliminating the need for the user to manipulate the robot, making it more convenient for users to use the robot.

[0057] The user's first input can be a click input or a slide input. If the first input is a click input, the touch position can be directly determined. If the first input is a slide input, the touch position changes at any time as the user's finger moves on the operation page. Therefore, it can be understood that the slide input generates multiple touch positions over time, and the movement direction of the cleaning robot may change at any time. As the user slides on the operation page, the cleaning robot automatically turns and moves forward, improving the user's flexibility in using the cleaning robot.

[0058] In any of the above technical solutions, after determining the touch position of the first input on the operation page, the second determination module is further used to: determine the moving speed of the cleaning robot according to the touch position.

[0059] In this technical solution, the user's touch position on the operation page can not only indicate the moving direction of the cleaning robot, but also the moving speed of the cleaning robot.

[0060] Depending on the user's touch location on the operation page, the cleaning robot's movement speed may also vary. Therefore, the user can adjust the cleaning robot's movement direction by adjusting the touch location. When controlling the movement of the cleaning robot, the user only needs to select the touch location on the touch interface and touch the touch location to control the cleaning robot's movement speed. Compared to the related art method of manually adjusting the cleaning robot's movement speed, the present invention only requires a single touch to control the cleaning robot, further simplifying the user's operation.

[0061] For example, let's take the case where the line connecting the geometric center of the operating page and the touch position is used as the direction of the cleaning robot. After determining the line connecting the geometric center and the touch position, the direction of movement of the cleaning robot is determined. On the basis of not changing the direction of movement of the cleaning robot, the user's finger can slide on the line. In other words, even if the touch position is changed, the direction of movement of the cleaning robot will not be changed. However, the movement speed of the cleaning robot can be changed in this way.

[0062] In any of the above technical solutions, the second determination module is specifically used to determine the moving speed of the cleaning robot according to the distance between the geometric center of the operation page and the touch position.

[0063] In this technical solution, when a user touches an operation page, the touch position on the operation page can be obtained. When the distance between the geometric center of the operation page and the touch position is determined, the movement speed of the cleaning robot can be controlled based on the distance between the geometric center and the touch position.

[0064] For example, the distance between the geometric center and the touch position is proportional to the movement speed. The greater the distance between the user's touch position on the operation page and the geometric center of the operation page, the faster the cleaning robot moves. The smaller the distance, the slower the movement speed.

[0065] After the user clicks a certain position on the touch page, the cleaning robot starts moving. If the user feels that the cleaning robot moves too slowly or too quickly, the user can slide the finger away from or close to the geometric center of the operation page to quickly adjust the moving speed of the cleaning robot.

[0066] For example, a wheel is provided on the operation page, and the distance from the user's touch position on the operation page to the center of the wheel determines the moving speed of the cleaning robot. The user can control the moving direction and moving speed at the same time by sliding.

[0067] In any of the above technical solutions, the second determination module is specifically configured to determine the moving speed of the cleaning robot according to the distance between the display icon of the cleaning robot and the touch position in the operation page.

[0068] In this technical solution, a display image of the cleaning robot is displayed on the operation page, and the display image may be a proportionally reduced image of the cleaning robot.

[0069] When the user touches the operation page, the touch position on the operation page can be obtained. When the distance between the display icon on the operation page and the touch position is determined, the moving speed of the cleaning robot can be controlled according to the distance between the display icon and the touch position.

[0070] For example, the distance between the displayed icon and the touch position is proportional to the movement speed. The greater the distance between the user's touch position on the operation page and the displayed icon, the faster the cleaning robot moves. The smaller the distance, the slower the movement speed.

[0071] After the user clicks a certain position on the touch page, the cleaning robot starts moving. If the user feels that the cleaning robot moves too slowly or too quickly, the user can slide the finger away from or towards the displayed icon to quickly adjust the moving speed of the cleaning robot.

[0072] In any of the above technical solutions, the second determination module is specifically used to control the rotation and movement of the cleaning robot according to the angle between the moving direction and the center line of the field of view of the cleaning robot.

[0073] In this technical solution, the angle of the field of view represents the range within which the cleaning robot can capture images. The centerline of the field of view represents the current orientation of the cleaning robot's head. If the movement direction coincides with the centerline of the field of view, the cleaning robot does not need to turn and can move forward or backward. If the movement direction is at an angle to the centerline of the field of view, the cleaning robot needs to rotate and move.

[0074] The angle between the moving direction and the center line of the field of view angle can reflect the angle at which the cleaning robot needs to rotate. After obtaining the angle at which the cleaning robot needs to rotate, the moving mode of the cleaning robot is controlled so that the cleaning robot can move stably.

[0075] In any of the above technical solutions, the second determination module is specifically used to: when the angle between the moving direction and the center line of the cleaning robot's field of view angle is greater than a preset angle, control the cleaning robot to rotate first and then move; when the angle between the moving direction and the center line of the cleaning robot's field of view angle is less than or equal to the preset angle, control the cleaning robot to rotate and move simultaneously.

[0076] In this technical solution, when the angle between the moving direction and the center line of the field of view angle is larger than the preset angle, it means that the cleaning robot needs to rotate a larger angle. At this time, it is necessary to control the cleaning robot to rotate to the position where the center line of the field of view angle coincides with the moving direction, and then control the cleaning robot to move forward, so as to ensure that the cleaning robot can accurately move to the target position. When the angle between the moving direction and the center line of the field of view angle is less than or equal to the preset angle, it means that the cleaning robot needs to rotate a smaller angle to move to the target position. At this time, the cleaning robot can be controlled to adjust the angle while moving. Since the angle that needs to be rotated is small, the angle adjustment can be easily completed, which is conducive to increasing the speed at which the cleaning robot moves to the target position.

[0077] It should be noted that no matter whether the cleaning robot rotates first and then moves, or rotates and moves at the same time, no user operation is required. The user only needs to select the touch position according to the moving direction and speed.

[0078] Exemplarily, the preset angle may be the angle between the center line of the field of view and the boundary of the field of view.

[0079] In a third aspect, the present invention provides a control device for a cleaning robot, comprising: a controller and a memory, wherein the memory stores a program or instruction, and when the controller executes the program or instruction in the memory, it implements the steps of the method described in any of the above technical solutions. The same technical effects can be achieved, and therefore, no further description is given here.

[0080] In a fourth aspect, the present invention provides a readable storage medium storing a program or instruction. When the program or instruction is executed by a processor, the program or instruction implements the steps of the method described in any of the above technical solutions. The program or instruction can achieve the same technical effects, and will not be further described here.

[0081] In a fifth aspect, the present invention provides a cleaning robot comprising: a control device as in the above technical solution; and / or a readable storage medium as in the above technical solution. The same technical effects can be achieved and will not be described in detail here.

[0082] Additional aspects and advantages of the invention will become apparent from the description which follows, or may be learned by practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0084] Figure 1 A flow chart showing a method for controlling a cleaning robot according to an embodiment of the present invention is shown;

[0085] Figure 2A schematic diagram showing a button icon in an operation page in an embodiment of the present invention is shown;

[0086] Figure 3 A schematic diagram showing a button icon in an operation page after being operated in an embodiment of the present invention is shown;

[0087] Figure 4 shows one of the schematic block diagrams of the control device of the cleaning robot in an embodiment of the present invention;

[0088] Figure 5 The second schematic block diagram shows the control device of the cleaning robot in an embodiment of the present invention.

[0089] in, Figure 2 and Figure 3 The corresponding relationship between the reference numerals and component names is as follows:

[0090] 200 roulette, 300 button icons. DETAILED DESCRIPTION

[0091] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0092] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0093] Refer to the following Figures 1 to 5 A control method for a cleaning robot, a control device for a cleaning robot, a cleaning robot, and a readable storage medium according to some embodiments of the present invention are described.

[0094] like Figure 1 As shown, in an embodiment of the present invention, a control method for a cleaning robot is proposed, comprising:

[0095] Step 102: Obtain the first input on the operation page;

[0096] Step 104: based on the first input, obtaining a touch position of the first input on the operation page;

[0097] Step 106, obtaining the moving direction of the cleaning robot based on the touch position;

[0098] Step 108: Control the movement of the cleaning robot based on the moving direction.

[0099] The cleaning robot control method provided in this embodiment, upon receiving a first input executed by a user on an operation page, determines, based on the first input, the touch position of the user on the operation page when the first input was executed. After obtaining the touch position executed by the user on the operation page, the movement direction of the cleaning robot is determined based on the touch position. Based on the determined movement direction, the cleaning robot is controlled to move along the movement direction.

[0100] In a possible application, the operation page is an interface for executing control functions on the cleaning robot on the terminal. The operation page can also be an interface for executing control functions on a controller used in conjunction with the cleaning robot.

[0101] The first input may be a control input, for example, the first input is one of a click input, a slide input, and a long press input. The user controls the movement of the cleaning robot through the first input on the operation interface.

[0102] When the movement of the cleaning robot needs to be controlled, the user can perform the first input on the operation page. The position of the first input is the direction of the front of the cleaning robot. Therefore, after obtaining the touch position of the first input, the cleaning robot automatically moves towards the touch position of the first input.

[0103] To control the movement of the cleaning robot, the user only needs to select a touch location on the touch interface and then touch the touch location to control the movement of the cleaning robot. Compared to the related art method where the user first controls the rotation of the cleaning robot and then controls the forward movement of the cleaning robot, the present invention only requires a single touch to control the cleaning robot, simplifying the user's operation.

[0104] Moreover, after the user executes the first input on the operation page, if the current front direction of the cleaning robot deviates from the touch position, the cleaning robot will rotate first and then move forward. However, in the present invention, after selecting to execute the first input, the cleaning robot automatically moves forward according to the touch position or rotates first and then moves forward. The user does not need to manually adjust the rotation angle of the cleaning robot, thereby effectively avoiding the problem of performing multiple operations due to excessive rotation or insufficient rotation of the cleaning robot, further simplifying the user's operation, and helping to improve the user's control convenience of the cleaning robot.

[0105] Through innovations in the cunning interface and the cleaning robot's response to control commands, the control efficiency of the remote-controlled cleaning robot has been improved.

[0106] In the above embodiment, the step of obtaining the moving direction of the cleaning robot based on the touch position includes: obtaining the moving direction of the cleaning robot based on a line connecting the touch position and the geometric center of the operation page.

[0107] In this embodiment, when a user touches an operation page, the touch location on the operation page is obtained. The touch location is then connected to the geometric center of the operation page, with the geometric center of the operation page as the starting point and the touch location as the end point. A line is then drawn from the geometric center of the operation page to the touch location, and the direction of the line represents the direction of movement of the cleaning robot. After determining the direction of movement of the cleaning robot, the cleaning robot can automatically turn and move forward, without the user having to operate the cleaning robot to turn, which helps improve the user's convenience in using the cleaning robot.

[0108] The user's first input can be a click input or a slide input. If the first input is a click input, the touch position can be directly determined. If the first input is a slide input, the touch position changes at any time as the user's finger moves on the operation page. Therefore, it can be understood that the slide input generates multiple touch positions over time, and the movement direction of the cleaning robot may change at any time. As the user slides on the operation page, the cleaning robot automatically turns and moves forward, improving the user's flexibility in using the cleaning robot.

[0109] For example, in combination Figure 2 and Figure 3 As shown, the operation page is a virtual joystick graphic with a wheel 200 set on it. As the user touches the operation page, the button icon 300 on the wheel 200 will move toward the user's touch position. The user can press and hold the button icon 300 with a finger and move it in any direction. The direction of the button icon 300 is the movement direction of the cleaning robot. As can be seen from the figure, the button can be moved in any direction along the wheel 200, so the cleaning robot can achieve omnidirectional movement. Figure 3 The circular area where the middle arrow is located is the pressing position of the user's finger. When the user stops releasing the finger, the button icon 300 will automatically return to the center of the wheel 200, stop issuing operation instructions, and the cleaning robot stops moving.

[0110] In any of the above embodiments, the step of obtaining the moving direction of the cleaning robot based on the touch position includes: obtaining the moving direction of the cleaning robot based on a line connecting the touch position and a display icon of the cleaning robot on the operation page.

[0111] In this embodiment, a display image of the cleaning robot is displayed on the operation page, and the display image may be a scaled-down graphic of the cleaning robot.

[0112] When a user touches an operation page, the touch location on the operation page is obtained. This location is then connected to the cleaning robot's display icon, with the display icon as the starting point and the touch location as the end point. A line is drawn from the display icon on the operation page to the touch location, and the direction of the line represents the robot's movement direction. After determining the robot's movement direction, the robot automatically turns and moves forward, eliminating the need for the user to manipulate the robot, making it more convenient for users to use the robot.

[0113] The user's first input can be a click input or a slide input. If the first input is a click input, the touch position can be directly determined. If the first input is a slide input, the touch position changes at any time as the user's finger moves on the operation page. Therefore, it can be understood that the slide input generates multiple touch positions over time, and the movement direction of the cleaning robot may change at any time. As the user slides on the operation page, the cleaning robot automatically turns and moves forward, improving the user's flexibility in using the cleaning robot.

[0114] In any of the above embodiments, after the step of obtaining the touch position of the first input on the operation page, the method further includes: obtaining the moving speed of the cleaning robot based on the touch position.

[0115] In this embodiment, the user's touch position on the operation page can indicate not only the moving direction of the cleaning robot, but also the moving speed of the cleaning robot.

[0116] Depending on the user's touch location on the operation page, the cleaning robot's movement speed may also vary. Therefore, the user can adjust the cleaning robot's movement direction by adjusting the touch location. When controlling the movement of the cleaning robot, the user only needs to select the touch location on the touch interface and touch the touch location to control the cleaning robot's movement speed. Compared to the related art method of manually adjusting the cleaning robot's movement speed, the present invention only requires a single touch to control the cleaning robot, further simplifying the user's operation.

[0117] For example, let's take the case where the line connecting the geometric center of the operating page and the touch position is used as the direction of the cleaning robot. After determining the line connecting the geometric center and the touch position, the direction of movement of the cleaning robot is determined. On the basis of not changing the direction of movement of the cleaning robot, the user's finger can slide on the line. In other words, even if the touch position is changed, the direction of movement of the cleaning robot will not be changed. However, the movement speed of the cleaning robot can be changed in this way.

[0118] The instructions for the moving speed and moving direction mentioned in the above embodiments are sent to the cleaning robot via a network / Bluetooth or other protocol.

[0119] In any of the above embodiments, the step of obtaining the moving speed of the cleaning robot based on the touch position includes: obtaining the moving speed of the cleaning robot based on the distance between the touch position and the geometric center of the operation page.

[0120] In this embodiment, when the user touches the operation page, the touch position on the operation page can be obtained. When the distance between the geometric center and the touch position on the operation page is determined, the movement speed of the cleaning robot can be controlled according to the distance between the geometric center and the touch position.

[0121] For example, the distance between the geometric center and the touch position is proportional to the movement speed. The greater the distance between the user's touch position on the operation page and the geometric center of the operation page, the faster the cleaning robot moves. The smaller the distance, the slower the movement speed.

[0122] After the user clicks a certain position on the touch page, the cleaning robot starts moving. If the user feels that the cleaning robot moves too slowly or too quickly, the user can slide the finger away from or close to the geometric center of the operation page to quickly adjust the moving speed of the cleaning robot.

[0123] For example, a wheel is provided on the operation page, and the distance from the user's touch position on the operation page to the center of the wheel determines the moving speed of the cleaning robot. The user can control the moving direction and moving speed at the same time by sliding.

[0124] In any of the above embodiments, the step of obtaining the moving speed of the cleaning robot based on the touch position includes: obtaining the moving speed of the cleaning robot based on the distance between the touch position and a display icon of the cleaning robot on the operation page.

[0125] In this embodiment, a display image of the cleaning robot is displayed on the operation page, and the display image may be a scaled-down graphic of the cleaning robot.

[0126] When the user touches the operation page, the touch position on the operation page can be obtained. When the distance between the display icon on the operation page and the touch position is determined, the moving speed of the cleaning robot can be controlled according to the distance between the display icon and the touch position.

[0127] For example, the distance between the displayed icon and the touch position is proportional to the movement speed. The greater the distance between the user's touch position on the operation page and the displayed icon, the faster the cleaning robot moves. The smaller the distance, the slower the movement speed.

[0128] After the user clicks a certain position on the touch page, the cleaning robot starts moving. If the user feels that the cleaning robot moves too slowly or too quickly, the user can slide the finger away from or towards the displayed icon to quickly adjust the moving speed of the cleaning robot.

[0129] In any of the above embodiments, the step of controlling the movement of the cleaning robot based on the moving direction includes: controlling the rotation and movement of the cleaning robot based on the angle between the center line of the cleaning robot's field of view and the moving direction.

[0130] In this embodiment, the angle of the field of view represents the range within which the cleaning robot can capture images. The centerline of the field of view represents the current orientation of the cleaning robot's head. If the movement direction coincides with the centerline of the field of view, the cleaning robot does not need to turn and can move forward or backward. If the movement direction is at an angle to the centerline of the field of view, the cleaning robot needs to rotate and move.

[0131] The angle between the moving direction and the center line of the field of view angle can reflect the angle at which the cleaning robot needs to rotate. After obtaining the angle at which the cleaning robot needs to rotate, the moving mode of the cleaning robot is controlled so that the cleaning robot can move stably.

[0132] In any of the above embodiments, the steps of controlling the rotation and movement of the cleaning robot based on the angle between the center line of the cleaning robot's field of view angle and the moving direction include: when the angle between the moving direction and the center line of the cleaning robot's field of view angle is greater than a preset angle, controlling the cleaning robot to rotate first and then move; when the angle between the moving direction and the center line of the cleaning robot's field of view angle is less than or equal to a preset angle, controlling the cleaning robot to move and rotate simultaneously.

[0133] In this embodiment, when the angle between the moving direction and the center line of the field of view angle is larger than the preset angle, it means that the cleaning robot needs to rotate to a larger angle. At this time, it is necessary to control the cleaning robot to rotate to the position where the center line of the field of view angle coincides with the moving direction, and then control the cleaning robot to move forward, so as to ensure that the cleaning robot can accurately move to the target position. When the angle between the moving direction and the center line of the field of view angle is less than or equal to the preset angle, it means that the cleaning robot needs to rotate to a smaller angle to move to the target position. At this time, the cleaning robot can be controlled to adjust the angle while moving. Since the angle to be rotated is small, the angle adjustment can be easily completed, which is conducive to increasing the speed at which the cleaning robot moves to the target position.

[0134] It should be noted that no matter whether the cleaning robot rotates first and then moves, or rotates and moves at the same time, no user operation is required. The user only needs to select the touch position according to the moving direction and speed.

[0135] Exemplarily, the preset angle may be the angle between the center line of the field of view and the boundary of the field of view.

[0136] When the cleaning robot receives a manual control command, if the current head orientation of the cleaning robot deviates from the received target direction, it will quickly perform an on-the-spot rotation, using its internal closed-loop angular control system to rotate the robot to the target direction, and then move forward according to the received speed command. If the current head orientation of the cleaning robot deviates from the received target direction by a small amount, it will directly move forward according to the received speed command. If the deviation is not significant, the response strategy can be to rotate while moving straight.

[0137] like Figure 4 As shown, in an embodiment of the present invention, a control device 400 of a cleaning robot is proposed, comprising:

[0138] Receiving module 410, obtaining a first input on the operation page;

[0139] A first determining module 420 obtains a touch position of the first input on the operation page based on the first input;

[0140] The second determining module 430 obtains the moving direction of the cleaning robot based on the touch position;

[0141] The control module 440 controls the movement of the cleaning robot based on the moving direction.

[0142] When a first input is received from a user on an operation page, a touch position of the user on the operation page when the first input is performed is determined based on the first input. After obtaining the touch position of the user on the operation page, a movement direction of the cleaning robot is determined based on the touch position. Based on the determined movement direction, the cleaning robot is controlled to move along the movement direction.

[0143] In a possible application, the operation page is an interface for executing control functions on the cleaning robot on the terminal. The operation page can also be an interface for executing control functions on a controller used in conjunction with the cleaning robot.

[0144] The first input may be a control input, for example, the first input is one of a click input, a slide input, and a long press input. The user controls the movement of the cleaning robot through the first input on the operation interface.

[0145] When the movement of the cleaning robot needs to be controlled, the user can perform the first input on the operation page. The position of the first input is the direction of the front of the cleaning robot. Therefore, after obtaining the touch position of the first input, the cleaning robot automatically moves towards the touch position of the first input.

[0146] To control the movement of the cleaning robot, the user only needs to select a touch location on the touch interface and then touch the touch location to control the movement of the cleaning robot. Compared to the related art method where the user first controls the rotation of the cleaning robot and then controls the forward movement of the cleaning robot, the present invention only requires a single touch to control the cleaning robot, simplifying the user's operation.

[0147] Moreover, after the user executes the first input on the operation page, if the current front direction of the cleaning robot deviates from the touch position, the cleaning robot will rotate first and then move forward. However, in the present invention, after selecting to execute the first input, the cleaning robot automatically moves forward according to the touch position or rotates first and then moves forward. The user does not need to manually adjust the rotation angle of the cleaning robot, thereby effectively avoiding the problem of performing multiple operations due to excessive rotation or insufficient rotation of the cleaning robot, further simplifying the user's operation, and helping to improve the user's control convenience of the cleaning robot.

[0148] In the above embodiment, the second determining module is specifically configured to obtain the moving direction of the cleaning robot based on a line connecting the touch position and the geometric center of the operation page.

[0149] In this embodiment, when a user touches an operation page, the touch location on the operation page is obtained. The touch location is then connected to the geometric center of the operation page, with the geometric center of the operation page as the starting point and the touch location as the end point. A line is then drawn from the geometric center of the operation page to the touch location, and the direction of the line represents the direction of movement of the cleaning robot. After determining the direction of movement of the cleaning robot, the cleaning robot can automatically turn and move forward, without the user having to operate the cleaning robot to turn, which helps improve the user's convenience in using the cleaning robot.

[0150] The user's first input can be a click input or a slide input. If the first input is a click input, the touch position can be directly determined. If the first input is a slide input, the touch position changes at any time as the user's finger moves on the operation page. Therefore, it can be understood that the slide input generates multiple touch positions over time, and the movement direction of the cleaning robot may change at any time. As the user slides on the operation page, the cleaning robot automatically turns and moves forward, improving the user's flexibility in using the cleaning robot.

[0151] For example, a wheel is provided on the operation page. As the user touches the operation page, the button icon on the wheel moves toward the user's touch position. The direction of the button icon is the moving direction of the cleaning robot. Figure 3As can be seen in the figure, the button can be moved in any direction along the wheel, so the cleaning robot can achieve omnidirectional movement.

[0152] In any of the above embodiments, the second determining module is specifically configured to obtain a moving direction of the cleaning robot based on a line connecting the touch position and a display icon of the cleaning robot on the operation page.

[0153] In this embodiment, a display image of the cleaning robot is displayed on the operation page, and the display image may be a scaled-down graphic of the cleaning robot.

[0154] When a user touches an operation page, the touch location on the operation page is obtained. This location is then connected to the cleaning robot's display icon, with the display icon as the starting point and the touch location as the end point. A line is drawn from the display icon on the operation page to the touch location, and the direction of the line represents the robot's movement direction. After determining the robot's movement direction, the robot automatically turns and moves forward, eliminating the need for the user to manipulate the robot, making it more convenient for users to use the robot.

[0155] The user's first input can be a click input or a slide input. If the first input is a click input, the touch position can be directly determined. If the first input is a slide input, the touch position changes at any time as the user's finger moves on the operation page. Therefore, it can be understood that the slide input generates multiple touch positions over time, and the movement direction of the cleaning robot may change at any time. As the user slides on the operation page, the cleaning robot automatically turns and moves forward, improving the user's flexibility in using the cleaning robot.

[0156] In any of the above embodiments, after obtaining the touch position of the first input on the operation page, the second determination module is further configured to obtain the moving speed of the cleaning robot based on the touch position.

[0157] In this embodiment, the user's touch position on the operation page can indicate not only the moving direction of the cleaning robot, but also the moving speed of the cleaning robot.

[0158] Depending on the user's touch location on the operation page, the cleaning robot's movement speed may also vary. Therefore, the user can adjust the cleaning robot's movement direction by adjusting the touch location. When controlling the movement of the cleaning robot, the user only needs to select the touch location on the touch interface and touch the touch location to control the cleaning robot's movement speed. Compared to the related art method of manually adjusting the cleaning robot's movement speed, the present invention only requires a single touch to control the cleaning robot, further simplifying the user's operation.

[0159] For example, let's take the case where the line connecting the geometric center of the operating page and the touch position is used as the direction of the cleaning robot. After determining the line connecting the geometric center and the touch position, the direction of movement of the cleaning robot is determined. On the basis of not changing the direction of movement of the cleaning robot, the user's finger can slide on the line. In other words, even if the touch position is changed, the direction of movement of the cleaning robot will not be changed. However, the movement speed of the cleaning robot can be changed in this way.

[0160] In any of the above embodiments, the second determining module is specifically configured to obtain a moving speed of the cleaning robot based on a distance between the touch position and the geometric center of the operation page.

[0161] In this embodiment, when the user touches the operation page, the touch position on the operation page can be obtained. When the distance between the geometric center and the touch position on the operation page is determined, the movement speed of the cleaning robot can be controlled according to the distance between the geometric center and the touch position.

[0162] For example, the distance between the geometric center and the touch position is proportional to the movement speed. The greater the distance between the user's touch position on the operation page and the geometric center of the operation page, the faster the cleaning robot moves. The smaller the distance, the slower the movement speed.

[0163] After the user clicks a certain position on the touch page, the cleaning robot starts moving. If the user feels that the cleaning robot moves too slowly or too quickly, the user can slide the finger away from or close to the geometric center of the operation page to quickly adjust the moving speed of the cleaning robot.

[0164] For example, a wheel is provided on the operation page, and the distance from the user's touch position on the operation page to the center of the wheel determines the moving speed of the cleaning robot. The user can control the moving direction and moving speed at the same time by sliding.

[0165] In any of the above embodiments, the second determining module is specifically configured to obtain a moving speed of the cleaning robot based on a distance between the touch position and a display icon of the cleaning robot on the operation page.

[0166] In this embodiment, a display image of the cleaning robot is displayed on the operation page, and the display image may be a scaled-down graphic of the cleaning robot.

[0167] When the user touches the operation page, the touch position on the operation page can be obtained. When the distance between the display icon on the operation page and the touch position is determined, the moving speed of the cleaning robot can be controlled according to the distance between the display icon and the touch position.

[0168] For example, the distance between the displayed icon and the touch position is proportional to the movement speed. The greater the distance between the user's touch position on the operation page and the displayed icon, the faster the cleaning robot moves. The smaller the distance, the slower the movement speed.

[0169] After the user clicks a certain position on the touch page, the cleaning robot starts moving. If the user feels that the cleaning robot moves too slowly or too quickly, the user can slide the finger away from or towards the displayed icon to quickly adjust the moving speed of the cleaning robot.

[0170] In any of the above embodiments, the second determining module is specifically configured to control the rotation and movement of the cleaning robot based on an angle between a center line of the cleaning robot's field of view and a moving direction.

[0171] In this embodiment, the angle of the field of view represents the range within which the cleaning robot can capture images. The centerline of the field of view represents the current orientation of the cleaning robot's head. If the movement direction coincides with the centerline of the field of view, the cleaning robot does not need to turn and can move forward or backward. If the movement direction is at an angle to the centerline of the field of view, the cleaning robot needs to rotate and move.

[0172] The angle between the moving direction and the center line of the field of view angle can reflect the angle at which the cleaning robot needs to rotate. After obtaining the angle at which the cleaning robot needs to rotate, the moving mode of the cleaning robot is controlled so that the cleaning robot can move stably.

[0173] In any of the above embodiments, the second determination module is specifically used to: control the cleaning robot to rotate first and then move when the angle between the moving direction and the center line of the cleaning robot's field of view angle is greater than a preset angle; control the cleaning robot to move and rotate simultaneously when the angle between the moving direction and the center line of the cleaning robot's field of view angle is less than or equal to a preset angle.

[0174] In this embodiment, when the angle between the moving direction and the center line of the field of view angle is larger than the preset angle, it means that the cleaning robot needs to rotate to a larger angle. At this time, it is necessary to control the cleaning robot to rotate to the position where the center line of the field of view angle coincides with the moving direction, and then control the cleaning robot to move forward, so as to ensure that the cleaning robot can accurately move to the target position. When the angle between the moving direction and the center line of the field of view angle is less than or equal to the preset angle, it means that the cleaning robot needs to rotate to a smaller angle to move to the target position. At this time, the cleaning robot can be controlled to adjust the angle while moving. Since the angle to be rotated is small, the angle adjustment can be easily completed, which is conducive to increasing the speed at which the cleaning robot moves to the target position.

[0175] It should be noted that no matter whether the cleaning robot rotates first and then moves, or rotates and moves at the same time, no user operation is required. The user only needs to select the touch position according to the moving direction and speed.

[0176] Exemplarily, the preset angle may be the angle between the center line of the field of view and the boundary of the field of view.

[0177] like Figure 5 As shown, in an embodiment of the present invention, a control device 500 for a cleaning robot is provided, comprising: a controller 510 and a memory 520, wherein the memory 520 stores a program or instruction. When the controller 510 executes the program or instruction in the memory 520, the controller 510 implements the steps of the method of any of the above embodiments. The same technical effects can be achieved, and no further details are given here.

[0178] In an embodiment of the present invention, a readable storage medium is provided, which stores a program or instruction. When the program or instruction is executed by a processor, the steps of the method in any of the above embodiments are implemented. The same technical effects can be achieved, and thus no further details are given here.

[0179] In an embodiment of the present invention, a cleaning robot is provided, comprising: a control device as described in the above embodiment; and / or a readable storage medium as described in the above embodiment. The same technical effects can be achieved, and details are omitted here.

[0180] In the present invention, the term "plurality" refers to two or more, unless otherwise specified. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean fixed, removable, or integral; and "connected" can mean directly or indirectly through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0181] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0182] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that: include: receiving a first input on an operation page, wherein the operation page is an interface for executing a control function; determining, according to the first input, a touch position of the first input on the operation page; determining a moving direction of the cleaning robot according to the touch position; Controlling the movement of the cleaning robot according to the moving direction; After determining the touch position of the first input on the operation page, the method further includes: determining a moving speed of the cleaning robot according to the touch position; Determining the moving speed of the cleaning robot according to the touch position includes: determining a moving speed of the cleaning robot according to a distance between the geometric center of the operation page and the touch position, wherein the greater the distance between the touch position and the geometric center of the operation page, the faster the moving speed of the cleaning robot; Based on the touch position, the cleaning robot starts to move; Slide the touch position in a direction away from or close to the geometric center of the operation page to adjust the moving speed of the cleaning robot; or Determining the moving speed of the cleaning robot according to the touch position includes: determining a moving speed of the cleaning robot according to a distance between a display icon of the cleaning robot on the operation page and the touch position, wherein the greater the distance between the touch position and the display icon of the cleaning robot on the operation page, the faster the moving speed of the cleaning robot; Based on the touch position, the cleaning robot starts to move; The touch position is slid in a direction away from or close to the displayed icon to adjust the moving speed of the cleaning robot.

2. The control method according to claim 1, characterized in that: Determining the moving direction of the cleaning robot according to the touch position includes: The moving direction of the cleaning robot is determined according to a line connecting the geometric center of the operation page and the touch position.

3. The control method according to claim 1, characterized in that: Determining the moving direction of the cleaning robot according to the touch position includes: The moving direction of the cleaning robot is determined according to a line connecting the display icon of the cleaning robot in the operation page and the touch position.

4. The control method according to any one of claims 1 to 3, characterized in that: The step of controlling the movement of the cleaning robot according to the moving direction includes: The cleaning robot is controlled to rotate and move according to the angle between the moving direction and the center line of the field of view of the cleaning robot.

5. The control method according to claim 4, characterized in that: The controlling the rotation and movement of the cleaning robot according to the angle between the moving direction and the center line of the field of view of the cleaning robot comprises: When the angle between the moving direction and the center line of the field of view of the cleaning robot is greater than a preset angle, controlling the cleaning robot to rotate first and then move; When the angle between the moving direction and the center line of the field of view of the cleaning robot is less than or equal to a preset angle, the cleaning robot is controlled to rotate and move simultaneously.

6. A control device for a cleaning robot, characterized in that: include: a receiving module for receiving a first input on an operation page, wherein the operation page is an interface for executing a control function; a first determining module, determining a touch position of the first input on the operation page according to the first input; a second determining module, determining a moving direction of the cleaning robot according to the touch position; A control module controls the movement of the cleaning robot according to the moving direction; After determining the touch position of the first input on the operation page, the method further includes: determining a moving speed of the cleaning robot according to the touch position; The second determination module is specifically configured to: determine the moving speed of the cleaning robot according to the distance between the geometric center of the operation page and the touch position, wherein the greater the distance between the touch position and the geometric center of the operation page, the faster the moving speed of the cleaning robot; based on the touch position, the cleaning robot starts to move, slides the touch position in a direction away from or close to the geometric center of the operation page, and adjusts the moving speed of the cleaning robot; or The second determination module is specifically used to determine the moving speed of the cleaning robot based on the distance between the display icon of the cleaning robot in the operation page and the touch position. The greater the distance between the touch position and the display icon of the cleaning robot in the operation page, the faster the moving speed of the cleaning robot. Based on the touch position, the cleaning robot starts to move, and slides the touch position in the direction away from or close to the display icon to adjust the moving speed of the cleaning robot.

7. The control device according to claim 6, characterized in that The step of controlling the movement of the cleaning robot according to the moving direction includes: The cleaning robot is controlled to rotate and move according to the angle between the moving direction and the center line of the field of view of the cleaning robot.

8. The control device according to claim 7, characterized in that: When the angle between the moving direction and the center line of the field of view of the cleaning robot is greater than a preset angle, controlling the cleaning robot to rotate first and then move; When the angle between the moving direction and the center line of the field of view of the cleaning robot is less than or equal to a preset angle, the cleaning robot is controlled to rotate and move simultaneously.

9. A control device for a cleaning robot, characterized in that: include: A controller and a memory, wherein the memory stores a program or instruction, and the controller implements the steps of the method according to any one of claims 1 to 5 when executing the program or instruction in the memory.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

11. A cleaning robot, characterized in that: include: A control device according to any one of claims 6 to 9; and / or The readable storage medium according to claim 10.

Images