Cleaning robot control method and device, medium and electronic equipment

Abstract

The invention provides a control method of a cleaning robot, a control device of the cleaning robot, a computer readable storage medium and electronic equipment, and the method comprises the steps: in the moving process of the cleaning robot, in response to detecting that a moving part of the cleaning robot has an abnormal condition, controlling the cleaning robot to lift a chassis; and controlling the cleaning robot to move. The method can ensure that the cleaning robot can normally and effectively move.

Description

Background Art

[0002] With the rapid development of computer technology and artificial intelligence, intelligent robot technology has gradually become a hot spot in the field of modern robot research. Among them, cleaning robots are widely used because they can complete the cleaning work of daily life environment with their artificial intelligence.

[0003] At present, the moving parts of the cleaning robot may slip or other abnormal situations due to the influence of the working environment or work content, which in turn affects the normal movement or cleaning work of the cleaning robot, resulting in extended working time or failure to execute instructions normally.

[0004] Therefore, how to effectively and accurately control the cleaning robot when an abnormal situation occurs in the moving part of the cleaning robot is a problem that needs to be solved urgently in the prior art. Summary of the invention

[0005] The purpose of the present disclosure is to provide a control method for a cleaning robot, a control device for a cleaning robot, a computer-readable storage medium and an electronic device to solve the problem in the prior art that the cleaning robot cannot be effectively controlled when an abnormality occurs in the moving part of the cleaning robot.

[0006] The specific plan is as follows:

[0007] According to the specific embodiments of the present disclosure, in a first aspect, the present disclosure provides a control method for a cleaning robot, the method comprising: during the movement of the cleaning robot, in response to detecting an abnormality in a moving part of the cleaning robot, controlling the cleaning robot to lift a chassis; and controlling the cleaning robot to move.

[0008] In an exemplary embodiment of the present disclosure, during the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, the cleaning robot is controlled to lift the chassis, comprising: during the movement of the cleaning robot, in response to the distance between the cleaning robot and a base station being less than or equal to a first preset distance, the cleaning robot is controlled to lift the chassis.

[0009] In an exemplary embodiment of the present disclosure, the detecting that an abnormality occurs in the moving part of the cleaning robot includes: acquiring an actual displacement value of the cleaning robot and a driving displacement value of the moving part; if the actual displacement value and the driving displacement value meet preset conditions, determining that an abnormality occurs in the moving part of the cleaning robot.

[0010] In an exemplary embodiment of the present disclosure, if the actual displacement value and the driving displacement value meet preset conditions, it is determined that an abnormal situation occurs in the moving part of the cleaning robot, including: when the driving displacement value of the moving part increases and the actual displacement value of the cleaning robot is less than the preset displacement amount, it is determined that an abnormal situation occurs in the moving part of the cleaning robot.

[0011] In an exemplary embodiment of the present disclosure, the actual displacement value is determined according to a position change of the cleaning robot relative to a base station.

[0012] In an exemplary embodiment of the present disclosure, controlling the cleaning robot to move includes: controlling the cleaning robot to move to a target position in a base station to execute a preset instruction.

[0013] In an exemplary embodiment of the present disclosure, controlling the cleaning robot to move to a target position in a base station to execute preset instructions includes: in response to a distance between the cleaning robot and the target position being less than or equal to a second preset distance, controlling the cleaning robot to lower its chassis, continue to move to the target position and execute preset instructions.

[0014] In an exemplary embodiment of the present disclosure, the method further includes: if the execution of a preset instruction fails, controlling the cleaning robot to lift the chassis again, and controlling the cleaning robot to retreat to a preset position around the base station; moving again to the target position in the base station, and executing the preset instruction.

[0015] In an exemplary implementation of the present disclosure, the method further includes: if the execution of the preset instruction fails, sending a failure reminder notification.

[0016] In an exemplary embodiment of the present disclosure, the moving part includes running wheels, and the abnormality occurring in the moving part includes ineffective operation of the running wheels.

[0017] In an exemplary embodiment of the present disclosure, the moving part includes a driving part, and the driving part is used to control the cleaning robot to lift a chassis.

[0018] In a second aspect, the present disclosure provides a control device for a cleaning robot, comprising: a chassis lifting control module, for controlling the cleaning robot to lift its chassis in response to detecting an abnormality in a moving part of the cleaning robot during its movement; and a robot movement control module, for controlling the cleaning robot to move.

[0019] In a third aspect, the present disclosure provides a cleaning robot, comprising: a body; and a controller disposed in the body; the controller is configured to execute the above-mentioned control method of the cleaning robot.

[0020] In a fourth aspect, the present disclosure provides a cleaning system, comprising: a base station; and a cleaning robot such as the above-mentioned cleaning robot, wherein the base station is at least used to charge the cleaning robot.

[0021] In a fifth aspect, a computer-readable storage medium stores a computer program thereon, wherein the computer program implements the above method when executed by a processor.

[0022] In a sixth aspect, the present disclosure provides an electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the above method by executing the executable instructions.

[0023] The exemplary embodiments of the present disclosure have the following beneficial effects:

[0024] During the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, the cleaning robot is controlled to lift the chassis; and the cleaning robot is controlled to move. On the one hand, this exemplary embodiment proposes a new control method for the cleaning robot, which is capable of detecting abnormalities in the moving part, so that when it is determined that an abnormality has occurred in the moving part, the chassis of the cleaning robot can be reasonably controlled to reduce the impact of other parts of the cleaning robot on the movement of the moving part, thereby improving the effectiveness and efficiency of the movement of the cleaning robot; on the other hand, this exemplary embodiment detects abnormalities in the moving part, combines the chassis lifting control of the cleaning robot, and considers the chassis from the perspective of the chassis. Through simple and convenient chassis lifting control, the impact of the friction generated by the descent of the chassis on the movement of the moving part is reduced, further ensuring the effectiveness and convenience of the cleaning robot control.

[0025] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0027] Figure 1 A flow chart schematically illustrates a control method of a cleaning robot in this exemplary embodiment;

[0028] Figure 2 A schematic diagram schematically illustrates a cleaning robot in this exemplary embodiment;

[0029] Figure 3 A sub-flow chart schematically illustrates a control method of a cleaning robot in this exemplary embodiment;

[0030] Figure 4 A schematic diagram schematically illustrates a control method of a cleaning robot in this exemplary embodiment;

[0031] Figure 5 A block diagram schematically shows a structure of a control device of a cleaning robot in this exemplary embodiment;

[0032] Figure 6 An electronic device for implementing the above method in this exemplary embodiment is schematically shown. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0034] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0035] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0036] It should be understood that although the terms first, second, third, etc. may be used to describe ... in the embodiments of the present disclosure, these ... should not be limited to these terms. These terms are only used to distinguish .... For example, without departing from the scope of the embodiments of the present disclosure, the first ... may also be referred to as the second ..., and similarly, the second ... may also be referred to as the first ....

[0037] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0038] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0039] Cleaning robots are a type of smart home appliance that can automatically clean the room with the help of certain artificial intelligence.

[0040] Usually, the cleaning robot needs to return to the base station for charging during the cleaning process, or return to the base station to clean the mop, side brush and other cleaning parts. However, in actual applications, the cleaning robot often has difficulty moving due to some special reasons and is unable to return to the base station. For example, the cleaning part or the chassis is contaminated with media such as water or dirt in some special cases, resulting in the cleaning robot being unable to move or slipping, affecting the charging efficiency or cleaning efficiency of the cleaning robot.

[0041] Based on this, an exemplary embodiment of the present disclosure provides a control method for a cleaning robot, which can be applied to a cleaning robot, and the cleaning robot can implement the method through hardware and / or software. Figure 1 , a flowchart of a control method of a cleaning robot provided by an exemplary embodiment of the present disclosure is shown, and the method may include the following steps S110-S120:

[0042] Step S110 , during the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, controlling the cleaning robot to lift the chassis.

[0043] A cleaning robot refers to an intelligent robot that can perform cleaning tasks, such as a pool cleaning robot, a sweeping robot, a mopping robot or a floor scrubbing robot, etc. The moving part is in contact with the ground and can be used to drive the cleaning robot to move, that is, the moving part refers to a component that can control the cleaning robot to move in the working area, such as a wheel component or a track, etc. The moving part may include multiple components, such as one or more wheels, and may also include a driver connected to the wheel for driving the wheel to rotate, etc., and may be specifically configured according to actual needs.

[0044] The chassis may refer to the bottom of the cleaning robot. In this exemplary implementation, the chassis may have a lifting function, and a cleaning part, such as a cleaning mop, a cleaning brush, etc., may be configured on the chassis. The cleaning robot may lift the cleaning part by controlling the lifting drive of the chassis to make the cleaning part contact the ground for cleaning, or make the cleaning part leave the ground, thereby ensuring the convenient movement of the cleaning robot, or avoiding the cleaning part from cleaning non-cleaning areas, etc.

[0045] In this exemplary embodiment, during the movement of the cleaning robot, for example, when the cleaning robot is cleaning in the working area, or when it moves to the base station for charging, adding water, or cleaning the cleaning part, etc., the moving part of the cleaning robot can be detected for abnormality to determine whether it has an abnormal situation. The abnormal situation may include that the operation of the moving part cannot make the cleaning robot move or cannot move effectively, such as the running wheel is stuck, slipping, hanging, idling, etc., so that the position of the cleaning robot does not change when the running wheel rotates, or the walking distance is shortened or the walking speed is reduced. When an abnormal situation is detected in the moving part of the cleaning robot, the cleaning robot can be controlled to lift the chassis to lift the cleaning part by lifting the chassis, so as to reduce the impact of the cleaning part contacting the ground on the movement of the moving part, such as reducing the friction generated by the contact between the cleaning part and the ground, so as to improve the walking efficiency of the running wheel.

[0046] In this exemplary embodiment, controlling the cleaning robot to lift the chassis may include a variety of methods, for example, the body of the cleaning robot may be controlled to be lifted, for example, a driving device may be configured in the walking wheel to lift the body of the cleaning robot through the driving device, so that the chassis of the cleaning robot is lifted; in addition, a driving device for lifting the chassis may be separately configured in the cleaning robot to lift the chassis through the driving device corresponding to the chassis.

[0047] In an exemplary embodiment, the moving part may include a driving part, and the driving part may be used to control the cleaning robot to lift the chassis.

[0048] like Figure 2As shown, the moving part of the cleaning robot 200 may include a front walking wheel 210 and a rear walking wheel 220, and the front walking wheel 210 and the rear walking wheel 220 are respectively configured with a driving part for controlling the lifting of the chassis of the cleaning robot. Figure 2 (a) shows a schematic diagram of the cleaning robot chassis not being raised. Figure 2 (b) shows a schematic diagram of the chassis of the cleaning robot 200 being lifted. In this exemplary embodiment, the body of the cleaning robot 200 can be lifted by controlling the driving parts in the front running wheels 210 and the rear running wheels 220 so as to lift the chassis. Figure 2 This is just an example. The number and type of the front and rear running wheels can be determined according to actual needs. For example, 3 or 4 running wheels can be set. The running wheel types can include fixed-direction wheels or free-direction wheels, etc. This disclosure does not make any specific limitations on this.

[0049] Step S120, controlling the cleaning robot to move.

[0050] Then, when the cleaning robot lifts the chassis, the cleaning robot can be further controlled to move, for example, to a base station for charging, cleaning the cleaning part, etc., or to execute preset instructions, such as charging, etc.

[0051] Based on the above description, in this exemplary embodiment, during the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, the cleaning robot is controlled to lift the chassis; and the cleaning robot is controlled to move. On the one hand, this exemplary embodiment proposes a new control method for the cleaning robot, which is capable of detecting abnormalities in the moving part, so that when it is determined that an abnormality has occurred in the moving part, the chassis of the cleaning robot can be reasonably controlled to reduce the impact of other parts of the cleaning robot on the movement of the moving part, thereby improving the effectiveness and efficiency of the movement of the cleaning robot; on the other hand, this exemplary embodiment detects abnormalities in the moving part, combines the chassis lifting control of the cleaning robot, and considers the chassis from the dimension of the chassis. Through simple and convenient lifting and lowering control of the chassis, the friction generated by the descent of the chassis on the movement of the moving part is reduced, thereby further ensuring the effectiveness and convenience of the control of the cleaning robot.

[0052] In an exemplary embodiment, during the movement of the cleaning robot, in response to detecting an abnormality in a moving part of the cleaning robot, controlling the cleaning robot to lift a chassis may include:

[0053] During the movement of the cleaning robot, in response to the distance between the cleaning robot and the base station being less than or equal to the first preset distance, an abnormality is detected in the moving part of the cleaning robot, and the cleaning robot is controlled to lift the chassis.

[0054] Among them, the first preset distance refers to a small distance range that is close to the base station. The position of the base station can be determined according to the location of the base station. For example, it can be the center of the range where the base station is located, or it can be the edge of the range where the base station is located, etc., which can be determined according to the actual situation. Considering that the working environment is generally relatively flat, and there may be gentle slopes or other uneven surfaces near or close to the base station that need to be passed to climb the base station, the moving part of the cleaning robot is more likely to have abnormal conditions. Therefore, in order to ensure the effectiveness of abnormal detection of the moving part and reduce power consumption of the equipment, this exemplary embodiment can detect an abnormality in the moving part of the cleaning robot during the movement of the cleaning robot in response to the distance between the cleaning robot and the base station being less than or equal to the first preset distance, and control the cleaning robot to lift the chassis.

[0055] In an exemplary embodiment, the moving part includes running wheels, and the abnormal condition occurring in the moving part includes ineffective operation of the running wheels.

[0056] In this exemplary embodiment, the moving part may be a walking wheel, and the number of the walking wheels may be set according to actual needs, such as 3, 4, etc. The abnormal situation of the moving part may be that the walking wheel has an ineffective operation, such as slipping. Slipping means that the moving part can operate normally, but cannot drive the cleaning robot to move. For example, the walking wheel continues to rotate, but the cleaning robot does not change position due to the rotation of the walking wheel.

[0057] In an exemplary embodiment, if Figure 3 As shown, the above detection of an abnormality in the moving part of the cleaning robot may include the following steps:

[0058] Step S310, obtaining the actual displacement value of the cleaning robot and the driving displacement value of the moving part;

[0059] Step S320: If the actual displacement value and the driving displacement value meet the preset conditions, it is determined that an abnormality occurs in the moving part of the cleaning robot.

[0060] Among them, the actual displacement value of the cleaning robot refers to the displacement amount caused by the change of position of the cleaning robot in the working area, such as the movement amount when the cleaning robot moves from point a to point b, wherein point a and point b belong to points in different positions. It should be noted that the actual displacement value can be the shortest straight-line distance between the positions before and after the movement, or the distance the cleaning robot actually moves. The present disclosure does not make specific restrictions on this. The driving displacement value of the moving part refers to the theoretical displacement value that drives the moving part to move. For example, the driver drives the walking wheel to rotate to move a distance of 2 meters. Regardless of whether the cleaning robot moves or how much distance it moves, the driving displacement value of the moving part is 2 meters. In actual applications, the actual displacement value and the driving displacement value may not match. For example, the driver drives the walking wheel to rotate to make the cleaning robot move 2 meters, but the walking wheel continues to rotate in the original position due to wheel slippage, but does not cause the cleaning robot to move. At this time, the actual displacement value of the cleaning robot is 0, and the driving displacement value of the moving part is 2 meters.

[0061] This exemplary embodiment may configure a moving part displacement value statistics device inside the cleaning robot to obtain the driving displacement value of the moving part based on the statistics device, such as a walking wheel odometer, which can record the mileage distance theoretically traveled by the cleaning robot, which may be the mileage distance in a certain period of time or the total mileage distance, etc. In addition, a positioning system or communication connection may be configured inside the cleaning robot to determine the position change of the cleaning robot in the working area and obtain the actual displacement value of the cleaning robot.

[0062] Then, by judging whether the actual displacement value and the driving displacement value meet the preset conditions, it can be determined whether an abnormal situation occurs in the moving part of the cleaning robot. The preset condition can be a condition for whether the actual displacement value matches the driving displacement value, for example, when the actual displacement value is equal to the driving displacement value, it indicates that no abnormal situation occurs, and when the actual displacement value is not equal to the driving displacement value, it indicates that an abnormal situation occurs; the preset condition can also be a first preset condition for the actual displacement value and a second preset condition for the driving displacement value, for example, when the actual displacement value does not change or changes in a small range, and the driving displacement value continues to change or changes more than a certain degree, it indicates that an abnormal situation occurs in the moving part, etc. The setting of specific preset conditions can include multiple types.

[0063] In an exemplary embodiment, if the actual displacement value and the driving displacement value meet the preset conditions, determining that the moving part of the cleaning robot has an abnormal situation may include:

[0064] When the driving displacement value of the moving part increases and the actual displacement value of the cleaning robot is less than the preset displacement value, it is determined that an abnormal situation occurs in the moving part of the cleaning robot.

[0065] The preset displacement amount may be a small displacement amount, which is less than or even much less than the increase in the driving displacement value. The actual displacement value being less than the preset displacement amount may mean that the actual displacement value does not increase, or increases the displacement amount by a very small amount. In this case, it can also be considered that the cleaning robot has basically not moved. Usually, when the moving part slips, the moving part may rotate while the cleaning robot does not move. Therefore, in this exemplary embodiment, the driving displacement value of the moving part and the actual displacement value of the cleaning robot may be detected. When the driving displacement value of the moving part continues to increase, and the actual displacement value of the cleaning robot is less than the preset displacement amount, it is determined that the moving part of the cleaning robot has an abnormality.

[0066] In an exemplary embodiment, the actual displacement value is determined according to a position change of the cleaning robot relative to the base station.

[0067] In this exemplary embodiment, a wireless communication connection can be established between the cleaning robot and the base station, and the position information of the cleaning robot relative to the base station can be obtained in real time, such as the real-time position of the cleaning robot, the position of the base station, and the distance between the cleaning robot and the base station. Based on these position change information, the actual displacement value of the cleaning robot relative to the base station can be determined. For example, with the base station as the reference position, how far the cleaning robot is close to the base station, how far away it is, how far there is a gap between the two, and so on.

[0068] In an exemplary embodiment, controlling the cleaning robot to move may include:

[0069] Control the cleaning robot to move to the target position in the base station to execute the preset instructions.

[0070] The target position in the base station may be a position within the base station for executing a preset instruction, such as a position for docking with a charging interface to execute a charging instruction, a position for docking with a water adding interface to execute a water adding instruction, or a reset position of a cleaning robot. In this exemplary embodiment, the cleaning robot may be controlled to move to the target position in the base station to execute a preset instruction, such as a charging instruction, a water adding instruction, a cleaning instruction, etc.

[0071] In an exemplary embodiment, controlling the cleaning robot to move to the base station to execute a preset instruction may include:

[0072] In response to the distance between the cleaning robot and the target position being less than or equal to the second preset distance, the cleaning robot is controlled to lower the chassis and execute the preset instruction.

[0073] The second preset distance may be a distance reference closer to the target position, at which the lowering of the chassis of the cleaning robot will not affect the normal movement of the moving part of the cleaning robot, that is, in this exemplary embodiment, the second preset distance may be smaller than the first preset distance. The second preset distance may be customized according to actual needs, for example, it may be set to 10 centimeters, and the present disclosure does not specifically limit this.

[0074] In order to ensure that the cleaning robot can execute preset instructions normally and stably, this exemplary embodiment can control the cleaning robot to lower the chassis and execute preset instructions when it detects that the distance between the cleaning robot and the target position is less than or equal to a second preset distance. For example, in order to ensure that the cleaning robot can accurately dock with the charging interface in a standard state, when the cleaning robot continues to move closer to the base station, such as moving up the gentle slope of the base station body slot and the distance to the charging interface is less than 10 cm, the cleaning robot can be controlled to lower the chassis so that the charging contacts can accurately dock with the charging interface of the base station to execute the charging instructions and charge the cleaning robot.

[0075] Figure 4 A control schematic diagram of a cleaning robot is shown, which may specifically include: Figure 4 As shown in (a), when the cleaning robot 410 approaches the base station 420 and the distance from the base station is less than or equal to the first preset distance, the cleaning part 430 configured on the chassis has friction with the ground or the gentle slope in front of the base station, and the friction is greater than the moving power of the walking wheels, causing the walking wheels of the cleaning robot 410 to slip or be unable to continue moving; at this time, as shown in FIG. Figure 4 As shown in (b), the cleaning robot 410 can be controlled to lift the chassis and continue to approach the base station 420; Figure 4 As shown in (c), when the cleaning robot 410 approaches the base station 420 and the distance from the target position, such as the position 440 of the charging interface, is less than or equal to the second preset distance, the chassis can be lowered to allow the charging contact of the cleaning robot 410 to accurately dock with the charging interface of the base station 420; Figure 4 As shown in (d), after the charging contact piece of the cleaning robot 410 is accurately docked with the charging interface of the base station 420, the charging process of the cleaning robot can be realized.

[0076] In an exemplary embodiment, the control method of the cleaning robot may further include:

[0077] If the execution of the preset command fails, the cleaning robot is controlled to lift the chassis again, and the cleaning robot is controlled to retreat to a preset position around the base station;

[0078] Move back to the target location in the base station and execute the preset instructions.

[0079] This exemplary embodiment configures a multiple-attempt mechanism. When the cleaning robot fails to execute a preset instruction, such as being unable to continue to approach the base station, or being unable to charge successfully, the cleaning robot can be controlled to lift the chassis again, and the cleaning robot can be controlled to retreat to a preset position around the base station. The preset position can be a preset position in front of the base station, at which the command can be restarted, and then the cleaning robot can be controlled to lower the chassis again, approach the base station again, and execute the preset instruction. That is, after the cleaning robot fails to charge, or does not return to the charging position to dock with the charging interface, it can lift the chassis back to the preset position, or return to the preset position to lift the chassis, move to the target position in the base station again, and execute the preset instruction. Among them, when moving to the target position in the base station again, the distance between the cleaning robot and the target position can also be re-detected, and when the distance between the cleaning robot and the target position is less than or equal to the second preset distance, the chassis can be re-executed. It should be noted that, in addition, this exemplary embodiment can also set the number of retries of the cleaning robot as needed, send a notification to the user after exceeding the number threshold, or stop executing the corresponding instruction, etc., and the present disclosure does not make specific limitations on this.

[0080] In an exemplary embodiment, the control method of the cleaning robot may further include:

[0081] If the execution of the preset command fails, a failure reminder notification will be sent.

[0082] In some cases, even if the chassis is lifted, the mobile part may not be able to move normally. For example, because the running wheels are heavily dirty, or the humidity or moisture of the running wheels is too high, the friction is too small, and after the chassis is lifted, it still slips and the cleaning robot cannot return to the base station to complete the charging instruction. At this time, a failure reminder notification can be sent. Among them, the failure reminder notification can be information that informs the user that the cleaning robot cannot execute the preset instruction, the cleaning robot cannot return to the base station, or the mobile part needs to be cleaned. It can be a text message, such as a push notification message to the user in the application; it can also be a voice message, such as directly informing the user of the failure reminder notification through voice broadcast, etc.

[0083] Controlling the cleaning robot by the above-mentioned cleaning robot control method can effectively solve the problem that the cleaning robot cannot move normally or return to the base station due to abnormalities in the moving part in actual applications, and significantly improve the movement efficiency of the cleaning robot, as well as the recharging efficiency and recharging success rate.

[0084] In an exemplary embodiment of the present disclosure, a control device for a cleaning robot is also provided, such as Figure 5As shown, the control device 500 of the cleaning robot may include: a chassis lifting control module 510, which is used to control the cleaning robot to lift the chassis in response to detecting an abnormality in the moving part of the cleaning robot during the movement of the cleaning robot; and a robot movement control module 520, which is used to control the movement of the cleaning robot.

[0085] In an exemplary embodiment of the present disclosure, the chassis lifting control module 510 includes: a first distance detection module, which is used to control the cleaning robot to lift the chassis in response to the distance between the cleaning robot and a base station being less than or equal to a first preset distance when an abnormality occurs in the moving part of the cleaning robot.

[0086] In an exemplary embodiment of the present disclosure, the chassis lifting control module 510 includes: a displacement value acquisition unit, used to obtain the actual displacement value of the cleaning robot and the driving displacement value of the moving part; a condition judgment unit, used to determine that an abnormal situation occurs in the moving part of the cleaning robot if the actual displacement value and the driving displacement value meet preset conditions.

[0087] In an exemplary embodiment of the present disclosure, the condition judgment unit is used to determine that an abnormal situation occurs in the moving part of the cleaning robot when the driving displacement value of the moving part increases and the actual displacement value of the cleaning robot is less than a preset displacement amount.

[0088] In an exemplary embodiment of the present disclosure, the actual displacement value is determined according to a position change of the cleaning robot relative to the base station.

[0089] In an exemplary embodiment of the present disclosure, the robot movement control module 520 includes: an instruction execution unit, which is used to control the cleaning robot to move to a target position in the base station to execute a preset instruction.

[0090] In an exemplary embodiment of the present disclosure, the instruction execution unit includes: a second distance detection unit, which is used to control the cleaning robot to lower the chassis, continue to move to the target position and execute the preset instruction in response to the distance between the cleaning robot and the target position being less than or equal to a second preset distance.

[0091] In an exemplary embodiment of the present disclosure, the control device of the cleaning robot also includes: a chassis re-lifting module, which is used to control the cleaning robot to re-lift the chassis if the execution of the preset instructions fails, and control the cleaning robot to retreat to a preset position around the base station; a chassis re-lowering module, which is used to move to the target position in the base station again and execute the preset instructions.

[0092] In an exemplary embodiment of the present disclosure, the control device of the cleaning robot further includes: a notification sending unit, configured to send a failure reminder notification if the execution of a preset instruction fails.

[0093] In an exemplary embodiment of the present disclosure, the moving part includes running wheels, and the abnormal condition occurring in the moving part includes invalid operation of the running wheels.

[0094] In an exemplary embodiment of the present disclosure, the moving part includes a driving part, and the driving part is used to control the cleaning robot to lift the chassis.

[0095] The specific details of the control device modules of each cleaning robot mentioned above have been described in detail in the corresponding methods, so they will not be repeated here.

[0096] It should be noted that, although several modules or units of the device for execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0097] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided. For example, the electronic device may be a cleaning robot capable of implementing the above method.

[0098] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0099] Refer to the following Figure 6 hereinafter, an electronic device 600 according to such an exemplary embodiment of the present disclosure is described. Figure 6 The electronic device 600 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0100] like Figure 6 As shown, the electronic device 600 is in the form of a general computing device. The components of the electronic device 600 may include but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), and a display unit 640.

[0101] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of this specification. For example, the processing unit 610 can execute Figure 1 or Figure 3 Steps shown etc.

[0102] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 621 and / or a cache memory unit 622 , and may further include a read-only memory unit (ROM) 623 .

[0103] The storage unit 620 may also include a program / utility 624 having a set (at least one) of program modules 625, such program modules 625 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0104] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0105] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 660. As shown, the network adapter 660 communicates with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0106] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0107] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above "Exemplary Method" section of the present specification.

[0108] According to the program product for implementing the above method in the embodiment of the present disclosure, it can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0109] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0110] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0111] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0112] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0113] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0114] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0115] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A control method for a cleaning robot, characterized in that: The method comprises: During the movement of the cleaning robot, in response to detecting an abnormality in a moving part of the cleaning robot, controlling the cleaning robot to lift a chassis; The cleaning robot is controlled to move.

2. The method according to claim 1, characterized in that During the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, controlling the cleaning robot to lift the chassis includes: During the movement of the cleaning robot, in response to the distance between the cleaning robot and a base station being less than or equal to a first preset distance, an abnormality is detected in the moving part of the cleaning robot, and the cleaning robot is controlled to lift a chassis.

3. The method according to claim 1 or 2, characterized in that: The detecting that an abnormality occurs in the moving part of the cleaning robot comprises: Acquiring an actual displacement value of the cleaning robot and a driving displacement value of the moving part; If the actual displacement value and the driving displacement value meet a preset condition, it is determined that an abnormality occurs in the moving part of the cleaning robot.

4. The method according to claim 3, characterized in that If the actual displacement value and the driving displacement value meet a preset condition, determining that an abnormal situation occurs in the moving part of the cleaning robot includes: When the driving displacement value of the moving part increases and the actual displacement value of the cleaning robot is less than the preset displacement value, it is determined that an abnormality occurs in the moving part of the cleaning robot.

5. The method according to claim 3, characterized in that: The actual displacement value is determined according to a change in the position of the cleaning robot relative to the base station.

6. A control device for a cleaning robot, characterized in that: include: A chassis lifting control module, used for controlling the cleaning robot to lift the chassis in response to detecting an abnormality in the moving part of the cleaning robot during the movement of the cleaning robot; The robot movement control module is used to control the movement of the cleaning robot.

7. A cleaning robot, characterized in that: include: Body; and A controller disposed in the body; The controller is configured to execute the control method of the cleaning robot according to any one of claims 1 to 5.

8. A cleaning system, characterized in that: include: Base station; The cleaning robot as described in claim 7, wherein the base station is at least used to charge the cleaning robot.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

10. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 5 by executing the executable instructions.

Images