Cleaning robot, control method and device thereof and storage medium

Abstract

The invention relates to a cleaning robot, a control method and device thereof and a storage medium, and the method comprises the steps that under the condition that starting conditions are met, the cleaning robot is controlled to operate in a specific mode, and the step of controlling the cleaning robot to operate in the specific mode comprises the steps of starting, determining that the cleaning robot uses a first preset position as a starting point of a first stage, the cleaning robot is controlled to be located at the starting point; a first execution step of controlling the cleaning robot to operate along the first path; the cleaning robot is controlled to run along a second path, and the first stage comprises the first execution step and the second execution step; the second path is symmetrical to the first path; the first path is an S-shaped curve, and the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; the second path is an S-shaped curve with the end point of the first path as a starting point and the starting point of the first path as an end point. Therefore, the cleaning robot can perform more targeted and more effective cleaning on the dirty area.

Description

Technical Field

[0001] The present disclosure relates to the field of smart home technology, and in particular to a cleaning robot and a control method and device thereof, as well as a storage medium. Background Art

[0002] In a related art, a cleaning robot runs on a working surface in a working area and cleans the entire working surface to the same extent. However, this related art cannot clean the dirty area more specifically.

[0003] In another related art, a cleaning robot runs on a working surface in a working area and performs a certain mode of deep cleaning on the dirty area on the working surface. However, the existing deep cleaning mode is usually limited in the degree of cleaning of the dirty area, and it is difficult to achieve the cleaning effect desired by the customer. Therefore, the related art has the problem of insufficient cleaning of the dirty area.

[0004] Therefore, the related art cannot effectively clean the dirty area. Summary of the invention

[0005] In view of this, the present disclosure proposes a cleaning robot and a control method and device thereof, as well as a storage medium, so that dirty areas can be cleaned more specifically and effectively.

[0006] According to a first aspect of the present disclosure, a control method for a cleaning robot is provided, wherein the cleaning robot is used to clean a working area, and the control method comprises: when a starting condition is met, controlling the cleaning robot to operate in a specific mode, wherein controlling the cleaning robot to operate in a specific mode comprises: a starting step, determining that the cleaning robot takes a first preset position as a starting point of a first stage, and controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; a first execution step, controlling the cleaning robot to operate along a first path; a second execution step, controlling the cleaning robot to operate along a second path, wherein the first stage comprises the first execution step and the second execution step; wherein the second path is symmetrical to the first path; the first path is an S-shaped curve, and the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; the second path is an S-shaped curve starting from the end point of the first path and ending at the starting point of the first path.

[0007] According to a second aspect of the present disclosure, a control method for a cleaning robot is provided, wherein the cleaning robot is used to clean a working area, and the control method comprises: when a starting condition is met, controlling the cleaning robot to operate in a specific mode, wherein controlling the cleaning robot to operate in a specific mode comprises: a starting step, determining that the cleaning robot takes a first preset position as the starting point of a first stage, and controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; a first execution step, controlling the cleaning robot to operate along a first combined path; and a second execution step, controlling the cleaning robot to operate along a second combined path, wherein the first stage comprises The first execution step and the second execution step; wherein the first combined path is a path formed by connecting M S-shaped first paths end to end; the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; M is a positive integer greater than 1; the end point of the first combined path is the end point of the Mth first path; the second combined path is symmetrical to the first combined path; the second combined path is a path formed by connecting M S-shaped second paths end to end; the starting point of the second combined path is the starting point of the first second path, and is the same as the end point of the first combined path, and the end point of the second combined path is the end point of the Mth second path, which is also the same as the starting point of the first combined path.

[0008] According to a third aspect of the present disclosure, a control device for a cleaning robot is provided, wherein the cleaning robot is used to clean a working area, and the control device comprises: a control unit, used to control the cleaning robot to operate in a specific mode when a starting condition is met, wherein the control unit is configured to perform the following steps: a starting step, determining that the cleaning robot takes a first preset position as the starting point of a first stage, and controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; a first execution step, controlling the cleaning robot to operate along a first path; a second execution step, controlling the cleaning robot to operate along a second path, the first stage comprising the first execution step and the second execution step; wherein the second path is symmetrical to the first path, the first path is an S-shaped curve, and the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; the second path is an S-shaped curve starting from the end point of the first path and ending at the starting point of the first path.

[0009] According to a fourth aspect of the present disclosure, a control device for a cleaning robot is provided, wherein the cleaning robot is used to clean a working area, and the control device comprises: a control unit, used to control the cleaning robot to operate in a specific mode when a starting condition is met, wherein the control unit is configured to perform the following steps: a starting step, determining that the cleaning robot takes a first preset position as the starting point of a first stage, and controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; a first execution step, controlling the cleaning robot to operate along a first combined path; a second execution step, controlling the cleaning robot to operate along a second combined path, wherein the first stage includes The method comprises the first execution step and the second execution step; wherein the first combined path is a path formed by connecting M S-shaped first paths end to end; the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; M is a positive integer greater than 1; the end point of the first combined path is the end point of the Mth first path; the second combined path is symmetrical to the first combined path; the second combined path is a path formed by connecting M S-shaped second paths end to end; the starting point of the second combined path is the starting point of the first second path, and is the same as the end point of the first combined path, and the end point of the second combined path is the end point of the Mth second path, which is also the same as the starting point of the first combined path.

[0010] According to a fifth aspect of the present disclosure, a control device of a cleaning robot is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to implement the control method described in the first aspect or the second aspect when executing the instructions stored in the memory.

[0011] According to a sixth aspect of the present disclosure, a cleaning robot is provided, comprising: a motion component configured to enable the cleaning robot to move on a working surface in a working area; and a control device as described in the third aspect, the fourth aspect or the fifth aspect.

[0012] According to a seventh aspect of the present disclosure, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the control method described in the first aspect or the second aspect.

[0013] According to the present disclosure, during the operation of the cleaning robot, if the start-up conditions are met, the cleaning robot operates in a specific mode (double S mode), that is, the cleaning robot first runs the S-shaped first path from the starting point of the first stage to the end point, and then runs the second path symmetrical to the previous first path from the end point to the starting point of the original first stage. It can be seen that the cleaning robot runs a double S-shaped curve (the S-shaped curve corresponding to the first path and the S-shaped curve corresponding to the second path partially overlap each other). Therefore, compared with the problem of the prior art that the entire working surface is cleaned in the same way, resulting in a more targeted cleaning of the dirty area and insufficient cleaning of the dirty area, the cleaning robot of the present disclosure can clean the dirty position at least twice in a row, so it can clean the dirty area more targeted and more effectively.

[0014] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0016] Figure 1a is a flowchart of a control method of a cleaning robot according to an exemplary embodiment.

[0017] Figure 1b is a schematic diagram of a cleaning robot operating in a specific mode according to an exemplary embodiment.

[0018] Figure 1c is a detailed schematic diagram of a cleaning robot operating in a specific mode according to an exemplary embodiment.

[0019] Figure 1d is a detailed schematic diagram of a cleaning robot operating in a specific mode according to an exemplary embodiment.

[0020] Figure 1e yes Figure 1b FIG. ③ is an enlarged schematic diagram of the first path and the second path in a specific mode.

[0021] Figure 1f It is a schematic diagram of an implementation method of the first path and the second path in a specific mode.

[0022] Figure 2 is a flowchart of a control method of a cleaning robot according to an exemplary embodiment.

[0023] Figure 3a is a flowchart of a control method of a cleaning robot according to an exemplary embodiment.

[0024] Figure 3b is a schematic diagram of a cleaning robot operating in a specific mode according to an exemplary embodiment.

[0025] Figure 3c is based on Figure 3b An enlarged schematic diagram of the third path under a specific mode in Figure ④.

[0026] Figure 3d is based on Figure 3b An enlarged schematic diagram of the fourth path under the specific mode in Figure ⑤.

[0027] Figure 3e is based on Figure 3b FIG. ④ is a detailed schematic diagram of the third path under a specific mode of another implementation method.

[0028] Figure 4a is a flowchart of a control method of a cleaning robot according to an exemplary embodiment.

[0029] Figure 4b is a schematic diagram of a cleaning robot operating in a specific mode according to an exemplary embodiment.

[0030] Figure 4c is a schematic diagram of a cleaning robot operating in a specific mode according to an exemplary embodiment.

[0031] Figure 5 is a flowchart of a control method of a cleaning robot according to an exemplary embodiment.

[0032] Figure 6a is a flowchart of a control method of a cleaning robot according to an exemplary embodiment.

[0033] Figure 6b is a schematic diagram of a cleaning robot operating in a specific mode according to an exemplary embodiment.

[0034] Figure 7 is a block diagram of a control device of a cleaning robot according to an exemplary embodiment. DETAILED DESCRIPTION

[0035] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0036] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0037] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present disclosure.

[0038] Embodiment 1:

[0039] The present exemplary embodiment provides a control method which is executed by a cleaning robot, which may be, for example, a device for autonomously moving within a space in an actual working area to clean impurities (such as dust, sewage, etc.) on the floor or window surfaces, thereby automatically cleaning the space, wherein the cleaning robot may include, but is not limited to, an intelligent sweeping machine, an intelligent floor mopping machine, an intelligent window cleaning robot, and an intelligent sweeping and mopping machine, etc.

[0040] See also Figure 1a , the control method may include: when the starting conditions are met, controlling the cleaning robot to operate in a specific mode.

[0041] In this embodiment, during the operation of the cleaning robot in the working area, it can be detected in real time whether the start condition is met. When the start condition is detected to be met, the cleaning robot can operate in a specific mode. Wherein, illustratively, the start condition can be related to the degree of dirtiness or the dirty area.

[0042] In a possible implementation, a dirt detection sensor for detecting the degree of dirtiness is provided on the cleaning robot, such as an infrared tube sensor (referred to as infrared tube) or a camera. While the cleaning robot is operating in the working area, the dirt detection sensor starts working to obtain the degree of dirtiness of the current working surface (such as the ground); if the degree of dirtiness of the current working surface meets the starting condition, the cleaning robot operates in a specific mode. In some embodiments, the starting condition is related to the degree of dirtiness, for example, the starting condition includes detecting that the degree of dirtiness of the current working surface meets the preset dirtiness condition. Exemplarily, if the dirtiness detection sensor is an infrared tube, the degree of dirtiness of the current working surface can be judged according to the intensity value of the reflected light received by the optical receiver of the infrared tube. If the intensity value of the reflected light received by the optical receiver is lower than the set threshold, it is judged that the degree of dirtiness of the current working surface meets the preset dirtiness condition. At this time, the starting condition is met, and the cleaning robot operates in a specific mode. If the dirt detection sensor is a camera, the camera can be used to capture an image or video of the current working surface: dirt features (such as dirt particle size and dirt transparency) in the image or video are extracted through an image recognition algorithm, and the dirt type is identified based on the dirt features. If the dirt features meet the conditions of the pre-stored dirt features, or the identified dirt type belongs to the pre-stored dirt type, it is determined that the dirt level of the current working surface meets the preset dirt conditions. At this time, the start condition is met, and the cleaning robot operates in a specific mode. The above examples are only for illustration of the types and detection principles of dirt detection sensors, and should not be regarded as limitations on the dirt detection sensors and preset dirt conditions described in the present disclosure.

[0043] It should be understood that the above description of the start-up conditions is only exemplary. In some embodiments, the start-up conditions of the present disclosure may also include other conditions, for example, the start-up conditions may also include detecting an area in the working area that needs to be deep cleaned as specified by the user, or receiving a command from the user to enter a specific mode, or starting up the cleaning robot (i.e., when the cleaning robot is started up, it directly runs in a specific mode). The present disclosure does not limit the start-up conditions.

[0044] Exemplarily, during the operation of the cleaning robot in the working area (i.e., during the cleaning process), the cleaning robot may be in the dirty area or may not be in the dirty area. However, whether the cleaning robot is in the dirty area or not, the cleaning robot can operate in a specific mode when the start condition is met.

[0045] In this embodiment, controlling the cleaning robot to operate in a specific mode includes the following steps:

[0046] In step S110 (starting step), the cleaning robot is determined to take the first preset position as the starting point of the first stage, and the cleaning robot is controlled to be located at the starting point of the first stage, and the running direction of the cleaning robot is turned to the first initial direction. In other words, the first preset position can be used as the starting point of the first path or the first combined path to be run in a specific mode. For the convenience of subsequent description, the first execution step S120 and the second execution step S130 after the starting step S110 are collectively referred to as the first stage in this disclosure. Therefore, the first preset position is also the starting point of the first stage.

[0047] In one possible implementation, the first preset position is the position of a dirty area in the working area. At this time, the starting step S110 may specifically include: determining the position of the cleaning robot in the dirty area (which may be a point on the boundary of the dirty area, or the geometric center point of the dirty area, or the nearest point where the cleaning robot reaches the dirty area, or other positions in the dirty area) as the starting point of the first stage; controlling the cleaning robot to move from the first position to the position of the dirty area, wherein the first position is the initial position of the cleaning robot when operating in a specific mode.

[0048] For the convenience of description, the following Figure 1c This embodiment is described. Figure 1c A detailed schematic diagram of the cleaning robot operating in a specific mode. Figure 1c As shown, when the starting conditions are met, the cleaning robot enters a specific mode at position O, and position O is the initial position of the cleaning robot when it starts running in the specific mode, that is, the first position; it moves from the current first position O to a specific dirty area (that is, the first preset position), such as Figure 1c If the position A in the dirty area is selected, the position A of the dirty area is used as the starting point of the first stage in the specific mode. This enables the subsequent specific mode to be started from the dirty area, so that the dirty area can be cleaned more specifically and the cleaning efficiency is improved.

[0049] In one possible implementation in practice, the first preset position is set to be the initial position of the cleaning robot when it starts running in a specific mode. At this time, the starting step S110 may specifically include: determining the initial position of the cleaning robot when it starts running in the specific mode as the starting point of the first stage to be run subsequently, then the cleaning robot must be at the starting point of the first stage.

[0050] In this embodiment, for the convenience of description, Figure 1d This embodiment is described. Figure 1d A detailed schematic diagram of the cleaning robot operating in a specific mode. Figure 1dAs shown, when the start-up conditions are met, the cleaning robot runs in a specific mode at position B, and position B is the initial position of the cleaning robot when the specific mode starts to run; assuming that position B is also the first preset position, that is, the starting point of the first stage in the specific mode (also the starting point of the first path or the first combined path), the cleaning robot will start the subsequent first execution step S120 from the starting point, that is, position B. Compared with Figure 1c In the embodiment, the cleaning robot of this embodiment does not need to move from the initial position to a specific dirty position and then run the subsequent first execution step S120, but directly runs the subsequent first execution step S120 from the current initial position after the starting conditions are met. This makes the cleaning robot do not need to calculate which dirty position it needs to move to, saving calculation time and time for running to the dirty position.

[0051] After the start step S110 is completed, steps S120 and S130 of the specific mode are executed in sequence.

[0052] In this embodiment, in step S120 (the first execution step), the cleaning robot is controlled to run along the first path. Figure 1b This embodiment is described. Figure 1b Schematic diagram of the cleaning robot running in a specific mode. The first path is an S-shaped curve (such as Figure 1b (as shown by the S-shaped solid line path in the upper right corner of Figure ②), and the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot. It should be understood that if the cleaning robot runs in a specific mode when it is powered on, the initial running direction of the cleaning robot is the current running direction of the cleaning robot. If the cleaning robot switches from other modes to a specific mode, the initial running direction of the cleaning robot is the running direction of the cleaning robot before it switches to the specific mode (that is, the running direction of the cleaning robot when it just switches to the specific mode). In practice, for example, the cleaning robot can rotate 90° in situ in a counterclockwise or clockwise direction (or rotate 270°, 450°, etc. in situ in a counterclockwise or clockwise direction) from the initial running direction to the first initial direction of the first path. Exemplarily, the cleaning robot Figure 1b In the figure ①, the normal mode of the bow-shaped route is run. Figure 1b When the start condition is met at point C shown in Figure ②, the normal mode is switched to the specific mode, and point C is used as the starting point of the first stage to prepare to run along the first path, and the running direction of the cleaning robot is turned to the first initial direction. At this time, Figure 1bThe direction L0 represented by the dotted arrow connected to point C in the upper right corner of Figure ② is the initial running direction of the cleaning robot (i.e., the running direction before switching to the specific mode, and also the running direction when just switching to the specific mode); the solid arrow L1 connected to and perpendicular to the dotted arrow in direction L0 is the first initial direction of the first path (i.e., the S-shaped curve). After switching from the normal mode to the specific mode, the cleaning robot rotates 90° counterclockwise (or 270° clockwise) from the initial running direction L0 at the starting point C to the first initial direction L1 of the first path. Then it runs along the first path to point D along the first initial direction L1 of the first path.

[0053] In step S130 (second execution step), the cleaning robot is controlled to run along a second path, wherein the second path is symmetrical to the first path, and the second path is an S-shaped curve starting from the end point of the first path and ending at the starting point of the first path.

[0054] Since the second path is symmetrical to the first path, and the second path is an S-shaped curve starting from the end point of the first path and ending at the starting point of the first path, the second path can be easily determined on the premise that the first path is determined.

[0055] For example, Figure 1b The S-shaped dotted path in the upper right corner of Figure ③ is the first path, whose starting point is point C and the end point is point D; the first path starts from point C and goes towards direction L1 (at Figure 1b The second path is a solid line path of the S shape symmetrical to the first path. Figure 1b In the figure ③, the starting point of the second path is point D (i.e., the end point of the first path), and the end point is point C (i.e., the starting point of the first path); the second path starts from the starting point D and goes towards the direction L2 (in Figure 1b ③ (left direction in the figure) runs along the solid line to complete the S-shaped path and return to the end point C.

[0056] It should be noted that the "S-shaped curve" used in the present disclosure is to facilitate the description of the shape of the running path of the cleaning robot such as the first path and the second path. It is an approximation of the shape of the running path and is not limited to a strict letter S shape. Specifically, the "S-shaped curve" in the present disclosure includes such as Figure 1b The dashed positive S-shaped curve on the right side of Figure ③ also includes Figure 1b The solid S-shaped curve on the right side of the figure ③; including Figure 1e The positive and negative S-shaped curves from C to D and from D to C with arcs at the turns are also included. Figure 1f The routes from C to D and from D to C are in a bow shape with sharp right angles at the turns.

[0057] For the convenience of description, the following Figure 1e The first implementation of this embodiment is described. Figure 1e for Figure 1b FIG. 3 is an enlarged schematic diagram of the first path and the second path (the double S-shaped path on the right) in a specific mode. In the initial step S110, the first preset position is determined (therefore, the starting point of the first stage is determined), and the cleaning robot is located at the starting point of the first stage (for example, Figure 1b In Figure ② and Figure 1e After reaching point C in the figure, the first execution step S120 is executed to control the cleaning robot to run along a first path. The first path may specifically include: 1) running a first predetermined distance in a straight line toward a first initial direction; illustratively, as Figure 1e As shown, the cleaning robot takes point C as the starting point of the first stage and moves along a straight line toward the first initial direction L1 for a first predetermined distance d1 to point E. 2) Moves along a first arc with a radius of a second predetermined distance toward the first rotation direction, and the running distance is a semicircle of the first circle where the first arc is located; illustratively, as Figure 1e As shown, the cleaning robot takes point E as the starting point and moves along a first arc EF segment with a radius of a second predetermined distance d2 toward a first rotation direction (at Figure 1e The running distance is the semicircle of the first circle where the first arc is located, Figure 1e The distance of the arc segment EF is the same as that of the arc segment EF. The cleaning robot moves to point F. At this time, the running direction L12 of the cleaning robot is opposite to the first initial direction L1 and perpendicular to the direction L0 (at Figure 1b ② Figure and Figure 1e 3) running a third predetermined distance along a straight line; illustratively, as Figure 1e As shown, the cleaning robot starts from point F and moves in a straight line in the direction L12 for a distance d3 to point G. 4) Moves in the second rotation direction along a second arc with a radius of a fourth predetermined distance, and the running distance is a semicircle of the second circle where the second arc is located; illustratively, as Figure 1e As shown, the cleaning robot takes point G as the starting point and moves along the second arc GH segment with a radius of the fourth predetermined distance d4 toward the second rotation direction (at Figure 1e The running distance is the semicircle of the circle where the second arc is located. Figure 1e 5) Run along a straight line toward the first initial direction for a fifth predetermined distance to the end point of the first path; illustratively, as Figure 1e As shown, the cleaning robot starts from point H and moves in a straight line along direction L2 (also the first initial direction L1) for a distance d5 to the end point D of the first path. Figure 1eAs shown, the first path is an S-shaped curve starting from the starting point C and passing through the points E, F, G, and H to the end point D.

[0058] The present disclosure does not limit the first to fifth predetermined distances, and they can be set according to needs. In some embodiments, the first predetermined distance d1 can be set with reference to the width L (also called the working width) of the roller brush of the cleaning robot, for example, it can be a multiple of half of the working width L (referred to as half-width) (for example, 1.5L or 2L, corresponding to 3 half-widths and 4 half-widths, respectively). In one implementation, the third predetermined distance d3 is twice the first predetermined distance d1, and in another implementation, the third predetermined distance d3 is equal to the first predetermined distance d1. In some embodiments, the fourth predetermined distance d4 is equal to the second predetermined distance d2. In this case, the first arc is the same as the second arc, and the radius of the first circle is the same as the radius of the second circle; in some embodiments, the second arc may be different from the first arc, and the first arc and the second arc may not be semicircular. In this case, the cleaning robot is not required to run a semicircle along the arc. Even if it does not run to the semicircle or exceeds the semicircle, it can still continue to run the path of the corresponding step by adjusting the direction of the cleaning robot to the direction L1, direction L12 or direction L2 corresponding to the corresponding step (direction L12 is opposite to direction L1, and direction L2 is the same as direction L1). In some embodiments, the fifth predetermined distance d5 is equal to the first predetermined distance d1; in some embodiments, the fifth predetermined distance d5 may not be equal to the first predetermined distance d1.

[0059] It should be understood that in the second execution step, a second path may be formed in accordance with the principle of symmetry with the first path, and the cleaning robot may be controlled to run along the second path. Figure 1b ③ Figure or Figure 1e As shown in , the second path is an S-shaped curve from the starting point D along the solid line to point C. Point C is both the end point of the second path and the starting point of the first stage. Figure 1b As shown in the double S-shaped dotted path in the middle of Figure ④, the cleaning robot first runs a first path of an S-shaped curve in the actual working area (for example Figure 1b The S-shaped solid line path in the upper right corner of Figure ②) and then run a second path of an S-shaped curve (for example Figure 1b For the convenience of description, these two S-shaped curves can be called double S-shaped curves, and the specific mode can also be called double S mode. Figure 1b Figures ③-④ and Figure 1e It can be seen that the double S-shaped curve forms an Arabic numeral 8.

[0060] The following Figure 1eThe specific implementation of the second path in the first implementation of this embodiment is described. The second path is symmetrical to the first path; the second path is an S-shaped curve starting from the end point of the first path and ending at the starting point of the first path. Figure 1e As shown, when the cleaning robot completes the first execution step S120 - controlling the cleaning robot to run along the first path and reaches point D, the cleaning robot is controlled to run along the second path. The second path may specifically include: 1) starting from point D, moving the fifth predetermined distance d5 in the first initial direction L2 to point I, where point I and point H are mirror-symmetrical with the line CD as the symmetry axis. 2) starting from point I, moving along the second arc IF segment with a radius of the fourth predetermined distance d4 in the second rotation direction (at Figure 1e The running distance is the semicircle of the circle where the second arc is located. Figure 1e 3) Starting from point F, run along a straight line for a distance d3 to point G in the direction L12, where point G and point F are mirror-symmetrical with the line CD as the axis of symmetry. 4) Starting from point G, run along the first arc GJ with a radius of the second predetermined distance d2 in the direction of the first rotation direction (in Figure 1e The running distance is the semicircle of the circle where the first arc is located, Figure 1e That is, the distance of the GJ arc segment, runs to point J; wherein the first arc JG arc segment and the first arc EF arc segment are mirror-symmetrical with the CD line as the symmetry axis. 5) Take point J as the starting point and run along a straight line towards the first initial direction L1 for the first predetermined distance d1 to point C; wherein point J and point E are mirror-symmetrical with the CD line as the symmetry axis. The CD line here can be the symmetry axis of the second path and the first path. With the CD line as the symmetry axis, based on the points and lines on the first path, a definite and unique point and line belonging to the second path can be found, so that the second path symmetrical to the first path is also definite and unique. Of course, there can be other symmetry axes and symmetry methods, such as the second path and the first path being symmetrical as follows Figure 1e In the figure, the FG line is the axis of symmetry, and at this time, point C and point D are mirror-symmetrical with the FG line as the axis of symmetry, point E and point I are mirror-symmetrical with the FG line as the axis of symmetry, point J and point H are mirror-symmetrical with the FG line as the axis of symmetry, arc segment EF and arc segment IF are mirror-symmetrical with the FG line as the axis of symmetry, arc segment JG and arc segment HG are mirror-symmetrical with the FG line as the axis of symmetry, and line segment EJ and line segment IH are mirror-symmetrical with the FG line as the axis of symmetry. In the above implementation, it can be seen that the starting point D of the second path is the end point of the first path, and the end point C of the second path is the starting point of the first path.

[0061] After completing the second execution step, the first stage is completed, and the cleaning robot can end the specific mode. Figure 1b As shown in Figure ④, the cleaning robot switches from the specific mode to the normal mode (for example, a bow-shaped route). Of course, the cleaning robot can execute the same specific mode again, or change the direction and execute the specific mode again; the cleaning robot can also enter other modes according to instructions or programs after exiting the specific mode, such as navigation mode, obstacle avoidance mode, edge mode, etc.

[0062] The following Figure 1e The second implementation of this embodiment is described. In the initial step S110, the first preset position is determined (therefore the starting point of the first stage is determined), and the cleaning robot is located at the starting point of the first stage (for example Figure 1b In Figure ② and Figure 1e After reaching point C in the figure, the first execution step S120 is executed to control the cleaning robot to run along the first path. The first path may specifically include: 1) running in a straight line for a first predetermined distance toward the first initial direction. This process is the same as the first implementation method and will not be repeated here. 2) running in a first rotation direction along a first arc with a radius of a second predetermined distance and adjusting the direction to a second initial direction. The second initial direction is opposite to the first initial direction, and the first arc is smaller than the circumference of the first circle on which it is located; for example, Figure 1e As shown, the cleaning robot takes point E as the starting point and moves along a first arc EF' with a radius of a second predetermined distance d2 toward a first rotation direction (at Figure 1e The first arc EF' is not necessarily a semicircle of the first circle where it is located (that is, point F' does not necessarily coincide with point F), as long as it is smaller than the circumference of the first circle where it is located. When the cleaning robot reaches the end point F' of the process, its direction is adjusted to the second initial direction L12. At this time, the running direction of the cleaning robot is the second initial direction L12, which is opposite to the first initial direction L1 and perpendicular to the initial running direction L0 of the cleaning robot (in Figure 1e 3) Run along a straight line for a third predetermined distance. This process is the same as the first implementation mode and will not be described in detail here. 4) Run along a second arc with a radius of a fourth predetermined distance toward the second rotation direction and adjust the direction to the first initial direction. The second arc is smaller than the circumference of the second circle where it is located. For example, Figure 1e As shown, the cleaning robot takes point G as the starting point and moves along the second arc GH' segment with a radius of the fourth predetermined distance d4 toward the second rotation direction (at Figure 1eThe difference from the first implementation is that the second arc GH' is not necessarily the semicircle of the second circle where it is located (that is, point H' does not necessarily coincide with point H), as long as it is smaller than the circumference of the second circle where it is located. When the cleaning robot reaches the end point H' of the process, its direction is adjusted to L2. At this time, the running direction L2 of the cleaning robot is the same as the first initial direction L1 (in Figure 1e 5) Run the fifth predetermined distance along a straight line toward the first initial direction to the end point of the first path. This process is the same as the first implementation method and will not be described here. Figure 1e As shown, the first path is an S-shaped curve starting from the starting point C and passing through the points E, F', G, H' to the end point D.

[0063] In the second execution step S130, the second path is symmetrical to the first path; the second path is an S-shaped curve starting from the end point of the first path and ending at the starting point of the first path. The symmetry between the second path and the first path is similar to the first implementation method, and will not be repeated here. For example, Figure 1e As shown, the second path is an S-shaped curve starting from the starting point D and passing through the points I, F, G, and J to the end point C.

[0064] The following Figure 1f The third implementation of this embodiment is described. In the initial step S110, the first preset position is determined (therefore the starting point of the first stage is determined), and the cleaning robot is located at the starting point of the first stage (for example Figure 1f After reaching point C in the figure, the first execution step S120 is executed to control the cleaning robot to run along a first path. The first path may specifically include: 1) running a first predetermined distance in a straight line toward a first initial direction; illustratively, as Figure 1f As shown, the cleaning robot starts from point C and moves along a straight line toward the first initial direction L1 for a first predetermined distance d1 to point E1. 2) Rotate in place at a right angle toward the first rotation direction to the first turning direction; and move along a straight line for a second predetermined distance; illustratively, as Figure 1f As shown, the cleaning robot is oriented toward the first rotation direction ( Figure 1f The cleaning robot rotates in place at a right angle (i.e., rotates in place by 90° or (360°×n+90°), where n is a positive integer) to the first turning direction Lx. At this time, the running direction Lx ( Figure 1f 3) The cleaning robot rotates in place at a right angle to the first rotation direction to the second initial direction and runs a third predetermined distance along a straight line; illustratively, as Figure 1f As shown, the cleaning robot is oriented toward the first rotation direction ( Figure 1f4) Rotate in place at a right angle (i.e., rotate in place by 90° or (360°×n+90°), where n is a positive integer) to the second initial direction L12, and the cleaning robot runs a third predetermined distance d3 from point F1 to point G1 along a straight line. 5) Rotate in place at a right angle to the first turning direction toward the second rotation direction, and run a fourth predetermined distance along a straight line; illustratively, as Figure 1f As shown, the cleaning robot is oriented toward the second rotation direction ( Figure 1f 5) Rotate in place at a right angle (i.e., rotate in place by 90° or (360°×n+90°), where n is a positive integer) to the first turning direction Lx; the cleaning robot runs a fourth predetermined distance d4' from point G1 to point H1 along a straight line. 6) Rotate in place at a right angle toward the second rotation direction to the first initial direction; run a fifth predetermined distance along a straight line to the end point of the first path; illustratively, as Figure 1f As shown, the cleaning robot is oriented toward the second rotation direction ( Figure 1f The cleaning robot rotates in place at a right angle (i.e., rotates in place by 90° or (360°×n+90°), where n is a positive integer) to direction L2. At this time, the running direction L2 of the cleaning robot is the same as the first initial direction L1 (in the clockwise direction). Figure 1f The cleaning robot runs a fifth predetermined distance d5 along a straight line to the end point D of the first path. Figure 1f As shown, the first path is an S-shaped curve starting from the starting point C and passing through the points E1, F1, G1, H1 to the end point D.

[0065] In the second execution step S130, the second path is symmetrical to the first path; the second path is an S-shaped curve starting from the end point of the first path and ending at the starting point of the first path. The symmetry between the second path and the first path is similar to the first implementation method, and will not be repeated here. For example, Figure 1f As shown, the second path is an S-shaped curve starting from the starting point D and passing through the points I1, F1, G1, and J1 to the end point C.

[0066] Therefore, according to this embodiment, during the operation of the cleaning robot, when the start-up conditions are met, the cleaning robot operates in a specific mode (double S mode), that is, the cleaning robot first runs an S-shaped first path from the starting point of the first stage to the end point, and then runs a second path symmetrical to the previous first path from the end point to the starting point of the original first stage, thereby the cleaning robot runs a double S-shaped curve (the S-shaped curve corresponding to the first path and the S-shaped curve corresponding to the second path partially overlap with each other (such as Figure 1e FG segment in), some do not overlap (such as Figure 1eThus, compared with the prior art in which the entire working surface is cleaned in the same manner, resulting in an inability to clean the dirty area more specifically and insufficient cleaning of the dirty area, the cleaning robot of this embodiment can clean a dirty location at least twice in a row, thereby being able to clean the dirty area more specifically and more effectively.

[0067] On the basis of the technical solution described in the first embodiment, the second embodiment can be obtained by further introducing step S125.

[0068] Embodiment 2:

[0069] See also Figure 2 The control method may include: when the start condition is met, controlling the cleaning robot to operate in a specific mode. Controlling the cleaning robot to operate in a specific mode includes the following steps:

[0070] In step S110 (starting step), it is determined that the cleaning robot takes a first preset position as a starting point of the first stage, and the cleaning robot is controlled to be located at the starting point of the first stage.

[0071] In step S120 (the first execution step), the cleaning robot is controlled to run along a first path.

[0072] In step S125 (judgment step), it is determined whether the dirtiness of the current working surface meets the preset dirtiness condition.

[0073] In this embodiment, the current working surface may include the surface of the currently detected working area, and may also include the range that the dirt detection sensor can detect in the current working area. For example, if according to the parameters of the infrared tube sensor and its installation position, it can detect the ground 10 cm in front of the cleaning robot, then the ground range 10 cm in front of the cleaning robot also belongs to the current working surface.

[0074] If the judgment step S125 determines that the degree of dirtiness of the current working surface meets the preset dirtiness condition, it means that the subsequent working surface to be cleaned is still relatively dirty, and the start condition is still met at this time, then the first execution step S120 is continued to be executed, and the second first path is run to clean the current working surface to extend the coverage of the specific mode, so the first execution step S120 is returned to be executed to clean the current working surface, wherein the starting point of the second first path is the end point of the first first path. For the principle and example of dirtiness detection by the dirtiness detection sensor, please refer to the above introduction to the dirtiness detection sensor, which will not be repeated here. If the judgment step S125 determines that the degree of dirtiness of the current working surface does not meet the preset dirtiness condition, it means that the subsequent working surface to be cleaned is relatively clean, and the start condition is not met at this time, and therefore the coverage of the specific mode does not need to be extended, then the second execution step S130 is executed to run the first second path. In the case where the judgment step S125 determines that the current working surface is not dirty at the preset dirt condition, for example, the number of first execution steps that have been run since entering the specific mode is counted (i.e., the number of first paths that have been run is calculated); if the cleaning robot runs the first path N times in total after entering the specific mode, in order to make the end point of the cleaning robot at the end of the specific mode be the first preset position at the beginning of the specific mode (i.e., the starting point of the first first path), and since the second path is an S-shaped curve symmetrical to the first path, it is necessary to run the same number of second paths as the first path to return the cleaning robot to the first preset position at the start, so in the case where the judgment step S125 determines that the current working surface is not dirty at the preset dirt condition, it is necessary to continuously execute N second execution steps, i.e., control the cleaning robot to run N second paths. This judgment step S125 belongs to the first stage.

[0075] For the first path and the second path in this embodiment, reference may be made to the description of the first path and the second path in the first embodiment and its various implementations, which will not be repeated here.

[0076] For the convenience of description, the following Figure 4b To illustrate this embodiment, Figure 4b This is a schematic diagram of a cleaning robot operating in a specific mode. Figure 4bAs shown in FIG. ②, when the start-up conditions are met, the cleaning robot enters a specific mode at position C, and position C is the starting point of the first path or the first combined path to be run in the specific mode. The cleaning robot runs along the S-shaped curve of the first path to point D according to the method described in the above embodiment 1, and completes the first path once, that is, executes the first execution step S120 once (N=1 at this time), and then executes the judgment step S125, and detects whether the current degree of dirtiness of the working surface meets the preset dirtiness condition through the dirtiness detection sensor; if it is determined that the current degree of dirtiness of the working surface meets the preset dirtiness condition, then continue to execute the first execution step S120, and run from point D along the first path again to point D2, and complete the first path again, that is, execute the first execution step S120 again (N=2 at this time), and then execute the judgment step S125 again, and detect the current degree of dirtiness of the working surface through the dirtiness detection sensor. Whether it meets the preset dirtiness condition; if it is determined that the dirtiness of the current working surface meets the preset dirtiness condition, then continue to execute the first execution step S120, run from point D2 to point D3 along the first path again, and complete the first path once, that is, execute the first execution step S120 once again (at this time N=3), and then execute the judgment step S125 again, and detect whether the dirtiness of the current working surface meets the preset dirtiness condition through the dirtiness detection sensor; if it is determined that the dirtiness of the current working surface does not meet the preset dirtiness condition, then execute the second execution step S130 N times continuously; in this embodiment, N=3, that is, execute the second execution step S130 3 times, that is, run the second path 3 times in sequence, and return to the original starting point C. Since the second path is symmetrical to the first path, and the second path is an S-shaped curve with the end point of the first path as the starting point and the starting point of the first path as the end point, the second path is easy to determine on the premise that the first path is determined, such as Figure 4b As shown by the solid line in the curve on the right side of Figure ③, the first second path starts from D3, and starts to move along the solid S-shaped curve in the direction of the left arrow to point D2, at which time the first second execution step S130 (i.e., the first second path) is completed; then the cleaning robot starts from point D2 and moves along the solid S-shaped curve in the direction of the left arrow to point D, at which time the second second execution step S130 (i.e., the second second path) is completed; then the cleaning robot starts from point D and moves along the solid S-shaped curve in the direction of the left arrow to point C, at which time the third second execution step S130 (i.e., the third second path) is completed, thereby returning to the first preset position of the specific mode (i.e., the starting point of the specific mode) point C.

[0077] Regarding the start-up conditions, preset dirtiness conditions and steps S110, S120, S130, please refer to the description of the start-up conditions, preset dirtiness conditions and steps S110, S120, S130 in the first embodiment, which will not be repeated here.

[0078] As can be seen from the above example, in this embodiment, the starting point of the first first path is the first preset position, the starting point of the Nth first path is the end point of the (N-1)th first path, the starting point of the first second path is the end point of the last first path, the starting point of the Nth second path is the end point of the (N-1)th second path, and the end point of the Nth second path is the first preset position. The number of first paths run is the same as the number of second paths.

[0079] Therefore, this embodiment can perform more targeted deep cleaning while adjusting the cleaning range of deep cleaning in real time according to the actual area of ​​the dirty area, thereby improving the cleaning effect of the cleaning robot and the user experience.

[0080] On the basis of the technical solution described in the first embodiment, the third embodiment can be obtained by further introducing steps S310 to S340.

[0081] Embodiment three:

[0082] See also Figure 3a The control method may include: when the start condition is met, controlling the cleaning robot to operate in a specific mode. Controlling the cleaning robot to operate in a specific mode includes the following steps:

[0083] In step S110 (starting step), it is determined that the cleaning robot takes a first preset position as a starting point of the first stage, and the cleaning robot is controlled to be located at the starting point of the first stage.

[0084] In step S120 (the first execution step), the cleaning robot is controlled to run along a first path.

[0085] In step S130 (the second execution step), the cleaning robot is controlled to run along the second path.

[0086] The first stage includes a first execution step S120 and a second execution step S130.

[0087] For details about the start-up conditions and steps S110 to S130, please refer to the description about the start-up conditions and steps S110 to S130 in the first embodiment, and Figure 3b Figures ① to ③ are not described in detail here.

[0088] For the first path and the second path in this embodiment, reference may be made to the description of the first path and the second path in the first embodiment and its various implementations, which will not be repeated here.

[0089] Controlling the cleaning robot to operate in a specific mode also includes the following steps after the first stage:

[0090] In step S310 (adjustment step), determine that the cleaning robot takes the second preset position as the starting point of the second stage, and turn the running direction of the cleaning robot to the third initial direction. Relative to the first stage of the first execution step S120 and the second execution step S130, the third execution step S320 and the fourth execution step S330 described below can be collectively referred to as the second stage. Therefore, the starting point of the second stage is the starting point of the third execution step S320. Among them, the third initial direction is different from the first initial direction. In this embodiment, exemplarily, the third initial direction is set perpendicular to the first initial direction. Exemplarily, as Figure 3b As shown in FIG. ③, after completing the first stage, the cleaning robot returns to the starting point C of the first stage; the cleaning robot performs the adjustment step S310. Figure 3b In the embodiment shown, the cleaning robot moves from point C to a second preset position point K (point K may be at point F, or may not coincide with point F, and of course point K may also be at any set position). Figure 3b ④ Figure and Figure 3c As shown, the starting point of the second stage, that is, the starting point of the third execution step S320, is point K. Of course, the second preset position can also be the end point of the second execution step S130, for example Figure 3b ③ Figure and Figure 3c Point C in the figure, that is, point C can also be used as the starting point of the second stage, that is, the starting point of the third execution step S320.

[0091] For the convenience of description, the following Figure 3c and Figure 3d This embodiment is described. Figure 3c and Figure 3d They are Figure 3b The third path and the fourth path (curved path on the right) in the specific mode in FIG. ④ and FIG. ⑤ are enlarged schematic diagrams. In the third execution step S320, the cleaning robot is controlled to run along the third path. The third path is an S-shaped curve. The starting point of the third path is the position of the cleaning robot after executing the above adjustment step S310, and the initial direction of the third path is the third initial direction. Figure 3c As shown, the third initial direction is direction L3, and the third initial direction L3 is different from the first initial direction L1. Figure 3c The third initial direction L3 is set as the downward direction, which is parallel to the initial running direction L0 of the cleaning robot (in Figure 3b ② in the figure is upward direction), and perpendicular to the first initial direction L1 (in Figure 3bOf course, the third initial direction may also be other directions different from the first initial direction L1. Figure 3c As shown, the cleaning robot starts from the starting point K and moves along the third path of the S-shaped curve toward the third initial direction L3, for example, from Figure 3c The third path is completed by starting from point K and running through points P, Q, R, and S to complete the S-shaped path and reach the end point T (point K may or may not coincide with point F; similarly, points P and I, points Q and D, points R and C, points S and J, and points T and G may or may not coincide with each other). The specific operation method can be found in the description of the first execution step S120 (running along the first path) in the above embodiment 1, which will not be repeated here.

[0092] In the fourth execution step S330, the cleaning robot is controlled to run along a fourth path, wherein the fourth path is an S-shaped curve symmetrical to the third path, and the fourth path starts from the end point of the third path and ends at the starting point of the third path.

[0093] Since the fourth path is an S-shaped curve symmetrical to the third path, and the fourth path starts from the end point of the third path and ends at the starting point of the third path, the fourth path can be easily determined if the third path is determined. Figure 3d As shown, the cleaning robot starts from the starting point T of the fourth path (which is also the end point of the third path) and moves along the fourth path of the S-shaped curve toward the fourth initial direction L4 (the direction L4 is the same as the direction L3), for example, from Figure 3d Starting from point T, passing through points U, Q, R, and V, running through the S-shaped path to reach the end point K (point T may or may not coincide with point G; similarly, point U may or may not coincide with point H, point Q may or may not coincide with point D, point R may or may not coincide with point C, point V may or may not coincide with point E, point K may or may not coincide with point F), and the fourth path is completed. Wherein, illustratively, point P may or may not coincide with point V, point Q may or may not coincide with point R, point U may or may not coincide with point S, and point P may or may not coincide with point U, point K may or may not coincide with point T, point V may or may not coincide with point S, and point S may or may not coincide with point KR, so that the fourth path is symmetrical with the third path; of course, it is not limited to using the KT line or the QR line as the symmetry axis, and it may also be a diagonal line such as the PS line or the UV line, or rotational symmetry using the center point W of the third path and the fourth path as the symmetry point, and the present disclosure does not limit the symmetry method. The specific operation mode can refer to the description of the second execution step S130 (operating along the second path) in the above-mentioned embodiment 1, which will not be repeated here.

[0094] In this embodiment, in order to cover a larger cleaning range, when the start conditions are met, the cleaning robot first runs the first double S-shaped curve (for example, Figure 1b Figures ③ and ④ and Figure 3b Then, according to the adjustment step S310, the running direction of the cleaning robot is adjusted to the third initial direction (in some embodiments, the second preset position also needs to be adjusted), and then according to the third embodiment, the second double S-shaped curve of steps S320 to S330 is run in the second stage of the specific mode (for example, Figure 3b Thus, in the specific mode of this embodiment, the cleaning robot runs two double S-shaped curves in two directions perpendicular to each other, and some paths of the two double S-shaped curves overlap (such as Figure 3b The FG segment in is the overlapped part of the first path and the second path, and the QR segment is the overlapped part of the third path and the fourth path); some paths are relatively close (such as Figure 3b VP segment and EI segment, RQ segment and CD segment, SU segment and JH segment, VS segment and EJ segment, KT segment and FG segment, PU segment and IH segment, etc.), considering that the cleaning robot has a certain working width, it can also achieve the effect of repeated cleaning for relatively close paths. In this way, compared with the prior art that is unable to perform more targeted cleaning of dirty areas and the insufficient cleaning degree of dirty areas, the cleaning robot of this embodiment cleans a dirty position multiple times, so it can perform more targeted and more effective cleaning of the dirty area.

[0095] For example, in the first implementation of this embodiment, in the adjustment step S310, the second preset position is determined (therefore, the starting point of the second stage is determined), and the cleaning robot is located at the starting point of the second stage (for example, Figure 3b ④ Figure or Figure 3c The cleaning robot moves from the end point C of the second execution step S130 to the second preset position K), and then turns the running direction of the cleaning robot to the third initial direction L3, and executes the third execution step S320 to control the cleaning robot to run along the third path. The third path may specifically include: 1) running a sixth predetermined distance in a straight line toward the third initial direction; illustratively, as Figure 3c As shown, the cleaning robot takes point K as the starting point of the second stage, and moves along a straight line toward the third initial direction L3 for a sixth predetermined distance d6 to point P. 2) Move along a third arc with a radius of a seventh predetermined distance toward a third rotation direction (e.g., counterclockwise), and the moving distance is a semicircle of the third circle where the third arc is located; illustratively, as Figure 3c As shown, the cleaning robot takes point P as the starting point and moves along the third arc PQ segment with a radius of the seventh predetermined distance d7 toward the third rotation direction (at Figure 3bThe running distance is the semicircle of the third circle where the third arc is located. Figure 3b The distance of the arc segment PQ in Figure ④ is the distance of the arc segment PQ, and the cleaning robot moves to point Q; at this time, the running direction L34 of the cleaning robot is parallel to and opposite to the third initial direction L3 (in Figure 3c 3) running an eighth predetermined distance along a straight line, at which time the running direction of the cleaning robot is parallel to and opposite to the third initial direction L3; illustratively, as Figure 3c As shown, the cleaning robot starts from point Q and runs in a straight line in the running direction L34 for an eighth predetermined distance d8 to point R. In some embodiments, the eighth predetermined distance is twice the sixth predetermined distance. In some embodiments, the eighth predetermined distance is equal to the sixth predetermined distance. 4) Run along a fourth arc with a radius of the ninth predetermined distance in a fourth rotation direction (for example, clockwise), and the running distance is a semicircle of the fourth circle where the fourth arc is located; illustratively, as Figure 3c As shown, the cleaning robot takes point R as the starting point and moves along a fourth arc RS segment with a radius of a ninth predetermined distance d9 toward a fourth rotation direction (at Figure 3c The running distance is the semicircle of the fourth circle where the fourth arc is located. Figure 3c That is, the distance of the RS arc segment, and the robot moves to point S; at this time, the running direction L4 of the cleaning robot is the same as the third initial direction L3 (in Figure 3b ④ in the figure is the downward direction). In some embodiments, the ninth predetermined distance is equal to the seventh predetermined distance. In this case, the third arc is the same as the fourth arc (including the same radius of the circle and the same length of the two arc segments), and the third circle is the same as the fourth circle (same radius); in some embodiments, the fourth arc may be different from the third arc, and the third arc and the fourth arc may not be semicircles. In this case, the cleaning robot is not required to run a semicircle along the arc. Even if it does not run to the semicircle or exceeds the semicircle, the cleaning robot can still continue to run the subsequent path in a direction parallel to the direction L3 by adjusting the direction. 5) Run the tenth predetermined distance in a straight line toward the third initial direction to the end point of the third path; illustratively, as Figure 3c As shown, the cleaning robot starts from point S and moves in a straight line in a direction L4 (same as the third initial direction L3) for a tenth predetermined distance d10 to the end point T of the third path. For example, the tenth predetermined distance may be equal to the sixth predetermined distance. Figure 3c As shown, the third path is an S-shaped curve starting from the starting point K and passing through the points P, Q, R, and S along the solid line in the figure to the end point T.

[0096] The present disclosure does not limit the sixth to tenth predetermined distances, and they can be set according to needs. For example, the sixth predetermined distance can be 1 half width, the seventh predetermined distance can be 0.5 half width, the eighth predetermined distance can be 2 half widths, the ninth predetermined distance can be 0.5 half widths, and the tenth predetermined distance can be 1 half width; the third rotation direction can be counterclockwise, and when the fourth rotation direction is clockwise, the motion trajectory obtained by controlling the cleaning robot to run in a specific mode is as follows: Figure 3b As shown in Figure ④ and Figure ⑤. Figure 3b It can be seen that the running trajectory of the cleaning robot in the actual working area is two Arabic numeral 8 shapes composed of four S-shaped curves.

[0097] It should be noted that although Figure 3b The two 8-shaped shapes in the figure are symmetrical, but the present disclosure is not limited to this. The two 8-shaped shapes formed by four S-shaped curves can be asymmetrical. The two running 8-shaped shapes can be made asymmetrical by adjusting the corresponding predetermined distances involved in the four S-shaped curves.

[0098] It should be understood that in the fourth execution step, a fourth path may be formed in accordance with the principle of symmetry with the third path, and the cleaning robot may be controlled to run along the fourth path. Figure 3d As shown in FIG. 1 , the fourth path is an S-shaped curve starting from the starting point T and passing through the points U, Q, R, and V along the solid line in the figure to the end point K. For the convenience of description, the two S-shaped curves of the third path and the fourth path can be called double S-shaped curves. Figure 3d It can be seen that the double S-shaped curve forms an Arabic numeral 8.

[0099] The following Figure 3b ⑤ Figure and Figure 3d The first implementation of this embodiment is described below. Figure 3b ⑤ Figure and Figure 3d As shown, when the cleaning robot completes the third execution step S320 - controlling the cleaning robot to run along the third path and reaches point T, the fourth execution step S330 is executed. The fourth execution step S330 is to control the cleaning robot to run along the fourth path. Among them, the fourth path is an S-shaped curve symmetrical to the third path, and the fourth path starts from the end point of the third path and ends at the starting point of the third path. According to the above description of the third path, the fourth path may specifically include: 1) Starting from point T, move the sixth predetermined distance d6 in the direction L4 to point U, wherein point U and point S are mirror-symmetrical with the line KT as the axis of symmetry. 2) Starting from point U and moving along the fourth arc UQ segment with a radius of the ninth predetermined distance d9 toward the fourth rotation direction (in Figure 3b ⑤ Figure and Figure 3d The running direction is clockwise in the figure, and the running distance is the semicircle of the circle where the fourth arc is located. Figure 3b ⑤ Figure and Figure 3b 3) Starting from point Q, run along a straight line for a distance d8 to point R, where point R and point Q are mirror-symmetrical with the line KT as the axis of symmetry. 4) Starting from point R, run along the third arc RV with a radius of the seventh predetermined distance d7 towards the third rotation direction (at Figure 3b ⑤ Figure and Figure 3d The running distance is the semicircle of the circle where the third arc is located. Figure 3b ⑤ Figure and Figure 3d 5) Starting from point V and moving in a straight line toward the third initial direction L3, the sixth predetermined distance d6 is run to point K; point V and point P are mirror-symmetric with the line KT as the axis of symmetry. The line KT here can be the axis of symmetry between the fourth path and the third path. Of course, there can be other axes of symmetry and symmetry methods, such as the fourth path and the third path are symmetrical. Figure 3b ⑤ Figure and Figure 3d In the figure, the QR line in the figure is the axis of symmetry, and at this time, the K point and the T point are mirror-symmetrical with the QR line as the axis of symmetry, the P point and the U point are mirror-symmetrical with the QR line as the axis of symmetry, the V point and the S point are mirror-symmetrical with the QR line as the axis of symmetry, the arc segment PQ and the arc segment UQ are mirror-symmetrical with the QR line as the axis of symmetry, the arc segment VR and the arc segment SR are mirror-symmetrical with the QR line as the axis of symmetry, and the line segment VP and the line segment SU are mirror-symmetrical with the QR line as the axis of symmetry. In the above implementation, it can be seen that the starting point T of the fourth path is the end point of the third path, and the end point K of the fourth path is the starting point of the third path.

[0100] After completing the fourth execution step S330, that is, after completing the second stage, the cleaning robot may terminate the specific mode. Figure 3b As shown in Figure ⑥, the specific mode is switched to the normal mode (for example, a bow-shaped route). Of course, the cleaning robot can execute the same specific mode again, or change the direction and execute the specific mode again; the cleaning robot can also enter other modes according to instructions or programs after exiting the specific mode, such as navigation mode, obstacle avoidance mode, edge mode, etc.

[0101] The following Figure 3e The second implementation of this embodiment is described. In the adjustment step S310, the second preset position is determined (therefore the starting point of the second stage is determined), and the cleaning robot is located at the starting point of the second stage (for example Figure 3eThe cleaning robot moves from the end point C of the second execution step S130 to the second preset position K), and then turns the running direction of the cleaning robot to the third initial direction L3, and executes the third execution step S320 to control the cleaning robot to run along the third path. The third path may specifically include: 1) running in a straight line for a sixth predetermined distance in the third initial direction; this process is the same as the first implementation method and will not be repeated here. 2) running in a third rotation direction (for example, counterclockwise) along a third arc with a radius of a seventh predetermined distance, and adjusting the direction to a fourth initial direction, the fourth initial direction is opposite to the third initial direction, and the third arc is smaller than the circumference of the third circle in which it is located; illustratively, as Figure 3e As shown, the cleaning robot takes point P as the starting point and moves along a third arc PQ' segment with a radius of the seventh predetermined distance d7 toward the third rotation direction (at Figure 3e The first arc PQ' is not necessarily a semicircle of the third circle where it is located (that is, point Q' does not necessarily coincide with point Q), as long as it is smaller than the circumference of the third circle where it is located. When the cleaning robot reaches the end point Q' of the process, it adjusts its direction to direction L34. At this time, the running direction L34 of the cleaning robot is opposite to the third initial direction L3 (in Figure 3e 3) Run along a straight line for an eighth predetermined distance; this process is the same as the first implementation mode and will not be described in detail here. 4) Run along a fourth arc with a radius of the ninth predetermined distance in a fourth rotation direction (e.g., clockwise) and adjust the direction to the third initial direction, and the fourth arc is smaller than the circumference of the fourth circle in which it is located; illustratively, Figure 3e As shown, the cleaning robot takes point R as the starting point and moves along a fourth arc RS' segment with a radius of a ninth predetermined distance d9 toward a fourth rotation direction (at Figure 3e The fourth arc RS' is not necessarily a semicircle of the fourth circle where it is located (that is, point S' does not necessarily coincide with point S), as long as it is smaller than the circumference of the fourth circle where it is located. When the cleaning robot reaches the end point S' of the process, its direction is adjusted to L4. At this time, the running direction L4 of the cleaning robot is the same as the third initial direction L3 (in Figure 3e 5) Running in a straight line for a tenth predetermined distance toward the third initial direction to the end point of the third path. This process is the same as the first implementation method and will not be described in detail here. Figure 3eAs shown, the third path is an S-shaped curve starting from the starting point K and passing through the points P, Q', R, S' to the end point T. It should be understood that the fourth path can be formed according to the principle of symmetry with the third path, and the cleaning robot can be controlled to run along the fourth path. The present disclosure does not limit the sixth to tenth predetermined distances, which can be set according to needs. By comparing the second implementation method of this embodiment with the second implementation method of Example 1, it can be seen that the third path of the second implementation method of this embodiment is similar to the first path of the second implementation method of Example 1. The fourth path of the second implementation method of this embodiment can be deduced by analogy with the second path of the second implementation method of Example 1, which will not be repeated here; similarly, the third path and fourth path of the third implementation method of this embodiment can be deduced by referring to the first path and the second path of the third implementation method of Example 1, which will not be repeated here.

[0102] Therefore, according to this embodiment, during the operation of the cleaning robot, when the starting conditions are met, the cleaning robot operates in a specific mode, that is, the cleaning robot first runs the first double S-shaped curve composed of the first path and the second path, then determines the second preset position as the starting point of the second stage and adjusts the running direction of the cleaning robot to the third initial direction, and then runs the second double S-shaped curve composed of the third path and the fourth path. Therefore, in the specific mode of this embodiment, the cleaning robot runs two double S-shaped curves in two directions perpendicular to each other, and some paths of these two double S-shaped curves overlap (such as Figure 3e The FG segment in the figure is the overlapped part of the first path and the second path, and the Q'R segment is the overlapped part of the third path and the fourth path). Some paths are relatively close (such as Figure 1e and Figure 3e Compared with the FI segment and KP segment, the ID segment and the PQ segment, the CD segment and the RQ' segment, the CJ segment and the RS' segment, the JG segment and the S'T segment, the FG segment and the KT segment, etc.), considering that the cleaning robot has a certain working width, it can also achieve the effect of repeated cleaning for relatively close paths. In this way, compared with the prior art that the entire working surface is cleaned in the same way, resulting in the inability to perform more targeted cleaning of the dirty area and the problem of insufficient cleaning of the dirty area, the cleaning robot of this embodiment cleans a dirty position multiple times, so it can perform more targeted and more effective cleaning of the dirty area.

[0103] like Figure 3aAs shown, the control method may further include a judgment step S340 (the judgment step S340 belongs to the second stage) after the fourth execution step S330. In step S340, it is judged whether the dirtiness of the current working surface meets the preset dirtiness condition. If it is judged that the dirtiness of the current working surface meets the preset dirtiness condition, the first execution step S120 or the third execution step S320 is returned to continue to be executed. The judgment step S340 is the same as the judgment step S125 in the second embodiment, and will not be repeated here.

[0104] Therefore, according to this embodiment, not only can the dirty area be cleaned more targeted and more effectively, but also the number of executions of the first stage can be adjusted according to the actual cleaning situation of the dirty area while performing more targeted deep cleaning, thereby improving the cleaning effect of the cleaning robot and the user experience.

[0105] Embodiment 4:

[0106] See also Figure 4a The control method may include: when the start condition is met, controlling the cleaning robot to operate in a specific mode. Controlling the cleaning robot to operate in a specific mode includes the following steps:

[0107] In step S110 (starting step), the cleaning robot is determined to take the first preset position as the starting point of the first stage, and the cleaning robot is controlled to be located at the starting point of the first stage. For the start-up conditions and step S110, please refer to the description of the start-up conditions and step S110 in embodiment 1, which will not be repeated here.

[0108] In step S410 (the first execution step), the cleaning robot is controlled to run along the first combined path. The first combined path is a path formed by connecting M S-shaped first paths end to end; in order to unify the terms in the above embodiment, in this embodiment, the initial direction of the first combined path, that is, the direction of the first first path in the first combined path, is called the first initial direction of the first path, and the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; M is a positive integer greater than 1; the end point of the first combined path is the end point of the Mth first path.

[0109] In this embodiment, M is the number of first paths constituting the first combination path, and M can be preset, for example, M is preset to 3. The starting point and the end point of the first combination path are the starting point of the first first path and the end point of the Mth first path, respectively, and the initial direction of the first combination path is the first initial direction of the first path (since the first initial directions of all first paths in the first combination path are the same, the initial direction of the first combination path is both the first initial direction of the first first path and the first initial direction of each first path therein). The first preset position is determined as the starting point of the first stage. Consistent with the terminology in the above embodiment, the first stage here also includes a first execution step and a second execution step. In this embodiment, it is obvious that the starting point of the first stage is both the starting point of the first combination path and the starting point of the first first path in the first combination path. The next first path starts from the end point of the previous first path (therefore, the first combination path is referred to as a path formed by connecting M S-shaped first paths end to end).

[0110] For the first path and the second path in this embodiment, reference may be made to the description of the first path and the second path in the first embodiment and its various implementations, which will not be repeated here.

[0111] For example, taking M=3 as an example, the following Figure 4c The first execution step S410 is described. Figure 4c Schematic diagram of the cleaning robot running in a specific mode. The initial running direction of the cleaning robot is the X direction (such as Figure 4c ② The direction L0 below point C in the figure), since the first initial direction of the first path is perpendicular to the initial running direction L0 of the cleaning robot, the initial direction of the first combined path is the Y direction, for example, it can be as follows Figure 4c The left side of point C in the ② figure points to the direction L1 in the +y direction. In this embodiment, for example, Figure 4cAs shown in FIG. ②, when the start-up conditions are met, the cleaning robot enters a specific mode at position C. If position C is set as the first preset position, position C is the starting point of the first stage in the specific mode, and is also the starting point of the first combined path that the cleaning robot will run. The cleaning robot runs along the S-shaped curve of the first first path to the end point D of the first path according to the method described in the above embodiment 1, completing the first first path (M=1 at this time); then, starting from the end point D of the first first path, the cleaning robot continues to run the second first path along the S-shaped curve of the first path to point D2, and the second first path is completed (M=2 at this time); then, starting from the end point D2 of the second first path, the cleaning robot continues to run the third first path along the S-shaped curve of the first path to point D3, and the third first path is completed (M=3 at this time). At this time, it is judged that M=3, and the number of first paths that have been preset has been reached, and the first execution step S120 is no longer executed at this time. At this time, the cleaning robot is located at the end point D3 of the third first path, that is, the end point of the first combined path.

[0112] In step S420 (second execution step), the cleaning robot is controlled to run along the second combined path. The second combined path is symmetrical to the first combined path; the second combined path is a path formed by connecting M S-shaped second paths end to end; the starting point of the second combined path is the starting point of the first second path, and is the same as the end point of the first combined path, and the end point of the second combined path is the end point of the Mth second path, which is also the same as the starting point of the first combined path. The starting point of the first second path is the end point of the first combined path, and the next second path starts from the end point of the previous second path (therefore, the second combined path is referred to as a path formed by connecting M S-shaped second paths end to end). The symmetry between the second combined path and the first combined path is similar to the symmetry between the second path and the first path described in the first embodiment, and will not be repeated here.

[0113] The following Figure 4c The second step S420 is described. Figure 4c As shown in Figure ③, when the cleaning robot completes the first execution step S410 - controlling the cleaning robot to run along the first combined path and arrives at point D3, the cleaning robot starts from point D3 and runs along the solid line trajectory in the figure through points D2 and D three times in sequence to finally arrive at point C. Since the second combined path is symmetrical to the first combined path, and the second combined path starts from the end point of the first combined path and ends at the starting point of the first combined path, the second combined path is easy to determine under the premise of determining the first combined path. For example, Figure 4cAs shown by the solid line in the double S-shaped curve on the right side of Figure ③, the first second path starts at D3, and starts to move along the solid S-shaped curve in the direction of the left arrow to point D2, at which time the first second path is completed (M=1 at this time); then the cleaning robot starts to move along the solid S-shaped curve in the direction of the left arrow to point D from the end point of the first second path as the starting point, and completes the second second path (M=2 at this time); then the cleaning robot starts to move along the solid S-shaped curve in the direction of the left arrow to point C from the end point of the second second path as the starting point, and completes the third second path (M=3 at this time), thereby returning to point C, the starting point of the first combined path (i.e., the starting point of the first stage of the specific mode).

[0114] After completing the second execution step S420, that is, after completing the first stage, the cleaning robot may terminate the specific mode, for example, Figure 4c As shown in Figure ④, the cleaning robot switches from the specific mode to the normal mode (for example, a bow-shaped route). Of course, the cleaning robot can execute the same specific mode again, or change the direction and execute the specific mode again; the cleaning robot can also enter other modes according to instructions or programs after exiting the specific mode, such as navigation mode, obstacle avoidance mode, edge mode, etc.

[0115] In this embodiment, in order to cover a larger cleaning range, during the operation of the cleaning robot, if the starting conditions are met, the cleaning robot executes the first stage in a specific mode (referred to as the double S combination mode in this embodiment), that is, the cleaning robot first runs a first combination path composed of M S-shaped first paths connected end to end from the starting point of the first stage to the end point, and then runs a second combination path composed of M S-shaped second paths symmetrical to the first combination path connected end to end from the end point of the first combination path to the starting point of the first stage, thereby the cleaning robot completes a double S-shaped combination curve (the S-shaped curve composed of the M S-shaped first paths corresponding to the first combination path connected end to end and the S-shaped curve composed of the M S-shaped second paths corresponding to the second combination path connected end to end partially overlap with each other (such as Figure 4c Therefore, according to this embodiment, not only can the dirty area be cleaned more targeted and more effectively, but also the cleaning range of deep cleaning is increased, thereby improving the cleaning effect of the cleaning robot and the user experience.

[0116] On the basis of the technical solution described in the fourth embodiment, the fifth embodiment can be obtained by further introducing step S510.

[0117] Embodiment five:

[0118] See also Figure 5 The control method may include: when the start condition is met, controlling the cleaning robot to operate in a specific mode. Controlling the cleaning robot to operate in a specific mode includes the following steps:

[0119] In step S110 (starting step), it is determined that the cleaning robot takes a first preset position as a starting point of the first stage, and the cleaning robot is controlled to be located at the starting point of the first stage.

[0120] In step S410 (the first execution step), the cleaning robot is controlled to run along a first combined path.

[0121] In step S420 (the second execution step), the cleaning robot is controlled to run along the second combined path.

[0122] The first stage includes a first execution step S410 and a second execution step S420.

[0123] Regarding the start-up conditions and steps S110, S410-S420, please refer to the description of the start-up conditions and steps S110, S410-S420 in the fourth embodiment, which will not be repeated here.

[0124] For the first path and the second path in this embodiment, reference may be made to the description of the first path and the second path in the first embodiment and its various implementations, which will not be repeated here.

[0125] In step S510 (judgment step), it is determined whether the dirtiness of the current working surface meets the preset dirtiness condition. The judgment step S510 belongs to the first stage.

[0126] In this embodiment, the current working surface may include the surface of the currently detected working area, and may also include the range that the dirt detection sensor can detect in the current working area. For example, if according to the parameters of the infrared tube sensor and its installation position, it can detect the ground 10 cm in front of the cleaning robot, then the ground range 10 cm in front of the cleaning robot also belongs to the current working surface.

[0127] The following Figure 4cThis embodiment is described. When the cleaning robot completes the second execution step S420 - controlling the cleaning robot to run along the second combination path and reaches point C, the judgment step S510 is executed. If the judgment step S510 determines that the degree of dirtiness of the current working surface meets the preset dirtiness condition, it means that after the first stage of the first execution step S410 and the second execution step S420, the current working surface still fails to meet the cleaning requirements and is still relatively dirty. At this time, the start condition is still met, and the above-mentioned first execution step S410 is repeated, and the first combination path is run again to clean the current working surface. For details, refer to the first execution step S410 of the fourth embodiment, which will not be repeated here. Then the second execution step S420 is executed again, and the second combination path is run again to clean the current working surface. For details, refer to the second execution step S420 of the fourth embodiment, which will not be repeated here. Thus, the number of executions of the first stage of the specific mode is increased to achieve targeted and focused cleaning of the current working surface. Regarding the principle and example of the dirt detection sensor detecting dirtiness, refer to the above introduction to the dirt detection sensor, which will not be repeated here. If the determination step S510 determines that the current dirtiness of the working surface does not meet the preset dirtiness condition, it means that the working surface just cleaned is relatively clean and does not need to be cleaned again. At this time, since the start condition is not met, the cleaning robot will not run the first stage of the specific mode again. At this time, illustratively, the cleaning robot can exit the specific mode, such as running in the normal mode of the bow-shaped route. Of course, the cleaning robot can also change direction and execute the specific mode again, or enter other modes according to instructions or programs after exiting the specific mode, such as navigation mode, obstacle avoidance mode, edge mode, etc.

[0128] Therefore, according to this embodiment, not only can the dirty area be cleaned more targeted and more effectively, but also the number of executions of the first stage can be adjusted according to the actual cleaning situation of the dirty area while performing more targeted deep cleaning, thereby improving the cleaning effect of the cleaning robot and the user experience.

[0129] On the basis of the technical solution described in the fourth embodiment, further introducing steps S610 to S640 can obtain the sixth embodiment.

[0130] Embodiment six:

[0131] See also Figure 6a The control method may include: when the start condition is met, controlling the cleaning robot to operate in a specific mode. Controlling the cleaning robot to operate in a specific mode includes the following steps:

[0132] In step S110 (starting step), it is determined that the cleaning robot takes a first preset position as a starting point of the first stage, and the cleaning robot is controlled to be located at the starting point of the first stage.

[0133] In step S410 (the first execution step), the cleaning robot is controlled to run along a first combined path.

[0134] In step S420 (the second execution step), the cleaning robot is controlled to run along the second combined path.

[0135] The first stage includes a first execution step S410 and a second execution step S420.

[0136] For details about the start-up conditions and steps S110, S410-S420, please refer to the description of the start-up conditions and steps S110, S410-S420 in the fourth embodiment and Figure 6b Figures ① to ③ are not described in detail here.

[0137] Controlling the cleaning robot to operate in a specific mode also includes the following steps after the first stage:

[0138] In step S610 (adjustment step), the cleaning robot is determined to take the second preset position as the starting point of the second stage, and the running direction of the cleaning robot is turned to the third initial direction. Relative to the first stage of the first execution step S410 and the second execution step S420, the third execution step S620 and the fourth execution step S630 described below can be collectively referred to as the second stage, and therefore, the starting point of the second stage is the starting point of the third execution step S620. Among them, the third initial direction is different from the first initial direction. In this embodiment, illustratively, the third initial direction is set parallel to the initial running direction of the cleaning robot or perpendicular to the first initial direction.

[0139] For the first path, the second path, the third path, and the fourth path in this embodiment, reference may be made to the descriptions of the first path, the second path, the third path, and the fourth path in the aforementioned embodiments and implementations, and will not be repeated here.

[0140] Similar to the fourth embodiment, M=3 is preset. During the normal operation of the cleaning robot, Figure 6b As shown in Figure ①; when the cleaning robot runs to point C, the start condition is met and the specific mode is entered. At this time, point C is determined to be the first preset position, so point C is the starting point of the first stage. At this time, the cleaning robot is located at point C, and then the first execution step S410 is executed, such as Figure 6bAs shown in Figure ②; when the cleaning robot completes the first execution step and reaches point D3, the first combined path including three first paths has been completed. The cleaning robot executes the second execution step S420 and returns to point C, the starting point of the first stage, thereby completing the first stage of the specific mode. The above process has been described in detail in Example 4 and will not be repeated here. Then, the cleaning robot executes the adjustment step S610 and determines that Z1 is the second preset position. Point Z1 is the starting point of the second stage, i.e., the starting point of the third execution step S620. The cleaning robot moves from point C to the second preset position point Z1 (the second preset position point Z1 is implemented in the same way as the second preset position point K in Example 3, which will not be repeated here). Then, the running direction of the cleaning robot turns to the third initial direction L3. The third initial direction L3 is different from the first initial direction L1. For example, in this embodiment, the third initial direction L3 is set to be perpendicular to the first initial direction L1. Figure 6b It should be noted that the second preset position may also be the end point of the second execution step S420, for example Figure 6b At this time, point C is the starting point of the second stage, that is, the starting point of the third execution step S620. The present disclosure does not limit the setting method and specific position of the second preset position.

[0141] In step S620 (the third execution step), the cleaning robot is controlled to run along the third combined path. The third combined path is a path formed by connecting P S-shaped third paths end to end, where P is a positive integer greater than 1; the end point of the third combined path is the end point of the Pth third path; and the end point of the third combined path is the starting point of the fourth combined path.

[0142] In this embodiment, P is the number of third paths constituting the third combined path, and P can be preset, for example, P is preset to 3. The starting point and the end point of the third combined path are respectively the starting point of the first third path and the end point of the Pth third path, and the initial direction of the third combined path is the third initial direction L3 mentioned above (since the third initial directions of all third paths in the third combined path are the same, the initial direction of the third combined path is both the third initial direction of the first third path and the third initial direction of each third path therein), and the starting point of the first third path is the position where the cleaning robot is located after executing the above adjustment step S610, that is, the starting point of the second stage; the next third path starts from the end point of the previous third path (therefore, the third combined path is referred to as a path formed by connecting P S-shaped third paths end to end). The third combined path is Figure 6bAs shown by the curve in bold solid line on the right side of Figure ④. According to a similar method to the above-mentioned third embodiment, the cleaning robot runs from the starting point Z1 of the second stage along the S-shaped curve of the third path to the point Z2, completing the first third path (at this time P=1); then starting from the end point Z2 of the first third path, it continues to run along the S-shaped curve of the third path to the point Z3, completing the second third path (at this time P=2); then starting from the end point Z3 of the second third path, it continues to run along the S-shaped curve of the third path to the point Z4, completing the third third path (at this time P=3). At this time, it is judged that P=3, which has reached the pre-set number of third paths, and the third execution step S620 is executed at this time. At this time, the cleaning robot is located at the end point Z4 of the third third path, which is also the end point of the third combined path.

[0143] In step S630 (the fourth execution step), the cleaning robot is controlled to run along the fourth combination path. Among them, the fourth combination path is symmetrical with the third combination path; the symmetry between the fourth combination path and the third combination path is similar to the symmetry between the fourth path and the third path in the above-mentioned embodiment three, and will not be repeated here. The fourth combination path is a path formed by P S-shaped fourth paths connected end to end; the starting point of the fourth combination path is the starting point of the first fourth path, and the end point of the fourth combination path is the end point of the Pth fourth path, which is also the same as the starting point of the third combination path. Therefore, under the premise that the third combination path has been determined, the fourth combination path is easy to determine. Therefore, the number of fourth paths constituting the fourth combination path is the same as the number of third paths constituting the third combination path, both of which are P. The starting point of the first fourth path is the end point of the third combination path (that is, the end point of the last third path, that is, the end point of the Pth third path), and the next fourth path starts from the end point of the previous fourth path (therefore, the fourth combination path is called a path formed by P S-shaped fourth paths connected end to end).

[0144] Exemplarily, the fourth combination path is as follows Figure 6bAs shown in the bold solid curve on the right side of Figure ⑤, the first fourth path starts from point Z4, and moves in the downward arrow direction L4 (direction L4 is the same as the third initial direction L3) along the solid S-shaped curve to point Z3, completing the first fourth path (P=1 at this time); then the cleaning robot starts from point Z3, the end point of the first fourth path, and moves in the downward arrow direction along the solid S-shaped curve to point Z2, completing the second fourth path (P=2 at this time); then the cleaning robot starts from point Z2, the end point of the second fourth path, and moves in the downward arrow direction along the solid S-shaped curve to point Z1, completing the third fourth path (P=3 at this time), thereby returning to the starting point of the third combined path, i.e., point Z1, the starting point of the second stage. After completing the above-mentioned fourth execution step S630, that is, after completing the second stage, illustratively, the cleaning robot can end the specific mode. For example, as Figure 6b As shown in Figure ⑥, the specific mode is switched to the normal mode (for example, a bow-shaped route). Of course, the cleaning robot can execute the same specific mode again, or change the direction and execute the specific mode again; the cleaning robot can also enter other modes according to instructions or programs after exiting the specific mode, such as navigation mode, obstacle avoidance mode, edge mode, etc.

[0145] According to this embodiment, during the operation of the cleaning robot, if the starting conditions are met, the cleaning robot operates in a specific mode (double S combination mode), that is, the cleaning robot first runs from the starting point of the first stage to the end point, which is composed of M S-shaped first paths connected end to end, and then runs from the end point to the starting point of the original first stage. Then, it is determined that the cleaning robot uses the second preset position as the starting point of the second stage, and the running direction of the cleaning robot is turned to the third initial direction. Then, from the starting point of the second stage, it runs from the third combination path composed of P S-shaped third paths connected end to end to the end point, and then runs from the end point to the third combination path composed of P S-shaped third paths connected end to end. A fourth combined path formed by P S-shaped fourth paths connected end to end leads to the starting point of the second stage. Therefore, some paths of the cleaning robot overlap, while some paths are relatively close. Considering that the cleaning robot has a certain working width, the relatively close paths can also have the effect of repeated cleaning. In this way, compared with the problem of the prior art that the entire working surface is cleaned in the same way, resulting in the inability to perform more targeted cleaning of the dirty area and the insufficient cleaning degree of the dirty area, the cleaning robot of this embodiment cleans a dirty position multiple times, and the cleaning area in a specific mode can be expanded by adjusting the preset M value and P value, so that the dirty area can be cleaned more targeted and more effectively.

[0146] In one implementation, Figure 6aAs shown, the control method may further include a judgment step S640 after the fourth execution step S630. In step S640, it is judged whether the degree of dirtiness of the current working surface meets the preset dirtiness condition. If it is judged that the degree of dirtiness of the current working surface meets the preset dirtiness condition, the first execution step S410 or the third execution step S620 is returned to continue to execute, so as to detect the cleaning effect in a specific mode in real time. If the current working surface is still dirty, the first stage or the second stage of cleaning in the specific mode can be repeatedly executed, thereby improving the cleaning effect of the cleaning robot and the user experience. Judgment step S640 is similar to judgment step S125 in embodiment 2 and judgment step S510 in embodiment 5, and will not be repeated here.

[0147] It should be noted that any combination of the above embodiments and various implementation methods under each embodiment is also within the protection scope of the present disclosure.

[0148] Figure 7 FIG. 1 is a block diagram showing a control device of a cleaning robot according to an exemplary embodiment, the cleaning robot being used to clean a working area. Figure 7 , the control device 700 may include a control unit 710. The control unit 710 is used to control the cleaning robot to run in a specific mode when the start condition is met, wherein the control unit 710 is configured to perform the following steps: a starting step, determining that the cleaning robot takes a first preset position as the starting point of the first stage, and controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; a first execution step, controlling the cleaning robot to run along a first path; a second execution step, controlling the cleaning robot to run along a second path, the first stage includes the first execution step and the second execution step; wherein the second path is symmetrical to the first path, the first path is an S-shaped curve, and the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; the second path is an S-shaped curve starting from the end point of the first path and ending at the starting point of the first path.

[0149] In one possible implementation, the control unit 710 is also used to execute, after executing the first execution step: a judgment step, determining whether the current degree of dirtiness of the working surface meets the preset dirtiness condition; if it is determined that the current degree of dirtiness of the working surface meets the preset dirtiness condition, continue to execute the first execution step; if it is determined that the current degree of dirtiness of the working surface does not meet the preset dirtiness condition, continuously execute N second execution steps; wherein N is the total number of times the cleaning robot is controlled to run along the first path, and N is a positive integer greater than 1.

[0150] In a possible implementation, the control unit 710 is also used to perform the following steps after executing the first stage: an adjustment step, determining that the cleaning robot takes the second preset position as the starting point of the second stage, and turning the running direction of the cleaning robot to a third initial direction; a third execution step, controlling the cleaning robot to run along a third path; a fourth execution step, controlling the cleaning robot to run along a fourth path, wherein the second stage includes the third execution step and the fourth execution step; the third initial direction is different from the first initial direction; the third path is an S-shaped curve; the fourth path is an S-shaped curve symmetrical to the third path, and the fourth path starts from the end point of the third path and ends at the starting point of the third path.

[0151] In one possible implementation, the control unit 710 is also used to execute a judgment step after executing the fourth execution step to determine whether the current degree of dirtiness of the working surface meets the preset dirtiness condition. If it is determined that the current degree of dirtiness of the working surface meets the preset dirtiness condition, it returns to continue executing the first execution step or the third execution step.

[0152] Alternatively, the control unit 710 is used to control the cleaning robot to operate in a specific mode when a start condition is met, wherein the control unit 710 is configured to perform the following steps: a starting step, determining that the cleaning robot takes a first preset position as the starting point of the first stage, and controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; a first execution step, controlling the cleaning robot to operate along a first combined path; a second execution step, controlling the cleaning robot to operate along a second combined path, wherein the first stage includes the first execution step and the second execution step; wherein, The first combined path is a path formed by connecting M S-shaped first paths end to end; the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; M is a positive integer greater than 1; the end point of the first combined path is the end point of the Mth first path; the second combined path is symmetrical to the first combined path; the second combined path is a path formed by connecting M S-shaped second paths end to end; the starting point of the second combined path is the starting point of the first second path, and is the same as the end point of the first combined path, and the end point of the second combined path is the end point of the Mth second path, which is also the same as the starting point of the first combined path.

[0153] In one possible implementation, the control unit 710 is also used to execute a judgment step after executing the second execution step to determine whether the current degree of dirtiness of the working surface meets the preset dirtiness condition. If it is determined that the current degree of dirtiness of the working surface meets the preset dirtiness condition, it returns to continue executing the first execution step.

[0154] In a possible implementation, the control unit 710 is further used to perform the following steps after executing the first stage: an adjustment step, determining that the cleaning robot takes the second preset position as the starting point of the second stage, and turning the running direction of the cleaning robot to a third initial direction; a third execution step, controlling the cleaning robot to run along a third combined path; a fourth execution step, controlling the cleaning robot to run along a fourth combined path, and the second stage includes the third execution step and the fourth execution step; wherein the third initial direction is different from the first initial direction, the third combined path is a path formed by connecting P S-shaped third paths end to end, and P is a positive integer greater than 1; the end point of the third combined path is the end point of the Pth third path, and is also the starting point of the fourth combined path; the fourth combined path is symmetrical to the third combined path; the fourth combined path is a path formed by connecting P S-shaped fourth paths end to end; the starting point of the fourth combined path is the starting point of the first fourth path, and the end point of the fourth combined path is the end point of the Pth fourth path, which is also the same as the starting point of the third combined path.

[0155] In one possible implementation, the control unit 710 is also used to execute a judgment step after executing the fourth execution step to determine whether the current degree of dirtiness of the working surface meets the preset dirtiness condition. If it is determined that the current degree of dirtiness of the working surface meets the preset dirtiness condition, it returns to continue the first execution step or the third execution step.

[0156] In one possible implementation, the first path includes: running a first predetermined distance in a straight line toward the first initial direction; running along a first arc with a radius of a second predetermined distance toward a first rotation direction, and the running distance is half the circumference of a first circle where the first arc is located; running a third predetermined distance in a straight line; running along a second arc with a radius of a fourth predetermined distance toward a second rotation direction, and the running distance is half the circumference of a second circle where the second arc is located; running a fifth predetermined distance in a straight line toward the first initial direction to an end point of the first path.

[0157] In one possible implementation, the first path includes: running a first predetermined distance in a straight line toward the first initial direction; running along a first arc with a radius of a second predetermined distance toward a first rotation direction, and adjusting the direction to a second initial direction, wherein the second initial direction is opposite to the first initial direction, and the first arc is smaller than the circumference of the first circle in which it is located; running a third predetermined distance in a straight line; running along a second arc with a radius of a fourth predetermined distance toward a second rotation direction, and adjusting the direction to the first initial direction, wherein the second arc is smaller than the circumference of the second circle in which it is located; running a fifth predetermined distance in a straight line toward the first initial direction to the end point of the first path.

[0158] In one possible implementation, the first path includes: running a first predetermined distance in a straight line toward the first initial direction; rotating in place at a right angle toward the first rotation direction to a first turning direction; running a second predetermined distance in a straight line; rotating in place at a right angle toward the first rotation direction to the second initial direction; running a third predetermined distance in a straight line; rotating in place at a right angle toward the second rotation direction to the first turning direction; running a fourth predetermined distance in a straight line; rotating in place at a right angle toward the second rotation direction to the first initial direction; running a fifth predetermined distance in a straight line to the end point of the first path.

[0159] In one possible implementation, the third path includes: running a sixth predetermined distance in a straight line toward the third initial direction; running along a third arc with a radius of a seventh predetermined distance toward a third rotation direction, and the running distance is a semicircle of a third circle where the third arc is located; running an eighth predetermined distance in a straight line; running along a fourth arc with a radius of a ninth predetermined distance toward a fourth rotation direction, and the running distance is a semicircle of a fourth circle where the fourth arc is located; running a tenth predetermined distance in a straight line toward the third initial direction to the end point of the third path.

[0160] In one possible implementation, the third path includes: running in a straight line for a sixth predetermined distance toward the third initial direction; running along a third arc with a radius of a seventh predetermined distance toward a third rotation direction, and adjusting the direction to a fourth initial direction, wherein the fourth initial direction is opposite to the third initial direction, and the third arc is smaller than the circumference of the third circle in which it is located; running in a straight line for an eighth predetermined distance; running along a fourth arc with a radius of a ninth predetermined distance toward a fourth rotation direction, and adjusting the direction to the third initial direction, wherein the fourth arc is smaller than the circumference of the fourth circle in which it is located; running in a straight line for a tenth predetermined distance toward the third initial direction to the end point of the third path.

[0161] In one possible implementation, the first preset position is the position of a dirty area in the working area, and the starting step includes: a determination step, determining that the cleaning robot takes the position of the dirty area as the starting point of the first stage; a moving step, controlling the cleaning robot to move from the first position to the position of the dirty area, and turning the running direction of the cleaning robot to the first initial direction, wherein the first position is the initial position of the cleaning robot when operating in the specific mode.

[0162] In a possible implementation, the first preset position is an initial position of the cleaning robot when operating in the specific mode.

[0163] In a possible implementation manner, the start condition includes: detecting that the dirtiness of the current working surface meets a preset dirtiness condition, or detecting a dirty area in the working area.

[0164] Regarding the device in the above embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0165] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot is used to clean a working area, and the control method includes: When the start-up conditions are met, the cleaning robot is controlled to operate in a specific mode. Wherein, controlling the cleaning robot to operate in a specific mode includes: A starting step, determining that the cleaning robot takes a first preset position as the starting point of the first stage, controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; A first execution step is to control the cleaning robot to run along a first path; The second execution step is to control the cleaning robot to run along a second path. The first stage includes the first execution step and the second execution step; Among them, the second path is symmetrical to the first path; the first path is an S-shaped curve, and the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; the second path is an S-shaped curve with the end point of the first path as the starting point and the starting point of the first path as the end point.

2. The control method according to claim 1, characterized in that: After the first execution step, the method further includes: A judging step, judging whether the current dirtiness of the working surface meets the preset dirtiness condition, if it is judged that the current dirtiness of the working surface meets the preset dirtiness condition, then continuing to execute the first execution step; if it is judged that the current dirtiness of the working surface does not meet the preset dirtiness condition, then continuously executing N second execution steps; Wherein, N is the total number of times the first execution step is executed, and N is a positive integer greater than 1.

3. The control method according to claim 1, characterized in that: After the first stage, it also includes: An adjustment step is performed to determine that the cleaning robot takes the second preset position as the starting point of the second stage, and turns the running direction of the cleaning robot to a third initial direction; A third execution step is to control the cleaning robot to run along a third path; The fourth execution step is to control the cleaning robot to run along a fourth path. The second stage includes the third execution step and the fourth execution step; Among them, the third initial direction is different from the first initial direction; the third path is an S-shaped curve; the fourth path is an S-shaped curve symmetrical to the third path, and the fourth path starts from the end point of the third path and ends at the starting point of the third path.

4. A control method for a cleaning robot, characterized in that: The cleaning robot is used to clean a working area, and the control method includes: When the start-up conditions are met, the cleaning robot is controlled to operate in a specific mode. Wherein, controlling the cleaning robot to operate in a specific mode includes: A starting step, determining that the cleaning robot takes a first preset position as the starting point of the first stage, controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; A first execution step is to control the cleaning robot to run along a first combined path; The second execution step is to control the cleaning robot to run along a second combined path. The first stage includes the first execution step and the second execution step; Wherein, the first combined path is a path formed by connecting M S-shaped first paths end to end; the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; M is a positive integer greater than 1; the end point of the first combined path is the end point of the Mth first path; The second combined path is symmetrical to the first combined path; the second combined path is a path formed by connecting M S-shaped second paths end to end; the starting point of the second combined path is the starting point of the first second path, and is the same as the end point of the first combined path, and the end point of the second combined path is the end point of the Mth second path, which is also the same as the starting point of the first combined path.

5. The control method according to claim 4, characterized in that: After the second execution step, the method further includes: A judging step of judging whether the current dirtiness of the working surface meets the preset dirtiness condition. If it is judged that the current dirtiness of the working surface meets the preset dirtiness condition, the method returns to continue to execute the first execution step.

6. The control method according to claim 4, characterized in that: After the first stage, it also includes: An adjustment step is performed to determine that the cleaning robot takes the second preset position as the starting point of the second stage, and turns the running direction of the cleaning robot to a third initial direction; A third execution step is to control the cleaning robot to run along a third combined path; The fourth execution step is to control the cleaning robot to run along a fourth combined path. The second stage includes the third execution step and the fourth execution step; wherein the third initial direction is different from the first initial direction, The third combined path is a path formed by connecting P S-shaped third paths end to end, where P is a positive integer greater than 1; the end point of the third combined path is the end point of the Pth third path and is also the starting point of the fourth combined path; The fourth combination path is symmetrical to the third combination path; the fourth combination path is a path formed by connecting P S-shaped fourth paths end to end; the starting point of the fourth combination path is the starting point of the first fourth path, and the end point of the fourth combination path is the end point of the Pth fourth path, which is also the same as the starting point of the third combination path.

7. The control method according to claim 3 or 6, characterized in that: After the fourth execution step, the method further includes: A judging step of judging whether the dirtiness of the current working surface meets the preset dirtiness condition; if it is judged that the dirtiness of the current working surface meets the preset dirtiness condition, returning to continue to execute the first execution step or the third execution step.

8. The control method according to any one of claims 1 to 6, characterized in that: The first path includes: Running a first predetermined distance in a straight line toward the first initial direction; Running along a first circular arc with a radius of a second predetermined distance toward a first rotation direction, the running distance being a half circumference of a first circle where the first circular arc is located; running a third predetermined distance along the straight line; Running in a second rotation direction along a second circular arc with a radius of a fourth predetermined distance, the running distance being a semicircle of a second circle where the second circular arc is located; The device runs in a straight line for a fifth predetermined distance toward the first initial direction to an end point of the first path.

9. The control method according to any one of claims 1 to 6, characterized in that: The first path includes: Running a first predetermined distance in a straight line toward the first initial direction; Running along a first circular arc with a radius of a second predetermined distance toward a first rotation direction, and adjusting the direction to a second initial direction, wherein the second initial direction is opposite to the first initial direction, and the first circular arc is smaller than the circumference of the first circle in which it is located; running a third predetermined distance along the straight line; Running along a second circular arc with a radius of a fourth predetermined distance toward a second rotation direction, and adjusting the direction to the first initial direction, wherein the second circular arc is smaller than the circumference of the second circle on which it is located; The device runs in a straight line for a fifth predetermined distance toward the first initial direction to an end point of the first path.

10. The control method according to any one of claims 1 to 6, characterized in that: The first path includes: Running a first predetermined distance in a straight line toward the first initial direction; Rotate in place at a right angle toward the first rotation direction to the first turning direction; run along a straight line for a second predetermined distance; Rotate in place at a right angle toward the first rotation direction to a second initial direction; run a third predetermined distance along a straight line; Rotate in place at a right angle toward the second rotation direction to the first turning direction; run a fourth predetermined distance along a straight line; Rotate in place at a right angle toward the second rotation direction to the first initial direction; and run a fifth predetermined distance along a straight line to the end point of the first path.

11. The control method according to claim 3 or 6, characterized in that: The third path includes: Running a sixth predetermined distance in a straight line toward the third initial direction; Running in a third rotation direction along a third arc having a radius of a seventh predetermined distance, the running distance being a semicircle of a third circle where the third arc is located; running an eighth predetermined distance along a straight line; Running along a fourth arc with a radius of a ninth predetermined distance in a fourth rotation direction, the running distance being a semicircle of a fourth circle where the fourth arc is located; The device runs a tenth predetermined distance in a straight line toward the third initial direction to an end point of the third path.

12. The control method according to claim 3 or 6, characterized in that: The third path includes: Running a sixth predetermined distance in a straight line toward the third initial direction; Run along a third circular arc with a radius of a seventh predetermined distance toward a third rotation direction, and adjust the direction to a fourth initial direction, wherein the fourth initial direction is opposite to the third initial direction, and the third circular arc is smaller than the circumference of the third circle where the third circular arc is located; running an eighth predetermined distance along a straight line; Running along a fourth circular arc having a radius of a ninth predetermined distance toward a fourth rotation direction, and adjusting the direction to the third initial direction, wherein the fourth circular arc is smaller than the circumference of a fourth circle on which the fourth circular arc is located; The device runs a tenth predetermined distance in a straight line toward the third initial direction to an end point of the third path.

13. The control method according to any one of claims 1 to 6, characterized in that: The first preset position is the position of the dirty area in the working area, The initial steps include: A determination step, determining that the cleaning robot takes the position of the dirty area as the starting point of the first stage; The moving step controls the cleaning robot to move from a first position to the position of the dirty area, and turns the running direction of the cleaning robot to the first initial direction, wherein the first position is the initial position of the cleaning robot when running in the specific mode.

14. A control device for a cleaning robot, characterized in that: The cleaning robot is used to clean the working area, and the control device includes: A control unit is used to control the cleaning robot to operate in a specific mode when a start condition is met. Wherein, the control unit is configured to perform the following steps: A starting step, determining that the cleaning robot takes a first preset position as the starting point of the first stage, controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; A first execution step is to control the cleaning robot to run along a first path; The second execution step is to control the cleaning robot to run along a second path. The first stage includes the first execution step and the second execution step; Among them, the second path is symmetrical to the first path, the first path is an S-shaped curve, and the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; the second path is an S-shaped curve with the end point of the first path as the starting point and the starting point of the first path as the end point.

15. A control device for a cleaning robot, characterized in that: The cleaning robot is used to clean the working area, and the control device includes: A control unit is used to control the cleaning robot to operate in a specific mode when a start condition is met. Wherein, the control unit is configured to perform the following steps: A starting step, determining that the cleaning robot takes a first preset position as the starting point of the first stage, controlling the cleaning robot to be located at the starting point of the first stage, and turning the running direction of the cleaning robot to a first initial direction; A first execution step is to control the cleaning robot to run along a first combined path; The second execution step is to control the cleaning robot to run along a second combined path. The first stage includes the first execution step and the second execution step; Wherein, the first combined path is a path formed by connecting M S-shaped first paths end to end; the first initial direction of the first path is perpendicular to the initial running direction of the cleaning robot; M is a positive integer greater than 1; the end point of the first combined path is the end point of the Mth first path; The second combined path is symmetrical to the first combined path; the second combined path is a path formed by connecting M S-shaped second paths end to end; the starting point of the second combined path is the starting point of the first second path, and is the same as the end point of the first combined path, and the end point of the second combined path is the end point of the Mth second path, which is also the same as the starting point of the first combined path.

16. A control device for a cleaning robot, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the control method according to any one of claims 1 to 13 when executing the instructions stored in the memory.

17. A cleaning robot, characterized in that: include: a motion assembly configured to move the cleaning robot over a work surface in a work area; A control device according to any one of claims 14 to 16.

18. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the control method according to any one of claims 1 to 13 is implemented.

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