Suspended detection method and device, cleaning robot and storage medium

Abstract

The embodiment of the invention provides a suspension detection method and device, a cleaning robot and a storage medium. The method is applied to the cleaning robot, the cleaning robot is provided with a cliff sensor and an auxiliary sensor, the auxiliary sensor comprises an inertial sensor and / or an obstacle sensor, and the method comprises the following steps: acquiring cliff detection information detected by the cliff sensor and auxiliary information detected by the auxiliary sensor, the auxiliary information comprises inertial measurement information detected by the inertial sensor and / or obstacle information detected by the obstacle sensor; based on the cliff detection information and the auxiliary information, whether the cleaning robot is in a suspended state currently is judged; wherein the cliff detection information is used for indicating whether the cliff sensor detects a cliff or not, the obstacle information is used for indicating whether the obstacle sensor detects an obstacle within a preset range or not, and the inertial measurement information comprises at least one attitude angle and / or acceleration of the cleaning robot. The scheme can improve the reliability of the judgment result.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a suspension detection method, a suspension detection device, a cleaning robot and a computer-readable storage medium. Background Art

[0002] With the rapid development of intelligent device technology, cleaning robots are being used more and more widely. Cleaning robots play a role in efficient cleaning. They can reduce the labor cost of cleaning while improving work efficiency and cleanliness, and are indispensable in modern society.

[0003] During the operation of the cleaning robot, if the cleaning robot is manually picked up or lifted by the user, it needs to suspend its operation to avoid affecting the user's operation (for example, the user changes the mop, cleans the roller brush, etc.). In the related art, a cliff sensor is set on the cleaning robot, and the judgment condition of whether the cliff sensor is triggered (the detection of the cliff by the cliff sensor is regarded as a trigger) is used as the judgment condition of whether the cleaning robot is suspended in the air due to the user manually picking up or lifting it. However, the sensitivity of the cliff sensor is limited. Basically, a certain distance (for example, 10 cm) between the cliff sensor and the ground medium is required to be accurately triggered, and when the user picks up or lifts the robot, the finger may block the cliff sensor and cause the judgment to fail. Therefore, the cliff sensor in the related art cannot accurately identify various scenes of being picked up or lifted and suspended in the air, and the judgment result of judging that the cleaning robot is picked up or lifted and suspended in the air is low in accuracy, and the user experience is poor.

[0004] Therefore, a new suspension detection solution is needed to solve the above technical problems. Summary of the invention

[0005] In order to at least partially solve the problems existing in the prior art, a suspension detection method, a suspension detection device, a cleaning robot and a computer-readable storage medium are provided.

[0006] According to one aspect of the present invention, there is provided a method for detecting a suspended state, which is applied to a cleaning robot. The cleaning robot is provided with a cliff sensor and an auxiliary sensor, wherein the auxiliary sensor includes an inertial sensor and / or an obstacle sensor. The method includes: obtaining cliff detection information detected by the cliff sensor and auxiliary information detected by the auxiliary sensor, wherein the auxiliary information includes inertial measurement information detected by the inertial sensor and / or obstacle information detected by the obstacle sensor; based on the cliff detection information and the auxiliary information, determining whether the cleaning robot is currently in a suspended state; wherein the cliff detection information is used to indicate whether the cliff sensor detects a cliff, and the obstacle information is used to indicate whether the obstacle sensor detects an obstacle within a preset range, wherein the preset range is a spatial range outside the outer contour of the cleaning robot body and the distance between each point within the preset range and the outer contour of the cleaning robot body is less than or equal to the preset distance ， The inertial measurement information includes at least one attitude angle and / or acceleration of the cleaning robot.

[0007] Exemplarily, there are multiple cliff sensors, and judging whether the cleaning robot is currently in a suspended state based on cliff detection information and auxiliary information includes: determining whether each of the multiple cliff sensors has detected a cliff based on cliff detection information corresponding to each of the multiple cliff sensors; determining that the cleaning robot is not currently in a suspended state when the number of cliff sensors that detect cliffs is less than or equal to a first number threshold, or determining that the cleaning robot is not currently in a suspended state when the number of cliff sensors that detect cliffs is less than or equal to the first number threshold continues for a first preset time period; judging whether the target condition is satisfied based on the cliff detection information and auxiliary information, and if so, determining that the cleaning robot is not currently in a suspended state, and if not, determining that the cleaning robot is currently in a suspended state; determining that the cleaning robot is currently in a suspended state when the number of cliff sensors that detect cliffs is greater than a second number threshold, or determining that the cleaning robot is currently in a suspended state when the number of cliff sensors that detect cliffs is greater than the second number threshold continues for a second preset time period.

[0008] Exemplarily, the target conditions include: the cleaning robot is in a horizontal state and the number of cliff sensors detecting the cliff is greater than a first number threshold and less than or equal to a second number threshold for a third preset time period; and / or the number of obstacle points within a preset range is less than a third number threshold, wherein the preset range is the spatial range directly above the body of the cleaning robot, and the number of obstacle points is determined based on the obstacle information.

[0009] Exemplarily, the inertial measurement information includes a roll angle and a pitch angle of the cleaning robot, and the method further includes: when the roll angle in the inertial measurement information is less than or equal to a first angle threshold and the pitch angle in the inertial measurement information is less than or equal to a second angle threshold, determining that the cleaning robot is in a horizontal state.

[0010] Exemplarily, the suspended state of the cleaning robot is divided into multiple lifting types. Under different lifting types, the cleaning robot has different movement characteristics. The method also includes: when the cleaning robot is currently in a suspended state, judging the lifting type of the cleaning robot based on cliff detection information and auxiliary information.

[0011] Exemplarily, there are multiple cliff sensors, the multiple lifting types include dynamic lifting and stable lifting, the auxiliary information includes inertial measurement information, and the lifting type of the cleaning robot is judged based on the cliff detection information and the auxiliary information, including: determining whether each of the multiple cliff sensors has detected a cliff based on the cliff detection information corresponding to each of the multiple cliff sensors; when the number of cliff sensors that detect the cliff is greater than or equal to a fourth quantity threshold and the target requirement is met, determining that the lifting type is dynamic lifting, wherein the target requirement includes a first target requirement, and the first target requirement includes: within a fourth preset time period, the displacement of the cleaning robot in the target direction is greater than a preset displacement threshold; when the number of cliff sensors that detect the cliff is greater than or equal to a fifth quantity threshold for a fifth preset time period and the first target requirement is not met, determining that the lifting type is stable lifting; wherein the displacement of the cleaning robot in the target direction is determined based on the inertial measurement information, and the target direction is a direction perpendicular to the ground.

[0012] Exemplarily, the auxiliary information also includes obstacle information, and the target requirement also includes a second target requirement, the second target requirement including: within a fourth preset time length, the number of obstacle points within a preset range is greater than or equal to a sixth quantity threshold, wherein the preset range is the spatial range directly above the body of the cleaning robot, and the number of obstacle points is determined based on the obstacle information; and / or, when the number of cliff sensors that detect a cliff is greater than or equal to a fifth quantity threshold, the number of cliff sensors that detect the cliff is negatively correlated with the fifth preset time length.

[0013] Exemplarily, the method also includes: when the cleaning robot is currently in a suspended state, if the lifting type is dynamic lifting, controlling the cleaning robot to continue working for a sixth preset time period and / or outputting a first prompt message; and / or, the method also includes: when the cleaning robot is currently in a suspended state, if the lifting type is stable lifting, controlling the cleaning robot to stop working and / or outputting a second prompt message.

[0014] Exemplarily, based on the cliff detection information and the auxiliary information, the step of determining whether the cleaning robot is currently in a suspended state is performed when the cleaning robot is in a suspended state at the previous judgment moment, and the method also includes: when the cleaning robot is in a suspended state at the previous judgment moment, if the cleaning robot is currently in a suspended state, the suspended state is not released, otherwise the suspended state is released; and / or, based on the cliff detection information and the auxiliary information, the step of determining whether the cleaning robot is currently in a suspended state is performed when the cleaning robot is not in a suspended state at the previous judgment moment, and the method also includes: when the cleaning robot is not in a suspended state at the previous judgment moment, if the cleaning robot is currently in a suspended state, it is determined that the cleaning robot has changed to a suspended state, otherwise it is determined that the cleaning robot is still not in a suspended state.

[0015] Exemplarily, the method further includes: acquiring a charging signal of the cleaning robot, the charging signal being used to indicate whether the cleaning robot is in a charging state; when the cleaning robot is in a charging state, determining that the cleaning robot is not in a suspended state.

[0016] According to another aspect of the present invention, there is further provided a suspension detection device, comprising a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used to execute the above suspension detection method when the processor is running.

[0017] According to another aspect of the present invention, there is provided a cleaning robot, comprising a cliff sensor and an auxiliary sensor, wherein the auxiliary sensor comprises an inertial sensor and / or an obstacle sensor, and the cleaning robot further comprises the above-mentioned suspension detection device.

[0018] According to another aspect of the present invention, there is further provided a computer-readable storage medium, characterized in that program instructions are stored on the storage medium, and the program instructions are used to execute the above-mentioned suspension detection method when running.

[0019] According to the suspension detection method, suspension detection device, cleaning robot and computer-readable storage medium of the embodiments of the present invention, based on the cliff detection information detected by the cliff sensor and the auxiliary information detected by the auxiliary sensor, it is determined whether the cleaning robot is currently in a suspended state. In this way, the cliff detection information and the auxiliary information can be combined to use various parameters to determine whether the cleaning robot is in a suspended state, which can improve the reliability of the judgment result, reduce the occurrence of erroneous or untimely judgments, thereby improving the intelligence of the cleaning robot and optimizing the user experience.

[0020] A series of simplified concepts are introduced in the summary of the invention, which will be further described in detail in the detailed description. The summary of the invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0021] The advantages and features of the present invention are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The following drawings of the present invention are used as part of the present invention for understanding the present invention. The embodiments of the present invention and their description are shown in the drawings to explain the principle of the present invention. In the drawings,

[0023] Figure 1 A schematic flow chart of a method for detecting a suspended object according to an embodiment of the present invention is shown;

[0024] Figure 2 A schematic diagram showing the arrangement of cliff sensors at the bottom of a cleaning robot according to an embodiment of the present invention;

[0025] Figure 3 A schematic flow chart showing a method of determining whether a cleaning robot is in a suspended state according to an embodiment of the present invention; and

[0026] Figure 4 A schematic block diagram of a suspension detection device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0027] In the following description, a large amount of details are provided so that the present invention can be thoroughly understood. However, it will be appreciated by those skilled in the art that the following description only exemplarily illustrates a preferred embodiment of the present invention, and the present invention can be implemented without one or more such details. In addition, in order to avoid confusion with the present invention, some technical features well known in the art are not described in detail.

[0028] In order to at least partially solve the above technical problems, an embodiment of the present invention provides a method for detecting a suspended state. The method for detecting a suspended state can be applied to a cleaning robot. A cliff sensor and an auxiliary sensor are provided on the cleaning robot. The auxiliary sensor may include any one or more of an inertial sensor and an obstacle sensor. The obstacle sensor may be any sensor that can detect obstacle information related to an obstacle, including but not limited to one or more of a radar sensor, a structured light sensor, a light sensor, and a camera. The method for detecting a suspended state according to an embodiment of the present invention combines a cliff sensor and an auxiliary sensor, and comprehensively judges whether the cleaning robot is in a suspended state (lifting or lifting will cause suspension, so being in a suspended state can be regarded as being lifted or lifted) through the information of the two. Through this method for detecting a suspended state, the information detected by a variety of different sensors can be integrated to perform a suspended state detection, so that the cleaning robot can be accurately detected whether it is in a suspended state, and various lifting or lifting scenes can be identified to avoid missed detection, false detection, or untimely detection. In summary, the method for detecting a suspended state described in this article can improve the accuracy of suspended detection, improve the intelligence of the cleaning robot, and enhance the user experience. If the cleaning robot is manually picked up or lifted by the user during operation, it can suspend operation to avoid affecting the user's operation (for example, the user changes the mop, cleans the roller brush, etc.). This suspension detection method can be run on any control device, such as the main control chip of the cleaning robot. The cleaning robot can be used to clean areas such as the floor and / or walls. The application scenarios of the cleaning robot can be indoor cleaning in the home, cleaning of large places, etc.

[0029] Figure 1 FIG. 1 is a schematic flow chart of a method 100 for detecting a suspension according to an embodiment of the present invention. Figure 1 As shown, the suspension detection method 100 includes steps S110 and S120. For ease of description and understanding, the following mainly takes the suspension detection method running on the main control chip of the cleaning robot as an example for explanation. The above-mentioned main control chip can be, for example, a main control microcontroller, that is, a main control MCU. Exemplarily, when the cleaning robot starts to perform a cleaning task, the main control chip can automatically start to execute the suspension detection method 100. In addition, the main control chip can also start to execute the suspension detection method 100 in response to the user's instructions.

[0030] Step S110, obtaining cliff detection information detected by the cliff sensor and auxiliary information detected by the auxiliary sensor, wherein the auxiliary information includes inertial measurement information detected by the inertial sensor and / or obstacle information detected by the obstacle sensor, wherein the cliff detection information is used to indicate whether the cliff sensor detects a cliff, and the obstacle information is used to indicate whether the obstacle sensor detects an obstacle within a preset range, the preset range is a spatial range outside the outer contour of the cleaning robot body and the distance between each point within the preset range and the outer contour of the cleaning robot body is less than or equal to the preset distance, and the inertial measurement information includes at least one attitude angle and / or acceleration of the cleaning robot.

[0031] Exemplarily, the shape of the body of the cleaning robot can be arbitrary, for example, the orthographic projection of the body of the cleaning robot can be circular, D-shaped, rectangular, etc. The cleaning robot can be provided with one or more cliff sensors. The number of cliff sensors can be arbitrary. In one embodiment, the cleaning robot can be provided with 5 cliff sensors. The 5 cliff sensors are arranged at the bottom of the body of the cleaning robot. Figure 2 FIG. 4 shows a schematic diagram of the arrangement of cliff sensors at the bottom of a cleaning robot according to an embodiment of the present invention. Figure 2As shown, the cleaning robot is a cleaning robot with a circular body. At the bottom of the cleaning robot body, a cliff sensor A is arranged on the front side, a cliff sensor B and a cliff sensor C are arranged on the left side, and a cliff sensor D and a cliff sensor E are arranged on the right side. The five cliff sensors can detect the cliff detection information corresponding to each other. The cliff detection information is used to indicate whether the corresponding cliff sensor has detected a cliff. For example, if the distance (also referred to as the height) between the cliff sensor and the ground medium exceeds the distance threshold (also referred to as the height threshold), it is considered that a cliff is detected. The above distance threshold corresponding to the cliff sensor can be referred to as the trigger threshold of the cliff sensor. Assuming that the trigger threshold is 10 centimeters (cm), for cliff sensor A, if the distance between it and the ground medium is 11cm, cliff sensor A detects a cliff. Similarly, assuming that the distance between cliff sensor B and the ground medium is 10.5cm, the distance between cliff sensor C and the ground medium is 10cm, the distance between cliff sensor D and the ground medium is 9cm, and the distance between cliff sensor E and the ground medium is 7cm, cliff sensors B and C detect cliffs, and cliff sensors D and E do not detect cliffs. The cliff sensor described herein can be implemented using any existing or future cliff sensor. Exemplarily and not restrictively, the cliff sensor is a sensor based on the principle of infrared light transmission and reception. For example, the cliff sensor may include an infrared transmitter and an infrared receiver. The infrared transmitter transmits infrared light to the bottom of the cleaning robot at intervals. If the infrared light returns to be received by the infrared receiver after a long time or has not been received, it means that the ground medium is far away from the cliff sensor. At this time, the cliff sensor can output a trigger signal to the control device (such as the main control chip of the cleaning robot). The trigger signal can indicate that a cliff is detected, and the cliff sensor outputs a trigger signal, that is, the cliff sensor is triggered. The cliff detection information described in this application may be the above-mentioned trigger signal, which is generated only when the cliff sensor is detected. Once the control device receives such cliff detection information, it can be determined that the cliff sensor has detected a cliff. Of course, the above-mentioned embodiment of the cliff detection information as a trigger signal is only an example and not a limitation of the present invention. For example, the cliff sensor can also detect its height information in real time, and output the height information to the control device in real time, and the height information can be used to indicate the distance between the cliff sensor and the ground medium. The above-mentioned "real-time" execution of a certain operation includes the situation where the operation is performed at intervals. The height information may be an actual distance value (i.e., a height value), or other information, such as the above-mentioned reception time of infrared light. The reception time of infrared light is the time interval between the start of emission of infrared light and the reception of infrared light. For example, in an embodiment where the cliff sensor is implemented using the above-mentioned sensor based on the infrared light transceiver principle, the cliff sensor may directly output the corresponding reception time after each emission of infrared light to the control device.The trigger threshold for distinguishing whether a cliff is detected corresponds to a reception duration threshold, so the control device can compare the reception duration detected by the cliff sensor with the reception duration threshold. If the reception duration is greater than the reception duration threshold, it can be determined that the cliff is detected, otherwise it can be determined that the cliff is not detected. Of course, the control device can also calculate the distance between the cliff sensor and the ground medium based on the reception duration based on the corresponding relationship between the reception duration and the distance, and then compare the calculated distance with the trigger threshold. If the calculated distance is greater than the trigger threshold, it can be determined that the cliff is detected, otherwise it can be determined that the cliff is not detected. Alternatively, the cliff sensor can also determine the distance between the cliff sensor and the ground medium based on the reception duration, and directly output the distance value to the control device. The control device can then compare the received distance with the trigger threshold. If the received distance is greater than the trigger threshold, it can be determined that the cliff is detected, otherwise it can be determined that the cliff is not detected. Exemplarily, the cliff sensor can be set at any position at the bottom of the body of the cleaning robot.

[0032] Auxiliary sensors may also be provided on the cleaning robot. The auxiliary sensor may be an inertial sensor or an obstacle sensor, or may include both an inertial sensor and an obstacle sensor. In one embodiment of the present invention, the auxiliary sensor provided on the cleaning robot includes an inertial sensor and an obstacle sensor. Exemplarily, the inertial sensor may be provided at any position inside the body of the cleaning robot, and the obstacle sensor may be provided at one or more positions of the top, bottom and side of the body of the cleaning robot. The inertial sensor may include a gyroscope, an accelerometer, etc. The obstacle sensor may be any device that can detect obstacle information, such as a camera, a structured light sensor, a light sensor or a radar. The auxiliary information detected by the auxiliary sensor may include inertial measurement information detected by the inertial sensor and / or obstacle information detected by the obstacle sensor. The inertial measurement information may include one or more of the roll angle, pitch angle and acceleration of the cleaning robot. The gyroscope in the inertial sensor may detect the rotation angle of the cleaning robot, thereby determining the posture of the cleaning robot. The posture of the cleaning robot may be represented by, for example, the roll angle and pitch angle of the cleaning robot. It can be understood that the inertial sensor can also detect the yaw angle, but the yaw angle is not involved in the present invention, so it is not described in detail. In addition, the accelerometer in the inertial sensor can also detect the acceleration of the cleaning robot, etc. The obstacle information is used to indicate whether the obstacle sensor detects an obstacle. The obstacle information can reflect the existence of obstacles around the cleaning robot. Through the obstacle information, it can be determined whether the obstacle sensor detects obstacles such as hands within the preset range, and then help determine whether the cleaning robot is suspended due to being picked up or lifted. The preset range can be a spatial range outside the outer contour of the body of the cleaning robot and the distance between each point in the preset range and the outer contour of the body of the cleaning robot is less than or equal to the preset distance (which can be called the first preset distance). In one embodiment, the obstacle sensor can be a radar sensor. During the operation of the cleaning robot, the radar can rotate and transmit a radar signal through a transmitter on the radar. The radar signal is reflected by the obstacle, so that the radar receiver receives the radar signal reflected back by the obstacle. The circuit unit of the radar can obtain the surrounding environmental information, such as the distance between the obstacle and the radar, by analyzing the received radar signal. Therefore, the distance between each obstacle point and the sensor can be directly detected by the radar sensor, and then the number of obstacle points around the cleaning robot can be determined. Preferably, the radar sensor is set on the top of the body of the cleaning robot, so the number of obstacle points within a preset range above the cleaning robot is determined based on the obstacle information collected by the radar sensor, and the number is compared with a certain number threshold to determine whether there is an obstacle such as a hand in the space directly above the body of the cleaning robot. Exemplarily, the obstacle information may include distance information, and the distance information may represent the distance between each obstacle point and the sensor.Through the distance information, the number of obstacle points in the space directly above the cleaning robot can be determined. The radar is usually set on the top of the body of the cleaning robot. Obstacles other than hands are generally detected outside the positive projection range of the body of the cleaning robot, while hands can fall within the positive projection range of the body of the cleaning robot. Therefore, the distance between the contour of the positive projection of the preset range on the plane where the cleaning robot is located and the contour of the positive projection of the body of the cleaning robot on the plane where the cleaning robot is located can be less than or equal to the preset distance (which can be called the second preset distance). The second preset distance can be equal to any value, for example, 0 millimeters (mm), 1mm, 2mm or 3mm, etc. In one embodiment of the present invention, the second preset distance can be equal to 1mm. It can be understood that when the second preset distance is 0mm, the contour of the positive projection of the preset range on the plane where the cleaning robot is located coincides with the contour of the positive projection of the body of the cleaning robot on the plane where the cleaning robot is located. Of course, other types of obstacle sensors, such as structured light sensors, can also detect the number of obstacle points around the cleaning robot. In another embodiment, the obstacle sensor can also be a light sensor. Before and after an obstacle appears within the detection range of the light sensor, the light sensor can detect changes in the surrounding light, and then determine that the cleaning robot is blocked by the obstacle. When the cleaning robot is picked up or lifted by the user, the light sensor may be blocked by the user's fingers, so the light sensor can help detect whether the cleaning robot is picked up or lifted. When the light sensor is set on the side of the body of the cleaning robot, the preset range can be a range where the distance from the side of the body of the cleaning robot is less than or equal to the preset distance (i.e., the above-mentioned first preset distance). That is, the preset range is a range where the distance from the side of the body of the cleaning robot is [0,X]mm, and X is the first preset distance. When the light sensor is set at the top or bottom of the body of the cleaning robot, the preset range is a range where the distance from the top or bottom of the body of the cleaning robot is less than or equal to the preset distance (i.e., the above-mentioned first preset distance). That is, the preset range is a range where the distance from the top or bottom of the body of the cleaning robot is [0,X]mm, and X is the first preset distance. It can be understood that the value of X is determined by at least one of the parameters, characteristics, installation position of the light sensor itself in the cleaning robot, etc., and the embodiment of the present invention is not limited to this. In another embodiment, the obstacle sensor can also be any visual sensor such as a camera. Take the obstacle sensor as a camera as an example for explanation. The camera can be set at any position on the body of the cleaning robot, such as the top of the body of the cleaning robot. When the camera is set on the top of the body of the cleaning robot, the preset range can be the spatial range directly above the body of the cleaning robot, that is, when the obstacle sensor is a radar sensor or a camera, the corresponding preset ranges can be the same spatial range or a similar spatial range.When the obstacle sensor is a visual sensor, it can be determined whether an obstacle, such as a human hand, is detected within a preset range above the cleaning robot by performing image recognition on the image collected by the visual sensor. It is understood that the cleaning robot can be provided with any obstacle sensor such as a radar sensor, a light sensor or a camera, or multiple types of obstacle sensors can be provided, such as a radar sensor on the top of the cleaning robot and a light sensor on the side of the cleaning robot.

[0033] Step S120: Based on the cliff detection information and the auxiliary information, determine whether the cleaning robot is currently in a suspended state.

[0034] Exemplarily, based on the acquired cliff detection information and auxiliary information, it can be determined whether the cleaning robot is currently in a suspended state. That is, when determining whether the cleaning robot is in a suspended state, not only the cliff detection information of the cliff sensor can be considered, but also the auxiliary information can be combined to make a judgment. The judgment logic of step S120 can be set as needed. For example, based on the acquired cliff detection information and auxiliary information, if the distance between at least part of the cliff sensor of the cleaning robot body and the ground medium does not exceed the trigger threshold corresponding to the cliff sensor, and the pitch angle exceeds a certain angle threshold (for example, 6°), and the roll angle exceeds a certain angle threshold (for example, 5°), it can also be determined that the cleaning robot is currently in a suspended state. For another example, based on the acquired cliff detection information and auxiliary information, if the distance between all cliff sensors on the cleaning robot and the ground medium does not exceed their respective corresponding trigger thresholds and the pitch angle and roll angle do not exceed the corresponding angle thresholds, it can be determined that the cleaning robot is not currently in a suspended state.

[0035] According to the above technical solution, based on the cliff detection information detected by the cliff sensor and the auxiliary information detected by the auxiliary sensor, it is determined whether the cleaning robot is currently in a suspended state. In this way, the cliff detection information and the auxiliary information can be combined to use multiple parameters to determine whether the cleaning robot is in a suspended state, which can improve the reliability of the judgment result, reduce the occurrence of erroneous or untimely judgments, thereby improving the intelligence of the cleaning robot and optimizing the user experience.

[0036] Exemplarily, there are multiple cliff sensors, and judging whether the cleaning robot is currently in a suspended state based on cliff detection information and auxiliary information may include: determining whether each of the multiple cliff sensors detects a cliff based on cliff detection information corresponding to each of the multiple cliff sensors; determining that the cleaning robot is not currently in a suspended state when the number of cliff sensors that detect cliffs is less than or equal to a first number threshold, or determining that the cleaning robot is not currently in a suspended state when the number of cliff sensors that detect cliffs is less than or equal to the first number threshold continues for a first preset time period; judging whether the target condition is satisfied based on the cliff detection information and auxiliary information, and if so, determining that the cleaning robot is not currently in a suspended state, and if not, determining that the cleaning robot is currently in a suspended state; determining that the cleaning robot is currently in a suspended state when the number of cliff sensors that detect cliffs is greater than a second number threshold, or determining that the cleaning robot is currently in a suspended state when the number of cliff sensors that detect cliffs is greater than the second number threshold continues for a second preset time period.

[0037] In one embodiment, step S120 may include the following operations. Based on the acquired cliff detection information, it may be determined whether each of the multiple cliff sensors detects a cliff. The cliff sensor detecting the cliff may be regarded as the cliff sensor being triggered or in a triggered state. The multiple cliff sensors may have their own corresponding trigger thresholds, i.e., the above-mentioned height thresholds. The trigger thresholds corresponding to any two cliff sensors among the multiple cliff sensors may be the same or different. The trigger threshold may be understood as that when the height of the ground medium detected by any cliff sensor reaches its corresponding trigger threshold, the cliff sensor is in a triggered state. For example, the trigger threshold of a cliff sensor is 10 cm, indicating that when the height of the ground medium detected by the cliff sensor is greater than 10 cm, the cliff sensor is in a triggered state. In one embodiment of the present invention, the trigger thresholds corresponding to cliff sensor A, cliff sensor B, and cliff sensor D may be 10 cm, and the trigger thresholds corresponding to cliff sensor C and cliff sensor E may both be 8 cm.

[0038] In one embodiment, when the number of cliff sensors that detect a cliff is less than or equal to a first number threshold, it can be determined that the cleaning robot is not currently in a suspended state. The first number threshold can be any pre-set integer, for example, the first number threshold can be equal to 0, 1, 2, etc. In one embodiment, the first number threshold can be equal to 0. If none of the five cliff sensors are in a triggered state, for example, the distance between cliff sensor A, cliff sensor B, cliff sensor C, cliff sensor D, and cliff sensor E and the ground medium is 5 cm, then none of the five cliff sensors are in a triggered state, and it can be determined that the cleaning robot is not currently in a suspended state. This embodiment is a real-time judgment scheme, that is, if the number of cliff sensors that currently detect a cliff is less than or equal to the first number threshold, it is determined that the cleaning robot is not currently in a suspended state.

[0039] In another embodiment, when the number of cliff sensors detecting a cliff is less than or equal to a first quantity threshold for a first preset time period, it can be determined that the cleaning robot is not currently in a suspended state. The first preset time period can be any preset time period. Exemplarily, the first preset time period can be in the range of (0,10] seconds (s), for example, the first preset time period can be equal to 0.2s, 0.3s or 0.5s, etc. In one example, the first preset time period is equal to 0.3s. In addition, it is assumed that the first quantity threshold is equal to 0. At this time, if none of the five cliff sensors detects a cliff and the duration of the situation in which none of the five cliff sensors detects a cliff reaches 0.3s, it can be determined that the cleaning robot is not currently in a suspended state. This method requires that the number of cliff sensors detecting a cliff is less than or equal to the first quantity threshold for a certain period of time to determine that the cleaning robot is not in a suspended state. Compared with the previous embodiment, this solution has higher accuracy.

[0040] In one embodiment, if the number of cliff sensors detecting the cliff is greater than the first number threshold and less than or equal to the second number threshold, it can be determined whether the target condition is met based on the cliff detection information and the auxiliary information. The second number threshold can be any integer that is preset and greater than the first number threshold, for example, the second number threshold can be equal to 1, 2, 3, etc. In one embodiment, the second number threshold can be equal to 1. That is, when the number of cliff sensors detecting the cliff is 1, if the target condition is met, it can be determined that the cleaning robot is not currently in a suspended state, and if the target condition is not met, it can be determined that the cleaning robot is currently in a suspended state. The target condition can be any pre-set condition. For example, the target condition can include that the plane where the bottom of the cleaning robot body is located is parallel or approximately parallel to the plane where the ground medium is located. For another example, the target condition can include that the outside of the cleaning robot body is not covered by obstacles (this can be determined based on the number of obstacle points detected by the obstacle sensor), etc.

[0041] In one embodiment, if the number of cliff sensors that detect a cliff is greater than a second number threshold, it can be determined that the cleaning robot is currently in a suspended state. For example, assuming that the second number threshold is 1, and assuming that among the 5 cliff sensors, cliff sensor A and cliff sensor D detect a cliff, it can be determined that the cleaning robot is currently in a suspended state. This situation may occur when the user lifts the cleaning robot from the right side of the cleaning robot body. In another embodiment, when the number of cliff sensors that detect a cliff is greater than the second number threshold for a second preset duration, it can be determined that the cleaning robot is currently in a suspended state. The second preset duration can be any preset duration. Exemplarily, the second preset duration can be in the range of (0,10]s, for example, the second preset duration can be equal to 0.2s, 0.3s, 0.4s or 0.5s, etc. The second preset duration can be equal to or different from the first preset duration. In one embodiment, the second preset duration is equal to 0.4s.

[0042] According to the above technical solution, based on the cliff detection information, it can be determined whether each of the multiple cliff sensors has detected a cliff. Based on the number of cliff sensors that have detected the cliff, it can be determined whether the cleaning robot is currently in a suspended state according to the situation. For example, when the number of cliff sensors that have detected the cliff is small, there is a high probability that the cleaning robot is not picked up at this time, so it can be determined that it is not in a suspended state. On the contrary, when the number of cliff sensors that have detected the cliff is large, there is a high probability that the cleaning robot is picked up at this time, so it can be determined that it is in a suspended state. When the number of cliff sensors that have detected the cliff is in the middle number, the reliability of the detection result of the cliff sensor is difficult to guarantee at this time, and the cliff detection information and auxiliary information can be combined to determine whether the cleaning robot is currently in a suspended state. This solution can effectively improve the judgment efficiency while ensuring the accuracy of the judgment result.

[0043] Exemplarily, the target conditions may include: the cleaning robot is in a horizontal state and the number of cliff sensors detecting the cliff is greater than a first number threshold and less than or equal to a second number threshold for a third preset time period; and / or the number of obstacle points within a preset range is less than a third number threshold, wherein the preset range is the spatial range directly above the body of the cleaning robot, and the number of obstacle points is determined based on the obstacle information.

[0044] In one embodiment, the target condition may include: the cleaning robot is in a horizontal state, and the number of cliff sensors detecting the cliff is greater than a first number threshold (e.g., 0) and less than or equal to a second number threshold (e.g., 1) for a third preset time length (e.g., 0.3s). Whether the cleaning robot is in a horizontal state can be determined based on inertial measurement information. For example, for the roll angle and pitch angle in the inertial measurement information, if the obtained roll angle and pitch angle are respectively less than or equal to their respective corresponding angle thresholds, it can be determined that the cleaning robot is in a horizontal state. For example, if the angle threshold corresponding to the roll angle is 1° and the angle threshold corresponding to the pitch angle is 2°, and the currently obtained roll angle and pitch angle are 0.8° and 1°, respectively, it can be determined that the cleaning robot is in a horizontal state.

[0045] The third preset duration may be any preset duration. Exemplarily, the third preset duration may be in the range of (0,10]s. For example, the third preset duration may be equal to 0.2s, 0.3s, 0.4s or 0.5s, etc. The third preset duration may be equal to or different from either or both of the first preset duration and the second preset duration. In one example, the third preset duration is equal to 0.3s.

[0046] In another embodiment, the target condition may include: the number of obstacle points within a preset range is less than a third quantity threshold. Based on the obstacle information, the number of obstacle points may be determined. The preset range may be a spatial range located directly above the body of the cleaning robot. The spatial range directly above the cleaning robot may be set as needed, for example, it may be a range within the positive projection area above the body of the cleaning robot and the distance from the highest point on the upper surface of the body of the cleaning robot is less than or equal to a preset distance. The preset distance may be within a range of, for example, [0,1] millimeters (mm). That is, the preset range may be set to a range close to the outer contour of the body of the cleaning robot, which is mainly used to determine whether the user's hand is placed on the body of the cleaning robot. That is, when the user holds the cleaning robot by hand, the obstacle points within the preset range may be regarded as obstacle points belonging to the user's hand detected by the radar. If the number of obstacle points is less than the third quantity threshold, the target condition is met, otherwise it is not met. The third quantity threshold may be any pre-set value. Exemplarily, the third quantity threshold may be within a range of [0,10]. For example, the third quantity threshold may be equal to 1, 2, 3, 4 or 5, etc. In one example, the third quantity threshold is equal to 5.

[0047] In another embodiment, the target condition may include: when the cleaning robot is in a horizontal state, the number of cliff sensors detecting the cliff is greater than a first quantity threshold (for example, 0) and less than or equal to a second quantity threshold (for example, 1) for a third preset time period (for example, 0.3s), and the number of obstacle points within the preset range is less than the third quantity threshold.

[0048] According to the above technical solution, the target condition is set to include the situation that the cleaning robot is in a horizontal state and the situation that the number of cliff sensors detecting the cliff is greater than the first number threshold and less than or equal to the second number threshold for a third preset time period and / or the number of obstacle points within the preset range is less than the third number threshold. It is difficult for the cleaning robot to maintain a horizontal state when being picked up. Therefore, if the number of cliff sensors detecting the cliff remains in an intermediate number and the cleaning robot maintains a horizontal state for a period of time, or the number of obstacle points within the preset range is less than the third number threshold, it often means that the cleaning robot is not being picked up at this time. Therefore, in this way, the state analysis of the cleaning robot can be combined to more accurately determine whether the cleaning robot is in a suspended state to avoid false detection.

[0049] Exemplarily, the inertial measurement information includes the roll angle and pitch angle of the cleaning robot. The method may further include: when the roll angle in the inertial measurement information is less than or equal to a first angle threshold and the pitch angle in the inertial measurement information is less than or equal to a second angle threshold, determining that the cleaning robot is in a horizontal state.

[0050] In one embodiment, the first angle threshold and the second angle threshold may both be pre-set arbitrary angle values, and the first angle threshold and the second angle threshold may be equal or unequal. For example, the first angle threshold and the second angle threshold may both be equal to 5°. For another example, the first angle threshold may be equal to 5°, and the second angle threshold may be equal to 4°. In one embodiment of the present invention, the first angle threshold and the second angle threshold may be equal to and equal to 5°. When the roll angle in the inertial measurement information is less than or equal to 5° and the pitch angle in the inertial measurement information is less than or equal to 5°, it can be determined that the cleaning robot is in a horizontal state.

[0051] In addition, based on the inertial measurement information, it can also be determined whether the cleaning robot is lifted from the side by the user. If the roll angle in the inertial measurement information is greater than or equal to the third angle threshold and the pitch angle in the inertial measurement information is greater than or equal to the fourth angle threshold, it can be determined that the cleaning robot is lifted from the side by the user. The third angle threshold and the fourth angle threshold can both be any pre-set angle values, and the third angle threshold and the fourth angle threshold can be equal or unequal. For example, the third angle threshold can be equal to 15°, and the fourth angle threshold can be equal to 10°. If the roll angle of the cleaning robot is 16° and the pitch angle is 10°, it can be determined that the cleaning robot is lifted from the side by the user.

[0052] According to the above technical solution, by setting the first angle threshold and the second angle threshold, when the roll angle in the inertial measurement information is less than or equal to the first angle threshold and the pitch angle in the inertial measurement information is less than or equal to the second angle threshold, it is determined that the cleaning robot is in a horizontal state. In this way, without the need for complex judgment logic, it is possible to quickly and accurately determine whether the cleaning robot is in a horizontal state, so as to effectively detect the situation where the cleaning robot is lifted from the side by the user.

[0053] Exemplarily, the suspended state of the cleaning robot is divided into multiple lifting types. Under different lifting types, the cleaning robot has different movement characteristics. The method may also include: when the cleaning robot is currently in a suspended state, judging the lifting type of the cleaning robot based on cliff detection information and auxiliary information.

[0054] The suspended state of the cleaning robot can be divided into a variety of lifting types. In one embodiment, when the cleaning robot is currently in a suspended state, the type of the suspended state, i.e., the lifting type, can be further determined based on the cliff detection information and the auxiliary information. Different lifting types can correspond to different motion characteristics of the cleaning robot. The motion characteristics can be represented by the motion parameters of the cleaning robot. The motion parameters may include, but are not limited to, one or more of displacement, speed, acceleration, etc. The motion parameters can be determined based on, for example, inertial measurement information detected by an inertial sensor and / or obstacle information detected by an obstacle sensor. For example, the obstacle information detected by the obstacle sensor can determine the number of obstacle points around the cleaning robot and the change in the distance between the cleaning robot and the obstacle point to determine the displacement or speed of the cleaning robot. Then, based on the displacement or speed of the cleaning robot, the lifting type can be determined. Similarly, the displacement or speed of the cleaning robot can also be determined based on the inertial measurement information, and then the lifting type can be determined.

[0055] Exemplarily, the types of suspended states may include, for example, dynamic lifting and stable lifting. Dynamic lifting may be understood as a dynamically changing lifting method, that is, the cleaning robot changes position relatively quickly when in a suspended state. Stable lifting may be understood as a relatively stable lifting method, that is, the position of the cleaning robot remains substantially unchanged when in a suspended state. Of course, the types of suspended states may be further divided into more types, and are not limited to the embodiments described herein.

[0056] According to the above technical solution, when the cleaning robot is currently in a suspended state, the lifting type of the cleaning robot can be determined based on the cliff detection information and the auxiliary information. In this way, when the cleaning robot is in a suspended state, the lifting situation of the cleaning robot can be understood in more detail, which helps to further perform targeted subsequent operations according to the lifting type, and the user experience is better.

[0057] Exemplarily, there are multiple cliff sensors, and multiple lifting types include dynamic lifting. Judging the lifting type of the cleaning robot based on cliff detection information and auxiliary information may include: determining whether each of the multiple cliff sensors detects a cliff based on cliff detection information corresponding to each of the multiple cliff sensors; when the number of cliff sensors that detect the cliff is greater than or equal to a fourth quantity threshold and the target requirement is met, determining that the lifting type is dynamic lifting. The target requirement may be a first target requirement, and the first target requirement includes: within a fourth preset time period, the displacement of the cleaning robot in the target direction is greater than a preset displacement threshold; wherein the displacement of the cleaning robot in the target direction is determined based on inertial measurement information, and the target direction is a direction perpendicular to the ground.

[0058] The operation of determining whether each of the multiple cliff sensors detects a cliff based on the cliff detection information has been described in detail in the previous embodiments, and for the sake of brevity, it will not be repeated here. The fourth quantity threshold can be set in advance. Exemplarily, the fourth quantity threshold can be any integer greater than 0. For example, the fourth quantity threshold can be equal to 1, 2, 3 or 4, etc. In the above-mentioned embodiment of judging the suspended state based on the second quantity threshold, the fourth quantity threshold can be any integer greater than or equal to the second quantity threshold. In one embodiment, the fourth quantity threshold can be equal to 3. For example, when the number of cliff sensors that detect the cliff is greater than or equal to 3 and the target requirements are met, it can be determined that the lifting type is dynamic lifting.

[0059] In one embodiment, the target requirement may include a first target requirement, and the first target requirement includes: within a fourth preset time period, the displacement of the cleaning robot in the target direction is greater than a preset displacement threshold. Wherein, the target direction is a direction perpendicular to the ground. The fourth preset time period may be any preset time period. Exemplarily, the fourth preset time period may be in the range of (0,10]s, for example, equal to 0.3s, 0.4s or 0.5s. The preset displacement threshold may be a preset displacement of any size, which may be represented by a distance value. Exemplarily, the preset displacement threshold may be in the range of [0.03,0.5] meters (m), for example, equal to 0.04m, 0.05m or 0.06m, etc. In one embodiment of the present invention, the fourth preset time period may be equal to 0.5s, and the preset displacement threshold may be equal to 0.04m. The displacement of the cleaning robot in the target direction may be determined based on inertial measurement information. . For example, the inertial measurement information may include the acceleration measured by the accelerometer, so the acceleration of the cleaning robot in the target direction can be determined based on the acquired inertial measurement information. The acceleration of the cleaning robot in the target direction can be integrated twice by a sliding window method. The window used in the sliding window is a time window, and its size is equal to the fourth preset time length. In this way, the integral result of the twice integral of the acceleration of the cleaning robot in the target direction in each time window of the fourth preset time length can be obtained by a sliding window method, that is, the displacement of the cleaning robot in the target direction in each time window is obtained. When the target is to When the requirement only includes the above-mentioned first target requirement, if the displacement of the cleaning robot in the target direction is greater than the preset displacement threshold value in a time window, it can be determined that the target requirement is met. In one example, if the displacement of the cleaning robot in the target direction is greater than 0.04m within 0.5s, it can be determined that the target requirement is met, otherwise, it is determined that the target requirement is not met. It can be understood that the displacement of the above-mentioned cleaning robot in the target direction can also be replaced by the speed of the cleaning robot, that is, the moving speed of the cleaning robot in the target direction can be determined based on inertial measurement information, and the first target requirement can include: the moving speed of the cleaning robot in the target direction is greater than the preset speed threshold. Of course, the moving speed of the cleaning robot in the target moving direction can be an instantaneous moving speed or an average moving speed over a period of time. For example, the average moving speed of the cleaning robot in the target direction within the fourth preset time length can be determined, and the first target requirement can include: the moving speed of the cleaning robot in the target direction within the fourth preset time length is greater than the preset speed threshold. In this example, the average moving speed of the cleaning robot in the fourth preset time length and the displacement of the cleaning robot in the fourth preset time length can be replaced with each other.

[0060] When there are many cliff sensors that detect cliffs, and the displacement of the cleaning robot in the target direction changes relatively quickly, it means that the user is likely to pick up the cleaning robot, and the pick-up type can be determined as dynamic pick-up. This solution can quickly determine whether the pick-up type is dynamic pick-up based on the displacement of the cleaning robot, which can effectively improve the reaction speed of the cleaning robot when it is picked up, and avoid the cleaning robot reacting to being picked up after a long time.

[0061] Exemplarily, there are multiple cliff sensors, multiple lifting types include stable lifting, and the auxiliary information includes inertial measurement information. Judging the lifting type of the cleaning robot based on the cliff detection information and the auxiliary information may include: determining whether each of the multiple cliff sensors has detected a cliff based on the cliff detection information corresponding to each of the multiple cliff sensors; when the number of cliff sensors that have detected a cliff is greater than or equal to a fifth number threshold for a fifth preset time period and the first target requirement is not met, determining that the lifting type is stable lifting. The first target requirement may include: within a fourth preset time period, the displacement of the cleaning robot in the target direction is greater than a preset displacement threshold; the displacement of the cleaning robot in the target direction is determined based on the inertial measurement information, and the target direction is a direction perpendicular to the ground.

[0062] The judgment scheme for dynamic lifting in the above embodiment and the judgment scheme for stable lifting in the present embodiment can be adopted independently or in the same embodiment. Exemplarily, a fifth quantity threshold and a fifth preset time length can be set in advance. The fifth quantity threshold can be any integer greater than 0. When the judgment scheme for dynamic lifting in the above embodiment and the judgment scheme for stable lifting in the present embodiment are adopted at the same time, the fifth quantity threshold can be any integer greater than or equal to the fourth quantity threshold. For example, when the fourth quantity threshold is equal to 3, the fifth quantity threshold can be equal to 4 or 5. The fifth preset time length can be any pre-set time length. Exemplarily, the fifth preset time length may be in the range of (0,10]s, for example, the fifth preset time length may be equal to 0.3s, 0.4s, 0.5s or 1s, etc. The fifth preset time length may be equal to or different from the fourth preset time length. Since the more cliff sensors in the triggered state, the greater the probability that the cleaning robot is in the suspended state, when the fifth preset time length is different from the fourth preset time length, the fourth preset time length may be less than the fifth preset time length. The fourth preset time length in the first target requirement may be any one of the fifth preset time lengths or each of the fourth preset time lengths. That is, in the fifth If the displacement of the cleaning robot in the target direction in any fourth preset time period is not greater than the preset displacement threshold within the preset time period, the first target requirement is not met. Alternatively, if the displacement of the cleaning robot in the target direction in each fourth preset time period is not greater than the preset displacement threshold within the fifth preset time period, the first target requirement is not met. As described above, the fourth preset time period may be the time period corresponding to each time window obtained by sliding window method. Therefore, the fourth preset time periods corresponding to different time windows may overlap. Of course, this is just an example, and the fourth preset time periods corresponding to different time windows may not overlap.

[0063] In one embodiment of the present invention, the fifth number threshold may be equal to 4, and the fifth preset time may be equal to 1 second. When the number of cliff sensors detecting the cliff is greater than or equal to 4 for 1 second and the first target requirement is not met, the lifting type may be determined to be stable lifting.

[0064] According to the above technical solution, when there are many cliff sensors detecting the cliff, and the displacement change of the cleaning robot in the target direction is relatively slow or even unchanged, it means that the user is likely to have picked up the cleaning robot and it is in a relatively stable state. At this time, it can be determined that the lifting type is stable lifting. This solution combines the displacement of the cleaning robot to determine whether the lifting type is stable lifting, and the judgment result is relatively accurate and reliable.

[0065] Exemplarily, the auxiliary information also includes obstacle information, and the target requirement also includes a second target requirement, which includes: within a fourth preset time period, the number of obstacle points within a preset range is greater than or equal to a sixth quantity threshold, wherein the preset range is the spatial range directly above the body of the cleaning robot, and the number of obstacle points is determined based on the obstacle information.

[0066] Based on the obstacle information, the position of each obstacle point can be determined, and then the number of obstacle points within the preset range can be determined. The sixth quantity threshold can be any integer greater than 0. Exemplarily, the sixth quantity threshold can be in the range of [1,30]. For example, the sixth quantity threshold can be equal to 7, 8, 9 or 10, etc. In one embodiment, the sixth quantity threshold is equal to 10. The preset range can be set as needed. The preset range has been described in detail in the previous embodiments. For the sake of brevity, it will not be repeated here. The range can be set to a range close to the body of the cleaning robot, which is mainly used to determine whether the user's hand is placed on the body of the cleaning robot. That is, when the user picks up the cleaning robot with his hands, the obstacle points within the preset range can be regarded as obstacle points belonging to the user's hand detected by the radar.

[0067] For example, if the displacement of the cleaning robot in the target direction is greater than 0.04m within 0.5s, and the number of obstacle points within the preset range is greater than or equal to 10, it can be determined that the target requirement is met, otherwise, it is determined that the target requirement is not met. Therefore, the lifting type can be determined based on the displacement information and further combined with the obstacle information.

[0068] The above scheme further combines obstacle points to determine the lifting type, which can further improve the accuracy of the lifting type determination.

[0069] Exemplarily, when the number of cliff sensors that detect the cliff is greater than or equal to a fifth number threshold, the number of cliff sensors that detect the cliff is negatively correlated with the fifth preset time length.

[0070] In one embodiment, the number of cliff sensors that detect the cliff is negatively correlated with the fifth preset time length, that is, the more cliff sensors that detect the cliff, the shorter the fifth preset time length, and vice versa. For example, when the number of cliff sensors that detect the cliff is 4, the fifth preset time length may be equal to 1s; when the number of cliff sensors that detect the cliff is 5, the fifth preset time length may be equal to 0.2s.

[0071] According to the above technical solution, when the number of cliff sensors detecting the cliff is greater than or equal to the fifth number threshold, the greater the number of cliff sensors detecting the cliff, the shorter the fifth preset time length is set. Since the greater the number of cliff sensors detecting the cliff, the smaller the error of the result of determining that the cleaning robot is in a suspended state based on the cliff sensors, the fifth preset time length can be appropriately shortened to improve the efficiency of judging the lifting type.

[0072] The cliff sensor generally has the following working principle: when the distance between the cliff sensor and the ground medium is greater than or equal to a certain distance threshold, that is, the above-mentioned trigger threshold (e.g., 10 cm), the cliff sensor can be triggered; in contrast, when the distance between the cliff sensor and the ground medium is less than or equal to a certain distance threshold (e.g., 3 cm), the cliff sensor will not be triggered, and the distance threshold corresponding to the cliff sensor not being triggered can be called the no-trigger threshold; when the distance between the cliff sensor and the ground medium is between the trigger threshold and the no-trigger threshold, it is uncertain whether the cliff sensor will be triggered, that is, the cliff sensor may be triggered or not. Different cliff sensors have different characteristics, and / or there are usually differences between the modules of different cliff sensors, so there are errors in the trigger judgment of the cliff sensor, which in turn affects the accuracy of the judgment result on the suspension of the cleaning robot. In addition, there may be a situation where one or more cliff sensors on the cleaning robot are blocked by obstacles (e.g., blocked by the user's fingers), which will also affect the accuracy of the judgment result on the suspension of the cleaning robot. From the above reasons, it can be seen that the greater the number of cliff sensors that detect cliffs, the smaller the error in the triggering judgment of the cliff sensors, and the higher the accuracy of the judgment result on the suspension situation of the cleaning robot. Therefore, the fifth preset time length can be appropriately shortened in this case.

[0073] Exemplarily, the method may further include: when the cleaning robot is currently in a suspended state, if the lifting type is dynamic lifting, controlling the cleaning robot to continue working for a sixth preset time period and / or outputting a first prompt message.

[0074] When the cleaning robot is currently in a suspended state, if the lifting type is dynamic lifting, there is a possibility that the user only temporarily lifts the cleaning robot and then puts the cleaning robot down again in a short time. Therefore, in order to avoid frequent starting and stopping of the cleaning robot, when the lifting type is dynamic lifting, the cleaning robot can be controlled to continue working for the sixth preset time. Optionally, if the cleaning robot is still in a suspended state after the sixth preset time, the cleaning robot can be controlled to stop working. The sixth preset time can be any preset time. Exemplarily, the sixth preset time can be in the range of (0,30]s, for example, the sixth preset time can be equal to 2s, 3s or 5s, etc. In one embodiment, the sixth preset time can be equal to 5s. According to the above technical solution, when the cleaning robot is currently in a suspended state, if the suspended state is dynamic lifting, the cleaning robot is controlled to continue working for the sixth preset time, so that when the user does not expect to lift the cleaning robot completely or for a long time, the cleaning robot can be controlled to continue working, so as to avoid the situation where the cleaning robot stops working and then starts working again in a short time, thereby saving the resource consumption of the cleaning robot.

[0075] Optionally, when the lifting type is dynamic lifting, the first prompt information can also be output. Exemplarily, the first prompt information can be used to prompt the user that it is currently a dynamic lift, and / or, prompt the user to perform an operation corresponding to the suspended state or dynamic lifting. That is, the first prompt information can be related to dynamic lifting to prompt the user that it is currently a dynamic lift, so that the user can know the current lifting situation and perform corresponding operations as needed. The first prompt information can also prompt the user to perform a certain operation, such as stopping the work of the cleaning robot or putting the cleaning robot back to the ground as soon as possible. The first prompt information can be implemented in one or more information forms such as video, audio, image, text, etc., and can be output through any one or more devices such as a display, a speaker, and an alarm light. When the lifting type is dynamic lifting, the cleaning robot can be controlled to continue working for a sixth preset time, or the first prompt information can be output, or the cleaning robot can be controlled to continue working for a sixth preset time and output the first prompt information.

[0076] Exemplarily, the method may further include: when the cleaning robot is currently in a suspended state, if the lifting type is stable lifting, controlling the cleaning robot to stop working and / or output a second prompt message.

[0077] When the cleaning robot is currently in a suspended state, if the suspended state is stably lifted, it is likely that the user has fully lifted the cleaning robot and stabilized it for a certain period of time. Therefore, in this case, the cleaning robot can be controlled to stop working. According to the above technical solution, when the cleaning robot is currently in a suspended state, if the suspended state is stably lifted, the cleaning robot is controlled to stop working. In this way, after the cleaning robot is in a relatively stable suspended state, the cleaning robot can be controlled to stop working in time, avoiding damage or accidents caused by the cleaning robot when it is running in the air.

[0078] Optionally, when the suspended state is a stable lifting, a second prompt message can also be output. Similar to the first prompt message, the second prompt message can be used to remind the user that the current state is a stable lifting, and / or to remind the user to perform operations corresponding to the suspended state or the stable lifting. That is, the second prompt message can be related to the stable lifting to remind the user that the current state is a stable lifting, so that the user can know the current lifting situation and perform corresponding operations as needed. The second prompt message can also prompt the user to perform a certain operation, such as stopping the work of the cleaning robot or putting the cleaning robot back to the ground as soon as possible. The second prompt message can be implemented in one or more information forms such as video, audio, image, text and other information, and can be output through any one or more devices such as a display, a speaker and an alarm light.

[0079] The above-mentioned controlling the cleaning robot to stop working may be controlling the cleaning robot to stop executing the current cleaning task, for example, controlling the fan, cleaning element motor and other components of the cleaning robot to stop running.

[0080] The above-mentioned scheme of controlling the cleaning robot to continue working for the sixth preset time period and / or outputting the first prompt information when the lifting type is dynamic lifting and the scheme of controlling the cleaning robot to stop working and / or outputting the second prompt information when the lifting type is stable lifting can be implemented separately or in the same embodiment.

[0081] According to the above technical solution, adaptive operations can be performed according to the lifting type, so that the user experience is better.

[0082] Exemplarily, the method may further include: acquiring a charging signal of the cleaning robot, the charging signal being used to indicate whether the cleaning robot is in a charging state; and when the cleaning robot is in a charging state, determining that the cleaning robot is not in a suspended state.

[0083] In one embodiment, the base station of the cleaning robot may be provided with a charging device. Exemplarily and not restrictively, the charging device may be a charging sheet. When the cleaning robot returns to the base station and contacts the charging sheet, the cleaning robot may start charging and generate a corresponding charging signal. The charging signal at this time may indicate that the cleaning robot is currently in a charging state. By acquiring the charging signal of the cleaning robot, when the cleaning robot is in a charging state, it can be determined that the cleaning robot is not in a suspended state. Optionally, it can be determined in real time that the cleaning robot is not in a suspended state based on the fact that the cleaning robot is in a charging state. That is, once it is determined that the cleaning robot is in a charging state, it is determined that the cleaning robot is not in a suspended state. Optionally, it can also be determined that the cleaning robot is not in a suspended state when the cleaning robot is in a charging state for a seventh preset duration. The seventh preset duration can be set to any suitable duration as needed. Exemplarily, the seventh preset duration may be in the range of (0,10]s, such as 0.3s, 0.5s, 1s, etc.

[0084] According to the above technical solution, by acquiring the charging signal of the cleaning robot, when the cleaning robot is in the charging state, the cleaning robot is most likely not in the suspended state. Therefore, further judging whether the cleaning robot is not in the suspended state based on the charging signal can more comprehensively and accurately determine whether the cleaning robot is in the suspended state.

[0085] Exemplarily, based on the cliff detection information and the auxiliary information, the step of determining whether the cleaning robot is currently in a suspended state is performed when the cleaning robot is in a suspended state at the previous judgment moment, and the method may further include: in the case where the cleaning robot is in a suspended state at the previous judgment moment, if the cleaning robot is currently in a suspended state, the suspended state is not released, otherwise the suspended state is released; and / or, based on the cliff detection information and the auxiliary information, the step of determining whether the cleaning robot is currently in a suspended state is performed when the cleaning robot is not in a suspended state at the previous judgment moment, and the method may further include: in the case where the cleaning robot was not in a suspended state at the previous judgment moment, if the cleaning robot is currently in a suspended state, it is determined that the cleaning robot has changed to a suspended state, otherwise it is determined that the cleaning robot is still not in a suspended state.

[0086] After the cleaning robot is in a suspended state at the previous judgment moment, step S120 can be performed to determine whether the suspended state needs to be released at present. In one embodiment, when the cleaning robot is in a suspended state at the previous judgment moment, if the cleaning robot is still in a suspended state, the suspended state is not released, otherwise the suspended state is released (i.e., it is determined that the cleaning robot is no longer in a suspended state). Each acquisition acquisition moment can be used as a judgment moment, or the next judgment moment can be entered after obtaining the judgment result of the suspended state (for example, when the number of cliff sensors detecting the cliff is equal to 4 and lasts for 1s, the judgment result of the suspended state is obtained). The above-mentioned data acquisition moment can be the moment when any one or more of the cliff detection information and the auxiliary information is acquired once. It is preferable that the data acquisition moment can be the moment when the cliff detection information is acquired each time. The judgment result of whether the cleaning robot is in a suspended state at the previous judgment moment can be saved. The judgment result of the suspended state of the cleaning robot at the previous judgment moment can be referred to later to determine whether the judgment result of the suspended state needs to be changed at present.

[0087] In one embodiment, when the cleaning robot was in the suspended state at the previous judgment moment, the cleaning robot is still in the suspended state, and the suspended state is not released. If the cleaning robot was in the suspended state at the previous judgment moment, the cleaning robot is not currently in the suspended state, the suspended state is released.

[0088] In another embodiment, when the cleaning robot was not in the suspended state at the previous judgment moment, if the cleaning robot is currently in the suspended state, it can be determined that the cleaning robot is currently changing from the non-suspended state to the suspended state. Conversely, when the cleaning robot was not in the suspended state at the previous judgment moment, if the cleaning robot is currently not in the suspended state, it can be determined that the cleaning robot is still not in the suspended state.

[0089] According to the above technical solution, when the cleaning robot was in a suspended state at the previous judgment moment, if the cleaning robot is currently in a suspended state, the suspended state is not released, otherwise the suspended state is released. When the cleaning robot was in a suspended state at the previous judgment moment, if the cleaning robot is currently in a suspended state, it is determined that the cleaning robot has changed to a suspended state, otherwise it is determined that the cleaning robot is not currently in a suspended state. This method is based on the judgment result of whether the cleaning robot is currently in a suspended state when the cleaning robot was in a suspended state at the previous moment, and determines whether to release the suspended state, so that the setting of the cleaning robot being in a suspended state can be released in time to ensure that the cleaning robot continues to perform the cleaning task.

[0090] Figure 3 FIG. 1 is a schematic flow chart of determining whether a cleaning robot is in a suspended state according to an embodiment of the present invention. Figure 3 What is shown is only an example and is not intended to limit the present invention. Figure 3 As shown, when it is determined that the cleaning robot is in a charging state based on the charging signal, it can be determined that the cleaning robot is not currently in a suspended state. In addition, the subsequent suspended state judgment operation can be performed with reference to whether it was in a suspended state at the previous judgment moment. For example, if the cleaning robot was in a suspended state at the previous judgment moment, it can be determined whether the suspended state needs to be released. For example, the number of cliff sensors (cliff) that detect cliffs can be analyzed. If the number of cliff sensors that detect cliffs is equal to 0 (i.e., cliff=0) and lasts for 0.3 seconds, the suspended state can be released, that is, the cleaning robot is not in a suspended state at this time. If the number of cliff sensors that detect cliffs is equal to 1 (i.e., cliff=1), and the pitch angle and roll angle of the cleaning robot are both less than or equal to 5° and the above situation lasts for 0.3 seconds, the suspended state can also be released. If the number of cliff sensors that detect cliffs is greater than 1 (i.e., cliff>1), the suspended state can be maintained, that is, the cleaning robot is still in a suspended state at this time. It can be understood that Figure 3 The quantity threshold 0 shown in the figure is the first quantity threshold, and the quantity threshold 1 is the second quantity threshold. It should be noted that when judging whether the cleaning robot is in a suspended state, the judgment operation for each condition may not be limited to Figure 3 The order shown. For example, the size of the cliff can be determined first, and when it is determined that cliff = 1, it can be determined whether the roll angle and the pitch angle are both less than or equal to 5°. If so and this situation lasts for 0.3s, the suspended state can be released. When cliff = 0 or > 1, there is no need to calculate the roll angle and the pitch angle. However, the above situation is only an example. The number of cliffs and the roll angle and pitch angle can be determined at the same time, and then the judgment results of the two can be combined to determine whether to release the suspended state. Figure 3 The judgment operation of other conditions in the code is similar and is not limited to Figure 3 in the order shown.

[0091] Optionally, if the cleaning robot is not in the suspended state at the previous judgment moment, it can be determined whether the cleaning robot is in the dynamic lifting state or the stable suspended state at the current judgment moment. Figure 3 As shown, if the number of cliff sensors detecting the cliff is greater than or equal to 3 (i.e., cliff ≥ 3), and the displacement of the cleaning robot in the target direction (which is the displacement within the fourth preset time length) is greater than or equal to 0.04 m and the number of obstacle points within the preset range is greater than or equal to 10, it can be determined that the cleaning robot is currently in a dynamic lifting state.

[0092] In addition, if the situation where the number of cliff sensors detecting the cliff is equal to 4 (i.e., cliff=4) lasts for 1 second and the displacement of the cleaning robot in the target direction (which is the displacement within the fourth preset time length) is less than 0.04m, or the situation where the number of cliff sensors detecting the cliff is equal to 5 (i.e., cliff=5) lasts for 0.2 seconds and the displacement of the cleaning robot in the target direction (which is the displacement within the fourth preset time length) is less than 0.04m, it can be determined that the cleaning robot is currently in a stable lifted state.

[0093] Understandable, although Figure 3 It shows that the judgment of "dynamic lifting" and "stable lifting" is performed when the robot is not in the suspended state at the previous moment. However, it is possible that the cleaning robot is not in the suspended state at the moment, or even if it is in the suspended state, it may not belong to these two lifting types. Therefore, there may be other judgment results. Figure 3 Not shown.

[0094] Figure 3 The step "lasting 0.3s" in the dotted box can be omitted, that is, if the number of cliff sensors detecting the cliff is equal to 0 (i.e., cliff = 0), the suspended state can be released. Alternatively, if the number of cliff sensors detecting the cliff is equal to 1 (i.e., cliff = 1), and the pitch angle and roll angle of the cleaning robot are both less than or equal to 5°, the suspended state can also be released. It can be understood that when the number of cliff sensors detecting the cliff is equal to 2 (i.e., cliff = 2), and the pitch angle and roll angle of the cleaning robot are both less than or equal to 5°, the suspended state can also be released.

[0095] According to another aspect of the present invention, a suspension detection device is also provided. Figure 4 FIG. 4 is a schematic block diagram of a suspension detection device 400 according to an embodiment of the present invention. Figure 4 As shown, the suspension detection device 400 includes a processor 410 and a memory 420. The memory 420 stores computer program instructions, which are used by the processor 410 to execute the suspension detection method when the processor 410 is running.

[0096] A person skilled in the art can understand the implementation method and technical effect of the suspension detection device by reading the above description of the suspension detection method, and for the sake of brevity, they will not be described in detail here.

[0097] According to another aspect of the present invention, a cleaning robot is provided, which may include a cliff sensor and an auxiliary sensor, wherein the auxiliary sensor may include an inertial sensor and / or an obstacle sensor, and the cleaning robot may also include the above-mentioned suspension detection device.

[0098] A person skilled in the art can understand the positions and functions of cliff sensors and auxiliary sensors on the cleaning robot, as well as the implementation method of the cleaning robot and its technical effects by reading the above description of the suspension detection method. For the sake of brevity, they will not be elaborated here.

[0099] According to another aspect of the present invention, a computer-readable storage medium is also provided, on which program instructions are stored, and when the program instructions are executed by a computer or a processor, the corresponding steps of the suspension detection method 100 of the embodiment of the present invention are executed. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0101] Similarly, it should be understood that in order to streamline the present invention and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present invention should not be interpreted as reflecting the following intention: the claimed invention requires more features than the features explicitly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

[0102] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0103] The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a processing module or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules in the suspension detection device according to an embodiment of the present invention. The present invention may also be implemented as a device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0104] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0105] The above is only a specific embodiment of the present invention or an explanation of a specific embodiment. The protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for detecting hanging objects in mid-air, applied to a cleaning robot, wherein the cleaning robot is provided with a cliff sensor and an auxiliary sensor, wherein the auxiliary sensor comprises an inertial sensor and / or an obstacle sensor, wherein: The method comprises: Acquire cliff detection information detected by the cliff sensor and auxiliary information detected by the auxiliary sensor, where the auxiliary information includes inertial measurement information detected by the inertial sensor and / or obstacle information detected by the obstacle sensor; Based on the cliff detection information and the auxiliary information, determining whether the cleaning robot is currently in a suspended state; Among them, the cliff detection information is used to indicate whether the cliff sensor detects a cliff, and the obstacle information is used to indicate whether the obstacle sensor detects an obstacle within a preset range, the preset range is a spatial range outside the outer contour of the cleaning robot body and the distance between each point within the preset range and the outer contour of the cleaning robot body is less than or equal to the preset distance, and the inertial measurement information includes at least one attitude angle and / or acceleration of the cleaning robot.

2. The method according to claim 1, characterized in that There are multiple cliff sensors, and judging whether the cleaning robot is currently in a suspended state based on the cliff detection information and the auxiliary information includes: determining whether each of the plurality of cliff sensors detects a cliff based on the cliff detection information corresponding to each of the plurality of cliff sensors; When the number of cliff sensors detecting the cliff is less than or equal to a first number threshold, it is determined that the cleaning robot is not currently in the suspended state; or, when the number of cliff sensors detecting the cliff is less than or equal to the first number threshold continues for a first preset time, it is determined that the cleaning robot is not currently in the suspended state; When the number of cliff sensors detecting the cliff is greater than the first number threshold and less than or equal to the second number threshold, judging whether the target condition is satisfied based on the cliff detection information and the auxiliary information, and if so, determining that the cleaning robot is not currently in the suspended state, and if not, determining that the cleaning robot is currently in the suspended state; When the number of cliff sensors detecting a cliff is greater than the second number threshold, it is determined that the cleaning robot is currently in the suspended state; or, when the number of cliff sensors detecting a cliff is greater than the second number threshold for a second preset time period, it is determined that the cleaning robot is currently in the suspended state.

3. The method according to claim 2, characterized in that The target conditions include: The cleaning robot is in a horizontal state and the number of cliff sensors detecting the cliff is greater than the first number threshold and less than or equal to the second number threshold lasts for a third preset time period; and / or, The number of obstacle points within the preset range is less than a third quantity threshold, wherein the preset range is a spatial range directly above the body of the cleaning robot, and the number of obstacle points is determined based on the obstacle information.

4. The method according to claim 1, characterized in that The inertial measurement information includes a roll angle and a pitch angle of the cleaning robot, and the method further includes: When the roll angle in the inertial measurement information is less than or equal to a first angle threshold and the pitch angle in the inertial measurement information is less than or equal to a second angle threshold, it is determined that the cleaning robot is in a horizontal state.

5. The method according to any one of claims 1 to 4, characterized in that: The suspended state of the cleaning robot is divided into a plurality of lifting types. Under different lifting types, the cleaning robot has different motion characteristics. The method further includes: When the cleaning robot is currently in the suspended state, the lifting type of the cleaning robot is determined based on the cliff detection information and the auxiliary information.

6. The method according to claim 5, characterized in that The number of the cliff sensors is multiple, the multiple lifting types include dynamic lifting and stable lifting, the auxiliary information includes the inertial measurement information, and the lifting type of the cleaning robot is determined based on the cliff detection information and the auxiliary information, including: determining whether each of the plurality of cliff sensors detects a cliff based on the cliff detection information corresponding to each of the plurality of cliff sensors; When the number of cliff sensors detecting the cliff is greater than or equal to a fourth number threshold and the target requirement is met, determining that the lifting type is dynamic lifting, wherein the target requirement includes a first target requirement, and the first target requirement includes: within a fourth preset time period, the displacement of the cleaning robot in the target direction is greater than a preset displacement threshold; When the number of cliff sensors detecting the cliff is greater than or equal to a fifth number threshold value continues for a fifth preset time period and the first target requirement is not met, determining that the lifting type is stable lifting; The displacement of the cleaning robot in the target direction is determined based on the inertial measurement information, and the target direction is a direction perpendicular to the ground.

7. The method according to claim 6, characterized in that The auxiliary information further includes the obstacle information, and the target requirement further includes a second target requirement, wherein the second target requirement includes: within the fourth preset time period, the number of obstacle points within the preset range is greater than or equal to a sixth quantity threshold, wherein the preset range is a spatial range directly above the body of the cleaning robot, and the number of obstacle points is determined based on the obstacle information; and / or, When the number of cliff sensors detecting the cliff is greater than or equal to the fifth number threshold, the number of cliff sensors detecting the cliff is negatively correlated with the fifth preset time length.

8. The method according to claim 5, characterized in that The method further comprises: When the cleaning robot is currently in the suspended state, if the lifting type is dynamic lifting, controlling the cleaning robot to continue working for a sixth preset time length and / or outputting a first prompt message; and / or, The method further comprises: When the cleaning robot is currently in the suspended state, if the lifting type is stable lifting, the cleaning robot is controlled to stop working and / or output a second prompt message.

9. The method according to any one of claims 1 to 4, characterized in that: The step of judging whether the cleaning robot is currently in a suspended state based on the cliff detection information and the auxiliary information is performed when the cleaning robot is in the suspended state at a previous judgment moment, and the method further comprises: In the case where the cleaning robot is in the suspended state at the previous determination time, if the cleaning robot is currently in the suspended state, the suspended state is not released, otherwise the suspended state is released; and / or, The step of judging whether the cleaning robot is currently in a suspended state based on the cliff detection information and the auxiliary information is performed when the cleaning robot is not in a suspended state at a previous judgment moment, and the method further comprises: In the case that the cleaning robot was not in the suspended state at the previous judgment moment, if the cleaning robot is currently in the suspended state, it is determined that the cleaning robot has changed into the suspended state, otherwise it is determined that the cleaning robot is still not in the suspended state.

10. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Acquire a charging signal of the cleaning robot, where the charging signal is used to indicate whether the cleaning robot is in a charging state; When the cleaning robot is in a charging state, it is determined that the cleaning robot is not in a suspended state.

11. A hanging detection device, comprising a processor and a memory, characterized in that: The memory stores computer program instructions, and the computer program instructions are used by the processor to execute the suspension detection method according to any one of claims 1 to 10 when the processor is running the computer program instructions.

12. A cleaning robot, characterized in that: comprising a cliff sensor and an auxiliary sensor, wherein the auxiliary sensor comprises an inertial sensor and / or an obstacle sensor, The cleaning robot further comprises the suspension detection device as claimed in claim 11.

13. A computer-readable storage medium, characterized in that: Program instructions are stored on the storage medium, and the program instructions are used to execute the suspension detection method according to any one of claims 1 to 10 when running.

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