Cleaning robot control method and device, cleaning robot and medium

Abstract

The invention discloses a control method and device of a cleaning robot, the cleaning robot and a medium, and the method comprises the steps: scanning a preset positioning graphic code in the surrounding environment of the cleaning robot, determining a surrounding environment map, determining the position data of the cleaning robot according to the preset positioning graphic code, and determining a target position of the cleaning robot in the surrounding environment map according to the position data, when an execution instruction of a target cleaning task is received, determining a target cleaning path from the surrounding environment map according to the execution instruction, and controlling the cleaning robot to execute the target cleaning task according to the target cleaning path and the target position. The cleaning robot can conduct cleaning in an autonomous navigation mode, manual participation is not needed in the whole process, and the convenience of the cleaning robot for executing the cleaning task is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a control method and device for a cleaning robot, a cleaning robot and a medium. Background Art

[0002] With the advancement of technology, cleaning robots have come into being. Cleaning robots can automatically complete cleaning tasks in the room.

[0003] The cleaning robots currently on the market require humans to move the cleaning robots to the environment that needs cleaning in order to perform cleaning tasks, and they also require humans to plan the cleaning map and cleaning path, which makes the cleaning robots very cumbersome when performing cleaning tasks. Summary of the invention

[0004] The embodiments of the present application provide a control method and device for a cleaning robot, a cleaning robot, and a medium, which can improve the convenience of the cleaning robot in performing cleaning tasks.

[0005] In a first aspect, an embodiment of the present application provides a control method for a cleaning robot, comprising:

[0006] Scan the preset positioning graphic code in the surrounding environment of the cleaning robot and determine the surrounding environment map;

[0007] Determine the position data of the cleaning robot according to the preset positioning graphic code;

[0008] Determine a target position of the cleaning robot in the surrounding environment map according to the position data;

[0009] When receiving an execution instruction of a target cleaning task, determining a target cleaning path from the surrounding environment map according to the execution instruction;

[0010] According to the target cleaning path and the target position, the cleaning robot is controlled to perform the target cleaning task.

[0011] In some embodiments, the preset positioning graphic code is a two-dimensional code, and determining the position data of the cleaning robot according to the preset positioning graphic code includes:

[0012] The two-dimensional code is parsed to obtain position data, and the position data is used as the position data of the cleaning robot.

[0013] In some embodiments, controlling the cleaning robot to perform the target cleaning task according to the target cleaning path and the target position includes:

[0014] Determine a starting point and an end point in the target cleaning path;

[0015] The cleaning robot is navigated from the starting point to the end point along the target cleaning path according to the target position, so as to control the cleaning robot to perform the target cleaning task.

[0016] In some embodiments, determining the surrounding environment map includes:

[0017] In response to the map creation instruction, a preset sensor of the cleaning robot is enabled to scan the surrounding environment to obtain a scanning result;

[0018] The surrounding environment map is created according to the scanning results.

[0019] In some embodiments, determining a target cleaning path from the surrounding environment map according to the execution instruction includes:

[0020] Determining a target cleaning area from the surrounding environment map according to the execution instruction;

[0021] The target cleaning path is planned in the surrounding environment map according to the target cleaning area.

[0022] In some embodiments, the control method of the cleaning robot further includes:

[0023] Generate a real-time cleaning map of the cleaning robot according to the surrounding environment map, the target cleaning path and the target position;

[0024] The real-time cleaning map is sent to an external electronic device and displayed on the external electronic device.

[0025] In a second aspect, an embodiment of the present application provides a control device for a cleaning robot, comprising:

[0026] A processing module, used to scan a preset positioning graphic code in the surrounding environment of the cleaning robot and determine a surrounding environment map;

[0027] A first determination module, used to determine the position data of the cleaning robot according to the preset positioning graphic code;

[0028] A second determination module, configured to determine a target position of the cleaning robot in the surrounding environment map according to the position data;

[0029] A third determination module is used to determine a target cleaning path from the surrounding environment map according to the execution instruction when receiving an execution instruction of the target cleaning task;

[0030] The cleaning robot control module is used to control the cleaning robot to perform the target cleaning task according to the target cleaning path and the target position.

[0031] In some embodiments, the third determination module is used to determine the target cleaning area from the surrounding environment map according to the execution instruction, and plan the target cleaning path in the surrounding environment map according to the target cleaning area.

[0032] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program runs on a computer, the computer executes a control method for a cleaning robot as provided in any embodiment of the present application.

[0033] In a fourth aspect, an embodiment of the present application further provides a cleaning robot, comprising a processor and a memory, wherein the memory has a computer program, and the processor is used to execute a control method for the cleaning robot provided in any embodiment of the present application by calling the computer program.

[0034] The technical solution provided by the embodiment of the present application is to scan the preset positioning graphic code in the surrounding environment of the cleaning robot and determine the surrounding environment map, determine the position data of the cleaning robot according to the preset positioning graphic code, determine the target position of the cleaning robot in the surrounding environment map according to the position data, and when receiving the execution instruction of the target cleaning task, determine the target cleaning path from the surrounding environment map according to the execution instruction, and control the cleaning robot to perform the target cleaning task according to the target cleaning path and the target position. In this way, the present application can determine the target position of the cleaning robot in the surrounding environment through the preset positioning graphic code and the surrounding environment map. When the cleaning robot receives the execution instruction of the target cleaning task, it determines the target cleaning path from the surrounding environment map according to the execution instruction, so that the cleaning robot can autonomously navigate based on the target position and the target cleaning path, thereby performing the target cleaning task, without requiring human participation throughout the process, which greatly improves the convenience of the cleaning robot in performing cleaning tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 It is a flow chart of the control method of the cleaning robot provided in an embodiment of the present application.

[0037] Figure 2It is a schematic diagram of a control interface of a cleaning robot in the control method of the cleaning robot provided in an embodiment of the present application.

[0038] Figure 3 It is a schematic diagram of a real-time cleaning map of the control method of the cleaning robot provided in an embodiment of the present application.

[0039] Figure 4 It is a device diagram of the control method of the cleaning robot provided in an embodiment of the present application.

[0040] Figure 5 It is a structural schematic diagram of the cleaning robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0042] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0043] The embodiment of the present application provides a control method for a cleaning robot, and the execution subject of the control method for the cleaning robot can be the control device of the cleaning robot provided in the embodiment of the present application, or a robot integrated with the control device of the cleaning robot, wherein the control device of the cleaning robot can be implemented in hardware or software. The cleaning robot can be a device such as a sweeping robot that can automatically perform cleaning work.

[0044] See also Figure 1 , Figure 1 A schematic flow chart of a control method for a cleaning robot provided in an embodiment of the present application. The specific flow of the method may include the following steps:

[0045] S110, scanning a preset positioning graphic code in the surrounding environment of the cleaning robot, and determining a surrounding environment map.

[0046] Among them, cleaning robots refer to special robots that serve humans. They are intelligent devices that are mainly engaged in household cleaning and washing work.

[0047] Among them, the graphic code is a coding method that represents information through graphic symbols. It converts information into a series of graphic symbols, each symbol represents a specific information unit. Common graphic codes include QR codes and bar codes. The preset positioning graphic code is a graphic code that includes location data pre-set in the surrounding environment, and the location data is the location data of the preset positioning graphic code. Among them, the preset positioning graphic code can be arranged on a wall or on the floor.

[0048] In this embodiment, when the cleaning robot is turned on, it will automatically scan the preset positioning graphic codes arranged in the surrounding environment, and create a map of the surrounding environment through the preset sensors it carries with it to determine the surrounding environment map.

[0049] In one embodiment, the cleaning robot can establish an association between a preset positioning graphic code and a surrounding environment map, and store the association and the surrounding environment map. When the cleaning robot scans the same preset positioning image code next time, it can directly obtain the pre-stored surrounding environment map from the storage space without having to create the surrounding environment map in real time each time.

[0050] In some embodiments, the step of “determining a surrounding environment map” may include:

[0051] In response to the map creation instruction, a preset sensor of the cleaning robot is enabled to scan the surrounding environment to obtain a scanning result;

[0052] Among them, the map creation instruction is a map creation instruction that is automatically issued after the cleaning robot is turned on.

[0053] Among them, the preset sensors may include one or more sensors such as laser radar, image sensor, inertial measurement unit (IMU) and ultrasonic sensor.

[0054] The surrounding environment map is created according to the scanning results.

[0055] In this embodiment, after acquiring the data collected by the preset sensor, the sensor data can be processed by the SLAM algorithm to create a surrounding environment map.

[0056] S120. Determine the position data of the cleaning robot according to the preset positioning graphic code.

[0057] In this embodiment, the scanned preset positioning graphic code can be parsed, the position data carried in the preset positioning graphic code can be read, and the position data of the cleaning robot itself can be determined based on the position data.

[0058] In some embodiments, the preset positioning graphic code is a two-dimensional code, and the step of "determining the position data of the cleaning robot according to the preset positioning graphic code" may include:

[0059] The two-dimensional code is parsed to obtain position data, and the position data is used as the position data of the cleaning robot.

[0060] S130. Determine a target position of the cleaning robot in the surrounding environment map according to the position data.

[0061] In this embodiment, the cleaning robot uses the location data carried by the scanned positioning graphic code as its own location data, and determines the target position of the cleaning robot in the surrounding environment map based on the location data. The target position is also the position of the cleaning robot in the surrounding environment map.

[0062] S140. When receiving an execution instruction of a target cleaning task, determine a target cleaning path from the surrounding environment map according to the execution instruction.

[0063] In this embodiment, when the cleaning robot receives an execution instruction for a target cleaning task, it determines a target cleaning path from a surrounding environment map according to the execution instruction, so that the cleaning robot can perform cleaning work while autonomously navigating according to the target cleaning path, thereby completing the target cleaning task.

[0064] In some embodiments, the execution instruction of the target cleaning task may be an execution instruction issued by the user directly through the control interface of the cleaning robot, or may be an execution instruction issued by the user through an external electronic device different from the cleaning robot.

[0065] For example, a connection relationship between the target cleaning robot and the user terminal can be established, and a control interface for the cleaning robot can be displayed on the user terminal. For example, the control interface can refer to Figure 2 The control interface can display a surrounding environment map, and display a control control at the obstacle position of the surrounding environment map, through which a virtual button for cleaning mode options of the cleaning robot and a virtual button for cleaning control are provided, and the user can remotely control the cleaning robot based on the control control provided on the terminal. Obstacles can be items such as furniture and electrical appliances.

[0066] In some embodiments, the step of “determining a target cleaning path from the surrounding environment map according to the execution instruction” may include:

[0067] Determining a target cleaning area from the surrounding environment map according to the execution instruction;

[0068] The execution instruction includes the target cleaning area selected by the user through the surrounding environment map displayed on the control interface. The control interface can be a control interface displayed on a display screen carried by the cleaning robot itself, or a control interface displayed on a user terminal for remotely controlling the cleaning robot.

[0069] The target cleaning path is planned in the surrounding environment map according to the target cleaning area.

[0070] In this embodiment, the shortest cleaning path passing through all target cleaning areas may be planned according to the selected target cleaning area, and the shortest cleaning path may be used as the target cleaning path.

[0071] For example, see Figure 2 The user can select the target cleaning area to be cleaned in the surrounding environment map displayed on the user terminal. For example, the user can mark the target cleaning area to be cleaned in the surrounding environment map, and the cleaning robot can determine the target cleaning area through image recognition processing.

[0072] S150. Control the cleaning robot to perform the target cleaning task according to the target cleaning path and the target position.

[0073] In this embodiment, the cleaning robot can perform cleaning work while performing autonomous navigation according to the target cleaning path and target position on the surrounding environment map, thereby completing the target cleaning task.

[0074] In some embodiments, the step of “controlling the cleaning robot to perform the target cleaning task according to the target cleaning path and the target position” may include:

[0075] Determine a starting point and an end point in the target cleaning path;

[0076] The cleaning robot is navigated from the starting point to the end point along the target cleaning path according to the target position, so as to control the cleaning robot to perform the target cleaning task.

[0077] The present application allows the cleaning robot to determine the target position of the cleaning robot in the surrounding environment through a preset positioning graphic code and a surrounding environment map. When the cleaning robot receives an execution instruction for a target cleaning task, the target cleaning path is determined from the surrounding environment map according to the execution instruction, so that the cleaning robot can autonomously navigate based on the target position and the target cleaning path, thereby performing the target cleaning task. No human participation is required throughout the process, which greatly improves the convenience of the cleaning robot in performing cleaning tasks.

[0078] In some embodiments, the control method of the cleaning robot provided in the present application may further include:

[0079] Generate a real-time cleaning map of the cleaning robot according to the surrounding environment map, the target cleaning path and the target position;

[0080] Please refer to Figure 3 In this embodiment, the following can be generated based on the surrounding environment map, the target cleaning path and the target location: Figure 3 The real-time cleaning map shown in the figure marks the target cleaning path, the starting point of the cleaning path, the end point of the cleaning path and the real-time working position of the cleaning robot. Figure 3 The initial positioning point marked in the figure is the target position in the surrounding environment that the cleaning robot automatically determines after it is turned on. The target position is marked as the initial positioning point. After determining the target cleaning path corresponding to the cleaning task and the starting point and end point corresponding to the target cleaning path, the cleaning robot performs autonomous navigation based on the surrounding environment map, moves from the initial positioning point to the starting point of the target cleaning path, and performs cleaning work along the target cleaning path from the starting point to the end point to complete the cleaning work. During this cleaning process, the cleaning robot can update its own position in real time, thereby generating the real-time cleaning map.

[0081] The real-time cleaning map is sent to an external electronic device and displayed on the external electronic device.

[0082] In this embodiment, the real-time cleaning map generated by the cleaning robot can be displayed on the display of the cleaning robot itself, or the real-time cleaning map can be sent to a terminal used by the user. For example, the cleaning robot can send the real-time cleaning map to a mobile phone and display it on the display screen of the mobile phone. The user can view the working status of the cleaning robot through the mobile phone.

[0083] In one embodiment, a control device for a cleaning robot is also provided. Figure 4 , Figure 4 A schematic diagram of a structure of a control device 200 of a cleaning robot provided in an embodiment of the present application. The control device 200 of the cleaning robot is applied to a cleaning robot, and the control device 200 of the cleaning robot includes a processing module 201, a first determination module 202, a second determination module 203, a third determination module 204, and a cleaning robot control module 205, as follows:

[0084] The processing module 201 is used to scan the preset positioning graphic code in the surrounding environment of the cleaning robot and determine the surrounding environment map;

[0085] A first determination module 202, configured to determine the position data of the cleaning robot according to the preset positioning graphic code;

[0086] A second determination module 203 is used to determine the target position of the cleaning robot in the surrounding environment map according to the position data;

[0087] A third determination module 204 is used to determine a target cleaning path from the surrounding environment map according to the execution instruction when receiving the execution instruction of the target cleaning task;

[0088] The cleaning robot control module 205 is used to control the cleaning robot to perform the target cleaning task according to the target cleaning path and the target position.

[0089] In some embodiments, the preset positioning graphic code is a two-dimensional code, and the first determination module 202 can be used to:

[0090] The two-dimensional code is parsed to obtain position data, and the position data is used as the position data of the cleaning robot.

[0091] In some embodiments, the cleaning robot control module 205 can be used to:

[0092] Determine a starting point and an end point in the target cleaning path;

[0093] The cleaning robot is navigated from the starting point to the end point along the target cleaning path according to the target position, so as to control the cleaning robot to perform the target cleaning task.

[0094] In some embodiments, the processing module 201 may be used to:

[0095] In response to the map creation instruction, a preset sensor of the cleaning robot is enabled to scan the surrounding environment to obtain a scanning result;

[0096] The surrounding environment map is created according to the scanning results.

[0097] In some embodiments, the third determination module 204 may be used to:

[0098] Determining a target cleaning area from the surrounding environment map according to the execution instruction;

[0099] The target cleaning path is planned in the surrounding environment map according to the target cleaning area.

[0100] In some embodiments, the control device 200 of the cleaning robot further includes a map generation module, and the map generation module is used to:

[0101] Generate a real-time cleaning map of the cleaning robot according to the surrounding environment map, the target cleaning path and the target position;

[0102] The real-time cleaning map is sent to an external electronic device and displayed on the external electronic device.

[0103] It should be noted that the control device of the cleaning robot provided in the embodiment of the present application and the control method of the cleaning robot in the above embodiment belong to the same concept. Any method provided in the control method embodiment of the cleaning robot can be implemented through the control device of the cleaning robot. The specific implementation process is detailed in the control method embodiment of the cleaning robot, which will not be repeated here.

[0104] In addition, in order to better implement the control method of the cleaning robot in the embodiment of the present application, based on the control method of the cleaning robot, the present application also provides a cleaning robot, please refer to Figure 5 , Figure 5 A schematic diagram of the structure of the cleaning robot 300 provided in the present application is shown. Figure 5 As shown, the cleaning robot 300 provided in the present application includes a processor 301 and a memory 302. The processor 301 is used to implement the steps of the control method of the cleaning robot in the above embodiment of the present application when executing the computer program stored in the memory 302, such as:

[0105] Scan the preset positioning graphic code in the surrounding environment of the cleaning robot and determine the surrounding environment map;

[0106] Determine the position data of the cleaning robot according to the preset positioning graphic code;

[0107] Determine a target position of the cleaning robot in the surrounding environment map according to the position data;

[0108] When receiving an execution instruction of a target cleaning task, determining a target cleaning path from the surrounding environment map according to the execution instruction;

[0109] According to the target cleaning path and the target position, the cleaning robot is controlled to perform the target cleaning task.

[0110] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 302, and executed by the processor 301 to complete the embodiment of the present application. One or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the computer device.

[0111] The cleaning robot 300 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art will appreciate that the illustration is merely an example of the cleaning robot 300 and does not constitute a limitation on the cleaning robot 300. The cleaning robot 300 may include more or fewer components than shown in the illustration, or may combine certain components, or different components. For example, the cleaning robot 300 may also include input and output devices, network access devices, buses, etc. The processor 301, the memory 302, the input and output devices, and the network access devices are connected via a bus.

[0112] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the cleaning robot 300, and various interfaces and lines are used to connect various parts of the entire cleaning robot 300.

[0113] The memory 302 can be used to store computer programs and / or modules. The processor 301 implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory 302 and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the cleaning robot 300 (such as audio data, video data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0114] Technicians in the relevant field can clearly understand that, for the convenience and conciseness of description, the specific working processes of the control device of the cleaning robot, the cleaning robot 300 and its corresponding units described above can refer to the description of the control method of the cleaning robot in the above embodiments of the present application, and the details will not be repeated here.

[0115] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0116] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps in the control method of the cleaning robot in the above embodiment of the present application, such as:

[0117] Scan the preset positioning graphic code in the surrounding environment of the cleaning robot and determine the surrounding environment map;

[0118] Determine the position data of the cleaning robot according to the preset positioning graphic code;

[0119] Determine a target position of the cleaning robot in the surrounding environment map according to the position data;

[0120] When receiving an execution instruction of a target cleaning task, determining a target cleaning path from the surrounding environment map according to the execution instruction;

[0121] According to the target cleaning path and the target position, the cleaning robot is controlled to perform the target cleaning task.

[0122] For specific operations, please refer to the description of the control method of the cleaning robot in the above embodiments of the present application, which will not be repeated here.

[0123] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0124] Since the instructions stored in the computer-readable storage medium can execute the steps in the control method of the cleaning robot in the above embodiments of the present application, the beneficial effects that can be achieved by the control method of the cleaning robot in the above embodiments of the present application can be achieved. Please see the previous description for details and will not be repeated here.

[0125] In addition, the terms "first", "second", and "third" in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but some embodiments also include steps or modules that are not listed, or some embodiments also include other steps or modules inherent to these processes, methods, products, or devices.

[0126] The above is a detailed introduction to the control method, device, cleaning robot and medium of a cleaning robot provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for a cleaning robot, characterized in that: include: Scan the preset positioning graphic code in the surrounding environment of the cleaning robot and determine the surrounding environment map; Determine the position data of the cleaning robot according to the preset positioning graphic code; Determine a target position of the cleaning robot in the surrounding environment map according to the position data; When receiving an execution instruction of a target cleaning task, determining a target cleaning path from the surrounding environment map according to the execution instruction; According to the target cleaning path and the target position, the cleaning robot is controlled to perform the target cleaning task.

2. The method according to claim 1, characterized in that The preset positioning graphic code is a two-dimensional code, and determining the position data of the cleaning robot according to the preset positioning graphic code includes: The two-dimensional code is parsed to obtain position data, and the position data is used as the position data of the cleaning robot.

3. The method according to claim 1, characterized in that The step of controlling the cleaning robot to perform the target cleaning task according to the target cleaning path and the target position includes: Determine a starting point and an end point in the target cleaning path; The cleaning robot is navigated from the starting point to the end point along the target cleaning path according to the target position, so as to control the cleaning robot to perform the target cleaning task.

4. The method according to claim 1, characterized in that: Determining the surrounding environment map includes: In response to the map creation instruction, a preset sensor of the cleaning robot is enabled to scan the surrounding environment to obtain a scanning result; The surrounding environment map is created according to the scanning results.

5. The method according to claim 1, characterized in that Determining a target cleaning path from the surrounding environment map according to the execution instruction includes: Determining a target cleaning area from the surrounding environment map according to the execution instruction; The target cleaning path is planned in the surrounding environment map according to the target cleaning area.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Generate a real-time cleaning map of the cleaning robot according to the surrounding environment map, the target cleaning path and the target position; The real-time cleaning map is sent to an external electronic device and displayed on the external electronic device.

7. A control device for a cleaning robot, characterized in that: include: A processing module, used to scan a preset positioning graphic code in the surrounding environment of the cleaning robot and determine a surrounding environment map; A first determination module, used to determine the position data of the cleaning robot according to the preset positioning graphic code; A second determination module, configured to determine a target position of the cleaning robot in the surrounding environment map according to the position data; A third determination module is used to determine a target cleaning path from the surrounding environment map according to the execution instruction when receiving an execution instruction of the target cleaning task; The cleaning robot control module is used to control the cleaning robot to perform the target cleaning task according to the target cleaning path and the target position.

8. The device according to claim 7, characterized in that The third determination module is used to determine the target cleaning area from the surrounding environment map according to the execution instruction, and plan the target cleaning path in the surrounding environment map according to the target cleaning area.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed on a computer, the computer is caused to execute the control method of the cleaning robot according to any one of claims 1 to 6.

10. A cleaning robot, comprising a processor and a memory, wherein the memory stores a computer program, characterized in that: The processor is used to execute the control method of the cleaning robot according to any one of claims 1 to 6 by calling the computer program.

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