Operation method of sweeping robot and related device

Abstract

The invention discloses an operation method of a sweeping robot and a related device, the method is applied to a target sweeping system, and the target sweeping system comprises the sweeping robot, a plurality of target sensors fixedly arranged in a target scene and a driving device. The method comprises the following steps: acquiring a first position state between the sweeping robot and a target object by using a plurality of target sensors; wherein the first position state comprises a position relationship between the sweeping robot and the target object; acquiring a second position state between the sweeping robot and the target object, which is acquired by the sweeping robot through a sensor of the sweeping robot in the running process; and generating a driving instruction based on the first position state and the second position state, and controlling the driving device to release sensory elements for driving the target object by using the driving instruction. In this way, the running stability of the sweeping robot can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of sweeping robots, and in particular to an operating method and related devices of a sweeping robot. Background Art

[0002] With the rapid development of robotics, indoor household service robots are gradually entering people's homes. However, during the actual cleaning process, robot vacuums are easily interfered with by objects such as pets, which can cause positioning errors or even interrupt cleaning, reducing cleaning efficiency. Currently, a common approach to addressing interference is to add repelling components to robot vacuums, but this approach can increase the risk of pet injury.

[0003] In view of this, how to propose a sweeping robot operation method with higher stability and safety has become an urgent problem to be solved. Summary of the Invention

[0004] The main technical problem solved by the present application is to provide an operation method and related devices of a sweeping robot, which can improve the stability of the operation of the sweeping robot.

[0005] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide an operation method of a sweeping robot, the method is applied to a target cleaning system, the target cleaning system includes a sweeping robot, a plurality of target sensors fixedly arranged in a target scene, and a driving device, the method including: using a plurality of target sensors to obtain a first position state between the sweeping robot and the target object; wherein the first position state includes the positional relationship between the sweeping robot and the target object; obtaining a second position state between the sweeping robot and the target object collected by its own sensors during operation; based on the first position state and the second position state, generating a driving instruction, and using the driving instruction to control the driving device to release a sensory element for driving away the target object; wherein the sensory element includes at least one of a driving gas and a driving audio.

[0006] To solve the above technical problems, another technical solution adopted in this application is: to provide an electronic device, comprising a memory and a processor coupled to each other, wherein the memory stores program instructions, and the processor is used to execute the program instructions to implement the method mentioned in the above technical solution.

[0007] In order to solve the above technical problems, another technical solution adopted in this application is: providing a computer-readable storage medium storing program instructions that can be executed by a processor, wherein the program instructions are used to implement the method mentioned in the above technical solution.

[0008] The beneficial effects of the present application are as follows: Different from the prior art, the operation method of the floor cleaning robot proposed in the present application is applied to a target cleaning system. By using multiple target sensors in the target scenario to obtain the first position state between the floor cleaning robot and the target object, and using the detection sensors of the floor cleaning robot itself to obtain the second position state between the floor cleaning robot and the target object. Combining the first position state and the second position state, the driving device is controlled to release the sensory elements for driving the target object, so as to improve the efficiency and stability of the floor cleaning robot when performing the cleaning task. Description of the Drawings

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them:

[0010] Figure 1 is a schematic flowchart of an implementation manner of the operation method of the floor cleaning robot of the present application;

[0011] Figure 2 is Figure 1 a schematic flowchart of another implementation manner corresponding to step S101 in;

[0012] Figure 3 is Figure 1 a schematic flowchart of another implementation manner corresponding to step S102 in;

[0013] Figure 4 is Figure 1 a schematic flowchart of another implementation manner corresponding to step S103 in;

[0014] Figure 5 is Figure 1 a schematic flowchart of an implementation manner corresponding to after step S103 in;

[0015] Figure 6 is Figure 5 a schematic flowchart of another implementation manner corresponding to step S503 in;

[0016] Figure 7 is Figure 6 a schematic diagram of an implementation manner corresponding to step S601 in;

[0017] Figure 8 is a schematic structural diagram of an implementation manner of the electronic device of the present application;

[0018] Figure 9 is a schematic structural diagram of an implementation manner of the computer-readable storage medium of the present application. Specific Embodiments

[0019] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments, and different embodiments can be adaptively combined. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0020] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of an implementation manner of the operation method of the floor cleaning robot in the present application. This method is applied to a target cleaning system, and the target cleaning system includes a floor cleaning robot, a plurality of target sensors fixedly arranged in the target scene, and a driving device. The implementation process of the above method includes:

[0021] S101: Use a plurality of target sensors to obtain the first position state between the floor cleaning robot and the target object; wherein, the first position state includes the positional relationship between the floor cleaning robot and the target object.

[0022] In one implementation manner, a plurality of target sensors are fixedly arranged in the target scene. The target sensors are used to collect data on the target scene, and based on the collected data, the target object in the target scene and the first position state between the floor cleaning robot and the target object are determined.

[0023] Among them, the above target object is a movable object in the target scene that is likely to interfere with the operation of the floor cleaning robot. For example, a pet.

[0024] In one implementation scenario, to optimize the monitoring effect of the first position state between the floor cleaning robot and the target object, the number and installation positions of the target sensors can be set according to the actual situation. For example, in response to the target scene being a home and the target scene being divided into multiple divided areas according to the room layout, target sensors are installed at high positions in at least some of the divided areas.

[0025] In another implementation scenario, to save the installation cost of the target sensors, the installation positions of the target sensors are determined based on the occurrence frequency of the target object, that is, target sensors are installed only in areas where the target object appears frequently.

[0026] S102: Obtain the second position state between the floor cleaning robot and the target object collected by the floor cleaning robot using its own sensors during operation.

[0027] In one embodiment, the floor cleaning robot is configured with a detection sensor, and the detection sensor is used to detect target objects in the area around the floor cleaning robot, so as to determine the second position state between the floor cleaning robot and the target object, that is, to determine whether the target object interferes with the operation of the floor cleaning robot.

[0028] S103: Based on the first position state and the second position state, generate a driving instruction, and use the driving instruction to control the driving device to release sensory elements for driving the target object; wherein, the sensory elements include at least one of driving gas and driving audio.

[0029] In one embodiment, according to the obtained first position state and second position state, it is judged whether the target object interferes with the operation of the floor cleaning robot. When the target object interferes with the floor cleaning robot, a driving instruction is generated, and the driving instruction is used to control the driving device to release sensory elements for driving the target object.

[0030] In one implementation scenario, the above-mentioned sensory elements include at least one of driving gas and driving audio.

[0031] The operation method of the floor cleaning robot proposed in this application is applied to a target cleaning system. By using multiple target sensors in the target scenario, the first position state between the floor cleaning robot and the target object is obtained, and the detection sensor of the floor cleaning robot itself is used to obtain the second position state between the floor cleaning robot and the target object. Combining the first position state and the second position state, the driving device is controlled to release sensory elements for driving the target object, so as to improve the efficiency and stability of the floor cleaning robot when performing the cleaning task.

[0032] Please refer to Figure 2 , Figure 2 is Figure 1 a schematic flowchart of another embodiment corresponding to step S101. Specifically, the implementation process of step S101 includes:

[0033] S20k: Obtain the sensor data in the target scenario collected by the target sensor.

[0034] In one embodiment, the target scenario includes multiple divided areas, and at least one target sensor is arranged in each divided area. By using the target sensor to collect data in the corresponding divided area, the corresponding sensor data can be obtained.

[0035] In one implementation scenario, the above-mentioned target sensor is a radar sensor, and the sensor data is determined according to the electromagnetic wave signal emitted by the target sensor and the received reflected wave signal.

[0036] Optionally, in other embodiments, the above target sensor may also be other types of sensors, such as, for example, an infrared detection sensor or an image detection sensor, etc.

[0037] S202: Based on the sensor data, determine the target object and the first reference distance between the target object and the floor cleaning robot.

[0038] In one embodiment, analyze the obtained sensor data to determine the target object in the target scene and the first reference distance between the target object and the floor cleaning robot.

[0039] Specifically, when the target sensor is a radar sensor, based on the time difference between the transmitted electromagnetic wave signal and the reflected wave signal, the frequency change, and the phase difference in the sensor data, determine the correspondence between the floor cleaning robot and the target in the target scene, as well as the distances between the floor cleaning robot and the target object and the target sensor respectively. Further, based on the distances between the floor cleaning robot and the target object and the target sensor respectively, determine the first reference distance between the target object and the floor cleaning robot.

[0040] S203: Based on the first reference distance, determine the first position state.

[0041] In one embodiment, obtain a preset first distance threshold. Determine the first position state according to the comparison relationship between the first distance threshold and the first reference distance. Wherein, the first position state includes an interference state or a non-interference state. The interference state indicates that the target object interferes with the operation of the floor cleaning robot, and the non-interference state indicates that the target object does not interfere with the operation of the floor cleaning robot.

[0042] In one implementation scenario, in response to the first reference distance being less than the first distance threshold, determine that the state between the target object and the floor cleaning robot is an interference state. Or, in response to the first reference distance being greater than or equal to the first distance threshold, determine that the state between the target object and the floor cleaning robot is a non-interference state. Wherein, the above first distance threshold can be obtained through estimation, or can also be inversely deduced by relevant technicians through multiple experiments.

[0043] In another implementation scenario, in response to the duration during which the first reference distance is less than the first distance threshold reaching a preset time threshold, determine that the state between the target object and the floor cleaning robot is an interference state. Otherwise, determine that the state between the target object and the floor cleaning robot is a non-interference state.

[0044] Specifically, within the duration corresponding to the preset time threshold, if the first reference distance between the target object and the floor cleaning robot is always less than the first distance threshold, determine that the state between the target object and the floor cleaning robot is an interference state. Wherein, the above preset time threshold can be set according to actual needs, and the specific value can be 10 seconds, 20 seconds, 1 minute, or two minutes, etc.

[0045] In the above solution, the target sensor fixedly installed monitors the states of the target object and the sweeping robot in real time in the target scenario, so as to determine in a timely manner whether the target object interferes with the sweeping robot.

[0046] Please refer to Figure 3 , Figure 3 is Figure 1 the schematic flowchart of another implementation manner corresponding to step S102 in

[0047] S301: Collect point cloud data by using the radar sensor of the sweeping robot.

[0048] In one implementation manner, the detection sensor configured by the sweeping robot itself is a radar sensor, and the radar sensor of the sweeping robot is used to collect the area where it is located to obtain the corresponding point cloud data.

[0049] S302: Based on the point cloud data, determine the target object and the second reference distance between the target object and the sweeping robot.

[0050] In one implementation manner, by analyzing the collected point cloud data, the target object in the collection area of the sweeping robot is determined, and the second reference distance between the target object and the sweeping robot is determined.

[0051] S303: Obtain a preset second distance threshold, and in response to the second reference distance being less than the second distance threshold, determine that the state between the target object and the sweeping robot is an interference state.

[0052] In one implementation manner, obtain a preset second distance threshold, and compare the second distance threshold with the second reference distance. In response to the second reference distance being less than the second distance threshold, it is determined that the state between the target object and the sweeping robot is an interference state. Or, in response to the second reference distance being greater than or equal to the second distance threshold, it is determined that the state between the target object and the sweeping robot is a non-interference state. Among them, the above second distance threshold can be obtained through estimation, or can also be inversely deduced by relevant technicians through multiple tests.

[0053] In another implementation manner, obtain a preset time threshold. If the second reference distance between the target object and the sweeping robot is always less than the second distance threshold within the duration corresponding to the preset time threshold, it is determined that the state between the target object and the sweeping robot is an interference state. It should be noted that the preset time threshold in this implementation manner may be the same as or different from the preset time threshold mentioned in the above corresponding implementation manner.

[0054] In the above solution, by using the detection sensors of the sweeping robot itself to conduct a second round of detection on the position state between the sweeping robot and the target object, the accuracy of judging the interference of the target object is improved.

[0055] In another embodiment, the detection sensors configured on the sweeping robot itself include image detection sensors. Based on this, the implementation process of step S102 includes: using the image detection sensors to collect images of the surrounding area of the sweeping robot, and by identifying and analyzing the collected images, determining the target object and the second reference distance between the target object and the sweeping robot. Obtain a preset second distance threshold, and in response to the second reference distance being less than the second distance threshold, determine that the state between the target object and the sweeping robot is an interference state; otherwise, determine that the state between the target object and the sweeping robot is a non-interference state. Among them, the specific implementation process can refer to the corresponding above embodiments and will not be elaborated in detail here.

[0056] In another embodiment, after obtaining the first position state, the specific implementation process of step S102 may further include: judging whether the target object interferes with the operation of the sweeping robot according to the first position state. When the first position state indicates that the target object does not interfere with the operation of the sweeping robot, control the sweeping robot to continue running, and continue to monitor the first position state between the sweeping robot and the target object in the target scene by the target sensor in real time.

[0057] Or, when the first position state indicates that the target object interferes with the operation of the sweeping robot, use the detection sensors of the sweeping robot to collect the second position state between the target object, that is, use the detection sensors of the sweeping robot to further judge whether the target object interferes with it. This method reduces the probability of detection errors by jointly judging whether the target object interferes with the sweeping robot by using the target sensor and the detection sensors of the sweeping robot itself. Among them, the specific process of obtaining the second position state can refer to the corresponding above embodiments and will not be elaborated in detail here.

[0058] Please refer to Figure 4 , Figure 4 is Figure 1 the schematic flowchart of another embodiment corresponding to step S103 in

[0059] S401: In response to the first position state and the second position state indicating that the target object and the sweeping robot are in an interference state, generate a driving instruction including a first sub-command and a second sub-command.

[0060] In one embodiment, when both the first position state and the second position state indicate that the target object is interfering with the operation of the sweeping robot, a repelling instruction including a first sub-command and a second sub-command is generated to eliminate the interference of the target object. The first sub-command is used to control the release of a repelling gas, and the second sub-command is used to control the playback of a repelling audio. The repelling gas and the repelling audio are used to drive the target object away from the working area of the sweeping robot.

[0061] S402: Using the first sub-command to drive the gas release component to release the expelling gas, and using the second sub-command to drive the audio playing component to play the expelling audio.

[0062] In one embodiment, the first subcommand is sent to the gas release component to drive the gas release component to release the expelling gas; and the second subcommand is sent to the audio playback component to drive the audio playback component to play the expelling audio.

[0063] In one specific application scenario, matching repelling gas and audio are pre-determined based on the target object. The repelling gas released by the first sub-command and the audio played by the second sub-command effectively attract the target object away from the robot vacuum. For example, if the target object is a pet cat, cat grass fragrance can be used as the repelling gas, and audio calling the cat, pre-recorded by the cat's owner, can be used as the repelling audio.

[0064] In another embodiment, when the release component releases the repelling gas and plays the repelling audio, the cleaning robot is controlled to stop running until the target object moves to an area away from the cleaning robot.

[0065] In the above solution, after determining that the target object is interfering with the sweeping robot, the repelling device is activated to repel the target object away from the sweeping robot, thereby improving the sweeping robot's cleaning efficiency. This method does not require changing the structure of the sweeping robot, saving deployment costs.

[0066] See also Figure 5 , Figure 5 yes Figure 1 The process after step S103 corresponds to a flow chart of an embodiment. Specifically, the process after step S103 also includes:

[0067] S501: Utilize a target sensor to obtain current location information of a target object.

[0068] In one embodiment, in order to detect whether the interference of the target object on the cleaning robot is released, the target sensor is used to detect the current position information of the target object and determine the current position information of the cleaning robot.

[0069] S502: Determine a third position state between the target object and the sweeping robot based on the current position information of the target object.

[0070] In one embodiment, according to the current position information corresponding to the target object and the sweeping robot respectively, determine a third reference distance between the target object and the sweeping robot. According to the third reference distance, determine the third position state between the target object and the sweeping robot. The third position state is used to characterize whether the target object interferes with the operation of the sweeping robot. The specific determination process can refer to the corresponding embodiment above and will not be elaborated in detail here.

[0071] S503: In response to the third position state indicating a non-interference state between the target object and the sweeping robot, drive the sweeping robot to run along the target cleaning path.

[0072] In one embodiment, in response to the third position state indicating a non-interference state between the target object and the sweeping robot, drive the sweeping robot to continue running along the planned target cleaning path until the cleaning task of the target scene is completed.

[0073] In the above solution, after releasing the sensory elements, use the target sensor to continue to determine the third position state between the target object and the sweeping robot, and determine whether the interference is lifted according to the third position. Further, the flexibility of avoiding the target object when the sweeping robot is running is improved, and the stability of the sweeping robot running is improved.

[0074] Please refer to Figure 6 , Figure 6 is Figure 5 a schematic flowchart of another embodiment corresponding to step S503 in

[0075] S601: Update the target cleaning path according to the current position information of the sweeping robot in the target scene.

[0076] In one embodiment, based on the current position information of the sweeping robot, determine the current divided area where the sweeping robot is located.

[0077] Further, determine at least one area to be cleaned from multiple divided areas, and based on the distances between the areas to be cleaned and the current divided area, determine the target area from all the areas to be cleaned. Drive the sweeping robot to move to the target area.

[0078] Specifically, a floor cleaning robot is used to construct a map of the target scenario. Path planning is performed on the constructed map to obtain a target cleaning path. The target cleaning path sequentially connects multiple divided areas so that the floor cleaning robot sequentially completes the cleaning of each divided area after running along the target cleaning path. Determine the divided areas that have been cleaned during the cleaning process of the floor cleaning robot according to the target cleaning path, and determine at least one area to be cleaned that is different from the current divided area where the floor cleaning robot is located based on the divided areas that have been cleaned. Calculate the distance between each area to be cleaned and the current divided area, and determine the area to be cleaned with the largest corresponding distance as the target area. Drive the floor cleaning robot to move to the target area, and use the target area as the starting cleaning area to re-plan the target cleaning path to obtain an updated target cleaning path.

[0079] In a specific application scenario, please refer to Figure 7 , Figure 7 is Figure 6 a schematic diagram corresponding to step S601 in an embodiment. The target scenario is sequentially divided into divided areas A to divided areas F. The floor cleaning robot cleans divided areas A and divided areas B along the pre-planned target cleaning path, and is interfered by a target object during the cleaning process of divided area C. After the target object is moved away from the floor cleaning robot by using the method mentioned in any of the above embodiments, according to the current divided area C and the divided areas A and B that have been cleaned, it is determined that the areas to be cleaned include divided areas D, divided areas E, and divided areas F. Calculate the distance between each area to be cleaned and the current divided area C, and use the divided area F that is farthest from the current divided area C as the target area. Determine that the floor cleaning robot moves to this target area, and use the target area as the starting cleaning area to plan an updated target cleaning path so that the floor cleaning robot runs along the updated target cleaning path to sequentially clean divided area F, divided areas E, divided areas D, and the unfinished divided area C.

[0080] S602: Drive the floor cleaning robot to run along the updated cleaning path.

[0081] In an embodiment, after the floor cleaning robot moves to the target area, drive the floor cleaning robot to run along the updated cleaning path to sequentially clean the corresponding divided areas.

[0082] In the above solution, after the target object interferes with the floor cleaning robot, after driving away the target object, the floor cleaning robot is preferentially controlled to clean the target area that is farther from the current divided area, so as to reduce the probability of the target object continuously interfering with the floor cleaning robot and improve the operating efficiency of the floor cleaning robot.

[0083] Please refer to Figure 8 ,Figure 8 It is a schematic structural diagram of an embodiment of the electronic device of the present application. The electronic device includes: a memory 10 and a processor 20 that are coupled to each other. Program instructions are stored in the memory 10, and the processor 20 is configured to execute the program instructions to implement the methods mentioned in any of the above embodiments. Specifically, the electronic device includes, but is not limited to: desktop computers, laptop computers, tablet computers, servers, etc., which are not limited herein. In addition, the processor 20 may also be referred to as a CPU (Center Processing Unit, central processing unit). The processor 20 may be an integrated circuit chip with signal processing capabilities. The processor 20 may also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Additionally, the processor 20 may be implemented jointly by integrated circuit chips.

[0084] Please refer to Figure 9 , Figure 9 It is a schematic structural diagram of an embodiment of the computer-readable storage medium of the present application. Program instructions 40 that can be run by the processor are stored on the storage medium 30, and when the program instructions 40 are executed by the processor, the methods mentioned in any of the above embodiments are implemented.

[0085] In several embodiments provided by the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0086] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0087] In addition, in each embodiment of the present application, the functional units may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0088] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0089] The above are only the embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for operating a floor cleaning robot, characterized in that, The method is applied to a target cleaning system, which includes a sweeping robot, a plurality of target sensors fixedly arranged in a target scenario, and a driving device. The method includes: Obtaining a first position state between the sweeping robot and a target object by using the plurality of target sensors; wherein, the first position state includes the positional relationship between the sweeping robot and the target object; Obtaining a second position state between the sweeping robot and the target object collected by using its own sensors during the operation of the sweeping robot; Generating a driving instruction based on the first position state and the second position state, and using the driving instruction to control the driving device to release sensory elements for driving the target object; wherein, the sensory elements include at least one of a driving gas and a driving audio.

2. The method according to claim 1, characterized in that, The obtaining a first position state between the sweeping robot and a target object by using the plurality of target sensors includes: Obtaining sensor data in the target scenario collected by the target sensors; Based on the sensor data, determining the target object and a first reference distance between the target object and the sweeping robot; Based on the first reference distance, determining the first position state.

3. The method according to claim 2, wherein The first position state includes an interference state or a non-interference state. The determining the first position state based on the first reference distance includes: Obtaining a preset first distance threshold; In response to the first reference distance being less than the first distance threshold, determining that the state between the target object and the sweeping robot is an interference state; Or, in response to the duration that the first reference distance is less than the first distance threshold reaching a preset time threshold, determining that the state between the target object and the sweeping robot is an interference state.

4. The method according to claim 1, wherein The own sensors of the sweeping robot include a radar sensor. The obtaining a second position state between the sweeping robot and the target object collected by using its own sensors during the operation of the sweeping robot includes: Collecting point cloud data by using the radar sensor of the sweeping robot; Based on the point cloud data, determining the target object and a second reference distance between the target object and the sweeping robot; Obtaining a preset second distance threshold, and in response to the second reference distance being less than the second distance threshold, determining that the state between the target object and the sweeping robot is an interference state.

5. The method according to claim 1, characterized in that, The driving device includes a gas release component and an audio playback component. The generating a driving instruction based on the first position state and the second position state, and using the driving instruction to control the driving device to release sensory elements for driving the target object includes: In response to the first position state and the second position state indicating that the state between the target object and the sweeping robot is an interference state, generating the driving instruction including a first sub-command and a second sub-command; Using the first sub-command to drive the gas release component to release a driving gas, and using the second sub-command to drive the audio playback component to play a driving audio.

6. The method according to claim 1, wherein After generating a driving instruction based on the first position state and the second position state and using the driving instruction to control the driving device to release the sensory elements for driving the target object, it includes: Obtaining the current position information of the target object by using the target sensor; Determining a third position state between the target object and the sweeping robot based on the current position information of the target object; In response to the third position state indicating a non-interference state between the target object and the sweeping robot, driving the sweeping robot to run along a target cleaning path.

7. The method according to claim 6, characterized in that, The driving the sweeping robot to run along a target cleaning path in response to the third position state indicating a non-interference state between the target object and the sweeping robot includes: Updating the target cleaning path according to the current position information of the sweeping robot in the target scenario; Driving the sweeping robot to run along the updated cleaning path.

8. The method according to claim 7, characterized in that The target scenario includes a plurality of divided areas. The updating the target cleaning path according to the current position of the sweeping robot in the target scenario includes: Determining the current divided area where the sweeping robot is located based on the current position information of the sweeping robot; Determining at least one area to be cleaned from the plurality of divided areas, and determining a target area from all the areas to be cleaned based on the distances between the areas to be cleaned and the current divided area; Driving the sweeping robot to move to the target area.

9. An electronic device, characterized in that, It includes a memory and a processor that are mutually coupled. Program instructions are stored in the memory, and the processor is configured to execute the program instructions to implement the method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, Program instructions that can be run by a processor are stored, and the program instructions are used to implement the method according to any one of claims 1-8.

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