Cleaning robot control method and cleaning robot

Abstract

The invention provides a cleaning robot control method and a cleaning robot. The cleaning robot control method comprises the steps of determining whether a target obstacle exists on an unreached path in a planned path of a target task or not; if yes, a position signal of a target ground cleaning assembly in the cleaning robot is obtained; when the position signal indicates that the target ground cleaning assembly is located at the cleaning working position, the cleaning robot is controlled to execute a target action; wherein the target action comprises adjustment of the execution state of the target task and / or adjustment of the position of the target ground cleaning assembly. Therefore, the cleaning robot does not continue to cross the target obstacle when the target ground cleaning assembly is still located at the cleaning working position, so that damage to the target ground cleaning assembly is avoided, and the service life of equipment is prolonged.

Description

Technical Field

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

[0002] Most of the existing intelligent cleaning robots are equipped with a variety of floor cleaning components. The components can automatically clean the floor by making sufficient contact with the floor, achieving a good cleaning effect. However, due to the limitation of the structural relationship between the floor cleaning components and the robot body, when the robot crosses a floor obstacle with the floor cleaning components, some floor cleaning components are prone to breakage, affecting the service life of the equipment. Summary of the Invention

[0003] In view of this, the purpose of the present application is to provide a control method for a cleaning robot and a cleaning robot, which can solve the problem that when the robot carries the in-place floor cleaning components across an obstacle in the prior art, it is easy to cause the components to break.

[0004] The embodiment of the present application provides a control method for a cleaning robot. The control method includes:

[0005] Determine whether there is a target obstacle on the un-reached path in the planned path of the target task;

[0006] If there is, obtain the position signal of the target floor cleaning component in the cleaning robot;

[0007] When the position signal indicates that the target floor cleaning component is in the cleaning working position, control the cleaning robot to perform a target action; wherein, the target action includes adjusting the execution state of the target task and / or adjusting the position of the target floor cleaning component.

[0008] Further, the determining whether there is a target obstacle on the un-reached path in the planned path of the target task includes:

[0009] Before the target task is started, determine whether there is the target obstacle on the un-reached path;

[0010] Then the control method further includes:

[0011] If there is no such target obstacle on the un-reached path, allow the target task to be started.

[0012] Further, the target task includes a plurality of subtasks, and the plurality of subtasks are located in different sub-regions of the target scene; the determining whether there is the target obstacle on the un-reached path includes:

[0013] When the cleaning robot needs to cross floors to go to the next sub-area to perform a sub-task, it is determined that there is the target obstacle on the un-reached path.

[0014] Further, obtaining the position signal of the target floor cleaning component in the cleaning robot includes:

[0015] During the execution of the target task, when the cleaning robot navigates to the next sub-area across floors, obtain the position signal of the target floor cleaning component in the cleaning robot;

[0016] and / or,

[0017] During the execution of the target task, when the cleaning robot reaches the preset waiting elevator point, obtain the position signal of the target floor cleaning component in the cleaning robot.

[0018] Further, when the position signal indicates that the target floor cleaning component is in the cleaning working position, controlling the cleaning robot to perform the target action includes:

[0019] When the position signal indicates that the target floor cleaning component is in the cleaning working position, determine whether the target floor cleaning component is liftable;

[0020] If the target floor cleaning component is not liftable, adjust the execution status of the target task.

[0021] Further, when the position signal indicates that the target floor cleaning component is in the cleaning working position, controlling the cleaning robot to perform the target action includes:

[0022] If the target floor cleaning component is liftable, before the cleaning robot moves to the position of the target obstacle on the un-reached path, control the target floor cleaning component to be lifted to the preset safe position.

[0023] Further, the control method further includes:

[0024] In response to the task creation operation for the cleaning robot, obtain the created candidate task;

[0025] If the candidate task includes the target cleaning mode and there is a target obstacle in the planned path of the candidate task, restrict the creation of the candidate task; wherein, the target cleaning mode refers to the cleaning mode that needs to use the target floor cleaning component for floor cleaning.

[0026] Further, adjusting the execution status of the target task includes: prohibiting the start of the target task; ending the execution of the target task; pausing the execution of the target task;

[0027] If the execution of the target task is paused, the control method further includes:

[0028] Prompting the user to disassemble the target floor cleaning component through at least one prompting method;

[0029] When the position signal indicates that the target floor cleaning component is not in the cleaning working position, controlling the cleaning robot to continue executing the target task.

[0030] Further, after the target task is completed, the control method further includes:

[0031] Judging whether there is a charging point in the floor where the cleaning robot is located;

[0032] If there is, controlling the cleaning robot to go to the charging point;

[0033] If not, judging whether there is a landmark point in the floor where the cleaning robot is located;

[0034] If there is, controlling the cleaning robot to go to the landmark point;

[0035] If not, controlling the robot to stay at the end point of the current subtask.

[0036] The embodiment of the present application further provides a control device for a cleaning robot, and the control device includes:

[0037] A determination module, configured to determine whether there is a target obstacle on the unarrived path in the planned path of the target task;

[0038] An acquisition module, configured to, if there is, acquire the position signal of the target floor cleaning component in the cleaning robot;

[0039] A control module, configured to, when the position signal indicates that the target floor cleaning component is in the cleaning working position, control the cleaning robot to perform a target action; wherein, the target action includes adjusting the execution state of the target task and / or adjusting the position of the target floor cleaning component.

[0040] The embodiment of the present application further provides a cleaning robot, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the cleaning robot runs, the processor communicates with the memory through the bus. When the machine-readable instructions are run by the processor, the steps of the control method of the above-mentioned cleaning robot are executed.

[0041] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the control method of the cleaning robot as described above.

[0042] The embodiment of the present application has the following beneficial technical effects:

[0043] When it is determined that there is a target obstacle on the unarrived path in the planned path of the target task and the target floor cleaning component is in the cleaning working position, the cleaning robot is automatically controlled to adjust the execution state of the target task and / or the position of the target floor cleaning component; in this way, the cleaning robot will not continue to cross the target obstacle when the target floor cleaning component is still in the cleaning working position, thereby causing damage to the target floor cleaning component, which helps to extend the service life of the device.

[0044] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0045] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0046] Figure 1 Shows a schematic diagram of a target floor cleaning component provided by an embodiment of the present application;

[0047] Figure 2 Shows a flowchart of a control method of a cleaning robot provided by an embodiment of the present application;

[0048] Figure 3 Shows a schematic structural diagram of a control device of a cleaning robot provided by an embodiment of the present application;

[0049] Figure 4 Shows a schematic structural diagram of a cleaning robot provided by an embodiment of the present application. Detailed Embodiments

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. The components of the embodiments of this application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without creative efforts falls within the scope of protection of this application.

[0051] First, the applicable application scenarios of this application will be introduced. This application can be applied to the field of robotics, especially applicable to commercial cleaning robots. Commercial robots are generally applied to large public places such as shopping malls, schools, and hospitals. The ground conditions in these places are relatively complex, with many obstacles, and may also involve cross-floor situations, such as steps with a vertical height difference on the ground, and unevenness such as ditches and ridges at the junction of the ground when the cleaning robot enters and exits the elevator.

[0052] Most existing intelligent cleaning robots are equipped with a variety of ground cleaning components. The components can automatically clean the ground through sufficient contact with the ground, achieving a good cleaning effect. However, due to the limitation of the structural relationship between the ground cleaning components and the robot body, when the robot crosses ground obstacles with the ground cleaning components, some ground cleaning components are prone to breakage, affecting the service life of the equipment. In one example, these ground cleaning components can include side brushes, dust mop plates, etc. Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of a target ground cleaning component provided by an embodiment of this application. As shown in Figure 1 , the cleaning robot includes a dust mop plate 100. Due to the limitation of the structural relationship between the dust mop plate 100 and the robot body, when the dust mop plate 100 is in the ground-pushing state at the cleaning working position in Figure 1 , when the cleaning robot crosses the ground obstacle with the dust mop plate 100, the dust mop plate 100 is prone to breakage and detach from the robot body.

[0053] Based on this, the embodiments of this application provide a control method for a cleaning robot to solve the problem in the prior art that when the robot crosses an obstacle with the ground cleaning component in place, it is easy to cause the component to break.

[0054] Please refer to Figure 2 , Figure 2The flowchart of a control method for a cleaning robot provided by an embodiment of the present application. The control method can be implemented based on a control module in the cleaning robot or a cloud platform communicatively connected to the cleaning robot. As Figure 2 shown in

[0055] S101, determine whether there is a target obstacle on the unarrived path in the planned path of the target task.

[0056] S102, if so, obtain the position signal of the target floor cleaning component in the cleaning robot.

[0057] S103, when the position signal indicates that the target floor cleaning component is in the cleaning working position, control the cleaning robot to perform a target action.

[0058] Wherein, the target action includes adjusting the execution status of the target task and / or adjusting the position of the target floor cleaning component.

[0059] In this way, when it is determined in the embodiment of the present application that there is a target obstacle on the unarrived path in the planned path of the target task and the target floor cleaning component is in the cleaning working position, the cleaning robot is automatically controlled to adjust the execution status of the target task, or adjust the position of the target floor cleaning component, or adjust the execution status of the target task and the position of the target floor cleaning component at the same time. In this way, in multiple ways, it is ensured that the cleaning robot will not cross the target obstacle on the path when the target floor cleaning component is still in the cleaning working position, thereby avoiding damage to the target floor cleaning component, avoiding affecting the execution of subsequent tasks, reducing the maintenance cost of the robot, and at the same time helping to extend the service life of the device.

[0060] The implementation process of each step will be introduced in detail below with specific examples.

[0061] In a possible implementation manner, in step S101, the cleaning robot receives a target task, determines a planned path according to the target task, and moves according to the planned path to execute the target task; the target task may include at least one of the following: a cleaning task, a charging task (such as when triggering low battery protection), a return-to-base task, and a movement task. The target task can be a temporary task, a timed task, an automatic task, a taught path task, etc., and the present application does not make any restrictions on this.

[0062] Before the target task is started, the un-reached path is the planned path; during the execution process after the target task is started, as the position of the robot changes, the un-reached path is continuously updated. Target obstacles are likely to cause damage to the on-site target floor cleaning component, including protrusions with a vertical height difference from the ground surface, such as steps on the ground, unevenness at the junction of the ground when entering and exiting the elevator, etc. Exemplarily, through the method of scanning and mapping the scene, the target obstacles in the scene can be pre-marked in the map; thus, after obtaining the planned path, the un-reached path can be determined whether there are target obstacles by comparing the map.

[0063] Correspondingly, the detection nodes for determining whether there are target obstacles on the un-reached path in step S101 include before the target task is started and / or during the execution process of the target task.

[0064] Before the target task is started, determine whether there are the target obstacles on the un-reached path. In this way, adding a pre-detection node for target obstacles before the target task is started can better prevent the target floor cleaning component from breaking.

[0065] If there are no target obstacles, the target task is allowed to be started. After that, the cleaning robot can directly start the target task, or execute other self-check processes corresponding to the target task according to requirements, such as whether the water tank is installed, whether the power is sufficient, etc.; and start the target task after meeting the conditions.

[0066] During the execution process of the target task, it is also possible to determine in real time whether there are target obstacles on the un-reached path. For example, through various sensors carried on the fuselage for real-time detection, to avoid missing obstacles on the path due to untimely map update. In this way, adding a detection node for target obstacles during the execution process of the target task helps to achieve comprehensive detection.

[0067] More specifically, the target task includes multiple subtasks, and the multiple subtasks are located in different sub-regions of the target scene. When the cleaning robot needs to travel across floors to the next sub-region to execute a subtask, it is determined that there are the target obstacles on the un-reached path.

[0068] In the embodiment of the present application, according to the indication of the target task, when the cleaning robot needs to travel across floors to the next region to execute a subtask, the cleaning robot needs to independently take the elevator to the corresponding floor. Therefore, the cleaning robot necessarily needs to pass through the uneven obstacles at the junction of the ground when entering and exiting the elevator, then it can be directly determined that there are target obstacles on the un-reached path.

[0069] In this way, combining the scenario where the cleaning robot travels across floors to execute subtasks in practical applications, it can more simply and accurately determine that there are target obstacles on the un-reached path, and then timely perform subsequent component in-position detection.

[0070] In a possible implementation, regarding the position signal of the target floor cleaning component in step S102, it can be detected by the in-position sensor of the target floor cleaning component, and whether the target floor cleaning component is located at the cleaning working position, that is, whether it is "in position", is determined according to the position signal.

[0071] Determining and obtaining the position signal of the target floor cleaning component in the cleaning robot in step S102 also includes before the target task is started and / or during the execution of the target task.

[0072] Before the target task is started, if there is a target obstacle on the path to be reached, the position signal of the target floor cleaning component can be obtained; if the target floor cleaning component is located at the cleaning working position, starting the target task can be prohibited. At this time, the cleaning robot can remain connected to the charging pile in the task waiting area and maintain the charging state.

[0073] During the execution of the target task, when the cleaning robot navigates to the next sub-area across floors, the position signal of the target floor cleaning component in the cleaning robot is obtained.

[0074] And / or, during the execution of the target task, when the cleaning robot reaches the preset waiting elevator point, the position signal of the target floor cleaning component in the cleaning robot is obtained.

[0075] This is because the embodiment of the present application takes into account that the target floor cleaning component may be installed on the cleaning robot during the execution of the task, so the detection of the component being in position can be added before about to cross the target obstacle to further ensure the safety of the component.

[0076] In addition, if the positions of other types of target obstacles are marked in the map, the position signal of the target floor cleaning component can also be obtained according to the distance between the current position and the position of the target obstacle, and when the distance is less than the preset threshold, to detect whether the component is in position.

[0077] In a possible implementation, step S103 may include:

[0078] S1031. When the position signal indicates that the target floor cleaning component is located at the cleaning working position, determine whether the target floor cleaning component can be lifted and lowered.

[0079] Here, the target floor cleaning components of some cleaning robots can be automatically lifted and lowered, lowered to the cleaning working position according to the control signal to make full contact with the ground to perform the cleaning work, or lifted to the preset safe position (away from the ground).

[0080] S1032. If the target floor cleaning component cannot be lifted and lowered, adjust the execution state of the target task.

[0081] Here, if the height of the target floor cleaning component from the ground cannot be adjusted, the cleaning robot cannot automatically adjust the position of the target floor cleaning component, and the target floor cleaning component always remains in the cleaning working position. Therefore, it is necessary to select to automatically adjust the execution status of the target task to avoid continuing to execute the target task when the component is in place and crossing the target obstacles on the path, resulting in damage to the target floor cleaning component.

[0082] S1033. If the target floor cleaning component can be lifted, before the cleaning robot moves to the position of the target obstacle on the un-reached path, control the target floor cleaning component to be lifted to a preset safe position.

[0083] Here, if the target floor cleaning component can be lifted, the cleaning robot can control the target floor cleaning component to be automatically lifted to a preset safe position to avoid damage to the target floor cleaning component when crossing the target obstacles on the path. The lifting timing only needs to be before the cleaning robot moves to the position of the target obstacle. Exemplarily, it can be lifted when the target obstacle is detected, or it can be lifted after completing the cleaning subtask of using the target floor cleaning component, or it can be lifted when the preset distance from the target obstacle is reached, etc.

[0084] In this way, selecting to automatically adjust the position of the target floor cleaning component can avoid damage to the component from the dimension of controlling the component, and can ensure the continuity of the target task and the working efficiency of the cleaning robot. It should be noted that in addition to controlling the lifting of the target floor cleaning component, the execution status of the target task can also be adjusted. For example, first suspend the execution of the target task, lift the component, and then continue to execute the target task.

[0085] In a possible implementation manner, adjusting the execution status of the target task includes: prohibiting the start of the target task; ending the execution of the target task; pausing the execution of the target task.

[0086] Among them, prohibiting the start of the target task means that when a target obstacle is detected and the target floor cleaning component is in place before the start of the target task, the start of the target task can be prohibited. Ending the execution of the target task means that when a target obstacle is detected and the target floor cleaning component is in place during the execution of the target task, the execution of the target task can be ended. Pausing the execution of the target task means that when a target obstacle is detected and the target floor cleaning component is in place during the execution of the target task, the execution of the target task can be paused, so that the execution of the target task can be resumed after meeting the predetermined conditions.

[0087] Further, if the execution of the target task is paused, the control method further includes:

[0088] Prompt the user to disassemble the target floor cleaning component through at least one prompting method; when the position signal indicates that the target floor cleaning component is not in the cleaning working position, control the cleaning robot to continue to execute the target task.

[0089] Among them, the prompting method may include an alarm reminder on the interactive screen of the cleaning robot, such as "The dust mop cannot take the elevator, please remove the dust mop"; voice alarm, light alarm of the cleaning robot, pushing alarm information to the user terminal, etc.; to clearly prompt the user to disassemble the target floor cleaning component in time.

[0090] The cleaning robot that pauses the execution of the target task can stay in place, prompt the user and wait for the user to disassemble the target floor cleaning component. After the target floor cleaning component is removed, if the cleaning robot verifies that the target floor cleaning component is not in the cleaning working position, it can resume the execution of the target task, so as to ensure the continuity of the target task and help improve the completion rate of the target task.

[0091] Furthermore, after ending the target task, the control method further includes:

[0092] Judge whether there is a charging point in the floor where the cleaning robot is located; if there is, control the cleaning robot to go to the charging point; if not, judge whether there is a landmark point in the floor where the cleaning robot is located; if there is, control the cleaning robot to go to the landmark point; if not, control the robot to stay at the end point of the current subtask.

[0093] Here, after ending the target task, the cleaning robot is preferentially controlled to go to the charging point on the floor where it is located; if there is no charging point on the floor where it is located, at this time the cleaning robot cannot take the elevator across floors with the components in place, so it goes to the landmark point on the floor where it is located; if there is no landmark point either, the robot stays at the end point of the current subtask.

[0094] Through the above logic for determining the position of the robot after ending the task, it can preferentially ensure the power of the cleaning robot and prepare for the execution of the next task; when it is impossible to charge on the floor where it is located, going to the landmark point and the end point of the subtask in turn can help the user easily find the robot and facilitate maintenance work.

[0095] In addition, while prohibiting the start of the target task, the user can also be prompted to disassemble the target floor cleaning component through at least one prompting method; while ending the target task, in addition to prompting the user to disassemble the target floor cleaning component through at least one prompting method, the position of the cleaning robot can also be prompted, such as "The cleaning robot is at point y on the xth floor", to help the user easily find the robot.

[0096] Furthermore, the control method further includes:

[0097] In response to a task creation operation for the cleaning robot, obtain the created candidate task; if the candidate task includes a target cleaning mode and there is a target obstacle in the planned path of the candidate task, restrict the creation of the candidate task; where the target cleaning mode refers to a cleaning mode that requires using the target floor cleaning component to perform floor cleaning.

[0098] Here, the user can trigger the task creation operation through the robot interaction screen, the application of the mobile terminal, etc. The cleaning robot obtains the created candidate task and judges the candidate task. If the candidate task includes a target cleaning mode and there is a target obstacle in the planned path of the candidate task, restrict the creation of the candidate task. For example, this task can be prohibited from being created, or the dust pushing mode can be prohibited from being set, or the scope of the target task can be adjusted, such as prohibiting cross-floor cleaning to avoid the target obstacle.

[0099] In this way, the tasks of the robot can be restricted from the starting link of task creation, ensuring that the target tasks to be executed will not have a situation where the cleaning robot needs to cross the target obstacle on the path when the target floor cleaning component is still in the cleaning working position, thereby avoiding damage to the target floor cleaning component.

[0100] A control method for a cleaning robot provided by an embodiment of the present application determines whether there is a target obstacle on the unarrived path in the planned path of the target task; if so, obtain the position signal of the target floor cleaning component in the cleaning robot; when the position signal indicates that the target floor cleaning component is in the cleaning working position, control the cleaning robot to perform a target action; where the target action includes adjusting the execution state of the target task and / or adjusting the position of the target floor cleaning component.

[0101] By automatically controlling the cleaning robot to adjust the execution state of the target task and / or adjust the position of the target floor cleaning component; in this way, the cleaning robot will not continue to cross the target obstacle when the target floor cleaning component is still in the cleaning working position, thereby causing damage to the target floor cleaning component, which helps to extend the service life of the device.

[0102] Based on the same inventive concept, an embodiment of the present application also provides a control device for a cleaning robot. Please refer to Figure 3 , Figure 3 is a schematic structural diagram of a control device for a cleaning robot provided by an embodiment of the present application. As shown in Figure 3 shown in, the control device 300 includes:

[0103] A determination module 310, configured to determine whether there is a target obstacle on the unarrived path in the planned path of the target task;

[0104] An obtaining module 320, configured to obtain a position signal of a target floor cleaning component in the cleaning robot if it exists;

[0105] A control module 330, configured to control the cleaning robot to perform a target action when the position signal indicates that the target floor cleaning component is in a cleaning working position; wherein, the target action includes adjusting an execution state of the target task and / or adjusting a position of the target floor cleaning component.

[0106] Further, when the determining module 310 is configured to determine whether there is a target obstacle on an un-reached path in a planned path of a target task, the determining module 310 is configured to:

[0107] Before the target task is started, determine whether there is the target obstacle on the un-reached path;

[0108] Then the control module 330 is further configured to:

[0109] If there is no such target obstacle on the un-reached path, allow the target task to be started.

[0110] Further, the target task includes a plurality of subtasks, and the plurality of subtasks are located in different sub-regions within a target scene; when the determining module 310 is configured to determine whether there is a target obstacle on an un-reached path in a planned path of a target task, the determining module 310 is configured to:

[0111] When the cleaning robot needs to travel across floors to the next sub-region to execute a subtask, determine that there is the target obstacle on the un-reached path.

[0112] Further, when the obtaining module 320 is configured to obtain a position signal of a target floor cleaning component in the cleaning robot, the obtaining module 320 is configured to:

[0113] During the execution of the target task, when the cleaning robot navigates to the next sub-region across floors, obtain a position signal of the target floor cleaning component in the cleaning robot;

[0114] and / or,

[0115] During the execution of the target task, when the cleaning robot reaches a preset waiting elevator point, obtain a position signal of the target floor cleaning component in the cleaning robot.

[0116] Further, when the control module 330 is configured to control the cleaning robot to perform a target action when the position signal indicates that the target floor cleaning component is in a cleaning working position, the control module 330 is configured to:

[0117] When the position signal indicates that the target floor cleaning component is in the cleaning working position, determine whether the target floor cleaning component is liftable;

[0118] If the target floor cleaning component is not liftable, adjust the execution status of the target task.

[0119] Further, when the control module 330 is used to control the cleaning robot to perform a target action when the position signal indicates that the target floor cleaning component is in the cleaning working position, the control module 330 is used for:

[0120] If the target floor cleaning component is liftable, before the cleaning robot moves to the position of the target obstacle on the un-reached path, control the target floor cleaning component to be lifted to a preset safe position.

[0121] Further, the control device further includes: a task judgment module; the task judgment module is used for:

[0122] In response to a task creation operation for the cleaning robot, obtain the created candidate task;

[0123] If the candidate task includes a target cleaning mode and there is a target obstacle in the planned path of the candidate task, restrict the creation of the candidate task; wherein, the target cleaning mode refers to a cleaning mode that requires using the target floor cleaning component for floor cleaning.

[0124] Further, adjusting the execution status of the target task includes: prohibiting the start of the target task; ending the execution of the target task; pausing the execution of the target task;

[0125] Further, if the execution of the target task is paused, the control module 330 is further used for:

[0126] Prompt the user to disassemble the target floor cleaning component through at least one prompting method;

[0127] When the position signal indicates that the target floor cleaning component is not in the cleaning working position, control the cleaning robot to continue executing the target task.

[0128] Further, after ending the target task, the control module 330 is further used for:

[0129] Judge whether there is a charging point in the floor where the cleaning robot is located;

[0130] If there is, control the cleaning robot to go to the charging point;

[0131] If not, determine whether there is a landmark point on the floor where the cleaning robot is located;

[0132] If there is, control the cleaning robot to go to the landmark point;

[0133] If not, control the robot to stay at the end point of the current subtask.

[0134] It should be noted that the specific implementation manner of the device can be referred to the method embodiments. Since the principle of the control device in the embodiments of the present application to solve the problem is similar to the above control method in the embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0135] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application. As Figure 4 shown in, the cleaning robot 400 includes a processor 410, a memory 420, and a bus 430.

[0136] The memory 420 stores machine-readable instructions executable by the processor 410. When the cleaning robot 400 runs, the processor 410 communicates with the memory 420 through the bus 430. When the machine-readable instructions are executed by the processor 410, the steps of the control method of the cleaning robot in the above method embodiments can be executed. The specific implementation manner can be referred to the method embodiments and will not be elaborated here.

[0137] The embodiments of the present application also provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps of the control method of the cleaning robot in the above method embodiments can be executed. The specific implementation manner can be referred to the method embodiments and will not be elaborated here.

[0138] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated here.

[0139] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For another 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 coupling or direct coupling or communication connection to each other can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in electrical, mechanical, or other forms.

[0140] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or 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.

[0141] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0142] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0143] Finally, it should be noted that the above-described embodiments are only specific implementation manners of the present application, used to illustrate the technical solutions of the present application, rather than limiting it. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the technical field of the present application can still modify the technical solutions recorded in the foregoing embodiments or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that, The control method includes: Determining whether there is a target obstacle on the un-reached path in the planned path of the target task; If so, obtaining the position signal of the target floor cleaning component in the cleaning robot; When the position signal indicates that the target floor cleaning component is in the cleaning working position, controlling the cleaning robot to perform a target action; wherein, the target action includes adjusting the execution status of the target task and / or adjusting the position of the target floor cleaning component.

2. The control method according to claim 1, wherein, Determining whether there is a target obstacle on the un-reached path in the planned path of the target task includes: Before the target task is started, determining whether there is the target obstacle on the un-reached path; Then the control method further includes: If there is no such target obstacle on the un-reached path, allowing the target task to be started.

3. The control method according to claim 1, wherein The target task includes multiple subtasks, and the multiple subtasks are located in different sub-areas within the target scenario; determining whether there is the target obstacle on the un-reached path includes: When the cleaning robot needs to travel across floors to the next sub-area to execute a subtask, determining that there is the target obstacle on the un-reached path.

4. The control method according to claim 3, wherein Obtaining the position signal of the target floor cleaning component in the cleaning robot includes: During the execution of the target task, when the cleaning robot navigates to the next sub-area across floors, obtaining the position signal of the target floor cleaning component in the cleaning robot; and / or, During the execution of the target task, when the cleaning robot reaches a preset waiting elevator point, obtaining the position signal of the target floor cleaning component in the cleaning robot.

5. The control method according to claim 1, characterized in that, When the position signal indicates that the target floor cleaning component is in the cleaning working position, controlling the cleaning robot to perform a target action includes: When the position signal indicates that the target floor cleaning component is in the cleaning working position, determining whether the target floor cleaning component is liftable; If the target floor cleaning component is not liftable, adjusting the execution status of the target task.

6. The control method according to claim 5, wherein When the position signal indicates that the target floor cleaning component is in the cleaning working position, controlling the cleaning robot to perform a target action includes: If the target floor cleaning component is liftable, before the cleaning robot moves to the position of the target obstacle on the un-reached path, controlling the target floor cleaning component to be lifted to a preset safe position.

7. The control method according to claim 1, wherein The control method further includes: In response to a task creation operation for the cleaning robot, obtaining the created candidate task; If the candidate task includes a target cleaning mode and there is a target obstacle in the planned path of the candidate task, restricting the creation of the candidate task; wherein, the target cleaning mode refers to a cleaning mode that requires using the target floor cleaning component for floor cleaning.

8. The control method according to claim 1 or 5, characterized in that Adjusting the execution status of the target task includes: prohibiting the start of the target task; ending the execution of the target task; pausing the execution of the target task; If the execution of the target task is paused, the control method further includes: Prompting the user to disassemble the target floor cleaning component through at least one prompting method; When the position signal indicates that the target floor cleaning component is not in the cleaning working position, control the cleaning robot to continue to execute the target task.

9. The control method according to claim 8, wherein After ending the target task, the control method further includes: Determine whether there is a charging point in the floor where the cleaning robot is located; If there is, control the cleaning robot to go to the charging point; If not, determine whether there is a landmark point in the floor where the cleaning robot is located; If there is, control the cleaning robot to go to the landmark point; If not, control the robot to stay at the end point of the current subtask.

10. A cleaning robot, characterized in that, Including: A processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the cleaning robot runs, the processor communicates with the memory through the bus. When the machine-readable instructions are run by the processor, the steps of the control method of the cleaning robot according to any one of claims 1 to 9 are executed.

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