Cleaning robot control method, cleaning robot, device, equipment and medium

Abstract

The embodiment of the invention discloses a control method of a cleaning robot, the cleaning robot, a device, equipment and a medium, the cleaning robot comprises a machine body and a cleaning brush, the cleaning brush is arranged on the side, facing a working face, of the machine body, the cleaning brush conducts cleaning by interfering with the working face, and the distance between the machine body and the working face is adjustable. And in the process that the cleaning robot is controlled to clean the working face through the cleaning brush, the working monitoring index of the cleaning robot is obtained, and under the condition that the working monitoring index of the cleaning robot does not meet the target condition, the distance between the robot body and the working face is adjusted so that the working monitoring index of the cleaning robot can meet the target condition. Wherein the operation monitoring index represents the interference degree between the cleaning brush and the operation face. Therefore, the interference degree between the cleaning brush and the working face can be more flexibly controlled, the cleaning requirement of the current working face can be better met, the cleaning efficiency can be improved, the energy loss can be reduced, and the energy consumption efficiency can be improved.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of cleaning robots, and in particular to a control method for a cleaning robot, a cleaning robot, a device, equipment, and a medium. Background Art

[0002] With the rapid development of science and technology, the application of cleaning robots is becoming more and more widespread. In related technologies, cleaning robots can enhance their cleaning capabilities by increasing the suction force of their suction mechanisms when cleaning work surfaces made of specific materials (such as carpets and dust mats). However, this cleaning method is inflexible and generally lacks effective cleaning results, resulting in low cleaning efficiency and energy efficiency. Summary of the Invention

[0003] In view of this, the embodiments of the present application provide at least a control method for a cleaning robot, a cleaning robot, a device, equipment, and a medium.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application provides a control method for a cleaning robot, the cleaning robot comprising a body and a cleaning brush, the cleaning brush being disposed on a side of the body facing a work surface, the cleaning brush cleaning by interfering with the work surface, and the distance between the body and the work surface being adjustable; the method comprising:

[0006] Control the cleaning robot to clean the working surface with the cleaning brush;

[0007] Acquire operation monitoring indicators of the cleaning robot during the cleaning process; the operation monitoring indicators represent the degree of interference between the cleaning brush and the working surface;

[0008] When the operation monitoring index of the cleaning robot does not meet the target condition, the distance between the body and the working surface is adjusted so that the operation monitoring index of the cleaning robot meets the target condition.

[0009] The embodiment of the present application provides a cleaning robot, comprising: a body, a cleaning brush, and a controller;

[0010] The cleaning brush is set on the side of the machine body facing the working surface. The cleaning brush cleans by interfering with the working surface. The distance between the machine body and the working surface is adjustable.

[0011] The controller is used to: control the cleaning robot to clean the working surface with a cleaning brush; obtain the operation monitoring index of the cleaning robot during the cleaning process; the operation monitoring index represents the degree of interference between the cleaning brush and the working surface; if the operation monitoring index of the cleaning robot does not meet the target conditions, adjust the distance between the body and the working surface so that the operation monitoring index of the cleaning robot meets the target conditions.

[0012] The present application provides a control device for a cleaning robot, the cleaning robot comprising a body and a cleaning brush, the cleaning brush being disposed on a side of the body facing a work surface, the cleaning brush cleaning by interfering with the work surface, and the distance between the body and the work surface being adjustable; the device comprising:

[0013] A control module is used to control the cleaning robot to clean the working surface through a cleaning brush;

[0014] An acquisition module is used to obtain the operation monitoring index of the cleaning robot during the cleaning process; the operation monitoring index represents the degree of interference between the cleaning brush and the working surface;

[0015] The adjustment module is used to adjust the distance between the body and the working surface when the operation monitoring index of the cleaning robot does not meet the target conditions, so that the operation monitoring index of the cleaning robot meets the target conditions.

[0016] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0017] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements some or all of the steps in the above method when executed by a processor.

[0018] An embodiment of the present application provides a computer program, including computer-readable code. When the computer-readable code is executed in a computer device, a processor in the display device executes some or all of the steps for implementing the above method.

[0019] An embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above method.

[0020] In an embodiment of the present application, a cleaning robot includes a body and a cleaning brush. The cleaning brush is disposed on a side of the body facing a work surface. The cleaning brush cleans by interfering with the work surface, and the distance between the body and the work surface is adjustable. During the process of controlling the cleaning robot to clean the work surface using the cleaning brush, an operation monitoring index of the cleaning robot is obtained. If the operation monitoring index of the cleaning robot does not meet a target condition, the distance between the body and the work surface is adjusted so that the operation monitoring index of the cleaning robot meets the target condition. The operation monitoring index represents the degree of interference between the cleaning brush and the work surface. Since the degree of interference between the cleaning brush and the work surface has a significant impact on the cleaning effect, adjusting the distance between the body and the work surface can change the degree of interference between the cleaning brush and the work surface. Thus, if the operation monitoring index of the cleaning robot does not meet the target condition, the distance between the body and the work surface is automatically adjusted so that the operation monitoring index of the cleaning robot meets the target condition. This allows for more flexible control of the degree of interference between the cleaning brush and the work surface, thereby better meeting the cleaning requirements of the current work surface and improving cleaning efficiency. Furthermore, there is no need to increase the suction force of the cleaning robot, thereby reducing energy loss and improving energy efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1A A schematic diagram of an implementation flow of a control method for a cleaning robot provided in an embodiment of the present application;

[0022] Figure 1B A schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of a controller of a cleaning robot provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of the present application;

[0026] Figure 5 A hardware entity diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions of this application are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0028] In the following description, references to "some embodiments" describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or sequence of "first / second / third" may be interchanged where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing this application only and are not intended to limit this application.

[0030] An embodiment of the present application provides a control method for a cleaning robot. The method can be executed by a processor of a computer device. Among them, the computer device may refer to a device with data processing capabilities such as a robot, a server, a laptop computer, a tablet computer, a desktop computer, a smart TV, a set-top box, a mobile device (such as a mobile phone, a portable video player, a personal digital assistant, a dedicated messaging device, a portable gaming device). The cleaning robot may include but is not limited to at least one of a sweeper, a floor scrubber, a mop machine, a washing and mopping all-in-one machine, etc. During implementation, the composition structure of the cleaning robot can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0031] Figure 1A A schematic diagram of the implementation flow of a control method for a cleaning robot provided in an embodiment of the present application is shown as follows: Figure 1A As shown, the method includes the following steps S101 to S103:

[0032] Step S101, controlling the cleaning robot to clean the working surface using the cleaning brush;

[0033] Here, the cleaning brush may include at least one of a main brush, a side brush, etc. of the cleaning robot.

[0034] The cleaning brush can clean the working surface by interfering with the working surface. For example, the interference between the cleaning brush and the working surface may include but is not limited to at least one of the contact degree between the cleaning brush and the working surface, the contact efficiency between the cleaning brush and the working surface, etc.

[0035] In some embodiments, the cleaning brush of the cleaning robot can be controlled to rotate to roll away and / or suck away dust, garbage, etc. on the working surface, thereby cleaning the working surface.

[0036] Figure 1B A schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application is shown in FIG. Figure 1B As shown, the cleaning robot 10 includes a body 11 and a cleaning brush 12. The cleaning brush 12 is disposed on the side of the body 11 facing the working surface. The cleaning brush 12 cleans by interfering with the working surface. The distance between the body 11 and the working surface is adjustable. The working surface may be a surface to be cleaned, including but not limited to at least one of the ground, carpet, and dust mat. The working surface may be horizontal, have a certain slope, or be stepped, which is not limited in the embodiments of the present application.

[0037] In some embodiments, the working surface may be horizontal, and the distance between the fuselage and the working surface is the height of the chassis of the fuselage from the working surface.

[0038] Step S102 : obtaining an operation monitoring index of the cleaning robot during the cleaning process; the operation monitoring index represents the degree of interference between the cleaning brush and the working surface.

[0039] Here, the operation monitoring index of the cleaning robot may include any appropriate index that can characterize the degree of interference between the cleaning brush and the working surface, and the embodiments of the present application are not limited to this.

[0040] For example, the operation monitoring indicators of the cleaning robot may include but are not limited to at least one of the driving current of the cleaning brush, the distance between the body and the working surface, the degree of sinking of the cleaning brush into the working surface, etc.

[0041] It is understood that the degree of interference between the cleaning brush and the work surface affects the cleaning brush's workload, which in turn affects the cleaning brush's drive current. Therefore, the cleaning brush's drive current can be used to characterize the degree of interference between the cleaning brush and the work surface. A greater driving current indicates a higher degree of interference between the cleaning brush and the work surface, while a smaller driving current indicates a lower degree of interference. The distance between the body and the work surface also affects the degree of interference between the cleaning brush and the work surface. Therefore, the distance between the body and the work surface can be used to characterize the degree of interference between the cleaning brush and the work surface. A smaller distance between the body and the work surface indicates a higher degree of interference between the cleaning brush and the work surface, while a larger distance between the body and the work surface indicates a lower degree of interference. A higher degree of penetration of the cleaning brush into the work surface indicates a higher degree of interference between the cleaning brush and the work surface, while a lower degree of penetration indicates a lower degree of interference between the cleaning brush and the work surface.

[0042] In some embodiments, the operation monitoring index can be detected in real time during the process of controlling the cleaning robot to clean the working surface with a cleaning brush. For example, when the operation monitoring index includes the driving current of the cleaning brush, the current detection module in the cleaning robot can be controlled to detect the working current of the driving motor of the cleaning brush (i.e., the driving current of the cleaning brush) in real time. For another example, when the operation monitoring index includes the distance between the fuselage and the working surface, the laser ranging component provided on the side of the fuselage facing the working surface can be used to detect the distance between the fuselage and the working surface in real time. For another example, when the operation monitoring index includes the degree of sinking of the cleaning brush into the working surface, the driving current of the side brush provided around the fuselage can be detected in real time, and the driving current of the side brush can be used to assist in determining the degree of sinking of the cleaning brush into the working surface.

[0043] Step S103 , when the operation monitoring index of the cleaning robot does not meet the target condition, adjusting the distance between the body and the operation surface so that the operation monitoring index of the cleaning robot meets the target condition.

[0044] Here, the target conditions can be pre-set by those skilled in the art based on actual conditions, and the embodiments of the present application are not limited to this.

[0045] In some embodiments, the target condition may include a target value range that the operation monitoring indicator must meet. For example, if the operation monitoring indicator includes the driving current of the cleaning brush, the target condition may include a target current range. If the driving current of the cleaning brush is within the target current range, the driving current of the cleaning brush meets the target condition; if the driving current of the cleaning brush is not within the target current range, the driving current of the cleaning brush does not meet the target condition. For another example, if the operation monitoring indicator includes the distance between the fuselage and the work surface, the target condition may include a target distance range. If the distance between the fuselage and the work surface is within the target distance range, the distance meets the target condition; if the distance between the fuselage and the work surface is not within the target distance range, the distance does not meet the target condition. For another example, if the operation monitoring indicator includes the degree of penetration of the cleaning brush into the work surface, the target condition may include a target depth range. If the degree of penetration of the cleaning brush into the work surface is within the target depth range, the penetration meets the target condition; if the degree of penetration of the cleaning brush into the work surface is not within the target depth range, the penetration does not meet the target condition.

[0046] It is understood that the cleaning brush is disposed on the side of the body facing the work surface, and that by adjusting the distance between the body and the work surface, the degree of contact between the cleaning brush and the work surface can be varied, thereby adjusting the degree of interference between the cleaning brush and the work surface, and thus changing the operation monitoring indicators of the cleaning robot. Thus, if the operation monitoring indicators of the cleaning robot do not meet the target conditions, the distance between the body and the work surface can be adjusted to enable the cleaning robot's operation monitoring indicators to meet the target conditions.

[0047] In an embodiment of the present application, a cleaning robot includes a body and a cleaning brush. The cleaning brush is disposed on a side of the body facing a work surface. The cleaning brush cleans by interfering with the work surface, and the distance between the body and the work surface is adjustable. During the process of controlling the cleaning robot to clean the work surface using the cleaning brush, an operation monitoring index of the cleaning robot is obtained. If the operation monitoring index of the cleaning robot does not meet a target condition, the distance between the body and the work surface is adjusted so that the operation monitoring index of the cleaning robot meets the target condition. The operation monitoring index represents the degree of interference between the cleaning brush and the work surface. Since the degree of interference between the cleaning brush and the work surface has a significant impact on the cleaning effect, adjusting the distance between the body and the work surface can change the degree of interference between the cleaning brush and the work surface. Thus, if the operation monitoring index of the cleaning robot does not meet the target condition, the distance between the body and the work surface is automatically adjusted so that the operation monitoring index of the cleaning robot meets the target condition. This allows for more flexible control of the degree of interference between the cleaning brush and the work surface, thereby better meeting the cleaning requirements of the current work surface and improving cleaning efficiency. Furthermore, there is no need to increase the suction force of the cleaning robot, thereby reducing energy loss and improving energy efficiency.

[0048] In some embodiments, the operation monitoring indicator includes the driving current of the cleaning brush, and the target condition includes a target current range. The above step S103 may include the following step S111:

[0049] Step S111 : When the driving current of the cleaning brush is not within the target current range, adjusting the distance between the machine body and the working surface so that the driving current of the cleaning brush reaches the target current range.

[0050] During implementation, any appropriate feedback control method may be used to adjust the distance between the machine body and the working surface so that the driving current of the cleaning brush reaches the target current range, which is not limited in this embodiment of the present application.

[0051] In some embodiments, when the drive current of the cleaning brush is not within a target current range, a proportional-integral-derivative (PID) control algorithm may be used to adjust the distance between the body and the work surface so that the drive current of the cleaning brush falls within the target current range. The PID control algorithm may include, but is not limited to, at least one of proportional control (e.g., adjusting the distance between the body and the work surface based on the deviation of the drive current from the target current range), integral control (e.g., accumulating historical deviations of the drive current from the target current range to correct long-term deviations), and differential control (e.g., predicting the drive current trend based on the rate of change of the drive current to adjust the distance between the body and the work surface in advance).

[0052] In some embodiments, the cleaning robot further includes a height adjustment assembly, which can be used to adjust the distance between the body and the work surface. If the driving current of the cleaning brush is not within a target current range, the height adjustment assembly can be used to adjust the distance between the body and the work surface. During implementation, the structure of the height adjustment assembly can be determined based on actual conditions, and the embodiments of the present application are not limited thereto. For example, the height adjustment assembly can include an elevator servo, which can include a stepper motor and a mechanical lifting mechanism.

[0053] In the above embodiment, when the driving current of the cleaning brush is not within the target current range, the distance between the body and the working surface is adjusted so that the driving current of the cleaning brush reaches the target current range. In this way, the degree of interference between the cleaning brush and the working surface can be adjusted by controlling the driving current of the cleaning brush, so as to better meet the cleaning requirements of the current working surface, improve cleaning efficiency, further reduce energy loss, and improve energy consumption efficiency.

[0054] In some embodiments, the above step S111 may include at least one of the following steps S121 and S122:

[0055] Step S121 : when the driving current of the cleaning brush is greater than the upper limit of the target current range, increasing the distance between the machine body and the working surface.

[0056] The target current range has an upper limit. If the driving current of the cleaning brush exceeds this upper limit, it indicates that the cleaning brush is under excessive load, meaning that the degree of interference between the cleaning brush and the work surface is too high, potentially leading to excessive energy consumption. By increasing the distance between the cleaning brush body and the work surface, the degree of interference between the cleaning brush and the work surface can be reduced, thereby reducing the cleaning brush's load and bringing the driving current of the cleaning brush within the target current range.

[0057] In this way, the cleaning load of the cleaning brush can be reduced while meeting the cleaning needs of the current working surface, thereby further reducing energy loss and improving energy efficiency.

[0058] Step S122 : When the driving current of the cleaning brush is less than the lower limit of the target current range, reducing the distance between the machine body and the working surface.

[0059] The target current range has a lower current limit. If the driving current of the cleaning brush is less than this lower current limit, it indicates that the cleaning brush's workload is too low, that is, the degree of interference between the cleaning brush and the work surface is too low, which may result in insufficient cleaning performance. By reducing the distance between the cleaning brush body and the work surface, the degree of interference between the cleaning brush and the work surface can be increased, thereby increasing the cleaning brush's workload and bringing the driving current of the cleaning brush within the target current range.

[0060] In this way, the workload of the cleaning brush can be increased without consuming too much energy, thereby improving the cleaning ability of the cleaning brush to better meet the cleaning needs of the current working surface.

[0061] In some embodiments, when the driving current of the cleaning brush is not within the target current range, adjusting the distance between the machine body and the working surface in the above step S111 may include the following step S131:

[0062] In step S131 , when the driving current of the cleaning brush is not within the target current range, adjusting the distance between the machine body and the working surface, and the rotation speed of the cleaning brush.

[0063] In some embodiments, the rotation speed of the cleaning brush can be adjusted by adjusting the rotation speed of a driving motor of the cleaning brush.

[0064] In some embodiments, when the drive current of the cleaning brush is not within the target current range, a PID control algorithm can be used to adjust the speed of the cleaning brush so that the drive current of the cleaning brush is within the target current range. The PID control algorithm can include, but is not limited to, at least one of proportional control (e.g., adjusting the speed of the cleaning brush based on the deviation of the drive current from the target current range), integral control (e.g., accumulating historical deviations of the drive current from the target current range to correct long-term deviations), and differential control (e.g., predicting the trend of the drive current based on the rate of change of the drive current to adjust the speed of the cleaning brush in advance).

[0065] It is understandable that the rotation speed of the cleaning brush is positively correlated with the driving current of the cleaning brush, that is, the greater the rotation speed of the cleaning brush, the greater the corresponding driving current, and the smaller the rotation speed of the cleaning brush, the smaller the corresponding driving current. In addition, the rotation speed of the cleaning brush will affect the contact efficiency between the cleaning brush and the work surface, and thus affect the degree of interference between the cleaning brush and the work surface. Therefore, by adjusting the distance between the body and the work surface, as well as the rotation speed of the cleaning brush, the degree of interference between the cleaning brush and the work surface can be controlled more flexibly and efficiently, so that the driving current of the cleaning brush reaches the target current range, thereby better meeting the cleaning needs of the current work surface and further improving cleaning efficiency and energy efficiency.

[0066] In some embodiments, the above step S131 may include the following steps S141 and S142:

[0067] Step S141 : when the driving current of the cleaning brush is greater than the upper limit of the target current range, increasing the distance between the machine body and the working surface.

[0068] Step S142 , when the distance between the machine body and the working surface reaches a set distance upper limit and the driving current of the cleaning brush is greater than the current upper limit, reducing the rotation speed of the cleaning brush until the driving current of the cleaning brush reaches the target current range.

[0069] Here, when the driving current of the cleaning brush is greater than the upper limit of the target current range, the workload of the cleaning brush can be reduced by increasing the distance between the body and the working surface, thereby reducing the driving current of the cleaning brush so that the driving current approaches the target current range.

[0070] Set the upper limit of the distance to the maximum distance that the machine body can reach from the working surface.

[0071] If the driving current of the cleaning brush has reached the target current range before the distance between the body and the working surface reaches the set distance upper limit, the distance between the body and the working surface can be stopped from increasing, and the distance between the body and the working surface of the cleaning robot can be controlled to remain unchanged.

[0072] If the distance between the robot body and the work surface reaches the set upper limit, but the driving current of the cleaning brush is still greater than the upper limit of the target current range, the robot body can be controlled to maintain the distance between the robot body and the work surface at the set upper limit, and the speed of the cleaning brush can be reduced until the driving current of the cleaning brush reaches the target current range. This can further improve energy efficiency while meeting the cleaning needs of the current work surface.

[0073] In some embodiments, if the distance between the machine body and the work surface reaches a set distance upper limit, and the driving current of the cleaning brush continues to exceed the current upper limit for a first preset time period after the distance reaches the set distance upper limit, the speed of the cleaning brush can be reduced until the driving current of the cleaning brush reaches the target current range. The first preset time period can be pre-set by those skilled in the art based on actual conditions and is not limited in this embodiment of the present application. For example, the first preset time period can be 5 seconds, 10 seconds, or 15 seconds.

[0074] In some embodiments, during the process of reducing the rotational speed of the cleaning brush, the rotational speed of the cleaning brush can be maintained at or above a set first rotational speed threshold, so that the cleaning brush has at least a certain cleaning ability. The first rotational speed threshold can be an appropriate value set by those skilled in the art based on actual conditions and is not limited here.

[0075] In some embodiments, the above step S131 may include the following steps S151 and S152:

[0076] Step S151 : when the driving current of the cleaning brush is less than the lower limit of the target current range, reducing the distance between the machine body and the working surface.

[0077] Step S152 , when the distance between the machine body and the working surface reaches the set distance lower limit and the driving current of the cleaning brush is less than the current lower limit, increase the rotation speed of the cleaning brush until the driving current of the cleaning brush reaches the target current range.

[0078] Here, when the driving current of the cleaning brush is less than the lower limit of the target current range, the workload of the cleaning brush can be increased by reducing the distance between the body and the working surface, thereby increasing the driving current of the cleaning brush so that the driving current approaches the target current range.

[0079] Set the lower distance limit to the minimum distance that the machine body can reach from the working surface.

[0080] If the driving current of the cleaning brush has reached the target current range before the distance between the body and the working surface reaches the set distance lower limit, the distance between the body and the working surface can be stopped from being reduced, and the distance between the body and the working surface of the cleaning robot can be controlled to remain unchanged.

[0081] If the distance between the robot body and the work surface reaches the set lower limit, but the driving current of the cleaning brush is still less than the lower limit of the target current range, the robot body can be controlled to maintain the distance between the robot body and the work surface at the set lower limit, and the speed of the cleaning brush can be increased until the driving current of the cleaning brush reaches the target current range. This can improve energy efficiency while better meeting the cleaning needs and cleaning efficiency of the current work surface.

[0082] In some embodiments, if the distance between the machine body and the work surface reaches a set distance lower limit, and the driving current of the cleaning brush remains below the current lower limit for a second preset time period after the distance reaches the set distance lower limit, the speed of the cleaning brush can be increased until the driving current of the cleaning brush reaches the target current range. The second preset time period can be pre-set by those skilled in the art based on actual circumstances and is not limited in this embodiment of the present application. For example, the second preset time period can be 5 seconds, 10 seconds, or 15 seconds.

[0083] In some embodiments, during the process of increasing the rotation speed of the cleaning brush, the rotation speed of the cleaning brush can be maintained at or below a set second rotation speed threshold. The second rotation speed threshold can be a suitable value set by those skilled in the art based on actual conditions and is not limited here.

[0084] In some embodiments, the above method may further include the following steps S161 to S162:

[0085] Step S161: Detect the material type of the working surface.

[0086] Here, the material type of the work surface can be detected in any suitable manner to obtain the material type of the work surface. The material type of the work surface may include but is not limited to tile type, wooden floor type, carpet type, or diatom mud type.

[0087] In some embodiments, a material identification component can be installed on the side of the fuselage facing the work surface, and the material type of the work surface can be detected by using this material identification component. For example, the material identification component can include, but is not limited to, at least one of an ultrasonic sensor, a lidar, an image sensor, etc. In the case where the material identification component includes an ultrasonic sensor, the ultrasonic sensor can be used to obtain an ultrasonic reflection signal, and the material type of the work surface can be identified based on changes in the ultrasonic reflection signal. In the case where the material identification component includes a lidar, the lidar can be used to obtain a radar reflection signal, and the material type of the work surface can be identified based on changes in the radar reflection signal. In the case where the material identification component includes an image sensor, the image sensor can be used to collect image information of the work surface, and the material type of the work surface can be identified based on the image information.

[0088] Step S162: determining the target current range based on the material type.

[0089] In some embodiments, a pre-trained neural network model can be used to predict the driving current range required to clean the working surface of the material type to obtain the target current range.

[0090] In some embodiments, the correspondence between at least one material type and the driving current range can be predetermined. Based on the detected material type of the working surface, the correspondence can be queried to obtain the driving current range corresponding to the material type, that is, the target current range.

[0091] In the above embodiment, the material type of the work surface is detected and the target current range is determined based on the material type. In this way, the target current range adapted to the current work surface can be determined according to the material type of the work surface, thereby better meeting the cleaning requirements of the current work surface.

[0092] In some embodiments, the above step S101 may include the following steps S171 to S172:

[0093] Step S171 , controlling the cleaning robot to move to the area where the working surface is located, and detecting the material type of the working surface.

[0094] Step S172 : When the material type indicates that the working surface is a carpet, based on a cleaning strategy corresponding to the carpet, controlling the cleaning robot to clean the working surface using the cleaning brush.

[0095] Here, any appropriate method may be used to determine whether the work surface is a carpet based on the material type of the work surface.

[0096] In some embodiments, when the material type of the work surface is the target type, the work surface can be determined to be a carpet. The target type is the material type corresponding to the carpet. During implementation, those skilled in the art can set an appropriate target type based on the material of the carpet in the actual application scenario, and this embodiment of the application is not limited to this. For example, the target type may include, but is not limited to, at least one of a carpet type, a cotton and linen type, a fabric type, and a plush type.

[0097] The cleaning strategy corresponding to the carpet can be pre-set by the user or set by default in the configuration information of the cleaning robot. This embodiment of the present application is not limited to this.

[0098] In some embodiments, the cleaning strategy for carpets may include avoiding uncleaned areas, passing through uncleaned areas, or cleaning the carpet. If the cleaning strategy for a carpet is avoiding uncleaned areas, the cleaning robot may be controlled to avoid the area where the carpet is located and not clean it. If the cleaning strategy for a carpet is passing through uncleaned areas, the cleaning robot may be controlled to pass through the area where the carpet is located but not clean it. If the cleaning strategy for a carpet is cleaning the carpet, the cleaning robot may be controlled to clean the work surface using a cleaning brush.

[0099] In the above embodiment, the cleaning robot is controlled to move to the area where the work surface is located and detect the material type of the work surface. If the material type indicates that the work surface is carpet, the cleaning robot is controlled to clean the work surface with a cleaning brush based on the cleaning strategy corresponding to carpet. This can better meet carpet cleaning needs and further improve carpet cleaning efficiency and energy efficiency.

[0100] The following describes the application of the control method of the cleaning robot provided in the embodiment of the present application in actual scenarios, taking the scenario of the cleaning robot cleaning a carpet as an example.

[0101] In related technologies, when cleaning carpets, cleaning robots are usually unable to automatically adjust their working state according to the thickness and material of the carpet, resulting in reduced cleaning efficiency or increased energy consumption. In some related technologies, after the cleaning robot recognizes that the current working surface is a carpet through a sensor, it will increase the suction force of the dirt suction mechanism. This solution has poor energy efficiency and the cleaning ability cannot be guaranteed. In this solution, after the carpet sensor detects the carpet, it will only blindly increase the speed of the cleaning brush and / or control the fan output to a higher wind force value, without considering that the diversity of carpets will require different cleaning solutions, and without considering that the degree of interference between the cleaning brush and the carpet will greatly affect the cleaning effect, resulting in very low cleaning efficiency, high suction power but incomplete sweeping, loud noise and power consumption.

[0102] In some related technologies, although the running wheels of the cleaning robot have a servo that can adjust the height of the body, the servo is only used for the cleaning robot to cross obstacles or thresholds when walking.

[0103] An embodiment of the present application provides a cleaning robot with an intelligent height adjustment function. The cleaning robot can identify the carpet through an ultrasonic sensor and automatically adjust the height of the body (i.e., the distance between the body and the carpet) according to the driving current feedback of the cleaning brush, thereby maintaining a better cleaning effect and improving cleaning efficiency and energy efficiency.

[0104] On this basis, an embodiment of the present application provides a control method for a cleaning robot, which can utilize the adjustable height of the cleaning robot body to optimize the driving current of the cleaning brush when the cleaning robot is working on the carpet by adjusting the body height, so as to ensure that the cleaning brush and the carpet remain within a certain interference range during the cleaning process, thereby significantly improving the cleaning effect and energy efficiency.

[0105] The control method of the cleaning robot can be implemented by a controller of the cleaning robot. Figure 2 This is a schematic diagram of the structure of a controller of a cleaning robot provided in an embodiment of the present application. Figure 2 As shown, the controller 200 may include: a carpet recognition component 210 , a current detection component 220 , a cleaning brush speed adjustment component 230 , a height adjustment component 240 and a control unit 250 .

[0106] In some embodiments, the carpet recognition component 210 may include an ultrasonic sensor installed at the bottom of the cleaning robot body to detect the material type of the ground and identify the presence of a carpet through changes in ultrasonic reflection signals.

[0107] In some embodiments, the current detection component 220 includes a main brush current sensor for detecting the operating current of the driving motor of the cleaning brush, that is, the driving current of the cleaning brush in real time, recording and analyzing the current value of the driving current to determine the current working status of the cleaning brush.

[0108] In some embodiments, the cleaning brush speed adjustment component 230 is used to adjust the speed of the cleaning brush through a frequency converter or a DC motor control module.

[0109] In some embodiments, the height adjustment component 240 includes an elevator servo, which includes a stepper motor and a mechanical lifting mechanism. The height adjustment component 240 can automatically adjust the height of the fuselage according to the height control data output by the control unit.

[0110] In some embodiments, the control unit 250 is used to: receive the carpet signal identified by the carpet recognition component 210 and the driving current of the cleaning brush detected by the current detection component 220, and output speed control data for adjusting the speed of the cleaning brush and height control data for adjusting the height of the body according to the driving current of the cleaning brush.

[0111] In some embodiments, the control unit uses a PID control algorithm to control the cleaning robot to move up and down on the carpet smoothly.

[0112] In some embodiments, the present application provides a control method for a cleaning robot including the following steps S201 to S208:

[0113] In step S201 , after the cleaning robot is started, the ultrasonic sensor continuously monitors the floor material.

[0114] Step S202: The carpet cleaning strategy of the cleaning robot is set to clean the carpet.

[0115] In step S203, after the cleaning robot confirms that it has entered the carpet area, the current detection component starts to monitor the driving current of the cleaning brush in real time.

[0116] Step S204: When entering the carpet area, the fuselage is kept at the lowest fuselage height.

[0117] In step S205, the control unit compares the current value of the driving current measured in real time with a preset target current range (e.g., 300mA-500mA) based on the driving current of the cleaning brush fed back by the current detection component. If the current exceeds the upper limit of the target current range, it means that the height of the body is too low, resulting in an excessive load on the cleaning brush. In this case, an instruction is sent to the height adjustment component to raise the body and reduce the load on the cleaning brush. If the current is lower than the lower limit of the target current range, it means that the height of the body is too high, resulting in a reduction in cleaning ability. In this case, an instruction is sent to the height adjustment component to lower the body and increase the load on the cleaning brush. During the carpet cleaning process, current monitoring and adjustment are continuously performed to keep the current within the target current range to achieve a better cleaning effect.

[0118] In some implementations, the control unit may use a PID control algorithm when controlling the height of the fuselage according to the driving current.

[0119] In some embodiments, when the body height is raised to the highest or lowered to the lowest, the driving current of the cleaning brush may still be outside the target current range, and the rotation speed of the cleaning brush may need to be adjusted to try to control the driving current of the cleaning brush. When the cleaning robot is operating at the highest body height, the driving current of the cleaning brush still exceeds the upper limit of the target current range and lasts for more than 10 seconds. In this case, the cleaning robot will continue to maintain the highest body height during the subsequent cleaning process on this carpet. After maintaining the highest body height, the control unit controls the rotation speed of the cleaning brush and reduces the rotation speed of the cleaning brush so that the driving current of the cleaning brush is reduced to the target current range, but the minimum rotation speed of the cleaning brush is not less than a first rotation speed threshold, for example, 600 rpm. Similarly, when the body is lowered to the lowest height, if the driving current of the cleaning brush is still below the lower limit of the target current range, the load can be increased by increasing the rotation speed of the cleaning brush so that the driving current of the cleaning brush is reduced to the target current range, thereby improving the cleaning effect.

[0120] In some embodiments, the control unit may use a PID control algorithm when controlling the rotation speed of the cleaning brush according to the driving current.

[0121] The control method of the cleaning robot provided in the embodiment of the present application takes the degree of interference between the cleaning brush and the carpet as the starting point, and controls the interference between the cleaning brush and the carpet within an optimal range by controlling the driving current of the cleaning brush within a target current range, thereby improving the garbage entrainment efficiency; compared with the solution of simply increasing the suction force on the carpet to improve the cleaning ability, it greatly reduces energy consumption loss; it is suitable for different types of carpets, and can detect and control the cleaning behavior in real time on different carpets to achieve better cleaning effects; it does not rely on historical carpet information or user settings, and can be used in any environment, reducing user intervention and improving the intelligence and convenience of the cleaning robot.

[0122] In some embodiments, in addition to adjusting the height of the body and the rotation speed of the cleaning brush, other operating parameters of the cleaning robot may also be adjusted to dynamically adjust the cleaning capability, such as dynamically adjusting the suction force.

[0123] It should be noted that the carpet identification component may correspond to the material identification component in the aforementioned embodiment.

[0124] The embodiment of the present application provides a cleaning robot, Figure 3 A schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the cleaning robot 300 includes: a body 310 , a cleaning brush 320 and a controller 330 .

[0125] The cleaning brush 320 is provided on the side of the body 310 facing the working surface. The cleaning brush 320 cleans by interfering with the working surface. The distance between the body 310 and the working surface is adjustable.

[0126] The controller 330 is used to: control the cleaning robot 300 to clean the working surface through the cleaning brush 320; obtain the operation monitoring indicators of the cleaning robot 300 during the cleaning process; the operation monitoring indicators represent the degree of interference between the cleaning brush 320 and the working surface; when the operation monitoring indicators of the cleaning robot 300 do not meet the target conditions, adjust the distance between the fuselage 310 and the working surface so that the operation monitoring indicators of the cleaning robot 300 meet the target conditions.

[0127] In some embodiments, the operation monitoring indicator includes a driving current of the cleaning brush, and the target condition includes a target current range. The controller is further configured to, if the driving current of the cleaning brush is not within the target current range, adjust the distance between the machine body and the work surface so that the driving current of the cleaning brush falls within the target current range.

[0128] In some embodiments, the controller is further configured to:

[0129] When the driving current of the cleaning brush is greater than the upper limit of the target current range, increasing the distance between the machine body and the working surface;

[0130] When the driving current of the cleaning brush is less than a lower current limit of the target current range, the distance between the machine body and the working surface is reduced.

[0131] In some embodiments, the controller is further configured to adjust the distance between the body and the working surface, and the rotation speed of the cleaning brush when the driving current of the cleaning brush is not within the target current range.

[0132] In some embodiments, the controller is also used to: increase the distance between the body and the working surface when the driving current of the cleaning brush is greater than the upper limit of the target current range; and reduce the rotation speed of the cleaning brush until the driving current of the cleaning brush reaches the target current range when the distance between the body and the working surface reaches the set distance upper limit and the driving current of the cleaning brush is greater than the upper limit of the current.

[0133] In some embodiments, the controller is also used to: reduce the distance between the body and the working surface when the driving current of the cleaning brush is less than the lower current limit of the target current range; and increase the rotation speed of the cleaning brush until the driving current of the cleaning brush reaches the target current range when the distance between the body and the working surface reaches the set distance lower limit and the driving current of the cleaning brush is less than the lower current limit.

[0134] In some embodiments, the controller is further configured to: detect the material type of the working surface; and determine the target current range based on the material type.

[0135] In some embodiments, the controller is also used to: control the cleaning robot to move to the area where the work surface is located, and detect the material type of the work surface; when the material type indicates that the work surface is a carpet, based on the cleaning strategy corresponding to the carpet, control the cleaning robot to clean the work surface through the cleaning brush.

[0136] An embodiment of the present application provides a control device for a cleaning robot. Figure 4 A schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the control device 400 of the cleaning robot includes: a control module 410, an acquisition module 420 and an adjustment module 430, wherein:

[0137] A control module 410 is configured to control the cleaning robot to clean the working surface using the cleaning brush;

[0138] An acquisition module 420 is configured to acquire an operation monitoring index of the cleaning robot during the cleaning process; the operation monitoring index represents the degree of interference between the cleaning brush and the working surface;

[0139] The adjustment module 430 is used to adjust the distance between the body and the working surface when the operation monitoring index of the cleaning robot does not meet the target condition, so that the operation monitoring index of the cleaning robot meets the target condition.

[0140] In some embodiments, the operation monitoring indicator includes the driving current of the cleaning brush, and the target condition includes a target current range; the adjustment module is also used to: when the driving current of the cleaning brush is not within the target current range, adjust the distance between the fuselage and the working surface so that the driving current of the cleaning brush reaches the target current range.

[0141] In some embodiments, the adjustment module is also used for at least one of the following: increasing the distance between the body and the work surface when the driving current of the cleaning brush is greater than the upper limit of the target current range; reducing the distance between the body and the work surface when the driving current of the cleaning brush is less than the lower limit of the target current range.

[0142] In some embodiments, the adjustment module is further configured to adjust the distance between the body and the working surface, and the rotation speed of the cleaning brush when the driving current of the cleaning brush is not within the target current range.

[0143] In some embodiments, the adjustment module is also used to: increase the distance between the fuselage and the working surface when the driving current of the cleaning brush is greater than the current upper limit of the target current range; reduce the rotation speed of the cleaning brush until the driving current of the cleaning brush reaches the target current range when the distance between the fuselage and the working surface reaches the set distance upper limit and the driving current of the cleaning brush is greater than the current upper limit.

[0144] In some embodiments, the adjustment module is also used to: reduce the distance between the fuselage and the working surface when the driving current of the cleaning brush is less than the lower current limit of the target current range; increase the rotation speed of the cleaning brush until the driving current of the cleaning brush reaches the target current range when the distance between the fuselage and the working surface reaches the set distance lower limit and the driving current of the cleaning brush is less than the lower current limit.

[0145] In some embodiments, the device further includes: a detection module for detecting the material type of the working surface; and a determination module for determining the target current range based on the material type.

[0146] In some embodiments, the control module is also used to: control the cleaning robot to move to the area where the work surface is located, and detect the material type of the work surface; when the material type indicates that the work surface is a carpet, based on the cleaning strategy corresponding to the carpet, control the cleaning robot to clean the work surface through the cleaning brush.

[0147] The descriptions of the above device embodiments and cleaning robot embodiments are similar to the descriptions of the above method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the device embodiments and cleaning robot embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0148] It should be noted that, in the embodiment of the present application, if the control method of the cleaning robot described above is implemented in the form of a software function module and is sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0149] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the steps in the above method when executing the program.

[0150] The embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor. The computer-readable storage medium may be transient or non-transient.

[0151] An embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above method.

[0152] An embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, implements some or all of the steps in the above method. The computer program product can be implemented specifically by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), etc.

[0153] It should be noted that the descriptions of the above storage medium, computer program product, and device embodiments are similar to the descriptions of the above method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, computer program product, and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0154] It should be noted that Figure 5 A hardware entity diagram of a computer device provided in an embodiment of the present application is shown as follows: Figure 5 As shown, the hardware entity of the computer device 500 includes: a processor 501, a communication interface 502 and a memory 503, wherein:

[0155] Processor 501 generally controls the overall operation of computer device 500 .

[0156] The communication interface 502 enables the computer device to communicate with other terminals or servers through a network.

[0157] The memory 503 is configured to store instructions and applications executable by the processor 501. It can also cache data to be processed or processed by the processor 501 and various modules in the computer device 500 (for example, image data, audio data, voice communication data, and video communication data). This can be implemented using flash memory (FLASH) or random access memory (RAM). Data can be transmitted between the processor 501, the communication interface 502, and the memory 503 via a bus 504.

[0158] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0159] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0161] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0162] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0163] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0164] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0165] The above is only an implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot comprises a body and a cleaning brush, wherein the cleaning brush is arranged on a side of the body facing the working surface, and the cleaning brush cleans by interfering with the working surface, and the distance between the body and the working surface is adjustable; The method comprises: Controlling the cleaning robot to clean the working surface using the cleaning brush; Acquiring an operation monitoring index of the cleaning robot during the cleaning process; the operation monitoring index represents the degree of interference between the cleaning brush and the working surface; When the operation monitoring index of the cleaning robot does not meet the target condition, the distance between the body and the operation surface is adjusted so that the operation monitoring index of the cleaning robot meets the target condition.

2. The method according to claim 1, characterized in that The operation monitoring index includes the driving current of the cleaning brush, and the target condition includes a target current range; When the operation monitoring index of the cleaning robot does not meet the target condition, adjusting the distance between the body and the working surface so that the operation monitoring index of the cleaning robot meets the target condition includes: When the driving current of the cleaning brush is not within the target current range, the distance between the machine body and the working surface is adjusted so that the driving current of the cleaning brush reaches the target current range.

3. The method according to claim 2, characterized in that When the driving current of the cleaning brush is not within the target current range, adjusting the distance between the body and the working surface includes at least one of the following: When the driving current of the cleaning brush is greater than the upper limit of the target current range, increasing the distance between the machine body and the working surface; When the driving current of the cleaning brush is less than a lower current limit of the target current range, the distance between the machine body and the working surface is reduced.

4. The method according to claim 2, characterized in that When the driving current of the cleaning brush is not within the target current range, adjusting the distance between the body and the working surface includes: When the driving current of the cleaning brush is not within the target current range, the distance between the machine body and the work surface and the rotation speed of the cleaning brush are adjusted.

5. The method according to claim 4, characterized in that When the driving current of the cleaning brush is not within the target current range, adjusting the distance between the machine body and the working surface and the rotation speed of the cleaning brush includes: When the driving current of the cleaning brush is greater than the upper limit of the target current range, increasing the distance between the machine body and the working surface; When the distance between the machine body and the working surface reaches a set distance upper limit and the driving current of the cleaning brush is greater than the current upper limit, the rotation speed of the cleaning brush is reduced until the driving current of the cleaning brush reaches the target current range.

6. The method according to claim 4, characterized in that When the driving current of the cleaning brush is not within the target current range, adjusting the distance between the machine body and the working surface and the rotation speed of the cleaning brush includes: When the driving current of the cleaning brush is less than the lower limit of the target current range, reducing the distance between the machine body and the working surface; When the distance between the machine body and the working surface reaches a set distance lower limit and the driving current of the cleaning brush is less than the current lower limit, the rotation speed of the cleaning brush is increased until the driving current of the cleaning brush reaches the target current range.

7. The method according to claim 2, characterized in that The method further comprises: Detecting the material type of the working surface; The target current range is determined based on the material type.

8. The method according to any one of claims 1 to 7, characterized in that The controlling the cleaning robot to clean the working surface by using the cleaning brush comprises: Controlling the cleaning robot to move to the area where the working surface is located, and detecting the material type of the working surface; When the material type indicates that the working surface is a carpet, the cleaning robot is controlled to clean the working surface using the cleaning brush based on a cleaning strategy corresponding to the carpet.

9. A cleaning robot, characterized in that: include: body, cleaning brush and controller; The cleaning brush is arranged on a side of the machine body facing the working surface, and the cleaning brush cleans by interfering with the working surface, and the distance between the machine body and the working surface is adjustable; The controller is used to control the cleaning robot to clean the working surface through the cleaning brush; During the cleaning process, the operation monitoring index of the cleaning robot is obtained; the operation monitoring index represents the degree of interference between the cleaning brush and the working surface; when the operation monitoring index of the cleaning robot does not meet the target condition, the distance between the fuselage and the working surface is adjusted so that the operation monitoring index of the cleaning robot meets the target condition.

10. A control device for a cleaning robot, characterized in that: The cleaning robot comprises a body and a cleaning brush, wherein the cleaning brush is arranged on a side of the body facing the working surface, and the cleaning brush cleans by interfering with the working surface, and the distance between the body and the working surface is adjustable; The device comprises: A control module, configured to control the cleaning robot to clean the working surface using the cleaning brush; An acquisition module, configured to acquire an operation monitoring index of the cleaning robot during a cleaning process; the operation monitoring index represents a degree of interference between the cleaning brush and the working surface; The adjustment module is used to adjust the distance between the body and the working surface when the operation monitoring index of the cleaning robot does not meet the target condition, so that the operation monitoring index of the cleaning robot meets the target condition.

11. A computer device comprising a memory and a processor, characterized in that: The memory stores a computer program that can be run on the processor, and when the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

13. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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