Cleaning method and device of cleaning robot, cleaning robot and storage medium

Abstract

The invention provides a cleaning method and device of a cleaning robot, the cleaning robot and a storage medium, and relates to the technical field of intelligent cleaning. The method comprises the following steps: after the cleaning robot finishes the current or current subarea cleaning, acquiring one or more positions where a cliff signal is triggered in the current or current subarea cleaning process of the cleaning robot, and acquiring a cleaned area and an uncleaned area; according to the one or more positions, the cleaned area and the non-cleaned area triggered by the Cliff signal, the cleaning robot is controlled to move to the non-cleaned area and continue to execute the cleaning action, in this way, cleaning of the area missing to be cleaned can be completed, and the cleaning efficiency is improved.

Description

Technical Field

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

[0002] When performing cleaning tasks, robot vacuums often encounter obstacles such as stairs, steps, tables and chairs, and sliding door rails. To ensure the robot's safety and prevent falls, cliff sensors are often installed to detect changes in the ground's height. However, when the robot encounters obstacles such as stairs or sliding door rails, if its front end is raised, the cliff sensor may mistakenly identify it as a cliff, preventing the robot from passing through areas it could have safely passed, resulting in missed cleaning and reduced cleaning efficiency. Therefore, this technical problem needs to be urgently addressed. Summary of the Invention

[0003] In view of the above problems, the present application is proposed to provide a cleaning method and device for a cleaning robot, a cleaning robot, and a storage medium that overcome the above problems or at least partially solve the above problems. The technical solution is as follows:

[0004] In a first aspect, a cleaning method for a cleaning robot is provided, comprising:

[0005] After the cleaning robot finishes cleaning this time or the current partition, obtain one or more locations where the cliff signal is triggered during the cleaning process of the cleaning robot, as well as the cleaned area and the uncleaned area;

[0006] According to one or more locations where the Cliff signal is triggered, the cleaned area, and the uncleaned area, the cleaning robot is controlled to move to the uncleaned area and continue to perform the cleaning action.

[0007] In one possible implementation, based on one or more locations where the Cliff signal is triggered, the cleaning robot is controlled to move to the uncleaned area and continue to perform the cleaning action, including:

[0008] Among the one or more locations where the Cliff signal is triggered, screening out at least one target location where the Cliff signal is falsely triggered according to a preset screening condition;

[0009] According to at least one target location, a cleaned area, and an uncleaned area, determining a location without obstacles in the cleaned area as a target starting point, and determining a location without obstacles in the uncleaned area as a target ending point;

[0010] The cleaning robot is controlled to move to the target starting point, the threshold at which the Cliff signal is falsely triggered is adjusted from the set trigger threshold to the target trigger threshold, and then the cleaning robot is controlled to move from the target starting point to the target end point to continue performing the cleaning action; wherein the target trigger threshold is greater than the set trigger threshold.

[0011] In a possible implementation, the preset screening conditions include:

[0012] The distance value when the Cliff signal is triggered is less than the preset distance threshold;

[0013] When the Cliff signal is triggered, the elevation angle of the cleaning robot is greater than a preset angle threshold. The elevation angle of the cleaning robot refers to the angle between the cleaning robot and the horizontal direction.

[0014] In one possible implementation, determining an obstacle-free location in the cleaned area as a target starting point and determining an obstacle-free location in the cleaned area as a target end point based on at least one target location, a cleaned area, and an uncleaned area includes:

[0015] According to at least one target position, a rectangle having a set length and a set width and centered at each target position is determined;

[0016] Traverse multiple checkpoints on the rectangle and select the legal checkpoints that meet the preset legal conditions;

[0017] Cluster the legal checkpoints to obtain one or more cluster point sets;

[0018] For each cluster point set, select the target cluster point set that meets the continued cleaning constraint conditions;

[0019] Combining the target cluster point set, the cleaned area, and the uncleaned area, an obstacle-free position is determined in the cleaned area as the target starting point, and an obstacle-free position is determined in the uncleaned area as the target end point.

[0020] In one possible implementation, the preset legal conditions include:

[0021] There are no obstacles on the circle with the first preset distance as the radius and the center of the checkpoint;

[0022] There is an uncleaned area greater than a second preset distance in any central angle direction of a circle with a radius of the first preset distance and a center point of the circle;

[0023] The point to be checked has not been traversed before.

[0024] In a possible implementation, the continued cleaning constraint condition includes:

[0025] In the cluster point set, the longest distance between two legal checkpoints is greater than the third preset distance;

[0026] The area of the uncleaned area corresponding to the cluster point set is greater than the preset area threshold.

[0027] In a possible implementation, the method further includes:

[0028] If the cleaning robot fails to move from the target starting point to the target end point when being controlled, a position without obstacles in the cleaned area is re-determined as the target starting point, and a position without obstacles in the uncleaned area is re-determined as the target end point based on at least one target position, a cleaned area, and an uncleaned area.

[0029] In one possible implementation, combining the target cluster point set, the cleaned area, and the uncleaned area, determining an obstacle-free location in the cleaned area as the target starting point, and determining an obstacle-free location in the uncleaned area as the target end point, includes:

[0030] Based on the target cluster point set, the cleaned area, and the uncleaned area, a position without obstacles in the cleaned area and whose distance from the target position is greater than a fourth preset distance is determined as the target starting point, and a position without obstacles in the uncleaned area is determined as the target end point.

[0031] In a second aspect, a cleaning device of a cleaning robot is provided, comprising:

[0032] An acquisition unit is used to acquire, after the cleaning robot completes cleaning of this or the current partition, one or more locations where the cliff signal is triggered during the cleaning process of this or the current partition, and to acquire cleaned areas and uncleaned areas;

[0033] The cleaning unit is used to control the cleaning robot to move to the uncleaned area and continue to perform the cleaning action according to one or more locations, cleaned areas, and uncleaned areas where the Cliff signal is triggered.

[0034] In a possible implementation, the cleaning unit is further configured to:

[0035] Among the one or more locations where the Cliff signal is triggered, screening out at least one target location where the Cliff signal is falsely triggered according to a preset screening condition;

[0036] According to at least one target location, a cleaned area, and an uncleaned area, determining a location without obstacles in the cleaned area as a target starting point, and determining a location without obstacles in the uncleaned area as a target ending point;

[0037] The cleaning robot is controlled to move to the target starting point, the threshold at which the Cliff signal is falsely triggered is adjusted from the set trigger threshold to the target trigger threshold, and then the cleaning robot is controlled to move from the target starting point to the target end point to continue performing the cleaning action; wherein the target trigger threshold is greater than the set trigger threshold.

[0038] In a possible implementation, the preset screening conditions include:

[0039] The distance value when the Cliff signal is triggered is less than the preset distance threshold;

[0040] When the Cliff signal is triggered, the elevation angle of the cleaning robot is greater than a preset angle threshold. The elevation angle of the cleaning robot refers to the angle between the cleaning robot and the horizontal direction.

[0041] In a possible implementation, the cleaning unit is further configured to:

[0042] According to at least one target position, a rectangle having a set length and a set width and centered at each target position is determined;

[0043] Traverse multiple checkpoints on the rectangle and select the legal checkpoints that meet the preset legal conditions;

[0044] Cluster the legal checkpoints to obtain one or more cluster point sets;

[0045] For each cluster point set, select the target cluster point set that meets the continued cleaning constraint conditions;

[0046] Combining the target cluster point set, the cleaned area, and the uncleaned area, an obstacle-free position is determined in the cleaned area as the target starting point, and an obstacle-free position is determined in the uncleaned area as the target end point.

[0047] In one possible implementation, the preset legal conditions include:

[0048] There are no obstacles on the circle with the first preset distance as the radius and the center of the checkpoint;

[0049] There is an uncleaned area greater than a second preset distance in any central angle direction of a circle with a radius of the first preset distance and a center point of the circle;

[0050] The point to be checked has not been traversed before.

[0051] In a possible implementation, the continued cleaning constraint condition includes:

[0052] In the cluster point set, the longest distance between two legal checkpoints is greater than the third preset distance;

[0053] The area of the uncleaned area corresponding to the cluster point set is greater than the preset area threshold.

[0054] In a possible implementation, the cleaning unit is further configured to:

[0055] If the cleaning robot fails to move from the target starting point to the target end point when being controlled, a position without obstacles in the cleaned area is re-determined as the target starting point, and a position without obstacles in the uncleaned area is re-determined as the target end point based on at least one target position, a cleaned area, and an uncleaned area.

[0056] In a possible implementation, the cleaning unit is further configured to:

[0057] Based on the target cluster point set, the cleaned area, and the uncleaned area, a position without obstacles in the cleaned area and whose distance from the target position is greater than a fourth preset distance is determined as the target starting point, and a position without obstacles in the uncleaned area is determined as the target end point.

[0058] In a third aspect, a cleaning robot is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any one of the cleaning methods of the cleaning robot described above.

[0059] In a fourth aspect, a storage medium is provided, which stores a computer program, wherein the computer program is configured to execute any one of the cleaning methods of the cleaning robot described above when running.

[0060] By means of the above technical solution, the cleaning method and device of the cleaning robot, the cleaning robot and the storage medium provided in the embodiments of the present application, after the cleaning robot completes the current or current partition cleaning, the method obtains one or more positions where the cliff signal of the cleaning robot is triggered during the current or current partition cleaning process, as well as the cleaned area and the uncleaned area; according to the one or more positions where the cliff signal is triggered, the cleaned area and the uncleaned area, the cleaning robot is controlled to move to the uncleaned area and continue to perform the cleaning action, so that the cleaning of the missed areas can be completed and the cleaning efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application.

[0062] Figure 1 A flow chart showing a cleaning method of a cleaning robot provided in an embodiment of the present application is shown;

[0063] Figure 2 A structural diagram of the cleaning device of the cleaning robot provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0064] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0065] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that such usage is interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the term "including" and its variations are to be interpreted as open-ended terms meaning "including but not limited to."

[0066] In order to solve the above technical problems, the embodiment of the present application provides a cleaning method of a cleaning robot, where the cleaning robot can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. Figure 1 As shown, the cleaning method of the cleaning robot may include the following steps S101 and S102:

[0067] Step S101, after the cleaning robot finishes cleaning this or the current partition, obtain one or more locations where the cliff signal is triggered during the cleaning process of the cleaning robot this or the current partition, and obtain the cleaned area and the uncleaned area.

[0068] In this step, the cliff sensor can be installed at the bottom of the cleaning robot and may include a signal transmitter and a signal receiver. When the signal transmitter transmits infrared or ultrasonic signals to the ground and returns, the signal receiver detects the reflected signal. The processor of the cliff sensor analyzes and processes the transmitted signal and the reflected signal to determine the current distance between the chassis of the cleaning robot and the ground. Furthermore, if the current distance is greater than or equal to the threshold at which the Cliff signal is triggered, the Cliff signal is triggered. At this time, the cleaning robot cannot move forward to the position where the Cliff signal is triggered, thereby preventing the cleaning robot from falling at the position where the Cliff signal is triggered. If the current distance is less than the threshold at which the Cliff signal is triggered, the Cliff signal is not triggered.

[0069] After the cleaning robot finishes cleaning this time or the current partition, one or more locations where the Cliff signal is triggered by the cleaning robot during this cleaning process can be obtained, as well as the ranging value when the Cliff signal is triggered, and the information of the cleaned area, uncleaned area and obstacles can be obtained.

[0070] Step S102, according to one or more locations where the Cliff signal is triggered, the cleaned area, and the uncleaned area, the cleaning robot is controlled to move to the uncleaned area and continue to perform the cleaning action.

[0071] In this embodiment, after the cleaning robot finishes cleaning this or the current partition, one or more locations where the cliff signal is triggered during the cleaning process of this or the current partition are obtained, as well as the cleaned area and the uncleaned area are obtained; according to the one or more locations where the cliff signal is triggered, the cleaned area, and the uncleaned area, the cleaning robot is controlled to move to the uncleaned area and continue to perform the cleaning action, so that the cleaning of the missed areas can be completed and the cleaning efficiency can be improved.

[0072] In an embodiment of the present application, a possible implementation method is provided. In step S102 above, based on one or more locations where the Cliff signal is triggered, the cleaned area, and the uncleaned area, the cleaning robot is controlled to move to the uncleaned area and continue to perform the cleaning action. Specifically, the following steps A1 to A3 may be included:

[0073] Step A1: From one or more locations where a Cliff signal is triggered, at least one target location where a Cliff signal is falsely triggered is screened out according to a preset screening condition.

[0074] Here, the Cliff signal may be mistakenly triggered due to the cleaning robot performing an obstacle-crossing action.

[0075] Step A2: Based on at least one target location, a cleaned area, and an uncleaned area, a location without obstacles is determined in the cleaned area as a target starting point, and a location without obstacles is determined in the uncleaned area as a target end point.

[0076] In step A3, the cleaning robot is controlled to move to the target starting point, the threshold at which the Cliff signal is falsely triggered is adjusted from the set trigger threshold to the target trigger threshold, and then the cleaning robot is controlled to move from the target starting point to the target end point to continue the cleaning action; wherein, the target trigger threshold is greater than the set trigger threshold.

[0077] In this step, the trigger threshold is set to be the default threshold in the normal state of the cleaning robot or in most cases, and the threshold at which the cliff signal is falsely triggered is adjusted from the set trigger threshold to the target trigger threshold, so that the cliff sensor works according to the target trigger threshold, that is, the sensitivity of the cliff sensor is reduced, so that the cliff sensor is not triggered when the cleaning robot moves from the target starting point to the target end point, and the cleaning robot can work normally, thereby achieving a better passage effect of the cleaning robot and improving cleaning efficiency.

[0078] The present application provides a possible implementation method. The preset screening conditions mentioned in step A1 above may include the following (1.1) and (1.2):

[0079] (1.1) The distance value when the Cliff signal is triggered is less than the preset distance threshold;

[0080] (1.2) When the Cliff signal is triggered, the elevation angle of the cleaning robot is greater than a preset angle threshold. The elevation angle of the cleaning robot refers to the angle between the cleaning robot and the horizontal direction.

[0081] Here, the preset ranging threshold can be set according to actual needs, such as the preset ranging threshold is 110 mm or 120 mm, etc., which is not limited in this embodiment.

[0082] The preset angle threshold can also be set according to actual needs, such as the preset angle threshold is 2 degrees or 3 degrees, etc., which is not limited in this embodiment.

[0083] For example, after the cleaning robot finishes cleaning, the multiple locations where the Cliff signal of the cleaning robot is triggered during the cleaning process are a1, a2, a3, a4, a5, and a6. Through the preset screening conditions (1.1) and (1.2), it is obtained that at least one target location where the Cliff signal is triggered due to the obstacle-crossing action of the cleaning robot is a1, a2, and a6. Next, based on a1, a2, and a6, the cleaned area, and the uncleaned area, an obstacle-free location in the cleaned area can be determined as the target starting point, and an obstacle-free location in the uncleaned area can be determined as the target end point. It should be noted that the examples here are only illustrative and do not limit this embodiment.

[0084] In an embodiment of the present application, a possible implementation method is provided. In step A2 above, based on at least one target location, a cleaned area, and an uncleaned area, an obstacle-free location is determined in the cleaned area as the target starting point, and an obstacle-free location is determined in the uncleaned area as the target end point. Specifically, the following steps B1 to B5 may be included:

[0085] Step B1: Determine, based on at least one target position, a rectangle with a set length and a set width centered on each target position.

[0086] In this step, the set length and the set width can be set according to actual needs, such as setting the length to 600 mm or 700 mm, and setting the width to 600 mm or 700 mm, etc. This embodiment does not impose any limitation on this.

[0087] Step B2: traverse multiple points to be checked on the rectangle and select legal checkpoints that meet preset legal conditions.

[0088] Step B3: cluster the legal checkpoints to obtain one or more cluster point sets.

[0089] Step B4: For each cluster point set, select a target cluster point set that meets the continued cleaning constraint condition.

[0090] Step B5: combining the target cluster point set, the cleaned area, and the uncleaned area, determining an obstacle-free position in the cleaned area as the target starting point, and determining an obstacle-free position in the uncleaned area as the target end point.

[0091] This embodiment can determine an obstacle-free position in the cleaned area as the target starting point and an obstacle-free position in the uncleaned area as the target end point based on at least one target position, a cleaned area, and an uncleaned area. It is efficient and accurate, and improves cleaning efficiency.

[0092] In an embodiment of the present application, a possible implementation method is provided. The pre-set legal conditions in step B2 above may include the following (2.1), (2.2), and (2.3):

[0093] (2.1) There are no obstacles on the circle with the first preset distance as the radius and the center of the checkpoint.

[0094] Here, the first preset distance can be set according to actual needs, such as the first preset distance is 300 mm or 350 mm, etc., which is not limited in this embodiment.

[0095] (2.2) There is an uncleaned area greater than the second preset distance in any central angle direction of a circle with the first preset distance as the radius and the point to be inspected as the center.

[0096] Here, the second preset distance can also be set according to actual needs, such as the second preset distance is 350 mm, etc., which is not limited in this embodiment.

[0097] (2.3) The point to be checked has not been traversed before.

[0098] This embodiment can efficiently screen out legal checkpoints according to (2.1), (2.2) and (2.3), so as to subsequently efficiently and accurately determine the target start point and target end point.

[0099] In an embodiment of the present application, a possible implementation method is provided. The constraints for continuing to clean in step B4 above may include (3.1) and (3.2):

[0100] (3.1) In the cluster point set, the longest distance between two legal checkpoints is greater than a third preset distance. Here, the third preset distance can be set according to actual needs, such as 350 mm, etc., and this embodiment does not impose any limitation on this.

[0101] (3.2) The area of the uncleaned area corresponding to the cluster point set is greater than the preset area threshold.

[0102] Here, the preset area threshold can be set according to actual needs, for example, the preset area threshold can be 1 square meter, etc., which is not limited in this embodiment.

[0103] In addition, it is also possible to determine whether the cleaning robot has been historically reachable, that is, whether the cleaning robot has been to these uncleaned areas before, thereby improving the safety of the cleaning robot.

[0104] A possible implementation method is provided in an embodiment of the present application. If the cleaning robot fails to move from the target starting point to the target end point when being controlled, a position without obstacles in the cleaned area is re-determined as the target starting point, and a position without obstacles in the uncleaned area is determined as the target end point based on at least one target position, a cleaned area, and an uncleaned area. That is, steps B2 to B5 above can be re-executed to determine a position without obstacles in the cleaned area as the target starting point, and a position without obstacles in the uncleaned area is determined as the target end point.

[0105] In an optional embodiment, if the number of failed attempts to move from the target starting point to the target end point exceeds a preset threshold, such as 3 or 4 times, the current supplementary sweeping action is terminated and the next area to be cleaned is searched. That is, based on at least one target position, a rectangle with a set length and a set width centered on the next target position can be determined, and steps B2 to B5 are continued to be performed, an obstacle-free position in the cleaned area is determined as the target starting point, and an obstacle-free position in the uncleaned area is determined as the target end point; thereafter, the cleaning robot is controlled to move to the target starting point, and it is determined whether the threshold for the false triggering of the Cliff signal is the target trigger threshold. If the threshold for the false triggering of the Cliff signal is the target trigger threshold, the cleaning robot is controlled to move from the target starting point to the target end point and continue to perform the cleaning action; if the threshold for the false triggering of the Cliff signal is not the target trigger threshold, the threshold for the false triggering of the Cliff signal is adjusted to the target trigger threshold, and then the cleaning robot is controlled to move from the target starting point to the target end point and continue to perform the cleaning action.

[0106] In an embodiment of the present application, a possible implementation method is provided. In step B5 above, a target cluster point set, a cleaned area, and an uncleaned area are combined to determine an obstacle-free position in the cleaned area as the target starting point, and an obstacle-free position in the uncleaned area is determined as the target end point. Specifically, the target cluster point set, the cleaned area, and the uncleaned area are combined to determine an obstacle-free position in the cleaned area and a distance from the target position greater than a fourth preset distance as the target starting point, and an obstacle-free position in the uncleaned area is determined as the target end point. The fourth preset distance here can be set according to actual needs, such as the fourth preset distance is 600 mm, etc. This embodiment does not limit this.

[0107] It should be noted that the order of execution of the steps in the above embodiments does not necessarily imply a specific order of execution. The order of execution of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. In practical applications, all possible implementation methods described above can be combined in any manner to form possible embodiments of the present application, and will not be described in detail here.

[0108] Based on the cleaning methods of the cleaning robot provided in the above embodiments, and based on the same inventive concept, an embodiment of the present application also provides a cleaning device of a cleaning robot.

[0109] Figure 2 : is a structural diagram of the cleaning device of the cleaning robot provided in the embodiment of the present application. Figure 2 As shown, the cleaning device of the cleaning robot may specifically include an acquisition unit 210 and a cleaning unit 220.

[0110] The acquisition unit 210 is used to acquire one or more locations where the cliff signal is triggered during the cleaning process of the cleaning robot, and to acquire the cleaned area and the uncleaned area after the cleaning robot completes the cleaning of the current or current partition;

[0111] The cleaning unit 220 is used to control the cleaning robot to move to the uncleaned area and continue to perform the cleaning action according to one or more locations, cleaned areas, and uncleaned areas where the Cliff signal is triggered.

[0112] A possible implementation method is provided in an embodiment of the present application, wherein the cleaning unit 220 is further configured to:

[0113] Among the one or more locations where the Cliff signal is triggered, screening out at least one target location where the Cliff signal is falsely triggered according to a preset screening condition;

[0114] According to at least one target location, a cleaned area, and an uncleaned area, determining a location without obstacles in the cleaned area as a target starting point, and determining a location without obstacles in the uncleaned area as a target ending point;

[0115] The cleaning robot is controlled to move to the target starting point, the threshold at which the Cliff signal is falsely triggered is adjusted from the set trigger threshold to the target trigger threshold, and then the cleaning robot is controlled to move from the target starting point to the target end point to continue performing the cleaning action; wherein the target trigger threshold is greater than the set trigger threshold.

[0116] A possible implementation method is provided in an embodiment of the present application, wherein the preset screening conditions include:

[0117] The distance value when the Cliff signal is triggered is less than the preset distance threshold;

[0118] When the Cliff signal is triggered, the elevation angle of the cleaning robot is greater than a preset angle threshold. The elevation angle of the cleaning robot refers to the angle between the cleaning robot and the horizontal direction.

[0119] A possible implementation method is provided in an embodiment of the present application, wherein the cleaning unit 220 is further configured to:

[0120] According to at least one target position, a rectangle having a set length and a set width and centered at each target position is determined;

[0121] Traverse multiple checkpoints on the rectangle and select the legal checkpoints that meet the preset legal conditions;

[0122] Cluster the legal checkpoints to obtain one or more cluster point sets;

[0123] For each cluster point set, select the target cluster point set that meets the continued cleaning constraint conditions;

[0124] Combining the target cluster point set, the cleaned area, and the uncleaned area, an obstacle-free position is determined in the cleaned area as the target starting point, and an obstacle-free position is determined in the uncleaned area as the target end point.

[0125] An embodiment of the present application provides a possible implementation method, wherein the preset legal conditions include:

[0126] There are no obstacles on the circle with the first preset distance as the radius and the center of the checkpoint;

[0127] There is an uncleaned area greater than a second preset distance in any central angle direction of a circle with a radius of the first preset distance and a center point of the circle;

[0128] The point to be checked has not been traversed before.

[0129] An embodiment of the present application provides a possible implementation method, wherein the continued cleaning constraint conditions include:

[0130] In the cluster point set, the longest distance between two legal checkpoints is greater than the third preset distance;

[0131] The area of the uncleaned area corresponding to the cluster point set is greater than the preset area threshold.

[0132] A possible implementation method is provided in an embodiment of the present application, wherein the cleaning unit 220 is further configured to:

[0133] If the cleaning robot fails to move from the target starting point to the target end point when being controlled, a position without obstacles in the cleaned area is re-determined as the target starting point, and a position without obstacles in the uncleaned area is re-determined as the target end point based on at least one target position, a cleaned area, and an uncleaned area.

[0134] A possible implementation method is provided in an embodiment of the present application, wherein the cleaning unit 220 is further configured to:

[0135] Based on the target cluster point set, the cleaned area, and the uncleaned area, a position without obstacles in the cleaned area and whose distance from the target position is greater than a fourth preset distance is determined as the target starting point, and a position without obstacles in the uncleaned area is determined as the target end point.

[0136] Based on the same inventive concept, an embodiment of the present application also provides a cleaning robot, including a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the cleaning method of the cleaning robot of any one of the above embodiments.

[0137] Based on the same inventive concept, an embodiment of the present application further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the cleaning method of the cleaning robot of any one of the above embodiments when running.

[0138] Those skilled in the art will clearly understand that the specific working processes of the systems, devices, and modules described above can refer to the corresponding processes in the aforementioned method embodiments, and for the sake of brevity, they will not be further described here.

[0139] Those skilled in the art will appreciate that the technical solution of the present application, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes a number of program instructions for causing an electronic device (e.g., a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application when the program instructions are executed. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0140] Alternatively, all or part of the steps of implementing the aforementioned method embodiments may be accomplished by hardware related to program instructions (such as electronic devices such as personal computers, servers, or network devices), and the program instructions may be stored in a computer-readable storage medium. When the program instructions are executed by a processor of an electronic device, the electronic device executes all or part of the steps of the methods described in the various embodiments of the present application.

[0141] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that, within the spirit and principles of the present application, they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate from the protection scope of the present application.

Claims

1. A cleaning method for a cleaning robot, characterized in that: include: After the cleaning robot finishes cleaning this time or the current partition, obtain one or more locations where the cliff signal is triggered during the cleaning process of the cleaning robot, as well as the cleaned area and the uncleaned area; According to one or more locations where the Cliff signal is triggered, the cleaned area, and the uncleaned area, the cleaning robot is controlled to move to the uncleaned area and continue to perform the cleaning action.

2. The method according to claim 1, characterized in that According to one or more locations where the Cliff signal is triggered, the cleaning robot is controlled to move to the uncleaned area and continue to perform the cleaning action, including: Among the one or more locations where the Cliff signal is triggered, screening out at least one target location where the Cliff signal is falsely triggered according to a preset screening condition; According to at least one target location, a cleaned area, and an uncleaned area, determining a location without obstacles in the cleaned area as a target starting point, and determining a location without obstacles in the uncleaned area as a target ending point; The cleaning robot is controlled to move to the target starting point, the threshold at which the Cliff signal is falsely triggered is adjusted from the set trigger threshold to the target trigger threshold, and then the cleaning robot is controlled to move from the target starting point to the target end point to continue performing the cleaning action; wherein the target trigger threshold is greater than the set trigger threshold.

3. The method according to claim 2, characterized in that The preset screening conditions include: The distance value when the Cliff signal is triggered is less than the preset distance threshold; When the Cliff signal is triggered, the elevation angle of the cleaning robot is greater than a preset angle threshold. The elevation angle of the cleaning robot refers to the angle between the cleaning robot and the horizontal direction.

4. The method according to claim 2 or 3, characterized in that The method of determining an obstacle-free position in the cleaned area as a target starting point and determining an obstacle-free position in the cleaned area as a target end point based on at least one target position, a cleaned area, and an uncleaned area includes: According to at least one target position, a rectangle having a set length and a set width and centered at each target position is determined; Traverse multiple checkpoints on the rectangle and select the legal checkpoints that meet the preset legal conditions; Cluster the legal checkpoints to obtain one or more cluster point sets; For each cluster point set, select the target cluster point set that meets the continued cleaning constraint conditions; Combining the target cluster point set, the cleaned area, and the uncleaned area, an obstacle-free position is determined in the cleaned area as the target starting point, and an obstacle-free position is determined in the uncleaned area as the target end point.

5. The method according to claim 4, characterized in that The preset legal conditions include: There are no obstacles on the circle with the first preset distance as the radius and the center of the checkpoint; There is an uncleaned area greater than a second preset distance in any central angle direction of a circle with a radius of the first preset distance and a center point of the circle; The point to be checked has not been traversed before.

6. The method according to claim 4, characterized in that The continued cleaning constraints include: In the cluster point set, the longest distance between two legal checkpoints is greater than the third preset distance; The area of the uncleaned area corresponding to the cluster point set is greater than the preset area threshold.

7. The method according to claim 4, characterized in that The method further comprises: If the cleaning robot fails to move from the target starting point to the target end point when being controlled, a position without obstacles in the cleaned area is re-determined as the target starting point, and a position without obstacles in the uncleaned area is re-determined as the target end point based on at least one target position, a cleaned area, and an uncleaned area.

8. The method according to claim 4, characterized in that The method combines the target cluster point set, the cleaned area, and the uncleaned area, determines an obstacle-free position in the cleaned area as the target starting point, and determines an obstacle-free position in the uncleaned area as the target end point, including: Based on the target cluster point set, the cleaned area, and the uncleaned area, a position without obstacles in the cleaned area and whose distance from the target position is greater than a fourth preset distance is determined as the target starting point, and a position without obstacles in the uncleaned area is determined as the target end point.

9. A cleaning device for a cleaning robot, characterized in that: include: An acquisition unit is used to acquire, after the cleaning robot completes cleaning of this or the current partition, one or more locations where the cliff signal is triggered during the cleaning process of this or the current partition, and to acquire cleaned areas and uncleaned areas; The cleaning unit is used to control the cleaning robot to move to the uncleaned area and continue to perform the cleaning action according to one or more locations, cleaned areas, and uncleaned areas where the Cliff signal is triggered.

10. A cleaning robot, characterized in that: The cleaning robot comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the cleaning method of the cleaning robot according to any one of claims 1 to 8.

11. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the cleaning method of the cleaning robot according to any one of claims 1 to 8 when running.

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