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

Abstract

The invention provides a control 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 detects the current area of the cleaning robot; if it is detected that the current area where the cleaning robot is located is the pre-marked area, a cliff sensor of the cleaning robot is controlled to work according to a target triggering threshold value corresponding to the pre-marked area. Therefore, when the current area of the cleaning robot is the pre-marked area, the cliff sensor can work according to the target trigger threshold value corresponding to the pre-marked area, and the sensitivity of the cliff sensor in the pre-marked area can be adjusted by controlling and adjusting the trigger threshold value of the cliff sensor; therefore, when the cleaning robot conducts cleaning in the pre-marked area, misjudgment and false triggering of the cliff sensor can be reduced, the better passing effect of the cleaning robot is achieved, 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 control method and device for a cleaning robot, a cleaning robot, and a storage medium. Background Art

[0002] Currently, sweepers often encounter various obstacles during cleaning tasks, such as stairs, tables, and chairs. To ensure that sweepers can effectively avoid these obstacles, they are typically equipped with cliff sensors. These sensors detect differences in the ground, preventing the sweeper from falling from heights. For example, when a sweeper encounters a stair, it needs to be able to identify and avoid it to prevent damage from the fall. However, during the sweeper's obstacle-crossing function, the sweeper's nose may tilt up, and the cliff sensor may mistakenly identify it as a cliff, preventing the sweeper from passing through areas that it could otherwise safely pass, affecting 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 control 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 control method for a cleaning robot is provided, comprising:

[0005] Detect the current area of the cleaning robot;

[0006] If it is detected that the current area where the cleaning robot is located is a pre-marked area, the cliff sensor of the cleaning robot is controlled to work according to the target trigger threshold corresponding to the pre-marked area.

[0007] In one possible implementation, the cliff sensor of the cleaning robot is controlled to operate according to a target trigger threshold corresponding to a pre-marked area, including:

[0008] Get the target trigger threshold corresponding to the pre-marked area;

[0009] Determining whether a current trigger threshold of a cliff sensor of the cleaning robot is the target trigger threshold;

[0010] If not, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted to the target trigger threshold, so that the cliff sensor works according to the target trigger threshold.

[0011] In a possible implementation, the method further includes:

[0012] If the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold, the current trigger threshold is not adjusted, so that the cliff sensor works according to the target trigger threshold.

[0013] In a possible implementation, if the pre-marked area is a pre-marked first area, obtaining a target trigger threshold corresponding to the pre-marked area includes:

[0014] Obtaining the corresponding relationship between multiple marked areas and trigger thresholds;

[0015] In the correspondence between multiple marked areas and trigger thresholds, the trigger threshold corresponding to the first area is searched and used as the target trigger threshold.

[0016] In a possible implementation, if the pre-marked area is a third area, and the third area is an overlapping area of at least two pre-marked areas, obtaining a target trigger threshold corresponding to the pre-marked area includes:

[0017] Obtaining the corresponding relationship between multiple marked areas and trigger thresholds;

[0018] In the correspondence between the multiple marked areas and the trigger thresholds, searching for the trigger threshold corresponding to each area in at least two areas;

[0019] A trigger threshold with the largest value among the trigger thresholds corresponding to each of the at least two areas is selected as the target trigger threshold.

[0020] In a possible implementation, the pre-marked area is determined by the following steps:

[0021] Receiving an area input by a user through a working environment map of the cleaning robot as a pre-marked area; and / or

[0022] An area containing a preset object is identified, and the identified area containing the preset object is used as a pre-marked area.

[0023] In one possible implementation, after controlling the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area, the method further includes:

[0024] If it is detected that the current area where the cleaning robot is located is not a pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to the set trigger threshold, so that the cliff sensor works according to the set trigger threshold; wherein, the target trigger threshold is greater than the set trigger threshold.

[0025] In a second aspect, a control device for a cleaning robot is provided, comprising:

[0026] A detection unit, used to detect the area where the cleaning robot is currently located;

[0027] The control unit is used to control the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area if it is detected that the area currently located by the cleaning robot is a pre-marked area.

[0028] In a possible implementation, the control unit is further configured to:

[0029] Get the target trigger threshold corresponding to the pre-marked area;

[0030] Determining whether a current trigger threshold of a cliff sensor of the cleaning robot is the target trigger threshold;

[0031] If not, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted to the target trigger threshold, so that the cliff sensor works according to the target trigger threshold.

[0032] In a possible implementation, the control unit is further configured to:

[0033] If the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold, the current trigger threshold is not adjusted, so that the cliff sensor works according to the target trigger threshold.

[0034] In a possible implementation, if the pre-marked area is a pre-marked first area, the control unit is further configured to:

[0035] Obtaining the corresponding relationship between multiple marked areas and trigger thresholds;

[0036] In the correspondence between multiple marked areas and trigger thresholds, the trigger threshold corresponding to the first area is searched and used as the target trigger threshold.

[0037] In a possible implementation, if the pre-marked area is a third area, and the third area is an overlapping area of at least two pre-marked areas, the control unit is further configured to:

[0038] Obtaining the corresponding relationship between multiple marked areas and trigger thresholds;

[0039] In the correspondence between the multiple marked areas and the trigger thresholds, searching for the trigger threshold corresponding to each area in at least two areas;

[0040] A trigger threshold with the largest value among the trigger thresholds corresponding to each of the at least two areas is selected as the target trigger threshold.

[0041] In a possible implementation, the apparatus further includes a determining unit configured to:

[0042] Receiving an area input by a user through a working environment map of the cleaning robot as a pre-marked area; and / or

[0043] An area containing a preset object is identified, and the identified area containing the preset object is used as a pre-marked area.

[0044] In a possible implementation, the control unit is further configured to:

[0045] After controlling the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area, if it is detected that the current area where the cleaning robot is located is not the pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to the set trigger threshold, so that the cliff sensor operates according to the set trigger threshold; wherein, the target trigger threshold is greater than the set trigger threshold.

[0046] 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 above-described control methods for the cleaning robot.

[0047] In a fourth aspect, a storage medium is provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute any of the above-mentioned control methods for the cleaning robot when running.

[0048] By means of the above technical solution, the control method and device for a cleaning robot, a cleaning robot, and a storage medium provided in the embodiments of the present application can detect the area where the cleaning robot is currently located; if it is detected that the area where the cleaning robot is currently located is a pre-marked area, the cliff sensor of the cleaning robot is controlled to operate according to the target trigger threshold corresponding to the pre-marked area. In this way, when the area where the cleaning robot is currently located is a pre-marked area, the cliff sensor can operate according to the target trigger threshold corresponding to the pre-marked area. By controlling and adjusting the trigger threshold of the cliff sensor, the sensitivity of the cliff sensor in the pre-marked area can be adjusted, so that when the cleaning robot is cleaning in the pre-marked area, the misjudgment and mis-triggering of the cliff sensor can be reduced, thereby achieving a better passage effect for the cleaning robot and improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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.

[0050] Figure 1 A flow chart showing a method for controlling a cleaning robot according to an embodiment of the present application is shown;

[0051] Figure 2 A flow chart showing a method for controlling a cleaning robot according to another embodiment of the present application is shown;

[0052] Figure 3 A two-dimensional work environment map provided by an embodiment of the present application is shown;

[0053] Figure 4 A structural diagram of a control device of a cleaning robot provided in an embodiment of the present application is shown;

[0054] Figure 5 A structural diagram of a control device of a cleaning robot provided in another embodiment of the present application is shown. DETAILED DESCRIPTION

[0055] 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.

[0056] 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."

[0057] Before introducing the embodiments of the present application, the three technical terms current trigger threshold, target trigger threshold, and set trigger threshold are explained:

[0058] During the cleaning process, the current trigger threshold may be the target trigger threshold corresponding to different pre-marked areas, or it may be the set trigger threshold. The set trigger threshold is the default threshold for the machine's normal state or in most cases. Therefore, if the current trigger threshold is the set trigger threshold, it must be lower than the target trigger threshold corresponding to all pre-marked areas. The target trigger thresholds for different areas can be the same or different, but they must all be higher than the set trigger threshold.

[0059] In order to solve the above technical problems, the embodiment of the present application provides a control method for a cleaning robot, where the cleaning robot can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. Figure 1As shown, the control method of the cleaning robot may include the following steps S101 and S102:

[0060] Step S101, detecting the current area of the cleaning robot;

[0061] Step S102: If it is detected that the current area where the cleaning robot is located is a pre-marked area, the cliff sensor of the cleaning robot is controlled to work according to the target trigger threshold corresponding to the pre-marked area.

[0062] In this embodiment, during the cleaning process of the cleaning robot, it can be detected whether the current area where the cleaning robot is located is in a pre-marked area. Here, the pre-marked area can be displayed on the working environment map of the cleaning robot.

[0063] In an optional embodiment, the pre-marked area may be determined by following steps A1 and / or A2:

[0064] Step A1: receiving an area input by the user through the working environment map of the cleaning robot as a pre-marked area; in this way, the user can determine the pre-marked area according to his or her needs, making cleaning more flexible.

[0065] In a specific embodiment, the user edits the map displayed on the mobile phone APP (application) (i.e., the working environment map of the cleaning robot), such as using a finger to frame a certain area as a threshold area. This area is a pre-marked area. When the cleaning robot crosses the threshold, the body, especially the nose, will tilt up, causing the bottom of the cleaning robot body to be farther from the ground. At this time, a larger cliff sensor trigger threshold is required, otherwise the cliff sensor of the cleaning robot will be mistakenly triggered, and the threshold area will be considered as a cliff, causing the machine to fail to cross the obstacle. Therefore, the trigger threshold of the cliff sensor needs to be increased in the threshold area. When the cleaning robot detects that it is in this area, it will adjust the trigger threshold of the cliff sensor so that its trigger threshold is the target trigger threshold corresponding to the threshold area, that is, the trigger threshold of the cliff sensor is increased so that the cleaning robot can smoothly cross the threshold.

[0066] Step A2, identifying the area containing the preset object, and using the identified area containing the preset object as the pre-marked area; in this way, the cleaning robot can automatically identify and adapt to environmental changes, so that it can complete the cleaning task more intelligently.

[0067] Here, the pre-marked area may be an area where the cleaning robot needs to overcome obstacles for cleaning, such as door sills of certain colors, sliding door rails, etc., and this embodiment does not impose any restrictions on this.

[0068] In an optional embodiment, multiple areas may be pre-marked, such as a first area, a second area, a third area, a fourth area, etc. as pre-marked areas, which is not limited in this embodiment.

[0069] In an optional embodiment, the multiple regions may be independent and non-overlapping, or they may be overlapping regions. For example, the multiple regions may be a first region, a second region, a third region, and a fourth region, wherein the first region and the second region overlap, the third region is the overlapping region of the first and second regions, the first region and the fourth region are independent and non-overlapping, and the second region and the fourth region are independent and non-overlapping. It should be noted that the examples given here are for illustrative purposes only and do not limit this embodiment.

[0070] In addition, 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 will detect the reflected signal. The processor of the cliff sensor will analyze and process the transmitted signal and the reflected signal to determine the current distance between the chassis of the cleaning robot and the ground; further, 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 can no longer move forward to the position where the Cliff signal is triggered, thereby avoiding 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.

[0071] That is to say, in this embodiment, when it is detected that the current area where the cleaning robot is located is a pre-marked area, the threshold for triggering the Cliff signal of the cliff sensor is adjusted to the target trigger threshold corresponding to the pre-marked area. In this way, the Cliff signal will be triggered only if the current distance is greater than or equal to the target trigger threshold. At this time, the cleaning robot can no longer move forward to the position where the Cliff signal is triggered; if the current distance is less than the target trigger threshold, the Cliff signal will not be triggered, so that when the current area where the cleaning robot is located is a pre-marked area (for example, an area where the cleaning robot needs to cross obstacles to clean), the cliff sensor will not be triggered, and the cleaning robot will work normally, thereby achieving a better passage effect for the cleaning robot and improving cleaning efficiency.

[0072] The present application provides a possible implementation method. In step S102 above, the cliff sensor of the cleaning robot is controlled to operate according to the target trigger threshold corresponding to the pre-marked area. Specifically, the following steps B1 to B4 may be included:

[0073] Step B1, obtaining a target trigger threshold corresponding to a pre-marked area;

[0074] Step B2, determining whether the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold;

[0075] Step B3: If not, adjusting the current trigger threshold of the cliff sensor of the cleaning robot to the target trigger threshold, so that the cliff sensor operates according to the target trigger threshold;

[0076] Step B4: If yes, then the current trigger threshold is not adjusted, so that the cliff sensor operates according to the target trigger threshold.

[0077] In an optional embodiment, different trigger thresholds may be set for different pre-marked areas. The following describes in detail different pre-marked areas:

[0078] Case 1: If the pre-marked area is the pre-marked first area, then step B1 obtains the target trigger threshold corresponding to the pre-marked area, specifically obtaining the correspondence between multiple marked areas and the trigger threshold; in the correspondence between multiple marked areas and the trigger threshold, find the trigger threshold corresponding to the first area as the target trigger threshold.

[0079] Case 2: If the pre-marked area is the pre-marked second area, then step B1 obtains the target trigger threshold corresponding to the pre-marked area, specifically obtaining the correspondence between multiple marked areas and the trigger threshold; in the correspondence between multiple marked areas and the trigger threshold, find the trigger threshold corresponding to the second area as the target trigger threshold.

[0080] Case three, if the pre-marked area is the third area, and the third area is the overlapping area of at least two pre-marked areas, then step B1 obtains the target trigger threshold corresponding to the pre-marked area, specifically obtaining the correspondence between multiple marked areas and the trigger threshold; in the correspondence between multiple marked areas and the trigger threshold, searching for the trigger threshold corresponding to each area of at least two areas; selecting the trigger threshold with the largest value among the trigger thresholds corresponding to each area of at least two areas as the target trigger threshold.

[0081] Taking the example above, the multiple marked areas are the first, second, third, and fourth areas. The first and second areas overlap, the third area is the overlapping area of the first and second areas, the first and fourth areas are independent and non-overlapping, and the second and fourth areas are independent and non-overlapping. Then, from the correspondence between the multiple marked areas and trigger thresholds, the trigger thresholds corresponding to the first and second areas can be found. The trigger threshold with the largest value among the trigger thresholds corresponding to the first and second areas can be selected as the target trigger threshold.

[0082] In this embodiment, the cleaning robot can set appropriate sensor sensitivity according to the characteristics of different pre-marked areas and user needs, which enables the cleaning robot to cope with different environments more flexibly.

[0083] An embodiment of the present application provides a possible implementation method, which may further include the following steps C1 after controlling the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area:

[0084] In step C1, if it is detected that the current area where the cleaning robot is located is not a pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to the set trigger threshold, so that the cliff sensor works according to the set trigger threshold; wherein the target trigger threshold is greater than the set trigger threshold.

[0085] In this step, the target trigger threshold is greater than the set trigger threshold, where the set trigger threshold is the normal state of the machine or the default threshold in most cases; when it is detected that the current area where the cleaning robot is located is not a pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to the set trigger threshold, so that the cliff sensor works according to the set trigger threshold, that is, the sensitivity of the cliff sensor is improved, so that the cleaning robot can more accurately identify and avoid dangerous areas such as cliffs.

[0086] Subsequently, when it is detected that the current area where the cleaning robot is located is a pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot 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 in the pre-marked area (for example, in the area that requires obstacle cleaning), and the cleaning robot can work normally, thereby achieving a better passage effect of the cleaning robot and improving cleaning efficiency.

[0087] Therefore, this embodiment intelligently adjusts the trigger threshold of the cliff sensor so that the cleaning robot can more accurately identify and avoid dangerous areas such as cliffs. At the same time, the cliff sensor is not triggered in pre-marked areas (for example, areas that require obstacle cleaning), and the cleaning robot can also work normally, thereby improving the cleaning efficiency and safety of the cleaning robot, while also reducing the need for manual intervention and improving the user experience.

[0088] The above introduces Figure 1 There are multiple implementation methods for each link of the illustrated embodiment. The control method of the cleaning robot will be further introduced below through specific embodiments.

[0089] Figure 2A flow chart of a control method for a cleaning robot according to another embodiment of the present invention is shown. Figure 2 As shown, the control method of the cleaning robot may include the following steps S201 to S206:

[0090] Step S201 : During the cleaning process of the cleaning robot, the current area of the cleaning robot is detected.

[0091] In this step, the area can be pre-marked by the user or automatically. For details, please refer to the introduction of step A1 and / or step A2 above, which will not be repeated here.

[0092] Figure 3 The working environment map of the cleaning robot provided in the embodiment of the present application is shown in FIG. Figure 3 In the embodiment, area 31 and area 32 are pre-marked on the work environment map. Area 31 and area 32 are independent of each other and do not overlap. It should be noted that the examples here are only illustrative and do not limit this embodiment.

[0093] Step S202: If it is detected that the area where the cleaning robot is currently located is a pre-marked area, a target trigger threshold corresponding to the pre-marked area is obtained.

[0094] Step S203 , determining whether the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold; if not, proceeding to step S204 ; if yes, proceeding to step S205 .

[0095] In step S204 , the current trigger threshold of the cliff sensor of the cleaning robot is adjusted to the target trigger threshold, so that the cliff sensor works according to the target trigger threshold, and the process continues with step S206 .

[0096] In step S205 , the current trigger threshold is not adjusted, so that the cliff sensor operates according to the target trigger threshold, and the process continues with step S206 .

[0097] Step S206, continue to detect the current area where the cleaning robot is located. If it is detected that the current area where the cleaning robot is located is not a pre-marked area, adjust the current trigger threshold of the cliff sensor of the cleaning robot from the target trigger threshold to the set trigger threshold, so that the cliff sensor works according to the set trigger threshold; wherein, the target trigger threshold is greater than the set trigger threshold.

[0098] This embodiment intelligently adjusts the trigger threshold of the cliff sensor so that the cleaning robot can more accurately identify and avoid dangerous areas such as cliffs. At the same time, the cliff sensor is not triggered in pre-marked areas (for example, areas that require obstacle cleaning), and the cleaning robot can also work normally, thereby improving the cleaning efficiency and safety of the cleaning robot, while also reducing the need for manual intervention and improving the user experience.

[0099] 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.

[0100] Based on the control 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 control device for a cleaning robot.

[0101] Figure 4 This is a structural diagram of the control device of the cleaning robot provided in the embodiment of the present application. Figure 4 As shown, the control device of the cleaning robot may specifically include a detection unit 410 and a control unit 420.

[0102] A detection unit 410 is used to detect the current area of the cleaning robot;

[0103] The control unit 420 is configured to control the cliff sensor of the cleaning robot to operate according to a target trigger threshold corresponding to the pre-marked area if it is detected that the area where the cleaning robot is currently located is a pre-marked area.

[0104] An embodiment of the present application provides a possible implementation method, wherein the control unit 420 is further configured to:

[0105] Get the target trigger threshold corresponding to the pre-marked area;

[0106] Determining whether a current trigger threshold of a cliff sensor of the cleaning robot is the target trigger threshold;

[0107] If not, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted to the target trigger threshold, so that the cliff sensor works according to the target trigger threshold.

[0108] An embodiment of the present application provides a possible implementation method, wherein the control unit 420 is further configured to:

[0109] If the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold, the current trigger threshold is not adjusted, so that the cliff sensor works according to the target trigger threshold.

[0110] An embodiment of the present application provides a possible implementation manner. If the pre-marked area is a pre-marked first area, the control unit 420 is further configured to:

[0111] Obtaining the corresponding relationship between multiple marked areas and trigger thresholds;

[0112] In the correspondence between multiple marked areas and trigger thresholds, the trigger threshold corresponding to the first area is searched and used as the target trigger threshold.

[0113] In an embodiment of the present application, a possible implementation is provided. If the pre-marked area is a third area, and the third area is an overlapping area of at least two pre-marked areas, the control unit 420 is further configured to:

[0114] Obtaining the corresponding relationship between multiple marked areas and trigger thresholds;

[0115] In the correspondence between the multiple marked areas and the trigger thresholds, searching for the trigger threshold corresponding to each area in at least two areas;

[0116] A trigger threshold with the largest value among the trigger thresholds corresponding to each of the at least two areas is selected as the target trigger threshold.

[0117] A possible implementation method is provided in the embodiment of the present application, such as Figure 5 As shown above Figure 4 The device may further include a determining unit 510 configured to:

[0118] Receiving an area input by a user through a working environment map of the cleaning robot as a pre-marked area; and / or

[0119] An area containing a preset object is identified, and the identified area containing the preset object is used as a pre-marked area.

[0120] An embodiment of the present application provides a possible implementation method, wherein the control unit 420 is further configured to:

[0121] After controlling the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area, if it is detected that the current area where the cleaning robot is located is not the pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to the set trigger threshold, so that the cliff sensor operates according to the set trigger threshold; wherein, the target trigger threshold is greater than the set trigger threshold.

[0122] 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 control method of the cleaning robot of any one of the above embodiments.

[0123] 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 control method of the cleaning robot of any of the above embodiments when running.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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 control method for a cleaning robot, characterized in that: include: Detect the current area of the cleaning robot; If it is detected that the current area where the cleaning robot is located is a pre-marked area, the cliff sensor of the cleaning robot is controlled to work according to the target trigger threshold corresponding to the pre-marked area.

2. The method according to claim 1, characterized in that The cliff sensor of the cleaning robot is controlled to operate according to a target trigger threshold corresponding to a pre-marked area, including: Get the target trigger threshold corresponding to the pre-marked area; Determining whether a current trigger threshold of a cliff sensor of the cleaning robot is the target trigger threshold; If not, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted to the target trigger threshold, so that the cliff sensor works according to the target trigger threshold.

3. The method according to claim 2, characterized in that The method further comprises: If the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold, the current trigger threshold is not adjusted, so that the cliff sensor works according to the target trigger threshold.

4. The method according to claim 2, characterized in that If the pre-marked area is a pre-marked first area, obtaining a target trigger threshold corresponding to the pre-marked area includes: Obtaining the corresponding relationship between multiple marked areas and trigger thresholds; In the correspondence between multiple marked areas and trigger thresholds, the trigger threshold corresponding to the first area is searched and used as the target trigger threshold.

5. The method according to claim 2, characterized in that If the pre-marked area is a third area, and the third area is an overlapping area of at least two pre-marked areas, obtaining a target trigger threshold corresponding to the pre-marked area includes: Obtaining the corresponding relationship between multiple marked areas and trigger thresholds; In the correspondence between the multiple marked areas and the trigger thresholds, searching for the trigger threshold corresponding to each area in at least two areas; A trigger threshold with the largest value among the trigger thresholds corresponding to each of the at least two areas is selected as the target trigger threshold.

6. The method according to any one of claims 1 to 5, characterized in that Determine the pre-marked area by following these steps: Receiving an area input by a user through a working environment map of the cleaning robot as a pre-marked area; and / or An area containing a preset object is identified, and the identified area containing the preset object is used as a pre-marked area.

7. The method according to any one of claims 1 to 5, characterized in that After controlling the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area, the method further includes: If it is detected that the current area where the cleaning robot is located is not a pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to the set trigger threshold, so that the cliff sensor works according to the set trigger threshold; wherein, the target trigger threshold is greater than the set trigger threshold.

8. A control device for a cleaning robot, characterized in that: include: A detection unit, used to detect the area where the cleaning robot is currently located; The control unit is used to control the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area if it is detected that the area currently located by the cleaning robot is a pre-marked area.

9. 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 control method of the cleaning robot according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the control method of the cleaning robot according to any one of claims 1 to 7 when running.

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