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. According to the method, in the process that the cleaning robot moves along an obstacle, information data located on the side portion of the cleaning robot are obtained in real time; and executing a corresponding control strategy on the cleaning robot based on the information data. According to the embodiment of the invention, the corresponding control strategy can be executed on the cleaning robot based on the information data of the side part of the cleaning robot, so that the cleaning robot can be controlled more accurately and efficiently, 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] Sweeping robots provide convenience to users by reducing manual labor, making the home environment more tidy and saving valuable time. With the advancement of technology, the functions of sweeping robots are becoming more and more diverse, and they are gradually becoming a part of modern smart home life.

[0003] Currently, in robot vacuum designs, a single-point LDS (Laser Distance Sensor) is mounted on top of the machine to perform 360-degree omnidirectional distance measurement, thereby obtaining a map of the surrounding environment for obstacle avoidance, navigation, and other tasks, and performing cleaning operations. In some cleaning scenarios, how to better control the robot vacuum to improve cleaning efficiency has become a pressing technical issue. Summary of the Invention

[0004] 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:

[0005] In a first aspect, a control method for a cleaning robot is provided, comprising:

[0006] When the cleaning robot moves along the obstacle, information data on the side of the cleaning robot is obtained in real time;

[0007] Based on the information data, a corresponding control strategy is executed on the cleaning robot.

[0008] In a possible implementation, executing a corresponding control strategy on the cleaning robot based on the information data includes:

[0009] Calculating multiple distances between the cleaning robot and the obstacle based on the information data, and determining the shortest distance among the multiple distances;

[0010] Determine the target distance for the cleaning robot to move toward or away from the obstacle at the next moment based on the shortest distance and the preset distance the cleaning robot should maintain while moving along the obstacle;

[0011] The cleaning robot is controlled to move toward or away from the obstacle at the next moment according to the target distance.

[0012] In a possible implementation, executing a corresponding control strategy on the cleaning robot based on the information data includes:

[0013] The obstacle is identified based on the information data. If the obstacle is identified as a carpet, the cleaning robot is first controlled to sweep along the edge of the carpet, circle the carpet area, and record the type of carpet;

[0014] Controlling the cleaning robot to clean the carpet, and during the cleaning process of the cleaning robot on the carpet, determining to obtain information data within a height range corresponding to the type of carpet;

[0015] Based on the information data within the height range corresponding to the carpet type, it is identified whether there is an obstacle. If it is identified that there is an obstacle, the cleaning robot is controlled to avoid the obstacle and perform the cleaning action.

[0016] In a possible implementation, the method further includes:

[0017] When the cleaning robot is cleaning the carpet, the movement of the cleaning robot wheels is adapted accordingly according to the type of carpet to perform the cleaning action.

[0018] In a possible implementation, executing a corresponding control strategy on the cleaning robot based on the information data includes:

[0019] The obstacle is identified based on the information data. If the obstacle is identified as a threshold, it is determined whether the height of the threshold is less than or equal to a first threshold. If the height of the threshold is less than or equal to the first threshold, it is determined whether the height difference between the height of the suspended plane above the threshold and the threshold is greater than or equal to a second threshold. If the height difference between the height of the suspended plane above the threshold and the threshold is greater than or equal to the second threshold, the cleaning robot is controlled to perform a cleaning action through the threshold; if the height difference between the height of the suspended plane above the threshold and the threshold is less than the second threshold, the cleaning robot is controlled to perform a cleaning action along the threshold.

[0020] In a possible implementation, the method further includes:

[0021] If the height of the threshold is greater than the first threshold and less than the third threshold, the cleaning robot is controlled to perform a cleaning action along the threshold. When the cleaning is completed, the cleaning robot is controlled to return to the area of the threshold and to perform a cleaning action through the threshold.

[0022] If the height of the threshold is greater than or equal to the third threshold, the cleaning robot is controlled to perform a cleaning action along the threshold.

[0023] In a possible implementation, executing a corresponding control strategy on the cleaning robot based on the information data includes:

[0024] Identify the obstacle based on the information data. If the obstacle is identified as a low space area that the cleaning robot can enter, record the height of the low space area, and control the cleaning robot to clean the low space area for a circle to circle the outline of the low space area.

[0025] The cleaning robot is controlled to enter the low space area to perform a cleaning action, and whether to raise or lower the distance measuring sensor located on the top of the cleaning robot is determined according to the height of the low space area.

[0026] In a possible implementation, executing a corresponding control strategy on the cleaning robot based on the information data includes:

[0027] Identifying the obstacle based on the information data, and if it is determined that the obstacle disappears within the range from the obstacle to the entire height of the cleaning robot, combining the ranging data collected by the ranging sensor on the top of the cleaning robot when the obstacle disappears, determining whether a ranging value in the ranging data is greater than or equal to a fourth threshold; if the ranging value in the ranging data is greater than or equal to the fourth threshold, controlling the cleaning robot to perform a cleaning action along the edge of the obstacle in the direction in which the obstacle disappears;

[0028] If the ranging value in the ranging data is less than the fourth threshold, the cleaning robot is planned to walk toward the obstacle in front and along the edge of the obstacle in front to perform a cleaning action.

[0029] In a possible implementation, executing a corresponding control strategy on the cleaning robot based on the information data includes:

[0030] Identify the obstacle based on the information data, and if the obstacle is identified as an inclined obstacle, obtain data of a set height;

[0031] Determine the inclination angle of the inclined obstacle according to the data of the set height;

[0032] Determining a radius for circumventing the inclined obstacle according to the inclination angle of the inclined obstacle;

[0033] A sweeping action is performed according to the radius of the inclined obstacle.

[0034] In a possible implementation, the information data includes altitude information and distance information.

[0035] In a possible implementation, the information data is data collected by a ranging sensor.

[0036] In a possible implementation, if the ranging sensor is a laser sensor, the information data is point cloud data collected by the laser sensor.

[0037] In a second aspect, a control device for a cleaning robot is provided, comprising:

[0038] An acquisition unit, configured to acquire information data located on the side of the cleaning robot in real time while the cleaning robot is moving along an obstacle;

[0039] A control unit is used to execute a corresponding control strategy on the cleaning robot based on the information data.

[0040] 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.

[0041] 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.

[0042] By utilizing the above-described technical solution, the embodiments of the present application provide a control method and device for a cleaning robot, a cleaning robot, and a storage medium. The method acquires information data located on the side of the cleaning robot in real time as the cleaning robot moves along an obstacle, and executes a corresponding control strategy for the cleaning robot based on the information data. As can be seen, this embodiment can execute a corresponding control strategy for the cleaning robot based on the information data located on the side of the cleaning robot, thereby enabling more accurate and efficient control of the cleaning robot and improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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.

[0044] Figure 1 A flow chart showing a method for controlling a cleaning robot according to an embodiment of the present application is shown;

[0045] Figure 2 The figure shows a structural diagram of the control device of the cleaning robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] 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.

[0047] 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."

[0048] 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 1 As shown, the control method of the cleaning robot provided in the embodiment of the present application may include the following steps S101 and S102:

[0049] S101 , while the cleaning robot is moving along an obstacle, information data on the side of the cleaning robot is acquired in real time.

[0050] In this step, the obstacle may be a wall, a threshold, or the like, and this embodiment does not limit this. The side of the cleaning robot may be the right side or the left side, and the information data may include height information and distance information. The information data may be data collected by a ranging sensor, which may be an ultrasonic sensor, an infrared sensor, a laser sensor, or the like, and this embodiment does not limit this.

[0051] If the ranging sensor is a laser sensor, the information data is the point cloud data collected by the laser sensor. Taking a single-line laser sensor as an example, for example, the single-line laser sensor can be located on the right side of the cleaning robot to control the cleaning robot's movement along the right side of the wall. Alternatively, if the single-line laser sensor is located on the left side of the cleaning robot, it can control the cleaning robot's movement along the left side of the wall.

[0052] Single-line laser sensors project a laser line to measure the height of a surface. They are used to measure height differences on a surface by collecting height data across the entire laser line rather than at a single point.

[0053] Define the three-dimensional rectangular coordinate system of the cleaning robot. Suppose the origin of the three-dimensional rectangular coordinate system is O, the forward direction of the cleaning robot is the X-axis direction, the right direction of the cleaning robot is the Y-axis direction, and the direction from the bottom of the cleaning robot to its top is the Z-axis direction. Then the laser line projected by the single-line laser sensor is parallel to the XOY plane. When the cleaning robot moves along the obstacle, it can be used to measure the height of the obstacle. Here, the single-line laser sensor can be called a vertical line laser sensor.

[0054] S102: executing corresponding control strategies on the cleaning robot based on the information data.

[0055] This embodiment can execute corresponding control strategies on the cleaning robot based on the information data on the side of the cleaning robot, thereby being able to control the cleaning robot more accurately and efficiently and improve cleaning efficiency.

[0056] The embodiment of the present application provides a possible implementation method. The above S102 executes a corresponding control strategy for the cleaning robot based on the information data, which may specifically include the following steps A1 to A3:

[0057] Step A1, calculating multiple distances between the cleaning robot and obstacles based on the information data, and determining the shortest distance among the multiple distances;

[0058] Step A2, determining a target distance for the cleaning robot to move toward or away from the obstacle at the next moment based on the shortest distance and a preset distance for the cleaning robot to maintain along the obstacle;

[0059] Step A3: Control the cleaning robot to move toward or away from the obstacle at the next moment according to the target distance.

[0060] In this embodiment, the preset distance that the cleaning robot maintains when moving along an obstacle can be set according to actual needs, such as a distance of 5 cm or 6 cm, etc., which is not limited in this embodiment.

[0061] Taking a maintained distance of 5 cm as an example, if the shortest distance is 4.5 cm, the target distance for the cleaning robot to move away from the obstacle at the next moment is determined to be 0.5 cm; if the shortest distance is 3 cm, the target distance for the cleaning robot to move away from the obstacle at the next moment is determined to be 2 cm; if the shortest distance is 6 cm, the target distance for the cleaning robot to move toward the obstacle at the next moment is determined to be 1 cm. In this way, the cleaning robot can move along the obstacle according to the maintained distance, thereby improving cleaning efficiency. It should be noted that the examples given here are only illustrative and do not limit this embodiment.

[0062] The embodiment of the present application provides a possible implementation method. The above S102 executes a corresponding control strategy for the cleaning robot based on the information data, which may specifically include the following steps B1 to B3:

[0063] Step B1: Identify the obstacle based on the information data. If the obstacle is identified as a carpet, control the cleaning robot to sweep along the edge of the carpet, circle the carpet area, and record the type of carpet.

[0064] Step B2, controlling the cleaning robot to clean the carpet, and during the cleaning process of the cleaning robot on the carpet, determining to obtain information data within a height range corresponding to the type of carpet;

[0065] Step B3: Identify whether there is an obstacle based on the information data within the height range corresponding to the carpet type. If an obstacle is identified, control the cleaning robot to avoid the obstacle and perform cleaning.

[0066] In this embodiment, the type of carpet can be long-hair, short-hair, etc., which is not limited in this embodiment.

[0067] For example, assuming the maximum height measured by a single-line laser sensor is h0, if the carpet type is long-haired, information data within the range of a first height h1 to h0 can be obtained; if the carpet type is short-haired, information data within the range of a second height h2 to h0 can be obtained. Here, the first height h1 is greater than the second height h2, which can improve the efficiency of subsequent information data processing.

[0068] In the embodiment of the present application, a possible implementation is provided. In the above step B2, the cleaning robot is controlled to clean the carpet. In the process of the cleaning robot cleaning the carpet, the following step B4 may also be included:

[0069] Step B4: adapt the movement of the cleaning robot's wheels according to the type of carpet and perform the cleaning action.

[0070] For example, on short-pile carpets, the wheels of the cleaning robot need higher rotation speeds and greater torque to overcome lower friction to maintain the cleaning robot's moving speed and directional control.

[0071] On long-pile carpets, the robot's wheels need to rotate at lower speeds and use less torque to accommodate the higher friction forces needed to prevent the robot from getting stuck in the carpet fibers. Furthermore, the robot may need to adjust its direction more frequently to avoid getting entangled in the carpet fibers.

[0072] The embodiment of the present application provides a possible implementation method. The above S102 executes a corresponding control strategy on the cleaning robot based on the information data, which may specifically include the following steps C1:

[0073] Step C1, identify the obstacle based on the information data. If the obstacle is identified as a threshold, determine whether the height of the threshold is less than or equal to a first threshold. If the height of the threshold is less than or equal to the first threshold, determine whether the height difference between the height of the suspended plane above the threshold and the threshold is greater than or equal to a second threshold. If the height difference between the height of the suspended plane above the threshold and the threshold is greater than or equal to the second threshold, control the cleaning robot to perform a cleaning action through the threshold; if the height difference between the height of the suspended plane above the threshold and the threshold is less than the second threshold, control the cleaning robot to perform a cleaning action along the threshold.

[0074] In this embodiment, the first threshold and the second threshold can be set according to actual needs, for example, the first threshold is 1 cm, and the second threshold is 1.5 cleaning robot bodies. It should be noted that the examples here are only illustrative and do not limit this embodiment.

[0075] A possible implementation method is provided in the embodiment of the present application, which may also include the following steps C2 and C3:

[0076] Step C2: If the height of the threshold is greater than the first threshold and less than the third threshold, the cleaning robot is controlled to perform a cleaning action along the threshold. After the cleaning is completed, the cleaning robot is controlled to return to the area of the threshold and to perform a cleaning action through the threshold.

[0077] Step C3: If the height of the threshold is greater than or equal to a third threshold, control the cleaning robot to perform a cleaning action along the threshold.

[0078] In this embodiment, the third threshold value can be set according to actual needs. For example, the third threshold value is 2 centimeters. It should be noted that the example here is only illustrative and does not limit this embodiment.

[0079] This embodiment can execute a corresponding control strategy based on the situation where the identified obstacle is a threshold, thereby improving cleaning efficiency.

[0080] The embodiment of the present application provides a possible implementation method. The above S102 executes a corresponding control strategy for the cleaning robot based on the information data, which may specifically include the following steps D1 and D2:

[0081] Step D1: Identify the obstacle based on the information data. If the obstacle is identified as a low space area that the cleaning robot can enter, record the height of the low space area and control the cleaning robot to clean the low space area once, circling the outline of the low space area.

[0082] Step D2: Control the cleaning robot to enter the low space area to perform cleaning, and determine whether to raise or lower the distance measuring sensor located on the top of the cleaning robot according to the height of the low space area.

[0083] In this embodiment, when obstacles are identified based on information data, if a planar feature is identified that is above a first set distance from the body of the cleaning robot, the obstacle is identified as a low space area that the cleaning robot can enter. The first set distance here can be set according to actual needs. For example, the first set distance is 3 centimeters. It should be noted that the examples given here are only for illustration and do not limit this embodiment.

[0084] This embodiment can execute a corresponding control strategy based on the situation that the identified obstacle is a low space area that the cleaning robot can enter, thereby improving the cleaning efficiency.

[0085] The embodiment of the present application provides a possible implementation method. In the above S102, a corresponding control strategy is executed on the cleaning robot based on the information data, which may specifically include the following steps E1 and E2:

[0086] Step E1: Identify the obstacle based on the information data. If it is determined that the obstacle disappears within the range from the obstacle to the entire height of the cleaning robot, determine whether the distance value in the distance measurement data is greater than or equal to a fourth threshold value based on the distance measurement data collected by the distance measurement sensor on the top of the cleaning robot when the obstacle disappears. If the distance value in the distance measurement data is greater than or equal to the fourth threshold value, control the cleaning robot to perform a cleaning action along the edge of the obstacle in the direction in which the obstacle disappears;

[0087] Step E2: If the distance measurement value in the distance measurement data is less than the fourth threshold, the cleaning robot is planned to walk toward the obstacle in front and along the edge of the obstacle in front to perform a cleaning action.

[0088] In this embodiment, the fourth threshold can be set according to actual needs. For example, the fourth threshold is the body of one cleaning robot or the bodies of two cleaning robots. It should be noted that the examples here are only illustrative and do not limit this embodiment.

[0089] The embodiment of the present application provides a possible implementation method. In the above S102, a corresponding control strategy is executed on the cleaning robot based on the information data, which may specifically include the following steps F1 to F4:

[0090] Step F1, identifying the obstacle based on the information data, and if the obstacle is identified as an inclined obstacle, obtaining data of a set height;

[0091] Step F2, determining the tilt angle of the tilted obstacle based on the set height data;

[0092] Step F3, determining a radius for circumventing the inclined obstacle according to the inclination angle of the inclined obstacle;

[0093] In step F4, a cleaning action is performed according to the radius of the inclined obstacle.

[0094] In this embodiment, the inclined obstacle may be a thin pillar obstacle, a table leg or a chair leg, etc., and this embodiment does not impose any limitation on this.

[0095] This embodiment can combine the data characteristics of the ranging sensors on the top and side of the cleaning robot. When the obstacle is identified as tilted, the height of the side ranging sensor data is expanded to a second set distance above the ground to assist in determining the degree of tilt of the obstacle and dynamically determine the size of the detour radius. The second set distance here can be set according to actual needs, for example, the second set distance can be 3 mm or 5 mm. It should be noted that the examples here are only illustrative and do not limit this embodiment.

[0096] 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.

[0097] 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.

[0098] Figure 2 This is a structural diagram of the control device of the cleaning robot provided in the embodiment of the present application. The cleaning robot here can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. Figure 2 As shown, the control device of the cleaning robot may specifically include an acquisition unit 210 and a control unit 220.

[0099] The acquisition unit 210 is used to acquire information data on the side of the cleaning robot in real time while the cleaning robot moves along the obstacle;

[0100] The control unit 220 is used to execute corresponding control strategies on the cleaning robot based on the information data.

[0101] An embodiment of the present application provides a possible implementation method, wherein the control unit 220 is further configured to:

[0102] Calculating multiple distances between the cleaning robot and the obstacle based on the information data, and determining the shortest distance among the multiple distances;

[0103] Determine the target distance for the cleaning robot to move toward or away from the obstacle at the next moment based on the shortest distance and the preset distance the cleaning robot should maintain while moving along the obstacle;

[0104] The cleaning robot is controlled to move toward or away from the obstacle at the next moment according to the target distance.

[0105] An embodiment of the present application provides a possible implementation method, wherein the control unit 220 is further configured to:

[0106] The obstacle is identified based on the information data. If the obstacle is identified as a carpet, the cleaning robot is first controlled to sweep along the edge of the carpet, circle the carpet area, and record the type of carpet;

[0107] Controlling the cleaning robot to clean the carpet, and during the cleaning process of the cleaning robot on the carpet, determining to obtain information data within a height range corresponding to the type of carpet;

[0108] Based on the information data within the height range corresponding to the carpet type, it is identified whether there is an obstacle. If it is identified that there is an obstacle, the cleaning robot is controlled to avoid the obstacle and perform the cleaning action.

[0109] An embodiment of the present application provides a possible implementation method, wherein the control unit 220 is further configured to:

[0110] When the cleaning robot is cleaning the carpet, the movement of the cleaning robot wheels is adapted accordingly according to the type of carpet to perform the cleaning action.

[0111] An embodiment of the present application provides a possible implementation method, wherein the control unit 220 is further configured to:

[0112] The obstacle is identified based on the information data. If the obstacle is identified as a threshold, it is determined whether the height of the threshold is less than or equal to a first threshold. If the height of the threshold is less than or equal to the first threshold, it is determined whether the height difference between the height of the suspended plane above the threshold and the threshold is greater than or equal to a second threshold. If the height difference between the height of the suspended plane above the threshold and the threshold is greater than or equal to the second threshold, the cleaning robot is controlled to perform a cleaning action through the threshold; if the height difference between the height of the suspended plane above the threshold and the threshold is less than the second threshold, the cleaning robot is controlled to perform a cleaning action along the threshold.

[0113] An embodiment of the present application provides a possible implementation method, wherein the control unit 220 is further configured to:

[0114] If the height of the threshold is greater than the first threshold and less than the third threshold, the cleaning robot is controlled to perform a cleaning action along the threshold. When the cleaning is completed, the cleaning robot is controlled to return to the area of the threshold and to perform a cleaning action through the threshold.

[0115] If the height of the threshold is greater than or equal to the third threshold, the cleaning robot is controlled to perform a cleaning action along the threshold.

[0116] An embodiment of the present application provides a possible implementation method, wherein the control unit 220 is further configured to:

[0117] Identify the obstacle based on the information data. If the obstacle is identified as a low space area that the cleaning robot can enter, record the height of the low space area, and control the cleaning robot to clean the low space area for a circle to circle the outline of the low space area.

[0118] The cleaning robot is controlled to enter the low space area to perform a cleaning action, and whether to raise or lower the distance measuring sensor located on the top of the cleaning robot is determined according to the height of the low space area.

[0119] An embodiment of the present application provides a possible implementation method, wherein the control unit 220 is further configured to:

[0120] Identifying the obstacle based on the information data, and if it is determined that the obstacle disappears within the range from the obstacle to the entire height of the cleaning robot, combining the ranging data collected by the ranging sensor on the top of the cleaning robot when the obstacle disappears, determining whether a ranging value in the ranging data is greater than or equal to a fourth threshold; if the ranging value in the ranging data is greater than or equal to the fourth threshold, controlling the cleaning robot to perform a cleaning action along the edge of the obstacle in the direction in which the obstacle disappears;

[0121] If the ranging value in the ranging data is less than the fourth threshold, the cleaning robot is planned to walk toward the obstacle in front and along the edge of the obstacle in front to perform a cleaning action.

[0122] An embodiment of the present application provides a possible implementation method, wherein the control unit 220 is further configured to:

[0123] Identify the obstacle based on the information data, and if the obstacle is identified as an inclined obstacle, obtain data of a set height;

[0124] Determine the inclination angle of the inclined obstacle according to the data of the set height;

[0125] Determining a radius for circumventing the inclined obstacle according to the inclination angle of the inclined obstacle;

[0126] A sweeping action is performed according to the radius of the inclined obstacle.

[0127] A possible implementation method is provided in an embodiment of the present application, where the information data includes height information and distance information.

[0128] A possible implementation method is provided in an embodiment of the present application, where the information data is data collected by a ranging sensor.

[0129] A possible implementation method is provided in an embodiment of the present application. If the ranging sensor is a laser sensor, the information data is point cloud data collected by the laser sensor.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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: When the cleaning robot moves along the obstacle, information data on the side of the cleaning robot is obtained in real time; Based on the information data, a corresponding control strategy is executed on the cleaning robot.

2. The method according to claim 1, characterized in that Executing corresponding control strategies on the cleaning robot based on the information data, including: Calculating multiple distances between the cleaning robot and the obstacle based on the information data, and determining the shortest distance among the multiple distances; Determine the target distance for the cleaning robot to move toward or away from the obstacle at the next moment based on the shortest distance and the preset distance the cleaning robot should maintain while moving along the obstacle; The cleaning robot is controlled to move toward or away from the obstacle at the next moment according to the target distance.

3. The method according to claim 1, characterized in that Executing corresponding control strategies on the cleaning robot based on the information data, including: The obstacle is identified based on the information data. If the obstacle is identified as a carpet, the cleaning robot is first controlled to sweep along the edge of the carpet, circle the carpet area, and record the type of carpet; Controlling the cleaning robot to clean the carpet, and during the cleaning process of the cleaning robot on the carpet, determining to obtain information data within a height range corresponding to the type of carpet; Based on the information data within the height range corresponding to the carpet type, it is identified whether there is an obstacle. If it is identified that there is an obstacle, the cleaning robot is controlled to avoid the obstacle and perform the cleaning action.

4. The method according to claim 3, characterized in that The method further comprises: When the cleaning robot is cleaning the carpet, the movement of the cleaning robot wheels is adapted accordingly according to the type of carpet to perform the cleaning action.

5. The method according to claim 1, wherein Executing corresponding control strategies on the cleaning robot based on the information data, including: The obstacle is identified based on the information data. If the obstacle is identified as a threshold, it is determined whether the height of the threshold is less than or equal to a first threshold. If the height of the threshold is less than or equal to the first threshold, it is determined whether the height difference between the height of the suspended plane above the threshold and the threshold is greater than or equal to a second threshold. If the height difference between the height of the suspended plane above the threshold and the threshold is greater than or equal to the second threshold, the cleaning robot is controlled to perform a cleaning action through the threshold; if the height difference between the height of the suspended plane above the threshold and the threshold is less than the second threshold, the cleaning robot is controlled to perform a cleaning action along the threshold.

6. The method according to claim 5, characterized in that The method further comprises: If the height of the threshold is greater than the first threshold and less than the third threshold, the cleaning robot is controlled to perform a cleaning action along the threshold. When the cleaning is completed, the cleaning robot is controlled to return to the area of the threshold and to perform a cleaning action through the threshold. If the height of the threshold is greater than or equal to the third threshold, the cleaning robot is controlled to perform a cleaning action along the threshold.

7. The method according to claim 1, characterized in that Executing corresponding control strategies on the cleaning robot based on the information data, including: Identify the obstacle based on the information data. If the obstacle is identified as a low space area that the cleaning robot can enter, record the height of the low space area, and control the cleaning robot to clean the low space area for a circle to circle the outline of the low space area. The cleaning robot is controlled to enter the low space area to perform a cleaning action, and whether to raise or lower the distance measuring sensor located on the top of the cleaning robot is determined according to the height of the low space area.

8. A control device for a cleaning robot, characterized in that: include: An acquisition unit, configured to acquire information data located on the side of the cleaning robot in real time while the cleaning robot is moving along an obstacle; A control unit is used to execute a corresponding control strategy on the cleaning robot based on the information data.

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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