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 computer readable storage medium, and relates to the technical field of robotics.The method comprises the steps that in response to a step cleaning task, the cleaning robot is controlled to move to a step area in a water pool; under the condition that the cleaning robot reaches the step area, a target cleaning mode corresponding to the step cleaning task is obtained; and controlling the cleaning robot to operate according to the target cleaning mode so as to clean at least one type of plane in the step area. The specific cleaning mode is set for the cleaning robot, so that the cleaning robot is guided to clean the specific type of plane of the step area in the water pool, the environmental adaptability of the cleaning robot is improved, the cleaning efficiency can be improved, the manpower input and the operation time required by traditional manual cleaning are reduced, and the cleaning efficiency is improved. Therefore, the manual cleaning cost is effectively reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more particularly, to a control method and device for a cleaning robot, a cleaning robot, and a computer-readable storage medium in the field of robotics technology. Background Art

[0002] In public facilities, industrial sites, and homes, pools (such as swimming pools, landscape pools, and reservoirs) often feature steps to facilitate access. These steps, exposed to water for extended periods, are prone to accumulating dirt, algae, and other sediments. Therefore, regular cleaning is crucial to maintaining water quality and structural safety.

[0003] Currently, cleaning pool steps primarily relies on manual labor, typically requiring workers to wear waterproof gear and enter the pool, scrubbing and flushing each step individually using brushes, detergents, and high-pressure water guns. Due to the complex structure and limited space of the steps, cleaning workers must frequently bend, squat, and even climb. This repetitive and labor-intensive process often requires long hours of work for each cleaning session, resulting in high labor costs. Therefore, reducing the labor costs of pool step cleaning has become an urgent issue. Summary of the Invention

[0004] The embodiments of the present application provide a control method, device, cleaning robot and computer-readable storage medium for a cleaning robot. The present application sets a specific cleaning mode for the cleaning robot, thereby guiding the cleaning robot to clean specific types of surfaces in the step area of ​​the pool. This not only helps to improve the environmental adaptability of the cleaning robot, but also improves cleaning efficiency and reduces the manpower input and operation time required for traditional manual cleaning, thereby effectively reducing the cost of manual cleaning.

[0005] In a first aspect, a control method for a cleaning robot is provided, which includes: in response to a step cleaning task, controlling the cleaning robot to move to a step area in a pool; when the cleaning robot reaches the step area, obtaining a target cleaning mode corresponding to the step cleaning task; and controlling the cleaning robot to operate according to the target cleaning mode to clean at least one type of plane in the step area.

[0006] The present application adopts a technical solution that responds to the step cleaning task, controls the cleaning robot to move to the step area in the pool, obtains the target cleaning mode corresponding to the step cleaning task when the cleaning robot reaches the step area, and controls the cleaning robot to operate according to the target cleaning mode to clean at least one type of plane in the step area. By setting a specific cleaning mode for the cleaning robot, the cleaning robot is guided to clean the specific type of plane in the step area in the pool, thereby controlling the cleaning robot to perform targeted cleaning on different areas in the environment. This not only helps to improve the environmental adaptability of the cleaning robot, but also improves cleaning efficiency and reduces the manpower input and operation time required for traditional manual cleaning, thereby effectively reducing the cost of manual cleaning. Based on the above technical solution, the control method of the cleaning robot provided by the present application, in addition to controlling the cleaning robot to clean the step area in the pool, can also clean steps, stairs and other areas in other environments (such as rooms, parks, etc.).

[0007] In one possible implementation, controlling the cleaning robot to operate in accordance with a target cleaning mode to clean at least one type of plane in the step area includes: obtaining a specified plane type corresponding to the target cleaning mode; controlling the cleaning robot to clean a first plane, the first plane including a plane in the step area whose plane type is the specified plane type, thereby controlling the cleaning robot to perform targeted cleaning on the specified plane in the step area, avoiding the cleaning robot from cleaning unspecified planes, thereby avoiding the cleaning robot from performing useless work, reducing the cleaning robot's power consumption and operating time, and helping to improve cleaning efficiency.

[0008] In one possible implementation, obtaining the specified plane type corresponding to the target cleaning mode includes: when the target cleaning mode is the first cleaning mode, determining that the specified plane type is the step tread; when the target cleaning mode is the second cleaning mode, determining that the specified plane type is the step tread and the step riser; when the target cleaning mode is the third cleaning mode, determining that the specified plane type includes the step tread and the step side; when the target cleaning mode is the fourth cleaning mode, determining that the specified plane type includes the step tread and the pool wall plane; when the target cleaning mode is the fifth cleaning mode, determining that the specified plane type includes the step tread, the step riser, the step side and the pool wall plane.

[0009] In one possible implementation, controlling the cleaning robot to clean the first plane includes: obtaining the arrival position of the cleaning robot; determining the target movement route of the cleaning robot through each plane in the first plane based on the arrival position; controlling the cleaning robot to move to the second plane according to the target movement route, and cleaning the second plane, the second plane being the first plane to be cleaned in the first plane; after cleaning the second plane, controlling the cleaning robot to move to the third plane according to the target movement route, the third plane being the next plane after the second plane; using the third plane as the second plane, executing the steps of cleaning the second plane until all planes in the second plane are cleaned.

[0010] In one possible implementation, determining the target moving route of the cleaning robot through each plane in the first plane based on the arrival position includes: when the cleaning robot starts from the arrival position, setting the fourth plane as the starting point of the target moving route, the fourth plane is the plane with the shortest time required for the cleaning robot to reach among the fifth and sixth planes, the fifth plane is the plane with the shortest time required for the cleaning robot to reach in the first plane, and the sixth plane is the plane with the shortest time required for the cleaning robot to reach in the step area; setting the plane in the step area with the planar characteristics of the first plane as the plane that the cleaning robot will pass through on the target moving route.

[0011] In one possible implementation, controlling the cleaning robot to move to the second plane according to the target movement route includes: controlling the cleaning robot to move according to the target movement route and obtaining plane information of a current plane on which the cleaning robot is located; inputting the plane information into a plane recognition model to determine whether a plane type of the current plane is a specified plane type, the plane recognition model including at least one of a recognition model based on a Laplace Gaussian operator method, a recognition model based on a Canny algorithm, a deep learning neural network model based on semantic segmentation, a deep learning neural network model based on example segmentation, and a deep learning neural network model based on panoptic segmentation;

[0012] If the plane type of the current plane is the specified plane type, determine that the current plane is the second plane, and control the cleaning robot to stop moving; if the plane type of the current plane is not the specified plane type, continue to execute the steps of controlling the cleaning robot to move according to the target moving route and obtain the plane information of the current plane where the cleaning robot is located.

[0013] In one possible implementation, cleaning the second plane includes: obtaining boundary information of the second plane and the cleaning width of the cleaning robot; generating a cleaning path for the second plane based on the boundary information and the cleaning width; controlling the cleaning robot to move along the cleaning path to clean the second plane, and the boundary information is obtained based on the plane recognition model.

[0014] In one possible implementation, controlling the cleaning robot to move to the step area in the pool includes: controlling the movement of the cleaning robot and obtaining environmental information of the environment in which the cleaning robot is located; inputting the environmental information into an environmental recognition model, and allowing the environmental recognition model to identify whether there is a target area with step characteristics in the environment, the environmental recognition model including at least one of a recognition model based on the Laplace Gaussian operator method, a convolutional neural network model, and a Transformer model; when identifying the presence of a target area with step characteristics in the environment, controlling the movement of the cleaning robot according to the position information of the target area.

[0015] In one possible implementation, controlling the cleaning robot to move to a step area in the pool includes: responding to a marked position in a cleaning map, determining whether the marked position is a step area; and if the marked position is a step area, controlling the cleaning robot to move from the marked position to the marked position.

[0016] In one possible implementation, the control method further includes: in response to a task creation operation, displaying a task creation interface, the task creation interface including multiple cleaning modes; in response to a mode selection operation, determining the cleaning mode selected by the mode selection operation as the target cleaning mode; and generating a step cleaning task according to the target cleaning mode.

[0017] In a second aspect, a control device for a cleaning robot is provided, the control device comprising:

[0018] a first control module, configured to control the cleaning robot to move to a step area in the pool in response to a step cleaning task;

[0019] A mode determination module is used to obtain a target cleaning mode corresponding to the step cleaning task when the cleaning robot reaches the step area;

[0020] The second control module is used to control the cleaning robot to operate according to the target cleaning mode to clean at least one type of plane in the step area.

[0021] In a third aspect, a cleaning robot is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the cleaning robot executes the control method of the first aspect or any possible implementation of the first aspect.

[0022] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the control method in the first aspect or any possible implementation of the first aspect.

[0023] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic flow chart of a control method for a cleaning robot provided in an embodiment of the present application is shown;

[0025] Figure 2 A schematic diagram of steps in a pool is shown;

[0026] Figure 3 A schematic diagram showing a cleaning robot operating in a first cleaning mode to clean a step area is shown;

[0027] Figure 4 A schematic diagram showing the cleaning robot operating in the second cleaning mode to clean the step area;

[0028] Figure 5 A schematic diagram showing the cleaning robot operating in the third cleaning mode to clean the step area;

[0029] Figure 6 shows a schematic diagram of the cleaning robot operating in the fourth cleaning mode to clean the step area;

[0030] Figure 7 shows a schematic diagram of the cleaning robot operating in the fifth cleaning mode to clean the step area;

[0031] Figure 8 A schematic structural diagram of a control device for a cleaning robot provided in an embodiment of the present application is shown;

[0032] Figure 9 A structural schematic diagram of a cleaning robot provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0033] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0035] In public facilities, industrial sites, and homes, pools (such as swimming pools, landscape pools, and reservoirs) often feature steps to facilitate access. These steps, exposed to water for extended periods, are prone to accumulating dirt, algae, and other sediments. Therefore, regular cleaning is crucial to maintaining water quality and structural safety.

[0036] Currently, cleaning steps in pools relies primarily on manual labor, requiring workers to wear waterproof gear and enter the pool, scrubbing and flushing each step individually using brushes, detergents, and high-pressure water guns. Due to the complex structure and limited space of the steps, cleaning workers must frequently bend, squat, and even climb. This repetitive and labor-intensive process often requires long hours for a single cleaning session, resulting in high labor costs.

[0037] Based on the above problems, the embodiments of the present application provide a control method, device, cleaning robot and computer-readable storage medium for a cleaning robot. The present application can clean the steps in the pool by controlling the cleaning robot, thereby replacing manual labor and reducing the cost of manual cleaning of the steps in the pool.

[0038] The following is an embodiment of a control method provided in this application specification.

[0039] Figure 1 A schematic flow chart of a control method for a cleaning robot provided in an embodiment of the present application is shown. Figure 1 As shown, the control method provided in the embodiment of the present application is used to control a cleaning robot to clean a step area in a water pool, and the executor of the control method is the cleaning robot.

[0040] Cleaning robots can not only perform cleaning work on land, but also perform cleaning work in water, that is, cleaning robots are amphibious robots.

[0041] The control method of the cleaning robot provided in the embodiment of the present application includes the following scheme:

[0042] S110: In response to the step cleaning task, controlling the cleaning robot to move to the step area in the pool;

[0043] S120: When the cleaning robot reaches the step area, obtaining a target cleaning mode corresponding to the step cleaning task;

[0044] S130: Control the cleaning robot to operate according to the target cleaning mode to clean at least one type of plane in the step area.

[0045] In an exemplary embodiment, a plurality of cleaning modes are set in advance for the cleaning robot. When the cleaning robot operates in different cleaning modes, it cleans the surfaces of different plane types in the step area. Figure 2 As shown, Figure 2 A schematic diagram of steps in a pool is shown, where 200 represents the pool, 201 represents the step area, 202 represents the step tread (also called the step horizontal surface), 203 represents the step riser (also called the step elevation), 204 represents the step side, and 205 represents the pool wall plane. The step tread, step riser, step riser, and pool wall plane are four types of planes. Among multiple cleaning modes, some instruct the cleaning robot to clean one type of plane, some instruct the cleaning robot to clean two types of planes, and some instruct the cleaning robot to clean three types of planes, etc. That is, when the cleaning robot operates in one of the cleaning modes, it can clean at least one type of plane among the step tread, step riser, step side, and pool wall plane.

[0046] If a user needs to clean the step area in the pool, the user can create a step cleaning task for the cleaning robot based on actual needs. The step cleaning task process includes: after the user triggers a task creation request in the task creation area provided by the cleaning robot, the cleaning robot responds to the task creation operation and displays a task creation interface. The task creation interface includes multiple cleaning modes, that is, the task creation interface will display multiple cleaning modes for the user to select. After the user performs a mode selection operation, the cleaning robot responds to the mode selection operation and determines the cleaning mode selected by the mode selection operation as the target cleaning mode. The target cleaning mode is one of the multiple cleaning modes. For example, the multiple cleaning modes displayed on the task creation interface are the first cleaning mode to the fifth cleaning mode. If the user selects the first cleaning mode, the first cleaning mode is the target cleaning mode. After determining the target cleaning mode, a step cleaning task is generated according to the target cleaning mode. After the step cleaning task is generated, the cleaning robot responds to the step cleaning task and starts the step cleaning task, thereby controlling the cleaning robot to move toward the step area in the pool to reach the step area. Among them, the cleaning robot can be controlled to move from the bottom of the pool toward the step area, or it can be controlled to move along the pool wall toward the step area in the pool, and so on.

[0047] When it is determined that the cleaning robot has reached the step area, a target cleaning mode corresponding to the step cleaning task is obtained, the cleaning robot is switched to the target cleaning mode, and then the cleaning robot is controlled to operate according to the target cleaning mode, thereby cleaning at least one type of plane in the step area. After the target cleaning mode is determined, when the cleaning robot is controlled to operate according to the target cleaning mode, the cleaning robot will clean the plane in the step area specified by the target cleaning mode. If the plane specified by the target cleaning mode is a step tread, the cleaning robot will only clean all step treads in the step area; if the plane specified by the target cleaning mode is a step tread and a step riser, the cleaning robot will only clean all step treads and all step risers in the step area, and so on, thereby achieving cleaning of at least one type of plane in the step area.

[0048] The present application adopts a technical solution that responds to the step cleaning task, controls the cleaning robot to move to the step area in the pool, obtains the target cleaning mode corresponding to the step cleaning task when the cleaning robot reaches the step area, and controls the cleaning robot to operate according to the target cleaning mode to clean at least one type of plane in the step area. By setting a specific cleaning mode for the cleaning robot, the cleaning robot is guided to clean the specific type of plane in the step area in the pool, thereby controlling the cleaning robot to perform targeted cleaning on different areas in the environment. This not only helps to improve the environmental adaptability of the cleaning robot, but also improves cleaning efficiency and reduces the manpower input and operation time required for traditional manual cleaning, thereby effectively reducing the cost of manual cleaning. Based on the above technical solution, the control method of the cleaning robot provided by the present application, in addition to controlling the cleaning robot to clean the step area in the pool, can also clean steps, stairs and other areas in other environments (such as rooms, parks, etc.).

[0049] In one possible implementation, controlling the cleaning robot to operate according to the target cleaning mode to clean at least one type of plane in the step area includes the following steps:

[0050] Get the specified plane type corresponding to the target cleaning mode;

[0051] The cleaning robot is controlled to clean a first plane, where the first plane includes a plane in the step area whose plane type is a specified plane type.

[0052] Since the target cleaning mode is one of multiple cleaning modes, and each of the multiple cleaning modes indicates the type of surface to be cleaned by the cleaning robot, after obtaining the target cleaning mode, the surface type indicated by the target cleaning mode can be obtained, thereby obtaining the designated surface type corresponding to the target cleaning mode. For example, if the surface type indicated by the target cleaning mode is a step tread, then the designated surface type corresponding to the target cleaning mode is a step tread.

[0053] After obtaining the specified plane type corresponding to the target cleaning mode, it can be obtained that the first plane to be cleaned by the cleaning robot is the plane with the specified plane type in the step area, and then the cleaning robot is controlled to focus on cleaning the first plane, thereby controlling the cleaning robot to perform targeted cleaning on the specified plane in the step area, avoiding the cleaning robot from cleaning unspecified planes, thereby avoiding the cleaning robot from performing useless work, reducing the cleaning robot's power consumption and operating time, and helping to improve cleaning efficiency.

[0054] In a possible implementation, obtaining the designated plane type corresponding to the target cleaning mode includes the following steps:

[0055] When the target cleaning mode is the first cleaning mode, determining that the designated plane type is a step tread;

[0056] When the target cleaning mode is the second cleaning mode, determining the designated plane type to be a step tread and a step riser;

[0057] When the target cleaning mode is the third cleaning mode, determining that the designated plane type includes a step tread and a step side surface;

[0058] When the target cleaning mode is the fourth cleaning mode, determining that the designated plane types include step treads and pool wall planes;

[0059] In the case where the target cleaning mode is the fifth cleaning mode, it is determined that the designated plane types include the step tread, the step riser, the step side, and the pool wall plane.

[0060] The multiple cleaning modes are respectively the first cleaning mode to the fifth cleaning mode, wherein the first cleaning mode instructs the cleaning robot to clean the step treads in the step area. If the target cleaning mode is the first cleaning mode, the designated plane type is determined to be the step tread, that is, when the cleaning robot operates according to the first cleaning mode, it cleans all the step treads in the step area. Figure 3 As shown, Figure 3 FIG2 shows a schematic diagram of a cleaning robot operating in a first cleaning mode to clean a step area. Figure 3The figure shows the moving route of the cleaning robot for cleaning all the step treads in the step area when it operates in the first cleaning mode. Arrow ① indicates the climbing route, arrow ② indicates the cleaning route of the step treads, and arrow ③ indicates the route of entering a certain plane in the step area, or the route of leaving a certain plane in the step area, or the route of turning around.

[0061] The second cleaning mode instructs the cleaning robot to clean the step treads and step risers in the step area. If the target cleaning mode is the second cleaning mode, the designated plane type is determined to be the step treads and step risers, that is, when the cleaning robot runs in the second cleaning mode, it cleans all the step treads and all the step risers in the step area. Figure 4 As shown, Figure 4 shows a schematic diagram of the cleaning robot operating in the second cleaning mode to clean the step area, Figure 4 Figure A1 shows a movement route of the cleaning robot for cleaning all step treads and all step risers in the step area when the cleaning robot operates in the second cleaning mode; Figure 4 Figure A2 in the figure shows a moving route for the cleaning robot to clean all the step treads and all the step risers in the step area when the cleaning robot is running in the second cleaning mode. Wherein, these two moving routes can be selected according to actual conditions.

[0062] The third cleaning mode instructs the cleaning robot to clean the step treads and step sides in the step area. If the target cleaning mode is the third cleaning mode, the designated plane type is determined to be the step treads and step sides, that is, when the cleaning robot operates in the third cleaning mode, it cleans all the step treads and all the step sides in the step area. Figure 5 As shown, Figure 5 FIG2 shows a schematic diagram of the cleaning robot operating in the third cleaning mode to clean the step area. Figure 5 3 shows the moving route of the cleaning robot when it operates in the third cleaning mode to clean all the step treads and all the step sides in the step area.

[0063] The fourth cleaning mode instructs the cleaning robot to clean the step treads and pool wall surfaces in the step area. If the target cleaning mode is the fourth cleaning mode, the designated plane type is determined to be the step treads and pool wall surfaces, that is, when the cleaning robot operates in the fourth cleaning mode, it cleans all the step treads and pool wall surfaces in the step area. Figure 6 As shown, Figure 6 FIG2 shows a schematic diagram of the cleaning robot operating in the fourth cleaning mode to clean the step area. Figure 6Graph 2 shows the movement route of the cleaning robot when operating in the fourth cleaning mode to clean all step treads and pool wall surfaces in the step area.

[0064] The fifth cleaning mode instructs the cleaning robot to clean the step treads, step risers, step sides and pool wall planes in the step area. If the target cleaning mode is the fifth cleaning mode, the designated plane types are determined to be the step treads, step risers, step sides and pool wall planes, that is, when the cleaning robot operates in the fifth cleaning mode, it cleans all the step treads, all the step risers, all the step sides and pool wall planes in the step area. Figure 7 As shown, Figure 7 FIG. 1 shows a schematic diagram of a cleaning robot operating in a fifth cleaning mode to clean a step area. Figure 7 : shows the moving route of the cleaning robot when it operates in the fifth cleaning mode, cleaning all step treads, all step risers, all step sides and pool wall planes in the step area.

[0065] When the cleaning robot operates in any one of the cleaning modes from the first cleaning mode to the fifth cleaning mode, the plane where the cleaning robot is currently located is represented as plane Si, and the cleaning robot can identify whether the plane type of plane Si is a step tread, a step riser, a step side, or a pool wall plane. The next plane of plane Si (the next plane to be cleaned) is called plane S(i+1). After the cleaning robot finishes cleaning plane Si, it will automatically move to plane S(i+1). If plane S(i+1) and plane Si are adjacent planes, the cleaning robot will directly enter plane S(i+1); if plane S(i+1) and plane Si are not adjacent planes, and there are other planes between them, the cleaning robot will pass through the separated planes to enter plane S(i+1). For example, the cleaning robot operates in the first cleaning mode and only cleans the step treads. If plane Si is the lowest step tread in the step area, the cleaning robot starts cleaning from plane Si. After cleaning plane Si, the cleaning robot will climb over the step riser between plane Si and plane S(i+1), thereby entering plane S(i+1) and cleaning plane S(i+1).

[0066] In one possible implementation, controlling the cleaning robot to clean the first plane includes the following steps:

[0067] Get the arrival location of the cleaning robot;

[0068] Determining a target moving route for the cleaning robot through each plane in the first plane according to the arrival position;

[0069] Controlling the cleaning robot to move to a second plane according to a target moving route and clean the second plane, where the second plane is the first plane to be cleaned in the first plane;

[0070] When the second plane is cleaned, the cleaning robot is controlled to move to a third plane according to the target moving route, where the third plane is the next plane after the second plane.

[0071] The third plane is used as the second plane, and the step of cleaning the second plane is performed until all planes in the second plane are cleaned.

[0072] The position where the cleaning robot reaches the step area and has not yet started cleaning the plane indicated by the target cleaning mode is called the arrival position. Among multiple cleaning modes, each cleaning mode corresponds to at least one step cleaning strategy. Different step cleaning strategies will result in different movement routes of the cleaning robot when cleaning the plane indicated by the cleaning mode. Figure 4 As shown, if the cleaning robot operates in the second cleaning mode, it can clean the step treads and step risers according to the moving route shown in Figure A1, or it can clean the step treads and step risers according to the moving route shown in Figure A2.

[0073] In the step cleaning strategy corresponding to each cleaning mode, the starting point of the moving route corresponding to each step cleaning strategy is specified. After obtaining the arrival position, the distance between the arrival position and the starting point of the moving route corresponding to each step cleaning strategy can be calculated to obtain multiple distance values, and then the moving route corresponding to the minimum distance value is determined as the target moving route for the cleaning robot to pass through each plane in the first plane. Since the starting point of the moving route corresponding to the minimum distance value is the closest to the cleaning robot, determining the moving route corresponding to the minimum distance value as the target moving route can save the time for the cleaning machine to move to the starting point of the moving route, thereby allowing the cleaning machine to start cleaning work as soon as possible, which is conducive to improving cleaning efficiency. Alternatively, the target moving route for the cleaning robot to pass through each plane in the first plane can be directly planned based on the arrival position.

[0074] After obtaining the target moving route, the cleaning robot is controlled to move to the second plane according to the target moving route and clean the second plane. The second plane is the first plane to be cleaned in the first plane. For example, if the target cleaning mode is the first cleaning mode, refer to Figure 3 The step area consists of two steps. The first step is in contact with the bottom of the pool. The step above the first step is the second step. The target moving route is Figure 3 The moving route shown in FIG, the second plane includes the step tread M1 of the first step and the step tread M2 of the second step, according to Figure 3In the moving route shown, the step tread M1 is the first plane to be cleaned, so the step tread M1 is the second plane.

[0075] After the cleaning robot is controlled to clean the second plane, the cleaning robot is controlled to move to the third plane according to the target moving route, and then continue to refer to Figure 3 The step tread M1 is the second plane. After the step tread M1 is cleaned, the step tread M2 needs to be cleaned next. Then the step tread M2 is the third plane. Then the third plane is used as the second plane, and the steps of cleaning the second plane are performed until all planes in the second plane are cleaned. After all planes in the second plane are cleaned, the step cleaning task is completed.

[0076] In one possible implementation, determining the target movement route of the cleaning robot through each plane in the first plane according to the arrival position includes the following steps:

[0077] When the cleaning robot starts from the arrival position, the fourth plane is set as the starting point of the target moving route, and the plane in the step area with the planar characteristics of the first plane is set as the plane that the cleaning robot will pass through on the target moving route. The fourth plane is the plane with the shortest time required for the cleaning robot to reach among the fifth and sixth planes, the fifth plane is the plane with the shortest time required for the cleaning robot to reach among the first plane, and the sixth plane is the plane with the shortest time required for the cleaning robot to reach in the step area.

[0078] After obtaining the arrival position of the cleaning robot, the target moving route is directly planned for the cleaning robot according to the arrival position. The specific planning process includes: if the cleaning robot starts from the arrival position to enter the second plane, the plane in the first plane that the cleaning robot needs to reach in the shortest time can be calculated to obtain the fifth plane, and the plane in the step area that the cleaning robot needs to reach in the shortest time can be calculated to obtain the sixth plane. Then, the fourth plane is obtained from the planes in the fifth and sixth planes that the cleaning robot needs to reach in the shortest time. That is, the fourth plane is the starting point of the target moving route. The plane with the planar features of the first plane in the step area is set as the plane that the cleaning robot will pass through on the target moving route. The end point of the target moving route needs to be dynamically identified by the cleaning robot during the actual movement process. For example, when the cleaning robot recognizes that the cleaning of the last plane to be passed is completed, it is considered that the cleaning robot has reached the end point of the target moving route.

[0079] The fifth plane and the sixth plane may be the same plane in the step area, or they may not be the same plane. Figure 3 As shown, the fifth plane is the step tread M1, and the sixth plane is the step side M3. Figure 3The cleaning robot's arrival position is shown in FIG. 1 , where the step side M3 is the fourth plane, i.e., the step side M3 is the starting point of the target moving route; the step tread M1 and the step tread M2 are both planes that the cleaning robot will pass through on the target moving route, i.e., the step tread M1 and the step tread M2 are both planes that need to be cleaned. Figure 4 As shown in Figure A1, according to the arrival position of the cleaning robot shown in A1, the fifth plane and the sixth plane are both the step riser M4, and the step riser M4 is the fourth plane, that is, the step riser M4 is the starting point of the target moving route, and the step riser M4 is the fourth plane, that is, the step riser M4 is the starting point of the target moving route; the step tread M1, the step tread M2, the step riser M4 and the step riser M5 are all planes that the cleaning robot must pass through on the target moving route, that is, the step tread M1, the step tread M2, the step riser M4 and the step riser M5 are all planes that need to be cleaned.

[0080] In a possible implementation, controlling the cleaning robot to move to the second plane according to the target movement route includes the following steps:

[0081] Control the cleaning robot to move along the target moving route and obtain the plane information of the current plane where the cleaning robot is located;

[0082] Input the plane information into the plane recognition model to determine whether the plane type of the current plane is the specified plane type;

[0083] If the plane type of the current plane is the specified plane type, determining that the current plane is the second plane, and controlling the cleaning robot to stop moving;

[0084] If the plane type of the current plane is not the specified plane type, continue to execute the steps of controlling the cleaning robot to move according to the target moving route and obtaining the plane information of the current plane where the cleaning robot is located.

[0085] The plane recognition model includes at least one of a Laplace-Gaussian operator-based recognition model, a Canny algorithm-based recognition model, a semantic segmentation-based deep learning neural network model, an example-based segmentation-based deep learning neural network model, and a panoptic segmentation-based deep learning neural network model. The deep learning neural network can be a 2D neural network or a 3D neural network. The plane information includes a plane image, the robot posture collected by an inertial measurement unit (IMU), and depth information collected by a depth sensor (i.e., the distance between the cleaning robot and the bottom of the water).

[0086] When controlling the cleaning robot to follow its target route, the current plane's planar information is acquired and fed into a plane recognition model. This information then extracts geometric, texture, and edge features from the plane image. Based on these extracted features and the robot's posture, the model can initially identify different plane types. For example, if a large, relatively horizontal area is detected, the plane type is determined to be a step tread; if an area with a distinct vertical edge and significant height difference is detected, the plane type is determined to be a step riser; if a large area perpendicular to the pool bottom is detected, and this area forms a clear vertical edge with adjacent step treads and risers, the plane type is determined to be a step side; if a large, continuous vertical structure is detected, with consistent height and no significant height difference, and a clear boundary between the ground and water surfaces, the plane type is determined to be a pool wall. Finally, multi-sensor data fusion technology is used to verify the preliminary classification results, ultimately determining whether the current plane type is a step tread, step riser, step side, or pool wall.

[0087] After the plane recognition model obtains the recognition result of the plane type, it determines whether the plane type of the current plane is the specified plane type based on the recognition result. If so, it is considered that the current plane is the second plane, that is, the cleaning robot has reached the second plane, and the cleaning robot is controlled to stop moving; if not, it is considered that the current plane is not the second plane, and the cleaning robot continues to be controlled to move according to the target moving route, and repeats the steps until it is considered that the cleaning robot has reached the second plane, and the cleaning robot is controlled to stop moving, thereby ensuring that the cleaning robot reaches the second plane accurately.

[0088] In one possible implementation, cleaning the second plane includes the following steps:

[0089] Obtaining boundary information of the second plane and a cleaning width of the cleaning robot, wherein the boundary information is obtained based on a plane recognition model;

[0090] generating a cleaning path for the second plane according to the boundary information and the cleaning width;

[0091] The cleaning robot is controlled to move along the cleaning path to clean the second plane.

[0092] The boundary information of the second plane includes the boundary position, boundary length and boundary width. Before cleaning the second plane, it is necessary to plan a cleaning path for the second plane, specifically to obtain the boundary information of the second plane and the cleaning width of the cleaning robot, and then plan a cleaning path for the second plane that can completely cover the second plane based on the boundary information and cleaning width, and then control the cleaning robot to clean the second plane according to the planned cleaning path. On the one hand, it can achieve coverage cleaning of the second plane, and on the other hand, it can prevent the cleaning robot from falling from the second plane to other positions, and also prevent the cleaning robot from colliding, thereby improving the safety of the cleaning robot during cleaning. Among them, the boundary information of the second plane is obtained based on the plane recognition model, that is, the plane information of the second plane is input into the plane recognition model, and the plane recognition model outputs the boundary information of the second plane. The type of cleaning path may include at least one of an S-shaped path, a U-shaped path, etc. If the planned cleaning path is one, the cleaning robot is directly controlled to clean the second plane according to the cleaning path. If the planned cleaning path is multiple, a cleaning path with the shortest time consumption is selected from the multiple cleaning paths, and the cleaning robot is controlled to clean the second plane according to the cleaning path with the shortest time consumption.

[0093] In one possible implementation, controlling the cleaning robot to move to the step area in the pool includes the following steps:

[0094] Control the movement of the cleaning robot and obtain environmental information of the environment in which the cleaning robot is located;

[0095] Inputting environmental information into an environmental recognition model, and having the environmental recognition model recognize whether there is a target area with step features in the environment, the environmental recognition model including at least one of a recognition model based on a Laplace Gaussian operator method, a convolutional neural network model, and a Transformer model;

[0096] When a target area with step features is identified in the environment, the cleaning robot is controlled to move according to position information of the target area.

[0097] The step cleaning task instructs the robot to reach the steps in the pool, controlling the robot's movement while simultaneously identifying the surroundings. Specifically, while controlling the robot's movement, it uses visual sensors, such as cameras and lidars, to acquire environmental information about the robot's surroundings. Cameras include RGB cameras (Red, Green, Blue Cameras) and RGBD cameras (Red, Green, Blue Depth Cameras). Environmental information includes RGB images, RGB depth information, and point cloud data.

[0098] After obtaining the environmental information, the environmental information is input into the environmental recognition model, and the environmental information is analyzed by the environmental recognition model to identify whether there is a target area with step characteristics in the environment. If there is no target area with step characteristics, the recognition is continued; if there is a target area with step characteristics, the position information of the target area is obtained, and then the movement of the cleaning robot is controlled according to the position information of the target area, so as to control the cleaning robot to move to the step area in the pool.

[0099] The environment recognition model includes at least one of a recognition model based on the Laplace Gaussian operator method, a convolutional neural network model (CNN), and a Transformer model (i.e., a deep neural network based on a Transformer). For example, the environment recognition model includes a recognition model based on the Laplace Gaussian operator method and a convolutional neural network model. The process of the environment recognition model identifying a target area with step features includes: the environment information includes an environment image, the environment image is input into the recognition model based on the Laplace Gaussian operator method, areas with obvious brightness changes in the environment image are extracted as step candidate areas, and then the step candidate areas are input into the convolutional neural network model. The trained convolutional neural network model is used to classify each area in the step candidate area to output a category label and location information of each area. The category label is used to indicate whether the corresponding area is a step area. The category label can be used to determine which areas in the step candidate area are step areas, and then these areas are marked as "target areas with step features" and their location information (such as spatial coordinates) is output.

[0100] In one possible implementation, controlling the cleaning robot to move to the step area in the pool includes the following steps:

[0101] In response to a marked position in the cleaning map, determining whether the marked position is a step area;

[0102] When the marked position is a step area, the cleaning robot is controlled to move from the marked position to the marked position.

[0103] If a cleaning map is provided for the cleaning robot, the user can manually mark a location on the cleaning map. The cleaning robot will then respond to the marked location on the cleaning map and determine whether it is a step area. If so, a pathfinding algorithm will be used to calculate a navigation path to the step area. This pathfinding algorithm will guide the cleaning robot to the marked location, allowing it to reach the step area in the actual pool. Pathfinding algorithms include the A-star algorithm and the Dijkstra algorithm. When the cleaning robot moves to the step area, its speed can be adjusted based on actual road conditions.

[0104] The control method of the cleaning robot provided in the embodiment of the present application is not only applicable to cleaning step areas in water, but also to step areas on land. The cleaning robot is controlled by this control method, thereby controlling the cleaning robot to perform targeted cleaning on designated planes in the step area, avoiding the cleaning robot from cleaning undesignated planes, thereby avoiding the cleaning robot from performing useless work, reducing the cleaning robot's power consumption and operating time, and helping to improve cleaning efficiency.

[0105] Figure 8 FIG. 1 shows a schematic structural diagram of a control device for a cleaning robot provided in an embodiment of the present application. Figure 8 As shown, the control device 800 of the cleaning robot includes:

[0106] The first control module 810 is used to control the cleaning robot to move to the step area in the pool in response to the step cleaning task;

[0107] The mode determination module 820 is used to obtain a target cleaning mode corresponding to the step cleaning task when the cleaning robot reaches the step area;

[0108] The second control module 830 is used to control the cleaning robot to operate according to the target cleaning mode to clean at least one type of plane in the step area.

[0109] In one possible implementation, the second control module 830 includes:

[0110] A type acquisition unit, configured to acquire a designated plane type corresponding to a target cleaning mode;

[0111] The control unit is used to control the cleaning robot to clean the first plane, where the first plane includes a plane in the step area whose plane type is a specified plane type.

[0112] In one possible implementation, the type acquisition unit is specifically used to determine that the specified plane type is the step tread when the target cleaning mode is the first cleaning mode; determine that the specified plane type is the step tread and the step riser when the target cleaning mode is the second cleaning mode; determine that the specified plane type includes the step tread and the step side when the target cleaning mode is the third cleaning mode; determine that the specified plane type includes the step tread and the pool wall plane when the target cleaning mode is the fourth cleaning mode; and determine that the specified plane type includes the step tread, the step riser, the step side and the pool wall plane when the target cleaning mode is the fifth cleaning mode.

[0113] In a possible implementation, the control unit includes:

[0114] A position acquisition subunit, used to obtain the arrival position of the cleaning robot;

[0115] a route determination subunit, configured to determine a target moving route of the cleaning robot through each plane in the first plane according to the arrival position;

[0116] a cleaning subunit, configured to control the cleaning robot to move to a second plane according to a target moving route and clean the second plane, where the second plane is the first plane to be cleaned in the first plane;

[0117] The loop control subunit is used to control the cleaning robot to move to the third plane according to the target movement route after the second plane is cleaned. The third plane is the next plane after the second plane; the third plane is used as the second plane and the steps of cleaning the second plane are executed until all planes in the second plane are cleaned.

[0118] In one possible implementation, the route determination subunit is specifically used to set the fourth plane as the starting point of the target moving route when the cleaning robot starts from the arrival position. The fourth plane is the plane with the shortest time required for the cleaning robot to reach among the fifth and sixth planes, the fifth plane is the plane with the shortest time required for the cleaning robot to reach among the first plane, and the sixth plane is the plane with the shortest time required for the cleaning robot to reach among the step area; and the plane with the planar characteristics of the first plane in the step area is set as the plane that the cleaning robot will pass through on the target moving route.

[0119] In one possible implementation, the cleaning subunit is specifically used to control the cleaning robot to move according to the target moving route and obtain the plane information of the current plane where the cleaning robot is located; the plane information is input into the plane recognition model to determine whether the plane type of the current plane is a specified plane type, and the plane recognition model includes at least one of a recognition model based on the Laplace Gaussian operator method, a recognition model based on the Canny algorithm, a deep learning neural network model based on semantic segmentation, a deep learning neural network model based on example segmentation, and a deep learning neural network model based on panoramic segmentation; if the plane type of the current plane is the specified plane type, the current plane is determined to be the second plane, and the cleaning robot is controlled to stop moving; if the plane type of the current plane is not the specified plane type, continue to execute the steps of controlling the cleaning robot to move according to the target moving route and obtaining the plane information of the current plane where the cleaning robot is located.

[0120] In one possible implementation, the cleaning subunit is specifically used to obtain boundary information of the second plane and the cleaning width of the cleaning robot, where the boundary information is obtained based on the plane recognition model; based on the boundary information and the cleaning width, a cleaning path for the second plane is generated; and the cleaning robot is controlled to move along the cleaning path to clean the second plane.

[0121] In one possible implementation, the first control module 810 includes:

[0122] The first guiding unit is used to control the movement of the cleaning robot and obtain environmental information of the environment in which the cleaning robot is located; the environmental information is input into the environment recognition model, and the environment recognition model recognizes whether there is a target area with step features in the environment, and the environment recognition model includes at least one of a recognition model based on the Laplace Gaussian operator method, a convolutional neural network model and a Transformer model; when it is recognized that there is a target area with step features in the environment, the movement of the cleaning robot is controlled according to the position information of the target area.

[0123] In one possible implementation, the first control module 810 includes:

[0124] The second guiding unit is used to respond to the marked position in the cleaning map and determine whether the marked position is a step area; if the marked position is a step area, control the cleaning robot to move from the marked position to the marked position.

[0125] In a possible implementation, the control device 800 further includes:

[0126] The task creation unit is used to display a task creation interface in response to a task creation operation, the task creation interface including multiple cleaning modes; in response to a mode selection operation, determine the cleaning mode selected in the mode selection operation as the target cleaning mode; and generate a step cleaning task according to the target cleaning mode.

[0127] It should be noted that the control device of the cleaning robot provided in the above embodiment only uses the division of the above functional modules as an example when executing the control method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device of the cleaning robot provided in the above embodiment and the control method embodiment are of the same concept. Therefore, for details not disclosed in the device embodiment of this application, please refer to the above-mentioned control method embodiment of this application, and no further details will be given here.

[0128] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0129] Figure 9 FIG. 1 shows a schematic structural diagram of a cleaning robot provided in an embodiment of the present application. Figure 9As shown, the cleaning robot 900 includes: a memory 901 and a processor 902, wherein the memory 901 stores an executable program code 9011, and the processor 902 is used to call and execute the executable program code 9011 to perform a control method.

[0130] In this embodiment, the cleaning robot can be divided into functional modules according to the above-mentioned method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a processing module. The above-mentioned integrated module can be implemented in the form of hardware. It should be noted that the module division in this embodiment is schematic and only represents a logical functional division. In actual implementation, other division methods may be used.

[0131] In the case of dividing the functional modules into corresponding functional modules, the cleaning robot may include: a first control module, a mode determination module, a second control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0132] The cleaning robot provided in this embodiment is used to execute the above-mentioned control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0133] In the case of an integrated unit, the cleaning robot may include a processing module and a storage module. The processing module may be used to control and manage the actions of the cleaning robot. The storage module may be used to support the cleaning robot in executing relevant program codes and data.

[0134] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing system (DSP) and a microprocessor, and the storage module may be a memory.

[0135] This embodiment further provides a computer-readable storage medium, in which computer program code is stored. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a control method in the above-mentioned embodiment.

[0136] This embodiment further provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a control method in the above-mentioned embodiment.

[0137] In addition, the cleaning robot provided in the embodiments of the present application can specifically be a chip, component or module, and the cleaning robot may include a connected processor and memory; wherein the memory is used to store instructions, and when the cleaning robot is running, the processor can call and execute instructions to enable the chip to execute a control method in the above embodiments.

[0138] Among them, the cleaning robot, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding control method provided above, and will not be repeated here.

[0139] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0140] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0141] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A control method for a cleaning robot, characterized in that: The control method includes: In response to a step cleaning task, controlling the cleaning robot to move to a step area in the pool; When the cleaning robot reaches the step area, obtaining a target cleaning mode corresponding to the step cleaning task; The cleaning robot is controlled to operate according to the target cleaning mode to clean at least one type of plane in the step area.

2. The control method according to claim 1, characterized in that: The controlling the cleaning robot to operate according to the target cleaning mode to clean at least one type of plane in the step area includes: Obtaining a specified plane type corresponding to the target cleaning mode; The cleaning robot is controlled to clean a first plane, where the first plane includes a plane in the step area whose plane type is the specified plane type.

3. The control method according to claim 2, characterized in that: The obtaining of the designated plane type corresponding to the target cleaning mode includes: When the target cleaning mode is the first cleaning mode, determining that the designated plane type is a step tread; When the target cleaning mode is the second cleaning mode, determining the designated plane type to be the step tread and the step riser; When the target cleaning mode is the third cleaning mode, determining that the designated plane type includes the step tread and the step side surface; When the target cleaning mode is the fourth cleaning mode, determining that the designated plane type includes the step tread and the pool wall plane of the pool; When the target cleaning mode is the fifth cleaning mode, it is determined that the designated plane types include the step tread, the step riser, the step side surface, and the pool wall plane.

4. The control method according to claim 2, characterized in that: The controlling the cleaning robot to clean the first plane includes: Obtaining the arrival position of the cleaning robot; determining a target moving route for the cleaning robot through each plane in the first plane according to the arrival position; Controlling the cleaning robot to move to a second plane according to the target movement route, and cleaning the second plane, where the second plane is the first plane to be cleaned in the first plane; When the cleaning of the second plane is completed, controlling the cleaning robot to move to a third plane according to the target moving route, wherein the third plane is the next plane after the second plane; The third plane is used as the second plane, and the step of cleaning the second plane is performed until all planes in the second plane are cleaned.

5. The control method according to claim 4, characterized in that: Determining the target movement route of the cleaning robot through each plane in the first plane according to the arrival position includes: When the cleaning robot departs from the arrival position, the fourth plane is set as the starting point of the target movement route, the fourth plane being the plane with the shortest arrival time for the cleaning robot among the fifth and sixth planes, the fifth plane being the plane with the shortest arrival time for the cleaning robot among the first planes, and the sixth plane being the plane with the shortest arrival time for the cleaning robot in the step area; A plane in the step area having the planar features of the first plane is set as the plane that the cleaning robot will pass through on the target moving route.

6. The control method according to claim 4, characterized in that: The controlling the cleaning robot to move to the second plane according to the target moving route includes: Controlling the cleaning robot to move along the target moving route and obtaining plane information of a current plane on which the cleaning robot is located; Inputting the plane information into a plane recognition model to determine whether the plane type of the current plane is the specified plane type, the plane recognition model including at least one of a recognition model based on a Laplace-Gaussian operator method, a recognition model based on a Canny algorithm, a deep learning neural network model based on semantic segmentation, a deep learning neural network model based on example segmentation, and a deep learning neural network model based on panoptic segmentation; If the plane type of the current plane is the specified plane type, determining that the current plane is the second plane, and controlling the cleaning robot to stop moving; If the plane type of the current plane is not the specified plane type, continue to execute the steps of controlling the cleaning robot to move according to the target movement route and obtaining the plane information of the current plane where the cleaning robot is located.

7. The control method according to claim 6, characterized in that: The cleaning of the second plane comprises: Acquiring boundary information of the second plane and a cleaning width of the cleaning robot, wherein the boundary information is obtained based on the plane recognition model; generating a cleaning path for the second plane according to the boundary information and the cleaning width; The cleaning robot is controlled to move along the cleaning path to clean the second plane.

8. The control method according to any one of claims 1 to 7, characterized in that: Controlling the cleaning robot to move to the step area in the pool includes: Controlling the movement of the cleaning robot and obtaining environmental information of the environment in which the cleaning robot is located; Inputting the environmental information into an environment recognition model, and having the environment recognition model recognize whether there is a target area with step features in the environment, the environment recognition model including at least one of a recognition model based on a Laplace-Gaussian operator method, a convolutional neural network model, and a Transformer model; When it is identified that a target area with step features exists in the environment, the cleaning robot is controlled to move according to position information of the target area.

9. The control method according to any one of claims 1 to 7, characterized in that: Controlling the cleaning robot to move to the step area in the pool includes: In response to a marked position in the cleaning map, determining whether the marked position is the step area; When the marked position is the step area, the cleaning robot is controlled to move from the marked position to the marked position.

10. The control method according to any one of claims 1 to 7, characterized in that: The control method further includes: In response to the task creation operation, displaying a task creation interface, wherein the task creation interface includes a plurality of cleaning modes; In response to a mode selection operation, determining the cleaning mode selected by the mode selection operation as the target cleaning mode; The step cleaning task is generated according to the target cleaning mode.

11. A control device for a cleaning robot, characterized in that: The control device comprises: a first control module, configured to control the cleaning robot to move to a step area in the pool in response to a step cleaning task; a mode determination module, configured to obtain a target cleaning mode corresponding to the step cleaning task when the cleaning robot reaches the step area; The second control module is used to control the cleaning robot to operate according to the target cleaning mode to clean at least one type of plane in the step area.

12. A cleaning robot, characterized in that: The cleaning robot comprises: a memory for storing executable program code; A processor is used to call and run the executable program code from the memory, so that the cleaning robot executes the control method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the control method according to any one of claims 1 to 10 is implemented.

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