Control method and device of cleaning robot, robot, medium and product

Abstract

The application provides a cleaning robot control method and device, a robot, a medium and a product, and relates to the technical field of cleaning equipment. The method comprises the following steps: in the process that the cleaning robot travels in a reverse manner according to a preset path and cleans a carpet area through a rolling brush, a vision sensor is controlled to be in an open state on a first path currently performing cleaning, and a vision scanning range of the vision sensor covers a second path to be cleaned; the preset path comprises the first path and the second path; in the process that the cleaning robot travels in reverse, a rotating direction of the rolling brush is opposite to a moving direction of a driving wheel; in the case that an obstacle or wet dirt is detected on the second path, the cleaning robot is controlled to adjust the preset path to avoid the obstacle or the wet dirt, and in addition, an edge of the obstacle can also be cleaned; and the flexibility, safety and adaptability of cleaning are improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a control method, device, robot, medium and product for a cleaning robot. Background Technology

[0002] With the increasing popularity of smart homes, robotic vacuum cleaners have become an important tool for cleaning modern households. They can autonomously plan their paths and efficiently complete cleaning tasks on different surfaces such as hard floors and carpets.

[0003] In existing technologies, when cleaning carpeted areas, robotic vacuum cleaners can use a backward cleaning method based on a preset cleaning path to improve the cleaning effect.

[0004] However, this method of cleaning by relying entirely on a preset cleaning path during the backward cleaning process lacks real-time awareness of the environment behind the robot. Since visual or other obstacle detection sensors are typically not installed on the rear of the robot, it cannot identify whether obstacles (such as moving pets or temporarily placed items) suddenly appear behind it during the backward process. Therefore, even if the environment changes, the robot mechanically executes the preset path, resulting in insufficient cleaning flexibility, a high risk of collisions or missed areas, and impacts both cleaning efficiency and safety. Summary of the Invention

[0005] This application provides a control method, device, robot, medium, and product for a cleaning robot. By using a visual sensor to scan the next path to be cleaned in advance during the backward cleaning process of a carpet area, and combining the real-time detection results, the cleaning path is dynamically adjusted, enabling the cleaning robot to avoid obstacles or wet stains in advance, thereby improving the flexibility, safety, and adaptability of cleaning.

[0006] In a first aspect, this application provides a control method for a cleaning robot. The cleaning robot includes a roller brush assembly, drive wheels, a vision sensor, and a body. The roller brush assembly includes a roller brush, the drive wheels are used to drive the cleaning robot to move, and the vision sensor is located on the front side of the body. The method includes:

[0007] While the cleaning robot moves backward along a preset path and cleans the carpet area with a roller brush, the vision sensor is kept on the first path being cleaned, and the visual scanning range of the vision sensor is controlled to cover the second path to be cleaned; the preset path includes the first path and the second path.

[0008] If an obstacle is detected on the second path, the cleaning robot is controlled to adjust the preset path to avoid the obstacle and clean the edges of the obstacle.

[0009] Alternatively, if wet dirt is detected on the second path, the cleaning robot can be controlled to adjust the preset path to avoid the wet dirt.

[0010] In the process of the cleaning robot moving backward, the direction of rotation of the roller brush is opposite to the direction of movement of the drive wheel.

[0011] Therefore, compared to existing cleaning methods that rely on preset paths for carpet cleaning, which suffer from insufficient cleaning flexibility, are prone to collisions or missed areas, and affect cleaning efficiency and safety, this application incorporates a visual sensor that activates and pre-scans the next path to be cleaned while moving backward. This allows the cleaning robot to detect obstacles or wet dirt in the second path ahead, thus planning the cleaning path more accurately. Because the cleaning robot can actively adjust the preset path to avoid obstacles or wet dirt and perform targeted cleaning of the edges of obstacles, the roller brush can better conform to the edges of obstacles, achieving effective cleaning of the contour edges of obstacles. This improves the flexibility of the cleaning process and avoids direct contact between the cleaning robot and wet dirt, preventing the spread of dirt or secondary pollution.

[0012] Moreover, the backward movement method makes the direction of force on the drive wheels more compatible with the direction of carpet fiber collapse, thereby reducing the risk of the drive wheels slipping on the carpet. This reduces path deviation or getting stuck due to forward movement, and improves the mobility reliability of the cleaning robot in complex carpet environments.

[0013] In addition, as the cleaning robot moves backward in the carpet area, the roller brush and drive wheel rotate in opposite directions, which increases the frequency of the brush strips hitting the carpet, loosens the carpet fibers, and makes it easier to remove deep dust.

[0014] In this way, during the process of cleaning the carpet area by the cleaning robot in a backward manner, the visual sensor located on the front of the robot controls the scanning range to cover the second path to be cleaned. This allows the cleaning robot to use the visual sensor to detect the second path in real time, perceive the environmental conditions on the next section of the path in advance, and actively adjust the path after detecting obstacles or wet dirt. This achieves coordinated control of safe avoidance and edge cleaning, which not only avoids cleaning omissions or secondary pollution and improves cleaning effect, but also avoids the cleaning robot being hindered by collisions or running over obstacles or wet dirt, thus improving the safety and stability of movement and adaptability to dynamic environments.

[0015] It should also be noted that the process of using a visual sensor to detect the second path in real time does not require changing the movement path and posture of the cleaning robot. Instead, the second path to be cleaned is covered by the scanning range available to the visual sensor. This allows for the early detection of environmental risks without interrupting the current cleaning task or increasing additional energy consumption and time costs, thus achieving simultaneous optimization of cleaning efficiency and obstacle avoidance prediction.

[0016] Optionally, the cleaning robot is controlled to adjust a preset path to avoid obstacles and clean the edges of the obstacles, including:

[0017] The cleaning robot is controlled to adjust at least a portion of the second path to an edge cleaning path, and is controlled to continue moving backward to clean the edge areas of obstacles using a roller brush.

[0018] In this way, the cleaning robot can avoid obstacles while ensuring thorough cleaning of the carpet's contours and edges, preventing any omissions. Furthermore, the robot's backward movement maintains the patting cleaning effect of the roller brush on the carpet and prevents the front of the robot from obstructing edge areas, improving cleaning effectiveness. In addition, by adjusting the preset path locally rather than replanning the entire path, cleaning efficiency and real-time response can be improved.

[0019] Optionally, the cleaning robot is controlled to adjust a preset path to avoid obstacles and clean the edges of the obstacles, including:

[0020] The cleaning robot is controlled to adjust at least a portion of the second path to an edge cleaning path, and is controlled to move backward to a position at a preset distance from the obstacle. The robot's posture is then adjusted to move forward, so as to clean the edge area of ​​the obstacle using a roller brush.

[0021] In this way, by approaching the location of the obstacle in reverse and maintaining the reverse movement until reaching the location, the machine avoids prematurely adjusting its posture to avoid interrupting the current cleaning process, ensuring the continuity and efficiency of cleaning the carpet area. Furthermore, by adjusting the posture at a preset distance, premature adjustments are avoided to prevent reducing the cleaning effect on the carpet.

[0022] Furthermore, the robot's posture can be adjusted at a preset distance. This preset distance can provide a buffer space for the cleaning robot, maintain its stability during posture adjustment, reduce the risk of tipping over or collision caused by sharp turns at close range, prevent the cleaning robot from directly contacting obstacles due to inertia or control errors, and also enable the cleaning robot to optimize its posture based on more precise relative position and angle, thereby improving the accuracy of subsequent edge cleaning or obstacle avoidance actions.

[0023] In addition, the machine cleans the edge areas of obstacles by moving forward. Since the roller brush is located at the front of the machine, it can more stably follow the edge areas for cleaning, while the forward drive enhances the cleaning power for stubborn stains.

[0024] Therefore, by combining two movement modes—backward and forward—cleaning is achieved, balancing the flexibility of path adjustment with the precision of edge cleaning.

[0025] Optionally, the preset path is a bow-shaped cleaning path, and the first path and the second path are two parallel adjacent paths on the bow-shaped cleaning path.

[0026] Because the bow-shaped cleaning path can cover a rectangular area, it reduces cleaning omissions. Therefore, by defining the first and second paths as adjacent parallel segments within the bow-shaped cleaning path, not only can cleaning efficiency be improved, but it also facilitates the visual sensor's orientation detection of the next cleaning area, enhancing the timeliness and accuracy of path adjustments. In this way, by combining backward movement with visual detection based on the preset path, both the reliability of carpet area cleaning and the timeliness of dynamic obstacle avoidance are ensured.

[0027] Optionally, the method also includes:

[0028] If an obstacle or wet dirt is detected on the second path, identify the location information of the obstacle or wet dirt;

[0029] The location information is marked on the cleaning map, and the cleaning map is sent to the user terminal for visualization.

[0030] Therefore, after the visual sensor detects obstacles or wet dirt, the obstacles or wet dirt can be marked on the cleaning map. This not only provides users with real-time status feedback of the cleaning environment, enhancing the transparency and monitorability of the cleaning process, but also helps users or cleaning robots understand the location of specific obstacles or wet dirt through map marking. This facilitates subsequent manual intervention or adjustments to the cleaning path planning. For example, it can provide historical data support for subsequent cleaning tasks of the cleaning robot and optimize subsequent cleaning strategies.

[0031] Optionally, the method also includes:

[0032] If an obstacle or wet dirt is detected on the second path, the cleaning robot is controlled to adjust its posture on the first path so that the visual scanning range of the vision sensor covers the obstacle or wet dirt.

[0033] In this way, when obstacles or wet dirt are detected on the second path, the device actively adjusts its posture on the first path for a second inspection. This optimizes the observation angle and scanning range of the visual sensor, reducing misjudgments or missed detections due to limited field of view, and improving the accuracy of obstacle or wet dirt identification and the ability to acquire detailed information. This provides more accurate environmental perception data for subsequent path adjustments or cleaning strategy adjustments, avoiding unnecessary path adjustments or cleaning actions due to false detections, and enhancing the targeting and reliability of cleaning actions.

[0034] Furthermore, based on the more complete environmental perception data obtained from the re-inspection, more efficient and safer obstacle avoidance or cleaning paths can be planned.

[0035] Optionally, the preset path also includes a third path, and the method also includes:

[0036] After the cleaning robot cleans the edges of obstacles or avoids wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area.

[0037] During the cleaning robot's movement along the third path, the visual sensor is kept on along the third path, and its visual scanning range is controlled to cover the second path.

[0038] If no obstacles or wet dirt are detected on the second path, the cleaning robot is controlled to readjust the preset path to clean the target area; the target area is the area where the obstacles or wet dirt are located.

[0039] In this way, by continuously detecting along the third path, the cleaning robot can dynamically perceive changes in the state of obstacles or wet dirt, ensuring timely response to environmental changes. Furthermore, after confirming that obstacles or wet dirt have been removed or treated, the original target area is cleaned again, avoiding cleaning omissions caused by previous avoidance, improving cleaning coverage, and enhancing the adaptability and completeness of the cleaning process.

[0040] Optionally, the preset path also includes a third path, and the method also includes:

[0041] After the cleaning robot cleans the edges of obstacles or avoids wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area.

[0042] During the cleaning robot's movement along the third path, the visual sensor is kept on along the third path, and its visual scanning range is controlled to cover the second path.

[0043] If no obstacles or wet dirt are detected on the second path, the cleaning robot is controlled to continue cleaning along the third path.

[0044] After cleaning the carpet area, the cleaning robot is controlled to return to the target area for cleaning; the target area is the area where obstacles or wet dirt are located.

[0045] In this way, by performing cross-path detection on the third path, it dynamically confirms whether obstacles or wet dirt have been removed, providing a basis for decision-making regarding subsequent supplementary cleaning. If it is determined that obstacles or wet dirt have been removed, instead of immediately adjusting the preset path for re-sweeping, the entire carpet area is cleaned first before returning to the target area for re-sweeping. This prioritizes the continuity of the overall carpet cleaning task, avoiding the impact on cleaning efficiency caused by frequent path adjustments. Furthermore, after the overall cleaning is completed, concentrated supplementary cleaning of the target area is performed to ensure cleaning coverage while reducing back-and-forth movement during the cleaning process.

[0046] Optionally, the preset path also includes a third path, and the method also includes:

[0047] After the cleaning robot cleans the edges of obstacles or avoids wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area.

[0048] During the cleaning robot's movement along the third path, the visual sensor is kept on along the third path, and its visual scanning range is controlled to cover the second path.

[0049] If no obstacles or wet dirt are detected on the second path, the cleaning robot is controlled to generate prompts and update the cleaning map.

[0050] In this way, by performing cross-path detection on the third path, the removal status of obstacles or wet dirt can be dynamically confirmed, improving the real-time nature of environmental perception. Once it is confirmed that an obstacle or wet dirt has been removed, a prompt message is generated to promptly notify the user of the change in environmental status, enhancing the transparency of human-computer interaction. Correspondingly, updating the cleaning map can also provide data support for subsequent cleaning tasks or path planning. Furthermore, it allows users to easily adjust cleaning strategies in real time.

[0051] Optionally, the method also includes:

[0052] During the cleaning process on the second path, the robot adjusts its posture to rescan the area containing obstacles or wet dirt based on visual sensors to determine if there are any obstacles or wet dirt.

[0053] Therefore, if an obstacle or wet dirt is detected on the second path while the first path is in progress, the cleaning robot adjusts its posture to perform a close-up re-inspection using its front-mounted vision sensor as it moves onto the second path. This corrects or confirms the accuracy of the previous detection, preventing misjudgments that could interrupt cleaning or lead to incorrect path adjustments. Furthermore, the re-inspection helps to accurately identify the boundaries of obstacles or wet dirt, ensuring that the robot's subsequent cleaning path more completely covers the carpet area to be cleaned, reducing omissions and improving cleaning integrity.

[0054] In this way, by combining long-distance initial inspection with close-range re-inspection, a dual detection mechanism is formed, which reduces the risk of decision-making errors caused by sensor noise or environmental interference and enhances robustness.

[0055] Optionally, the cleaning robot further includes a side brush assembly; the side brush assembly has a first position and a second position, in the first position, the side brush assembly is at least partially retracted inward within the body contour range, and in the second position, the side brush assembly extends outward from the body by a greater distance than the side brush assembly extends outward from the body in the first position; the method further includes:

[0056] While the cleaning robot is cleaning the edges of obstacles based on the adjusted preset path, the control side brush component is in the second position.

[0057] By controlling the side brush assembly to the second position, it can more effectively reach and clean the narrow area between the obstacle edge and the robot body, reducing cleaning blind spots and thus achieving effective cleaning of the obstacle edge. Therefore, dynamically adjusting the state of the side brush assembly during the cleaning robot's cleaning of obstacle edges can optimize the cleaning coverage and improve the cleaning effect on complex obstacles.

[0058] Optionally, the method also includes:

[0059] When the cleaning robot is cleaning the carpet area in a backward manner, if it is detected that the cleaning robot is located in the boundary area between the first plane and the second plane, the robot is controlled to adjust its posture and clean the boundary area in a forward manner.

[0060] The first plane is higher than the second plane.

[0061] Therefore, for the special terrain of the boundary area of ​​the carpet area, the forward movement mode is switched. Based on real-time detection by the visual sensor, the roller brush can clean the boundary area more stably, reduce the risk of suspension or slippage, and reduce the risk of jamming or falling, thus improving the safety of cleaning the boundary area.

[0062] Optionally, the method also includes:

[0063] Mark the boundary areas on the cleaning map and update the cleaning map.

[0064] By establishing records of boundary areas through map marking, terrain references can be provided for subsequent cleaning tasks, optimizing path planning and travel strategies. Furthermore, the updated cleaning map helps cleaning robots more accurately identify and adapt to areas with varying elevations, improving the safety and efficiency of the cleaning process. It also provides users with a more complete cleaning map, enhancing the visualization and manageability of the cleaning process and improving the user experience.

[0065] Secondly, this application provides a control device for a cleaning robot. The cleaning robot includes a roller brush assembly, drive wheels, a vision sensor, and a body. The roller brush assembly includes a roller brush, the drive wheels are used to drive the cleaning robot to move, and the vision sensor is located on the front side of the body. The device includes:

[0066] The first control module is used to control the vision sensor to be turned on on the first path being cleaned, and to control the visual scanning range of the vision sensor to cover the second path to be cleaned, while the cleaning robot is moving backward along the preset path and cleaning the carpet area with the roller brush. The preset path includes the first path and the second path.

[0067] The second control module is used to control the cleaning robot to adjust the preset path to avoid the obstacle and clean the edge of the obstacle when an obstacle is detected on the second path; or to control the cleaning robot to adjust the preset path to avoid the wet dirt when wet dirt is detected on the second path.

[0068] In the process of the cleaning robot moving backward, the direction of rotation of the roller brush is opposite to the direction of movement of the drive wheel.

[0069] Thirdly, this application provides a cleaning robot, which includes a roller brush assembly, drive wheels, a vision sensor and a body. The roller brush assembly includes a roller brush, the drive wheels are used to drive the cleaning robot to move, and the vision sensor is located on the front side of the body.

[0070] The cleaning robot is used to perform the methods described in any of the first aspects.

[0071] Fourthly, this application provides an electronic device, including: a memory and a processor;

[0072] The memory stores the instructions that the computer executes;

[0073] The processor executes computer execution instructions stored in memory, causing the processor to perform the method as described in any of the first aspects.

[0074] Fifthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any of the first aspects.

[0075] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method as described in any of the first aspects.

[0076] It should be noted that the second to sixth aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0077] The cleaning robot control method, device, robot, medium, and product provided in this application control the cleaning robot to move backward along a preset path. During the backward cleaning process on the first path currently being cleaned, a vision sensor located on the front of the robot is activated, and its visual scanning range covers the next segment of the path to be cleaned (the second path). By detecting obstacles or wet dirt on the second path in real time, the cleaning robot can adjust the preset path to avoid these obstacles or wet dirt, preventing the cleaning robot from directly contacting wet dirt and causing dirt spread or secondary pollution. Furthermore, by targeting the edges of obstacles, it further avoids problems of obstructed movement or missed cleaning areas. Moreover, during the backward movement, the rotation direction of the roller brush is controlled to be opposite to the movement direction of the drive wheels, so that the roller brush cleans the carpet area. This design increases the number of times the brush bristles contact the carpet surface to be cleaned per unit time, thus increasing the frequency of the bristles striking the surface to be cleaned. The brush strips loosen the carpet fibers, raising dust hidden in the carpet's underside and crevices. This dust is then easily sucked into the airflow channel and collected in the dustbin, effectively cleaning deep-seated dust. Furthermore, because the cleaning robot moves backward and uses front-mounted visual sensors to detect obstacles and dynamically adjust its pre-set cleaning path, it achieves indirect real-time perception of its surroundings. This allows the robot to detect obstacles in advance within the area to be cleaned, enabling effective cleaning of those edge areas. Therefore, this application, by controlling the cleaning robot's backward movement, the reverse rotation of the brush, and the coordinated control of the visual sensors to adjust the cleaning path in advance, effectively overcomes the problems of poor cleaning flexibility, easy collisions, and missed areas caused by relying on fixed paths and lacking rear-mounted perception. This improves the adaptability, safety, and overall cleaning efficiency of the cleaning process. Attached Figure Description

[0078] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0079] Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application;

[0080] Figure 2 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0081] Figure 3 A flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application;

[0082] Figure 4 A schematic diagram of a scenario showing the walking path of a cleaning robot provided in an embodiment of this application;

[0083] Figure 5 This is a schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of this application;

[0084] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0085] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0086] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0087] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first path and the second path are only used to distinguish different paths and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0088] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0089] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0090] In existing technologies, when cleaning carpeted areas, robotic vacuum cleaners can use a backward cleaning method based on a preset cleaning path to improve the cleaning effect.

[0091] However, this method of cleaning by relying entirely on a preset cleaning path during the backward cleaning process lacks real-time awareness of the environment behind the robot. Because there are no visual or other obstacle detection sensors on the rear of the robot, it cannot identify whether obstacles (such as moving pets or temporarily placed items) suddenly appear behind it during the backward process. Therefore, even if the environment changes, the robot mechanically follows the preset path, resulting in insufficient cleaning flexibility, a high risk of collisions or missed areas, and impacting cleaning efficiency and safety.

[0092] To address the aforementioned problems, this application provides a control method for a cleaning robot. The cleaning robot is controlled to move backward along a preset path. During the backward cleaning process on the first path currently being cleaned, a vision sensor located on the front of the robot is activated, and its visual scanning range covers the next segment of the path to be cleaned (the second path). By detecting obstacles or wet dirt on the second path in real time, the cleaning robot can adjust the preset path to avoid these obstacles or wet dirt, preventing the robot from directly contacting wet dirt and causing dirt spread or secondary pollution. Furthermore, targeted cleaning of the edges of obstacles further avoids problems of obstructed movement or missed cleaning areas. Moreover, during backward movement, the rotation direction of the roller brush is controlled to be opposite to the movement direction of the drive wheels, thus cleaning the carpet area with the roller brush. This design increases the number of times the brush bristles contact the carpet surface to be cleaned per unit time, thereby increasing the frequency of the bristles striking the surface to be cleaned. Beating the carpet with a strip loosens the carpet fibers, causing dust hidden at the bottom and in the crevices of the carpet to be stirred up. This makes it easier to suck the dust into the airflow channel through the suction port and collect it in the dust box, thus achieving effective cleaning of deep dust in the carpet.

[0093] Furthermore, because the cleaning robot moves backward and uses visual sensors on its front to detect obstacles in advance and dynamically adjust the preset cleaning path, it achieves indirect real-time perception of the environment behind it. This allows the cleaning robot to detect obstacles in the area to be cleaned in advance, enabling effective cleaning of that edge area. Therefore, this application, by controlling the cleaning robot to move backward, the roller brush to rotate in the opposite direction, and the visual sensors to coordinate the control of the cleaning path in advance, effectively overcomes the problems of poor cleaning flexibility, easy collision, and missed cleaning caused by relying on fixed paths and lack of rear perception, thus improving the adaptability, safety, and overall cleaning efficiency of the cleaning process.

[0094] Optionally, the control method for the cleaning robot provided in this application is applied to the cleaning robot, for example, Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application, as shown below. Figure 1 As shown, the cleaning robot 100 includes a roller brush assembly 101, a drive wheel 102, a vision sensor 103, and a body 104. The roller brush assembly 101 includes a roller brush 11, the drive wheel 102 is used to drive the cleaning robot 100 to move, and the vision sensor 103 is located on the front side of the body 104.

[0095] Optionally, the vision sensor 103 may refer to a device in the cleaning robot 100 used to collect environmental optical information and convert it into digital signals.

[0096] Optionally, the visual sensor 103 can be a camera, a structured light sensor, a binocular visual sensor, a monocular visual sensor, a lidar, etc. The specific device type corresponding to the visual sensor 103 is not limited in this application embodiment, as long as it can perform scanning and target recognition.

[0097] With the forward direction of the cleaning robot 100 as the reference, the roller brush 11 is located in front of the drive wheel 102. During the backward movement of the cleaning robot 100, the rotation direction of the roller brush 11 is opposite to the movement direction of the drive wheel 102.

[0098] It should be noted that the rear of the body 104 of the cleaning robot 100 typically does not have a vision sensor 103. In this application, the applicable scenario is that the vision sensor 103 is located on the front of the body 104. It should also be noted that other types of sensors, such as time-of-flight (TOF) sensors, are used on the rear of the body 104 of the cleaning robot 100. Their accuracy in detecting obstacles or wet dirt is generally lower than that of the vision sensor 103 used in this application.

[0099] Optionally, the cleaning robot 100 also includes a side brush assembly (not shown in the figure); the side brush assembly has a first position and a second position, in the first position the side brush assembly is at least partially retracted inward within the outline of the body 104, and in the second position the side brush assembly extends outward from the body 104 by a greater distance than the side brush assembly extends outward from the body in the first position.

[0100] When the side brush assembly is in the first position, the distance it extends outward from the body 104 is relatively small. When the side brush assembly is in the second position, the distance it extends outward from the body 104 is greater than the distance in the first position, thus expanding the cleaning coverage area. In this way, the extension state of the side brush assembly can be adjusted by moving it between the first and second positions.

[0101] Based on the above structural design of the cleaning robot 100, the cleaning robot 100 can effectively clean carpet areas. For example, Figure 2 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 2 As shown, taking the cleaning robot 100 as an example, the cleaning robot cleans the carpet area 300 in the living room in a backward manner according to the preset bow-shaped cleaning path.

[0102] As the robot vacuum moves backward along the first path 1 it is currently cleaning, the visual sensor located on the front of the robot is activated, and its visual scanning range extends to the next path 2 to be cleaned (i.e., the second path 2). Figure 2 The next path segment adjacent to the first path 1 in the middle bow-shaped cleaning path.

[0103] The robot vacuum cleaner can scan the second path 2 in real time using a visual sensor to detect whether there are obstacles 200 (such as furniture legs or toys) or wet dirt (such as water stains or sticky stains) on the second path 2.

[0104] like Figure 2 As shown, after the robot vacuum detects an obstacle 200 on the second path 2, it can be controlled to adjust the preset bow-shaped cleaning path, such as adjusting it to... Figure 2 The path corresponding to the bolded line segment shown is used to avoid the obstacle 200. At the same time, the robot vacuum can be controlled to clean the edge of the obstacle 200, such as cleaning around the outline of the obstacle 200. The specific cleaning path type is not specifically limited in this embodiment.

[0105] In the process of the robot vacuum cleaning backwards, the rotation direction of the roller brush is kept opposite to the movement direction of the drive wheel, which increases the number of times the bristles on the roller brush come into contact with the surface to be cleaned on the carpet area 300 per unit time, thus increasing the number of times the bristles pat the surface to be cleaned.

[0106] In this way, each time the bristles come into contact with the carpet area 300 to be cleaned, they can shake up the carpet fibers, thus loosening the carpet. This makes it easier for dust hidden at the bottom of the carpet and in the gaps between the carpet fibers to be sucked into the airflow channel of the robot vacuum cleaner through the suction port, and then collected in the dust box. This achieves the cleaning of dust at the bottom of the carpet and in the gaps between the fibers, thereby enhancing the cleaning effect on the carpet.

[0107] It should be noted that the cleaning robot 100 can be not only a sweeping robot, but also other types of smart mobile devices with carpet cleaning functions, such as sweeping and mopping robots. This application embodiment does not specifically limit the type of cleaning robot 100.

[0108] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0109] For example, Figure 3 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. The control method for the cleaning robot is applied to... Figure 1 In the cleaning robot with the structure shown, such as Figure 3 As shown, the control method for this cleaning robot includes the following steps:

[0110] S301. While the cleaning robot is moving backward along a preset path and cleaning the carpet area with a roller brush, the vision sensor is controlled to be turned on on the first path currently being cleaned, and the visual scanning range of the vision sensor is controlled to cover the second path to be cleaned; the preset path includes the first path and the second path.

[0111] In the process of the cleaning robot moving backward, the direction of rotation of the roller brush is opposite to the direction of movement of the drive wheel.

[0112] In this embodiment, the preset path may refer to the movement trajectory of the cleaning robot pre-planned or generated according to the cleaning map. The preset path is used to cover the area to be cleaned and perform cleaning tasks.

[0113] In this context, a cleaning map refers to an environmental spatial model built or used by a cleaning robot during the cleaning process. This model records information such as the location and environmental characteristics of the cleaning area, obstacles, or wet dirt. It can be understood that when wet dirt and obstacles coexist, the robot can generally be considered to have wet dirt, and the robot uses control logic to process and avoid both wet dirt and obstacles.

[0114] Optionally, the preset path can be a bow-shaped cleaning path, a meandering cleaning path, a reciprocating cleaning path, a random cleaning path, a spiral cleaning path, a zone-dividing cleaning path, or an edge-cleaning path. User-defined cleaning paths are also possible. This application embodiment does not limit the specific path type corresponding to the preset path.

[0115] The backward movement mode can refer to the movement mode in which the driving wheels of the cleaning robot rotate backward, causing the entire robot body to move backward.

[0116] The visual scanning range refers to the spatial area that a visual sensor can acquire images or depth information, and its coverage can be set by adjusting sensor parameters or posture.

[0117] It should be noted that the embodiments of this application do not specifically limit the size of the visual scanning range of the visual sensor. For example, the visual scanning range of the visual sensor of a robotic vacuum cleaner can be as follows: Figure 2 As shown.

[0118] For example, the cleaning robot moves backward along a pre-defined zigzag cleaning path, cleaning the carpet with a roller brush. During this process, the vision sensor located on the front of the robot remains on, and its visual scanning range covers the adjacent second path to be cleaned.

[0119] The first path is the path segment that the cleaning robot is currently moving and cleaning, and the second path is the subsequent path segment in the preset path that is about to be cleaned, immediately following the first path.

[0120] It should be noted that during the cleaning process of the cleaning robot moving backward along the first path, the visual sensor has acquired environmental information of the second path in real time and updated the internal cleaning map based on this environmental information.

[0121] For example, when the visual sensor detects an obstacle (such as a table leg) on ​​the second path, the location of the obstacle is marked on the cleaning map even if the cleaning robot has not yet reached the second path.

[0122] It is understood that if the cleaning robot starts updating the information in the cleaning map on the first path it is traveling, and this information can be obstacle information or wet dirt information on the second path, then it can be assumed that the visual scanning range of the visual sensor has covered the second path. The obstacle information or wet dirt information can be newly detected obstacle information or wet dirt information, or it can be obstacle information or wet dirt information obtained by re-inspection. This application embodiment does not specifically limit this.

[0123] It should be noted that the reason why new obstacle information or wet dirt information is detected is because there were no obstacles or wet dirt on the second path before. Instead, the cleaning robot detects new obstacles or wet dirt on the second path while it is cleaning backward on the first path, and thus adjusts the preset path.

[0124] The obstacle or wet dirt information obtained during the re-inspection is because there were obstacles or wet dirt on the second path before. However, during the cleaning robot's backward cleaning in the first path, the position or area of ​​the obstacles or wet dirt on the second path changed. For example, the pet's position was partially moved in the second path, or the user moved the toy to another position in the second path, or the wet dirt was partially removed. Therefore, it is necessary to re-inspect the obstacles or wet dirt on the second path to determine if there are obstacles or wet dirt and adjust the preset path accordingly.

[0125] Thus, this embodiment of the application utilizes a visual sensor to scan the next path during the first path cleaning process and updates the cleaning map in real time, enabling the cleaning robot to plan path adjustment strategies in advance, reducing cleaning interruptions or repeated traversals, while ensuring targeted cleaning of obstacles and dirty edges.

[0126] S302. If an obstacle is detected on the second path, control the cleaning robot to adjust the preset path to avoid the obstacle and clean the edges of the obstacle.

[0127] Alternatively, if wet dirt is detected on the second path, the cleaning robot can be controlled to adjust the preset path to avoid the wet dirt.

[0128] In this embodiment, an obstacle can refer to an object existing on a preset path that may hinder the normal movement or cleaning of the cleaning robot, such as furniture legs, toys, or fallen items. This embodiment does not limit the specific type of obstacle.

[0129] Wet stains can refer to stains that are moist or sticky, and may adhere to the carpet surface or penetrate the fibers, such as liquid spills and sticky residues. This application does not limit the specific type of wet stains.

[0130] In this application, the adjustment of the preset path by the cleaning robot can refer to the control strategy of modifying the trajectory in real time based on the sensor information of the vision sensor, including but not limited to a series of action logics such as adjusting to partial detour, path replanning, edge cleaning or segmented cleaning.

[0131] In this step, when the vision sensor detects an obstacle or wet dirt on the second path, the cleaning robot can dynamically adjust its preset path based on the detected sensor information to avoid the main area of ​​the obstacle or wet dirt. In addition, the cleaning robot can be controlled to perform targeted cleaning on the edge contours where the obstacle contacts the carpet.

[0132] For example, if the updated cleaning map of the cleaning robot shows that there are obstacles or wet dirt on the second path, the cleaning robot will adjust the original planning of the second path. After completing the cleaning of the current first path, the cleaning robot will be controlled to avoid obstacles or dirty areas on the second path. In addition, the cleaning robot can also clean around the edges of obstacles to ensure the integrity of the cleaning coverage.

[0133] It should be noted that throughout the cleaning process, the roller brush rotates in the opposite direction to the drive wheels to enhance the deep cleaning effect on the carpet. Furthermore, through visual sensors that proactively perceive the subsequent path and update the cleaning map, the cleaning robot achieves closed-loop control of "perception-decision-execution," balancing cleaning efficiency and environmental adaptability.

[0134] Therefore, compared to existing cleaning methods that rely on preset paths for carpet cleaning, which suffer from insufficient cleaning flexibility, are prone to collisions or missed areas, and affect cleaning efficiency and safety, this application incorporates a visual sensor that activates and pre-scans the next path to be cleaned while moving backward. This allows the cleaning robot to detect obstacles or wet dirt in the second path ahead, thus planning the cleaning path more accurately. Because the cleaning robot can actively adjust the preset path to avoid obstacles or wet dirt and perform targeted cleaning of the edges of obstacles, the roller brush can better conform to the edges of obstacles, achieving effective cleaning of the contour edges of obstacles. This improves the flexibility of the cleaning process and avoids direct contact between the cleaning robot and wet dirt, preventing the spread of dirt or secondary pollution.

[0135] Moreover, the backward movement method makes the direction of force on the drive wheels more compatible with the direction of carpet fiber collapse, thereby reducing the risk of the drive wheels slipping on the carpet. This reduces path deviation or getting stuck due to forward movement, and improves the mobility reliability of the cleaning robot in complex carpet environments.

[0136] In addition, as the cleaning robot moves backward in the carpet area, the roller brush and drive wheel rotate in opposite directions, which increases the frequency of the brush strips hitting the carpet, loosens the carpet fibers, and makes it easier to remove deep dust.

[0137] In this way, during the process of cleaning the carpet area by the cleaning robot in a backward manner, the visual sensor located on the front of the robot controls the scanning range to cover the second path to be cleaned. This allows the cleaning robot to use the visual sensor to detect the second path in real time, perceive the environmental conditions on the next section of the path in advance, and actively adjust the path after detecting obstacles or wet dirt. This achieves coordinated control of safe avoidance and edge cleaning, which not only avoids cleaning omissions or secondary pollution and improves cleaning effect, but also avoids the cleaning robot being hindered by collisions or running over obstacles or wet dirt, thus improving the safety and stability of movement and adaptability to dynamic environments.

[0138] It should also be noted that the process of using a visual sensor to detect the second path in real time does not require changing the movement path and posture of the cleaning robot. Instead, the second path to be cleaned is covered by the scanning range available to the visual sensor. This allows for the early detection of environmental risks without interrupting the current cleaning task or increasing additional energy consumption and time costs, thus achieving simultaneous optimization of cleaning efficiency and obstacle avoidance prediction.

[0139] Optionally, if no obstacle is detected on the second path, the cleaning robot is controlled to continue cleaning the carpet area according to the preset path;

[0140] Alternatively, if no wet dirt is detected on the second path, the cleaning robot can be controlled to continue cleaning the carpet area according to the preset path.

[0141] Optionally, the cleaning robot is controlled to adjust a preset path to avoid obstacles and clean the edges of the obstacles, including:

[0142] The cleaning robot is controlled to adjust at least a portion of the second path to an edge cleaning path, and is controlled to continue moving backward to clean the edge areas of obstacles using a roller brush.

[0143] In this embodiment of the application, the edge cleaning path can refer to the path in which the cleaning robot controls itself to move around at least part of an obstacle or a specific boundary contour while maintaining a fixed or adaptive spacing, so as to achieve the movement trajectory for cleaning the edge area.

[0144] It should be noted that the specific walking path shape corresponding to the edge cleaning path in this application embodiment is not limited. It can be a partial edge path or a fully enclosed edge path.

[0145] For example, Figure 4 This is a schematic diagram of a scenario illustrating the walking path of a cleaning robot, as provided in an embodiment of this application. Figure 4 As shown, the cleaning robot 100 adjusts at least a portion of the second path to an edge cleaning path, which is a fully enclosed edge cleaning path around the obstacle 200.

[0146] In this application, the edge area can refer to the area near the outer contour of the contact between the obstacle and the carpet, which is an area that is easily obscured or overlooked during cleaning. In addition, this edge area is also prone to dust accumulation.

[0147] In this step, when the cleaning robot detects an obstacle on the second path, it can control the cleaning robot to modify the affected part of the original preset path into an edge cleaning path and maintain the backward cleaning mode so as to clean the outer edge of the obstacle with the roller brush and improve the edge cleaning effect.

[0148] In this way, the cleaning robot can avoid obstacles while ensuring thorough cleaning of the carpet's contours and edges, preventing any omissions. Furthermore, the robot's backward movement maintains the patting cleaning effect of the roller brush on the carpet and prevents the front of the robot from obstructing edge areas, improving cleaning effectiveness. In addition, by adjusting the preset path locally rather than replanning the entire path, cleaning efficiency and real-time response can be improved.

[0149] Optionally, the cleaning robot is controlled to adjust a preset path to avoid obstacles and clean the edges of the obstacles, including:

[0150] The cleaning robot is controlled to adjust at least a portion of the second path to an edge cleaning path, and is controlled to move backward to a position at a preset distance from the obstacle and spaced apart. The robot's posture is adjusted to move forward, so as to clean the edge area of ​​the obstacle by means of a roller brush.

[0151] In this embodiment, the preset distance may refer to a pre-set or dynamically calculated distance threshold between the cleaning robot and the obstacle, which is used to control the interval position at which the cleaning robot stops or turns before performing forward cleaning.

[0152] The forward movement mode can refer to the movement mode in which the driving wheels of the cleaning robot rotate forward, causing the entire body to move forward. In this mode, the roller brush moves in the same direction as the driving wheels.

[0153] In this step, when the cleaning robot detects an obstacle on the second path, it can be controlled to adjust at least a portion of the second path to an edge-cleaning path. The cleaning robot can first move backward to a position at a preset distance from the obstacle, then adjust its posture, switch to forward mode, and move along the adjusted edge-cleaning path, allowing the roller brush to clean the edge area of ​​the obstacle.

[0154] In this way, by approaching the location of the obstacle in reverse and maintaining the reverse movement until reaching the location, the machine avoids prematurely adjusting its posture to avoid interrupting the current cleaning process, ensuring the continuity and efficiency of cleaning the carpet area. Furthermore, by adjusting the posture at a preset distance, premature adjustments are avoided to prevent reducing the cleaning effect on the carpet.

[0155] Furthermore, the robot's posture can be adjusted at a preset distance. This preset distance can provide a buffer space for the cleaning robot, maintain its stability during posture adjustment, reduce the risk of tipping over or collision caused by sharp turns at close range, prevent the cleaning robot from directly contacting obstacles due to inertia or control errors, and also enable the cleaning robot to optimize its posture based on more precise relative position and angle, thereby improving the accuracy of subsequent edge cleaning or obstacle avoidance actions.

[0156] In addition, the machine cleans the edge areas of obstacles by moving forward. Since the roller brush is located at the front of the machine, it can more stably follow the edge areas for cleaning, while the forward drive enhances the cleaning power for stubborn stains.

[0157] Therefore, by combining two movement modes—backward and forward—cleaning is achieved, balancing the flexibility of path adjustment with the precision of edge cleaning.

[0158] Optionally, after cleaning the edge area of ​​the obstacle by moving forward with the roller brush, the machine can be repositioned to move backward to clean the remaining carpet area or the remaining carpet area based on the preset path.

[0159] Optionally, the preset path is a bow-shaped cleaning path, and the first path and the second path are two parallel adjacent paths on the bow-shaped cleaning path.

[0160] In this embodiment of the application, the bow-shaped cleaning path can refer to a cleaning path pattern in which the cleaning robot travels along a reciprocating parallel zigzag trajectory to cover a rectangular or near-rectangular area.

[0161] For example, such as Figure 4 As shown, in the bow-shaped cleaning path, the first path 1 and the second path 2 are adjacent and parallel cleaning path segments, and the extension direction of the second path 2 is opposite to that of the first path 1.

[0162] Optionally, the cleaning robot moves backward along a bow-shaped cleaning path. The currently cleaning path segment is the first path, and the next parallel adjacent path segment to be cleaned is the second path. The vision sensor can then be activated while cleaning the first path, extending its scanning range to cover the second path to detect obstacles or wet dirt in advance.

[0163] Alternatively, the visual sensor can remain on throughout the cleaning process. This application does not specify the start time or duration of the visual sensor's operation; it can be used to detect the second path.

[0164] Because the bow-shaped cleaning path can cover a rectangular area, it reduces cleaning omissions. Therefore, by defining the first and second paths as adjacent parallel segments within the bow-shaped cleaning path, not only can cleaning efficiency be improved, but it also facilitates the visual sensor's orientation detection of the next cleaning area, enhancing the timeliness and accuracy of path adjustments. In this way, by combining backward movement with visual detection based on the preset path, both the reliability of carpet area cleaning and the timeliness of dynamic obstacle avoidance are ensured.

[0165] Optionally, the method also includes:

[0166] If an obstacle or wet dirt is detected on the second path, identify the location information of the obstacle or wet dirt;

[0167] The location information is marked on the cleaning map, and the cleaning map is sent to the user terminal for visualization.

[0168] In this embodiment of the application, the location information may refer to the specific location data of obstacles or wet dirt in the cleaning map coordinate system, and may include spatial description information such as coordinate points, area range or outline boundary.

[0169] In this step, when the vision sensor detects an obstacle or wet dirt on the second path, the cleaning robot can identify and record the location information of the obstacle or wet dirt, and mark this location information on the cleaning map generated by the cleaning robot. The marked cleaning map is sent to the user terminal to show the user the location of the obstacle or wet dirt in a visual form.

[0170] For example, the location information is displayed visually on the user terminal using icons or area markers. This application embodiment does not specifically limit the form and content of the visualization.

[0171] Therefore, after the visual sensor detects obstacles or wet dirt, the obstacles or wet dirt can be marked on the cleaning map. This not only provides users with real-time status feedback of the cleaning environment, enhancing the transparency and monitorability of the cleaning process, but also helps users or cleaning robots understand the location of specific obstacles or wet dirt through map marking. This facilitates subsequent manual intervention or adjustments to the cleaning path planning. For example, it can provide historical data support for subsequent cleaning tasks of the cleaning robot and optimize subsequent cleaning strategies.

[0172] Optionally, the method also includes:

[0173] If an obstacle or wet dirt is detected on the second path, the cleaning robot is controlled to adjust its posture on the first path so that the visual scanning range of the vision sensor covers the obstacle or wet dirt.

[0174] Optionally, adjusting the robot's posture can include the cleaning robot changing its orientation or position on the horizontal plane by using differential control of the drive wheels or overall steering, thereby adjusting the pointing of the vision sensors or the coverage of the field of view. This application does not specifically limit the method of adjusting the robot's posture; for example, it can rotate 180 degrees in place.

[0175] In this step, when the cleaning robot detects an obstacle or wet dirt on the second path, it can control the cleaning robot to actively adjust its posture (such as rotation or translation) on the currently moving first path, so that the scanning range of the vision sensor can more completely or accurately cover the area where the obstacle or wet dirt is located.

[0176] In this way, when obstacles or wet dirt are detected on the second path, the device actively adjusts its posture on the first path for a second inspection. This optimizes the observation angle and scanning range of the visual sensor, reducing misjudgments or missed detections due to limited field of view, and improving the accuracy of obstacle or wet dirt identification and the ability to acquire detailed information. This provides more accurate environmental perception data for subsequent path adjustments or cleaning strategy adjustments, avoiding unnecessary path adjustments or cleaning actions due to false detections, and enhancing the targeting and reliability of cleaning actions.

[0177] Furthermore, based on the more complete environmental perception data obtained from the re-inspection, more efficient and safer obstacle avoidance or cleaning paths can be planned.

[0178] Optionally, the preset path also includes a third path, and the method also includes:

[0179] After the cleaning robot cleans the edges of obstacles or avoids wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area.

[0180] During the cleaning robot's movement along the third path, the visual sensor is kept on along the third path, and its visual scanning range is controlled to cover the second path.

[0181] If no obstacles or wet dirt are detected on the second path, the cleaning robot is controlled to readjust the preset path to clean the target area; the target area is the area where the obstacles or wet dirt are located.

[0182] In this embodiment, the third path can refer to a subsequent cleaning path segment within a preset path, located after the second path and adjacent to or separated from the second path by a portion of the path. For example, the third path can be... Figure 4 The path 3 shown can also be any other path that is far from path 3. As long as the visual scanning range of the visual sensor can cover the second path on this path, it can be understood as the third path.

[0183] It should be noted that when the cleaning robot is moving on the third path, the detection range of the visual sensor can also cover the area where the second path is located, especially the target area, that is, the spatial location area occupied by the original obstacle or wet dirt on the second path.

[0184] Optionally, the method of readjusting the preset path may refer to the path planning method of controlling the cleaning robot to temporarily modify the preset path based on the result of the second path detection by the cleaning robot, so that it can cover the target area again for cleaning. This application embodiment does not specifically limit the method of readjusting the preset path.

[0185] For example, after the cleaning robot has finished cleaning the edges of obstacles or avoided wet dirt, it can be controlled to continue cleaning the carpet area in a backward manner along a third path. During the backward movement, the vision sensor is activated on the third path and its scanning range covers the second path where obstacles or wet dirt previously existed. If it detects that the obstacles or wet dirt on the second path are no longer present, such as having been cleaned by the user, the cleaning robot can be controlled to readjust the preset path to perform supplementary cleaning on the target area where the original obstacles or wet dirt were located.

[0186] In this way, by continuously detecting along the third path, the cleaning robot can dynamically perceive changes in the state of obstacles or wet dirt, ensuring timely response to environmental changes. Furthermore, after confirming that obstacles or wet dirt have been removed or treated, the original target area is cleaned again, avoiding cleaning omissions caused by previous avoidance, improving cleaning coverage, and enhancing the adaptability and completeness of the cleaning process.

[0187] Optionally, the preset path also includes a third path, and the method also includes:

[0188] After the cleaning robot cleans the edges of obstacles or avoids wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area.

[0189] During the cleaning robot's movement along the third path, the visual sensor is kept on along the third path, and its visual scanning range is controlled to cover the second path.

[0190] If no obstacles or wet dirt are detected on the second path, the cleaning robot is controlled to continue cleaning along the third path.

[0191] After cleaning the carpet area, the cleaning robot is controlled to return to the target area for cleaning; the target area is the area where obstacles or wet dirt are located.

[0192] For example, after the cleaning robot has finished cleaning the edges of obstacles or avoiding wet dirt, it can be controlled to continue cleaning the carpet area in a backward manner along a third path. During the backward movement, the vision sensor is activated on the third path, and its scanning range covers the second path where obstacles or wet dirt previously existed. If it detects that the obstacles or wet dirt on the second path no longer exist, such as having been cleared by the user, the cleaning robot can be controlled to continue completing the current cleaning task along the third path; after the entire carpet area has been cleaned, the cleaning robot can be controlled to return to the original target area where the obstacles or wet dirt were located for supplementary cleaning.

[0193] In this way, by performing cross-path detection on the third path, it dynamically confirms whether obstacles or wet dirt have been removed, providing a basis for decision-making regarding subsequent supplementary cleaning. If it is determined that obstacles or wet dirt have been removed, instead of immediately adjusting the preset path for re-sweeping, the entire carpet area is cleaned first before returning to the target area for re-sweeping. This prioritizes the continuity of the overall carpet cleaning task, avoiding the impact on cleaning efficiency caused by frequent path adjustments. Furthermore, after the overall cleaning is completed, concentrated supplementary cleaning of the target area is performed to ensure cleaning coverage while reducing back-and-forth movement during the cleaning process.

[0194] Optionally, the preset path also includes a third path, and the method also includes:

[0195] After the cleaning robot cleans the edges of obstacles or avoids wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area.

[0196] During the cleaning robot's movement along the third path, the visual sensor is kept on along the third path, and its visual scanning range is controlled to cover the second path.

[0197] If no obstacles or wet dirt are detected on the second path, the cleaning robot is controlled to generate prompts and update the cleaning map.

[0198] In this embodiment of the application, the prompt information may refer to the status information generated by the cleaning robot based on environmental changes to notify the user, and may include event descriptions such as obstacle removal and dirt disappearance.

[0199] It should be noted that the embodiments of this application do not specifically limit the content and display format of the prompt information. For example, it can be sent to the user's terminal device and displayed in text form.

[0200] Optionally, after generating the prompt information, the cleaning robot can respond to the user's operation and determine the cleaning strategy or cleaning action to be performed, including but not limited to: immediately adjusting the preset path to perform supplementary cleaning of the target area, cleaning the entire carpet area first and then returning to the target area for supplementary cleaning, or cleaning a portion of the carpet area and then returning to the target area for supplementary cleaning.

[0201] For example, after the cleaning robot has finished cleaning the edges of obstacles or avoided wet dirt, it can be controlled to continue cleaning the carpet area in a backward manner along a third path. During the backward movement, the vision sensor is activated on the third path and its scanning range extends to the second path where obstacles or wet dirt previously existed. If it detects that the obstacles or wet dirt on the second path are no longer present, such as having been cleaned by the user, the cleaning robot can generate a prompt message and update the cleaning map to reflect the change in the status of the obstacles or wet dirt.

[0202] In this way, by performing cross-path detection on the third path, the removal status of obstacles or wet dirt can be dynamically confirmed, improving the real-time nature of environmental perception. Once it is confirmed that an obstacle or wet dirt has been removed, a prompt message is generated to promptly notify the user of the change in environmental status, enhancing the transparency of human-computer interaction. Correspondingly, updating the cleaning map can also provide data support for subsequent cleaning tasks or path planning. Furthermore, it allows users to easily adjust cleaning strategies in real time.

[0203] Optionally, the method also includes:

[0204] During the cleaning process on the second path, the robot adjusts its posture to rescan the area containing obstacles or wet dirt based on visual sensors to determine if there are any obstacles or wet dirt.

[0205] In this step, when the cleaning robot is performing cleaning on the second path, it can also be controlled to adjust its own posture (such as rotation or translation), so that the front vision sensor can scan the area where the previously detected obstacle or wet dirt is located again to confirm whether the obstacle or wet dirt still exists.

[0206] Therefore, if an obstacle or wet dirt is detected on the second path while the first path is in progress, the cleaning robot adjusts its posture to perform a close-up re-inspection using its front-mounted vision sensor as it moves onto the second path. This corrects or confirms the accuracy of the previous detection, preventing misjudgments that could interrupt cleaning or lead to incorrect path adjustments. Furthermore, the re-inspection helps to accurately identify the boundaries of obstacles or wet dirt, ensuring that the robot's subsequent cleaning path more completely covers the carpet area to be cleaned, reducing omissions and improving cleaning integrity.

[0207] In this way, by combining long-distance initial inspection with close-range re-inspection, a dual detection mechanism is formed, which reduces the risk of decision-making errors caused by sensor noise or environmental interference and enhances robustness.

[0208] Optionally, the method also includes:

[0209] While the cleaning robot is cleaning the edges of obstacles based on the adjusted preset path, the control side brush component is in the second position.

[0210] For example, during the cleaning process of the cleaning robot cleaning the edge of an obstacle based on the adjusted preset path, the side brush component can be controlled to switch to a second position, so that the distance it extends outward from the body is greater than the extension distance in the first position. This allows it to more effectively reach and clean the narrow area between the obstacle edge and the body, reducing cleaning dead corners and thus achieving effective cleaning of the obstacle edge.

[0211] Therefore, dynamically adjusting the state of the side brush components during the cleaning process of the cleaning robot cleaning the edges of obstacles can optimize the cleaning coverage and improve the cleaning effect on complex obstacles.

[0212] Optionally, the side brush can be retracted to the first position when not cleaning the edges of obstacles, which helps reduce the risk of collision or entanglement of the side brush assembly and improves the mobility and safety of the cleaning robot.

[0213] Optionally, the method also includes:

[0214] When the cleaning robot is cleaning the carpet area in a backward manner, if it is detected that the cleaning robot is located in the boundary area between the first plane and the second plane, the robot is controlled to adjust its posture and clean the boundary area in a forward manner.

[0215] The first plane is higher than the second plane.

[0216] In this embodiment, the first plane can refer to a relatively high planar region, such as the plane containing a platform or steps. The second plane can refer to a relatively low planar region, adjacent to the first plane and having a height difference.

[0217] The first plane and the second plane form two planes that constitute a step or platform. The boundary area between the first plane and the second plane is a transition area where the height changes between the first plane and the second plane, and usually has terrain features such as steps, edges or slopes.

[0218] For example, when the cleaning robot is cleaning a carpet area in a backward manner, if it detects that the carpet area is located at the boundary between the first plane and the second plane, it can control the cleaning robot to adjust its body posture and switch to a forward mode to clean the boundary area, thus avoiding the risk of falling.

[0219] Therefore, for the special terrain of the boundary area of ​​the carpet area, the forward movement mode is switched. Based on real-time detection by the visual sensor, the roller brush can clean the boundary area more stably, reduce the risk of suspension or slippage, and reduce the risk of jamming or falling, thus improving the safety of cleaning the boundary area.

[0220] Optionally, the method also includes:

[0221] Mark the boundary areas on the cleaning map and update the cleaning map.

[0222] For example, after the cleaning robot detects the boundary area between the first and second planes, it can mark the spatial location information of the boundary area on the cleaning map and update the map to record the terrain feature. For instance, marking "no backtracking area" on the cleaning map allows the robot to automatically avoid the boundary area during subsequent cleaning path planning.

[0223] By establishing records of boundary areas through map marking, terrain references can be provided for subsequent cleaning tasks, optimizing path planning and travel strategies. Furthermore, the updated cleaning map helps cleaning robots more accurately identify and adapt to areas with varying elevations, improving the safety and efficiency of the cleaning process. It also provides users with a more complete cleaning map, enhancing the visualization and manageability of the cleaning process and improving the user experience.

[0224] In the foregoing embodiments, the control method for the cleaning robot provided in this application has been described. To achieve the functions of the methods provided in the embodiments of this application, the electronic device serving as the execution entity may include hardware structures and / or software modules, implementing the aforementioned functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0225] For example, Figure 5 This is a schematic diagram of a control device for a cleaning robot provided in an embodiment of this application. The cleaning robot includes a roller brush assembly, drive wheels, a vision sensor, and a body. The roller brush assembly includes a roller brush, the drive wheels are used to drive the cleaning robot to move, and the vision sensor is located on the front side of the body. Figure 5 As shown, the control device 500 of the cleaning robot includes:

[0226] The first control module 501 is used to control the vision sensor to be turned on on the first path being cleaned, and to control the visual scanning range of the vision sensor to cover the second path to be cleaned, while the cleaning robot is moving backward along the preset path and cleaning the carpet area with the roller brush. The preset path includes the first path and the second path.

[0227] The second control module 502 is used to control the cleaning robot to adjust the preset path to avoid the obstacle and clean the edge of the obstacle when an obstacle is detected on the second path; or to control the cleaning robot to adjust the preset path to avoid the wet dirt when wet dirt is detected on the second path.

[0228] In the process of the cleaning robot moving backward, the direction of rotation of the roller brush is opposite to the direction of movement of the drive wheel.

[0229] Optionally, the second control module 502 is specifically used for:

[0230] The cleaning robot is controlled to adjust at least a portion of the second path to an edge cleaning path, and is controlled to continue moving backward to clean the edge areas of obstacles using a roller brush.

[0231] Optionally, the second control module 502 is specifically used for:

[0232] The cleaning robot is controlled to adjust at least a portion of the second path to an edge cleaning path, and is controlled to move backward to a position at a preset distance from the obstacle. The robot's posture is then adjusted to move forward, so as to clean the edge area of ​​the obstacle using a roller brush.

[0233] Optionally, the preset path is a bow-shaped cleaning path, and the first path and the second path are two parallel adjacent paths on the bow-shaped cleaning path.

[0234] Optionally, the control unit 500 of the cleaning robot also includes an identification module, which is used for:

[0235] If an obstacle or wet dirt is detected on the second path, identify the location information of the obstacle or wet dirt;

[0236] The location information is marked on the cleaning map, and the cleaning map is sent to the user terminal for visualization.

[0237] Optionally, the control device 500 of the cleaning robot also includes a third control module, which is used for:

[0238] If an obstacle or wet dirt is detected on the second path, the cleaning robot is controlled to adjust its posture on the first path so that the visual scanning range of the vision sensor covers the obstacle or wet dirt.

[0239] Optionally, the preset path also includes a third path, and the control device 500 of the cleaning robot also includes a fourth control module, which is used for:

[0240] After the cleaning robot cleans the edges of obstacles or avoids wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area.

[0241] During the cleaning robot's movement along the third path, the visual sensor is kept on along the third path, and its visual scanning range is controlled to cover the second path.

[0242] If no obstacles or wet dirt are detected on the second path, the cleaning robot is controlled to readjust the preset path to clean the target area; the target area is the area where the obstacles or wet dirt are located.

[0243] Optionally, the preset path also includes a third path, and the control device 500 of the cleaning robot further includes a fifth control module, which is used for:

[0244] After the cleaning robot cleans the edges of obstacles or avoids wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area.

[0245] During the cleaning robot's movement along the third path, the visual sensor is kept on along the third path, and its visual scanning range is controlled to cover the second path.

[0246] If no obstacles or wet dirt are detected on the second path, the cleaning robot is controlled to continue cleaning along the third path.

[0247] After cleaning the carpet area, the cleaning robot is controlled to return to the target area for cleaning; the target area is the area where obstacles or wet dirt are located.

[0248] Optionally, the preset path also includes a third path, and the control device 500 of the cleaning robot further includes a sixth control module, which is used for:

[0249] After the cleaning robot cleans the edges of obstacles or avoids wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area.

[0250] During the cleaning robot's movement along the third path, the visual sensor is kept on along the third path, and its visual scanning range is controlled to cover the second path.

[0251] If no obstacles or wet dirt are detected on the second path, the cleaning robot is controlled to generate prompts and update the cleaning map.

[0252] Optionally, the control device 500 of the cleaning robot also includes a seventh control module, which is used for:

[0253] During the cleaning process on the second path, the robot adjusts its posture to rescan the area containing obstacles or wet dirt based on visual sensors to determine if there are any obstacles or wet dirt.

[0254] Optionally, the cleaning robot also includes a side brush assembly; the side brush assembly has a first position and a second position, in the first position, the side brush assembly is at least partially retracted inward within the body contour range, and in the second position, the side brush assembly extends outward from the body by a greater distance than the side brush assembly extends outward from the body in the first position; the control device 500 of the cleaning robot also includes an eighth control module, which is used for:

[0255] While the cleaning robot is cleaning the edges of obstacles based on the adjusted preset path, the control side brush component is in the second position.

[0256] Optionally, the control device 500 of the cleaning robot further includes a ninth control module, which is used for:

[0257] When the cleaning robot is cleaning the carpet area in a backward manner, if it is detected that the cleaning robot is located in the boundary area between the first plane and the second plane, the robot is controlled to adjust its posture and clean the boundary area in a forward manner.

[0258] The first plane is higher than the second plane.

[0259] Optionally, the control unit 500 of the cleaning robot also includes an update module, which is used for:

[0260] Mark the boundary areas on the cleaning map and update the cleaning map.

[0261] It should be noted that the specific implementation principle and effect of the control device 500 of the cleaning robot can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0262] This application also provides an electronic device. Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 6As shown, the electronic device may include: a processor 601 and a memory 602 communicatively connected to the processor 601; the memory 602 stores a computer program; the processor 601 executes the computer program stored in the memory 602, causing the processor 601 to perform the method described in any of the above embodiments.

[0263] The memory 602 and the processor 601 can be connected via bus 603.

[0264] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0265] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0266] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0267] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0268] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0269] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0270] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0271] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0272] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0273] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0274] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0275] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0276] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0277] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0278] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0279] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0280] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that, The cleaning robot includes a roller brush assembly, drive wheels, a vision sensor, and a body. The roller brush assembly includes a roller brush, the drive wheels are used to drive the cleaning robot to move, and the vision sensor is located at the front of the body. The method includes: While the cleaning robot is moving backward along a preset path and cleaning the carpet area with the roller brush, the vision sensor is controlled to be turned on on the first path currently being cleaned, and the visual scanning range of the vision sensor is controlled to cover the second path to be cleaned; the preset path includes the first path and the second path. If an obstacle is detected on the second path, the cleaning robot is controlled to adjust the preset path to avoid the obstacle and clean the edges of the obstacle. Alternatively, if wet dirt is detected on the second path, the cleaning robot can be controlled to adjust the preset path to avoid the wet dirt. During the backward movement of the cleaning robot, the rotation direction of the roller brush is opposite to the movement direction of the drive wheel.

2. The method according to claim 1, characterized in that, The control of the cleaning robot to adjust the preset path to avoid the obstacle and to clean the edges of the obstacle includes: The cleaning robot is controlled to adjust at least a portion of the second path to an edge cleaning path, and the cleaning robot is controlled to continue moving backward to clean the edge area of ​​the obstacle using the roller brush.

3. The method according to claim 1, characterized in that, The control of the cleaning robot to adjust the preset path to avoid the obstacle and to clean the edges of the obstacle includes: The cleaning robot is controlled to adjust at least a portion of the second path to an edge cleaning path, and the cleaning robot is controlled to move backward to a position at a preset distance from the obstacle. The robot body is then adjusted to move forward to clean the edge area of ​​the obstacle using the roller brush.

4. The method according to claim 1, characterized in that, The preset path is a bow-shaped cleaning path, and the first path and the second path are two parallel adjacent paths on the bow-shaped cleaning path.

5. The method according to claim 1, characterized in that, The method further includes: If the obstacle or wet dirt is detected on the second path, the location information of the obstacle or wet dirt is identified; The location information is marked on the cleaning map, and the cleaning map is sent to the user terminal for visualization.

6. The method according to claim 1, characterized in that, The method further includes: If an obstacle or wet dirt is detected on the second path, the cleaning robot is controlled to adjust its posture on the first path so that the visual scanning range of the vision sensor covers the obstacle or wet dirt.

7. The method according to claim 1, characterized in that, The preset path also includes a third path, and the method further includes: After the cleaning robot cleans the edge of the obstacle or avoids the wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area. During the movement of the cleaning robot along the third path, the visual sensor is controlled to be turned on along the third path, and the visual scanning range of the visual sensor is controlled to cover the second path. If no obstacle or wet dirt is detected on the second path, the cleaning robot is controlled to readjust the preset path to clean the target area; the target area is the location of the obstacle or wet dirt.

8. The method according to claim 1, characterized in that, The preset path also includes a third path, and the method further includes: After the cleaning robot cleans the edge of the obstacle or avoids the wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area. During the movement of the cleaning robot along the third path, the visual sensor is controlled to be turned on along the third path, and the visual scanning range of the visual sensor is controlled to cover the second path. If no obstacle or wet dirt is detected on the second path, the cleaning robot is controlled to continue cleaning according to the third path. After cleaning the carpet area, the cleaning robot is controlled to return to the target area for cleaning; the target area is the location of the obstacle or the wet dirt.

9. The method according to claim 1, characterized in that, The preset path also includes a third path, and the method further includes: After the cleaning robot cleans the edge of the obstacle or avoids the wet dirt based on the adjusted preset path, the cleaning robot is controlled to continue moving backward on the third path to clean the carpet area. During the movement of the cleaning robot along the third path, the visual sensor is controlled to be turned on along the third path, and the visual scanning range of the visual sensor is controlled to cover the second path. If no obstacle or wet dirt is detected on the second path, the cleaning robot is controlled to generate a prompt message and update the cleaning map.

10. The method according to claim 1, characterized in that, The method further includes: During the cleaning process of the cleaning robot on the second path, the robot is controlled to adjust its posture to rescan the area where the obstacle or wet dirt is located based on the vision sensor, so as to determine whether the obstacle or wet dirt exists.

11. The method according to claim 1, characterized in that, The cleaning robot further includes a side brush assembly; the side brush assembly has a first position and a second position, wherein in the first position, the side brush assembly is at least partially retracted inward within the outline of the robot body, and in the second position, the side brush assembly extends outward from the robot body by a greater distance than in the first position; the method further includes: During the process of the cleaning robot cleaning the edge of the obstacle based on the adjusted preset path, the side brush assembly is controlled to be in the second position.

12. The method according to claim 1, characterized in that, The method further includes: During the process of the cleaning robot cleaning the carpet area in a backward manner, if it is detected that the cleaning robot is located in the boundary area between the first plane and the second plane, the cleaning robot is controlled to adjust the posture of its body and clean the boundary area in a forward manner. The first plane is higher than the second plane.

13. The method according to claim 12, characterized in that, The method further includes: The boundary areas are marked on the cleaning map, and the cleaning map is updated.

14. A control device for a cleaning robot, characterized in that, The cleaning robot includes a roller brush assembly, drive wheels, a vision sensor, and a body. The roller brush assembly includes a roller brush, the drive wheels are used to drive the cleaning robot to move, and the vision sensor is located on the front side of the body. The device includes: The first control module is used to control the vision sensor to be turned on on the first path currently being cleaned, and to control the visual scanning range of the vision sensor to cover the second path to be cleaned, while the cleaning robot is moving backward along a preset path and cleaning the carpet area with the roller brush; the preset path includes the first path and the second path. The second control module is used to control the cleaning robot to adjust the preset path to avoid the obstacle and clean the edge of the obstacle when an obstacle is detected on the second path; or to control the cleaning robot to adjust the preset path to avoid the wet dirt when wet dirt is detected on the second path. During the backward movement of the cleaning robot, the rotation direction of the roller brush is opposite to the movement direction of the drive wheel.

15. A cleaning robot, characterized in that, The cleaning robot includes a roller brush assembly, drive wheels, a vision sensor, and a body. The roller brush assembly includes a roller brush, the drive wheels are used to drive the cleaning robot to move, and the vision sensor is located on the front side of the body. The cleaning robot is used to perform the method as described in any one of claims 1-13.

16. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-13.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-13.

18. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-13.

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