Cliff detection method, cliff detection circuit, and cleaning robot

Abstract

The application relates to a cliff detection method, a cliff detection circuit and a cleaning robot. The method is applied to a cleaning robot, the cleaning robot comprising an infrared emission circuit and an infrared receiving circuit; the method comprises the following steps: after the infrared emission circuit emits a first infrared signal, detecting a first voltage change value of an output voltage of the infrared receiving circuit when a first effective resistance is connected; after the infrared emission circuit emits a second infrared signal, detecting a second voltage change value of an output voltage of the infrared receiving circuit when a second effective resistance is connected; according to the first voltage change value and the second voltage change value, detecting an ambient light interference state corresponding to the cleaning robot; in the case that the ambient light interference state represents that the cleaning robot is interfered by ambient light, compensating the first voltage change value, and according to the compensated first voltage change value, performing cliff detection on the cleaning robot. The method can improve the accuracy of cliff detection of the cleaning robot.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a cliff detection method, a cliff detection circuit, and a cleaning robot. Background Technology

[0002] With the development of cleaning robot technology, cliff detection technology has emerged. Cleaning robots use cliff detection technology to detect whether there is a cliff area in front of them, thereby preventing the cleaning robot from falling due to a misstep.

[0003] In traditional technology, cleaning robots use infrared detection technology to detect cliffs. That is, the cleaning robot emits an infrared signal and uses the corresponding infrared feedback signal to detect whether the area in front is a cliff area.

[0004] However, when there is other infrared signal interference in the external environment, it will interfere with the infrared signal recognition results of the cleaning robot, thus reducing the accuracy of cliff detection. Summary of the Invention

[0005] Therefore, it is necessary to provide a cliff detection method, cliff detection circuit, and cleaning robot that can improve the accuracy of cliff detection, addressing the aforementioned technical problems.

[0006] In a first aspect, this application provides a cliff detection method applied to a cleaning robot, the cleaning robot including an infrared emitting circuit and an infrared receiving circuit, the infrared emitting circuit being used to sequentially emit a first infrared signal and a second infrared signal; the method includes:

[0007] After the infrared emitting circuit emits the first infrared signal, the first voltage change value of the output voltage of the infrared receiving circuit when the first effective resistor is connected is detected.

[0008] After the infrared emitting circuit emits the second infrared signal, the second voltage change value of the output voltage of the infrared receiving circuit when the second effective resistor is connected is detected, wherein the resistance values ​​of the first effective resistor and the second effective resistor are different;

[0009] Based on the first voltage change value and the second voltage change value, the ambient light interference state corresponding to the cleaning machine is detected;

[0010] When the ambient light interference state characterizes the situation under ambient light interference, the first voltage change value is compensated, and the cleaning robot is used to perform cliff detection based on the compensated first voltage change value.

[0011] In one embodiment, detecting the ambient light interference state corresponding to the cleaning machine based on the first voltage change value and the second voltage change value includes:

[0012] An ambient light feature value is generated based on the ratio between the first voltage change value and the second voltage change value, wherein the ambient light feature value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located;

[0013] If the ambient light characteristic value is greater than the first preset characteristic value, the ambient light interference state of the cleaning robot is determined to be under strong ambient light interference.

[0014] In one embodiment, after generating ambient light feature values ​​based on the ratio between the first voltage change value and the second voltage change value, the method includes:

[0015] If the ambient light characteristic value is less than the second preset characteristic value and greater than the third preset characteristic value, the ambient light interference state of the cleaning robot is determined to be weak ambient light interference.

[0016] If the ambient light characteristic value is less than the third preset characteristic value, the ambient light interference state of the cleaning robot is determined to be that it is not affected by ambient light interference.

[0017] Wherein, the first preset feature value is greater than or equal to the second preset feature value.

[0018] In one embodiment, after generating ambient light feature values ​​based on the ratio between the first voltage change value and the second voltage change value, the method includes:

[0019] When the ambient light characteristic value is less than the first preset characteristic value, the first voltage signal output by the infrared receiving circuit when the first effective resistor is connected and no infrared feedback signal corresponding to the first infrared signal is received, and the second voltage signal output when the second effective resistor is connected and no infrared feedback signal corresponding to the second infrared signal is received;

[0020] A third voltage change value is generated based on the difference between the first voltage signal and the second voltage signal;

[0021] If the third voltage change value is greater than the first preset voltage threshold, then the ambient light interference state of the cleaning robot is determined to be under weak ambient light interference.

[0022] If the third voltage change value is not greater than the first preset voltage threshold, then the ambient light interference state of the cleaning robot is determined to be unaffected by ambient light.

[0023] In one embodiment, when the ambient light interference state characterization is subjected to strong ambient light interference, the compensation for the first voltage change value includes:

[0024] The ambient light feature value and the first device feature parameter corresponding to the infrared receiving circuit are obtained. The ambient light feature value is generated based on the first voltage change value and the second voltage change value. The ambient light feature value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located.

[0025] The first voltage change value is compensated based on the ambient light characteristic value and the first device characteristic parameter.

[0026] In one embodiment, when the ambient light interference state characterization is subject to weak ambient light interference, the compensation for the first voltage change value includes:

[0027] Obtain a third voltage change value, wherein the third voltage change value is determined based on a first voltage signal and a second voltage signal, the first voltage signal being the voltage signal output by the infrared receiving circuit when the first effective resistor is connected and no infrared feedback signal corresponding to the first infrared signal is received, and the second voltage signal being the voltage signal output by the infrared receiving circuit when the second effective resistor is connected and no infrared feedback signal corresponding to the second infrared signal is received.

[0028] The first voltage change value is compensated based on the voltage compensation value generated from the third voltage change value.

[0029] In one embodiment, when the cleaning robot is subjected to weak ambient light interference, the third voltage change value first increases and then decreases as the ambient infrared light intensifies; the compensation of the first voltage change value based on the voltage compensation value generated according to the third voltage change value includes:

[0030] Obtain the second device characteristic parameters corresponding to the infrared receiving circuit;

[0031] A voltage compensation value is generated based on the difference between the third voltage change value and the characteristic parameters of the second device;

[0032] The first voltage change value is compensated based on the voltage compensation value.

[0033] In one embodiment, the step of performing cliff detection on the cleaning robot based on the compensated first voltage change value includes:

[0034] If the compensated first voltage change value is greater than the second preset voltage threshold, then the area in front of the cleaning robot is determined to be a cliff area.

[0035] If the compensated first voltage change value is not greater than the second preset voltage threshold, then it is determined that the area in front of the cleaning robot is not a cliff area.

[0036] Secondly, this application also provides a cliff detection circuit for use in a cleaning robot, the cliff detection circuit comprising:

[0037] An infrared emitting circuit, wherein the infrared emitting circuit is used to sequentially emit a first infrared signal and a second infrared signal;

[0038] An infrared receiving circuit is provided, wherein the infrared receiving circuit is used to connect to a first effective resistor, and outputs a first voltage signal and a second voltage signal to the processor module before and after the infrared transmitting circuit transmits the first infrared signal, respectively.

[0039] The infrared receiving circuit is also used to switch the connected first effective resistor to a second effective resistor, and to output a third voltage signal and a fourth voltage signal to the processor module before and after the infrared transmitting circuit transmits the second infrared signal, respectively, wherein the resistance values ​​of the first effective resistor and the second effective resistor are different.

[0040] The processor module is configured to detect the ambient light interference state of the cleaning robot based on a first voltage change value between the first voltage signal and the second voltage signal, and a second voltage change value between the third voltage signal and the fourth voltage signal.

[0041] The processor module is also configured to compensate for the first voltage change value when the ambient light interference state characterization is subjected to ambient light interference, and to perform cliff detection on the cleaning robot based on the compensated first voltage change value.

[0042] Thirdly, this application also provides a cleaning robot, including an infrared emitting circuit, an infrared receiving circuit, a body, a cleaning component, a driving component, a memory, and a processor. The infrared emitting circuit, the infrared receiving circuit, the driving component, and the cleaning component are all mounted on the body. The driving component is used to move the body along a working surface. The cleaning component is used to clean the working surface. The memory stores a computer program. The infrared emitting circuit is used to sequentially emit a first infrared signal and a second infrared signal. When the processor executes the computer program, it performs the following steps:

[0043] After the infrared emitting circuit emits the first infrared signal, a first voltage change value is detected when the infrared receiving circuit is connected to a first effective resistor; after the infrared emitting circuit emits the second infrared signal, a second voltage change value is detected when the infrared receiving circuit is connected to a second effective resistor, wherein the resistance values ​​of the first effective resistor and the second effective resistor are different; based on the first voltage change value and the second voltage change value, the ambient light interference state corresponding to the cleaning machine is detected; when the ambient light interference state indicates that the machine is subject to ambient light interference, the first voltage change value is compensated, and based on the compensated first voltage change value, the cleaning robot is subjected to cliff detection.

[0044] The aforementioned cliff detection method, cliff detection circuit, and cleaning robot, firstly, the cleaning robot in this application is equipped with an infrared emitting circuit and an infrared receiving circuit. The infrared emitting circuit sequentially emits a first infrared signal and a second infrared signal. After the infrared emitting circuit emits the first infrared signal, the cleaning robot first detects the first voltage change value of the output voltage when the infrared receiving circuit is connected to a first effective resistor. After the infrared emitting circuit emits the second infrared signal, the cleaning robot further detects the second voltage change value of the output voltage when the infrared receiving circuit is connected to a second effective resistor, wherein the first effective resistor and the second effective resistor are different. In this way, this application can detect the ambient light interference state of the cleaning robot based on the feedback output of the infrared receiving circuit to the external infrared signal when connected to different effective resistors, that is, detect whether the cleaning robot is interfered with by the external ambient infrared signal. Thus, when the ambient light interference state indicates that the robot is interfered with by ambient light, the first voltage change value can be compensated, and the cleaning robot can be used to perform cliff detection based on the compensated first voltage change value, thereby eliminating the interference of the external ambient light on the cliff detection of the cleaning robot and improving the accuracy of the cliff detection of the cleaning robot. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart illustrating a cliff detection method in one embodiment of this application;

[0047] Figure 2 This is a schematic diagram showing the voltage change of the output voltage of the infrared receiving circuit when different effective resistors are connected in one embodiment of this application;

[0048] Figure 3 This is a schematic diagram of the process for compensating for a first voltage change value in one embodiment of this application;

[0049] Figure 4 This is a schematic diagram of the process for compensating for the first voltage change value in another embodiment of this application;

[0050] Figure 5 This is a circuit diagram showing the modular components of a cliff detection circuit in one embodiment of this application;

[0051] Figure 6 This is a hardware circuit diagram of an infrared receiving circuit in one embodiment of this application;

[0052] Figure 7 This is a structural block diagram of a cliff detection device in one embodiment of this application;

[0053] Figure 8 This is a diagram of the internal structure of a cleaning robot in one embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] Currently, cleaning robots can detect cliffs using either infrared phototransistors or DTOF (Direct Time of Flight) sensors. However, due to the high cost of DTOF, most cleaning robots still use infrared phototransistors for cliff detection. The cleaning robot emits an infrared signal through an infrared emitting circuit and then detects the corresponding infrared feedback signal through an infrared receiving circuit to identify whether the area in front is a cliff.

[0056] However, when other infrared signals interfere with the environment, they can affect the infrared signal recognition results of the cleaning robot. For example, when there is weak infrared light in the environment, the photocurrent in the infrared receiving circuit will increase slightly, which may cause the cleaning robot to fail to identify the cliff area when it encounters a cliff. When there is strong infrared light in the environment, the infrared receiving circuit will become oversaturated, making it unable to identify the infrared feedback signal corresponding to the infrared signal emitted by the infrared emitting circuit. This may cause the cleaning robot to misjudge the cliff area when walking on the ground. Based on this, it can be seen that when there is other infrared signal interference in the environment, the accuracy of cliff detection using infrared photodiodes is low.

[0057] In one exemplary embodiment, such as Figure 1 As shown, a cliff detection method is provided, which is applied to a cleaning robot. The cleaning robot includes an infrared emitting circuit and an infrared receiving circuit, and includes the following steps 202 to 208. Wherein:

[0058] Step 202: After the infrared transmitting circuit transmits the first infrared signal, the first voltage change value of the output voltage of the infrared receiving circuit when the first effective resistor is connected is detected.

[0059] The cleaning robot can be set to multiple detection cycles. In each detection cycle, the cleaning robot will perform cliff detection. In this embodiment, the infrared emitting circuit emits infrared signals at least twice in one detection cycle. For example, the infrared emitting circuit can emit the first infrared signal and the second infrared signal in sequence in one detection cycle.

[0060] It should be noted that within one detection cycle, the infrared emitting circuit will first emit a first infrared signal, and then the infrared receiving circuit will be connected to the first effective circuit, and output the corresponding voltage value according to the infrared feedback signal corresponding to the first infrared signal (which may include external ambient infrared signals); after that, the infrared emitting circuit will emit a second infrared signal, and then the infrared receiving circuit will be connected to the second effective circuit, and output the corresponding voltage value according to the infrared feedback signal corresponding to the second infrared signal (which may include external ambient infrared signals).

[0061] As an example, step 202 includes: after the infrared emitting circuit emits a first infrared signal, controlling the infrared receiving circuit to connect to a first effective resistor, and monitoring the output voltage of the infrared receiving circuit, and obtaining a first voltage change value when the output voltage of the infrared receiving circuit changes.

[0062] Step 204: After the infrared transmitting circuit transmits the second infrared signal, the second voltage change value of the output voltage of the infrared receiving circuit when the second effective resistor is connected is detected, wherein the resistance values ​​of the first effective resistor and the second effective resistor are different.

[0063] As an example, step 204 includes: after the infrared emitting circuit emits a second infrared signal, controlling the infrared receiving circuit to connect a second effective resistor, and monitoring the output voltage of the infrared receiving circuit; when the output voltage of the infrared receiving circuit changes, obtaining a second voltage change value.

[0064] It should be noted that the resistance values ​​of the first effective resistor and the second effective resistor are different. Thus, under the same light intensity variation conditions, the response of the infrared receiving circuit is different when the first effective resistor and the second effective resistor are connected, that is, the voltage change value is different. Therefore, by combining the voltage change of the infrared receiving circuit when the first effective resistor and the second effective resistor are connected, the ambient light interference status of the cleaning robot can be detected.

[0065] As an example, refer to Figure 2 , Figure 2 The diagram illustrates the voltage variation of the output voltage of the infrared receiving circuit when different effective resistances are connected. Vba is the change in output voltage of the infrared receiving circuit, R4 is the first effective resistance, Vdc is the second effective resistance, and R4||R5 indicates that the second effective resistance is the parallel resistance of R4 and R5.

[0066] Step 206: Detect the ambient light interference status corresponding to the cleaning machine based on the first voltage change value and the second voltage change value.

[0067] As an example, step 206 includes: calculating the ratio between the second voltage change value and the first voltage change value, and using the ratio as an ambient light characteristic value, wherein the ambient light characteristic value characterizes the intensity of infrared light in the external environment where the cleaning robot is located. The higher the ambient light characteristic value, the higher the intensity of infrared light in the external environment where the cleaning robot is located, and the lower the ambient light characteristic value, the lower the intensity of infrared light in the external environment where the cleaning robot is located; and detecting the ambient light interference state corresponding to the cleaning robot based on the ambient light characteristic value.

[0068] Step 208: When the ambient light interference state characterization is affected by ambient light interference, the first voltage change value is compensated, and the cleaning robot is subjected to cliff detection based on the compensated first voltage change value.

[0069] As an example, step 208 includes: if the ambient light characteristic value is greater than the first preset characteristic value, it indicates that there is strong ambient light interference in the environment where the cleaning robot is located, and the first voltage change value is compensated according to the ambient light characteristic value; if the ambient light characteristic value is not greater than the first preset characteristic value, but greater than the second preset characteristic threshold, it indicates that there is weak ambient light interference in the environment where the cleaning robot is located, and the first voltage change value is compensated according to the voltage change value of the infrared receiving circuit when the infrared receiving circuit is not connected to the infrared reflected signal corresponding to the infrared signal emitted by the infrared transmitting circuit and when the second effective resistor is connected; and the cleaning robot is subjected to cliff detection according to the compensated first voltage change value.

[0070] As an example, cliff detection is performed on the cleaning robot based on the compensated first voltage change value, including:

[0071] If the compensated first voltage change value is greater than the second preset voltage threshold, then the area in front of the cleaning robot is determined to be a cliff area; if the compensated first voltage change value is not greater than the second preset voltage threshold, then the area in front of the cleaning robot is determined not to be a cliff area. This allows for quantitative detection of whether the area in front of the cleaning robot is a cliff area.

[0072] In this embodiment, the cleaning robot is equipped with an infrared emitting circuit and an infrared receiving circuit. The infrared emitting circuit sequentially emits a first infrared signal and a second infrared signal. After the infrared emitting circuit emits the first infrared signal, the cleaning robot first detects the first voltage change value of the output voltage when the infrared receiving circuit is connected to a first effective resistor. After the infrared emitting circuit emits the second infrared signal, the cleaning robot further detects the second voltage change value of the output voltage when the infrared receiving circuit is connected to a second effective resistor. The first effective resistor and the second effective resistor are different. In this embodiment, the ambient light interference state of the cleaning robot can be detected based on the feedback output of the infrared receiving circuit to the external infrared signal when connected to different effective resistors. That is, it can detect whether the cleaning robot is interfered with by the external ambient infrared signal. Thus, when the ambient light interference state indicates that the robot is interfered with by the ambient light, the first voltage change value can be compensated, and the cleaning robot can perform cliff detection based on the compensated first voltage change value. This eliminates the interference of the external ambient light on the cliff detection of the cleaning robot, thereby improving the accuracy of the cliff detection of the cleaning robot.

[0073] In one embodiment, detecting the ambient light interference state corresponding to the cleaning machine based on a first voltage change value and a second voltage change value includes:

[0074] An ambient light feature value is generated based on the ratio between the first voltage change value and the second voltage change value. The ambient light feature value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located. If the ambient light feature value is greater than the first preset feature value, the ambient light interference state of the cleaning robot is determined to be strong ambient light interference.

[0075] It should be noted that the output voltage of the infrared receiving circuit varies depending on the effective resistance connected to it, based on changes in ambient light. This difference can be used to determine the intensity of ambient infrared light in the cleaning robot's environment, by combining the output voltage changes of the infrared receiving circuit with different effective resistances.

[0076] Specifically, the ratio between the first voltage change value and the second voltage change value is calculated, and this ratio is used as the ambient light characteristic value. The ambient light characteristic value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located. The larger the ambient light characteristic value, the higher the ambient light intensity of the environment in which the cleaning robot is located. The smaller the ambient light characteristic value, the lower the ambient light intensity of the environment in which the cleaning robot is located. When the ambient light characteristic value is greater than the first preset characteristic value, the ambient light interference state of the cleaning robot is determined to be a strong ambient light interference state.

[0077] It should be noted that under strong ambient light interference, the infrared receiving circuit becomes oversaturated, making it unable to identify the infrared feedback signal corresponding to the infrared signal emitted by the infrared transmitting circuit. This can cause the cleaning robot to misjudge cliff areas when walking on the ground.

[0078] As an example, when the ambient light characteristic value is less than the second preset characteristic value but greater than the third preset characteristic value, the ambient light interference state of the cleaning robot is determined to be under weak ambient light interference; when the ambient light characteristic value is less than the third preset characteristic value, the ambient light interference state of the cleaning robot is determined to be not under ambient light interference; wherein, the first preset characteristic value is greater than or equal to the second preset characteristic value.

[0079] It should be noted that in weak ambient light interference, the photocurrent in the infrared receiving circuit will increase slightly. This will cause a switching delay in the infrared receiving tube, resulting in an error in the sampling voltage value when sampling the output voltage of the infrared receiving circuit. This will lead to errors in the infrared recognition result based on the sampling voltage value, which may result in the cleaning robot being unable to identify the cliff area when it encounters a cliff.

[0080] In this embodiment, by setting a first preset feature value, a second preset feature value, and a third preset feature value, in addition to determining whether the cleaning robot is affected by ambient light interference, it can also detect whether the cleaning robot is in a state of strong ambient light interference, a state of weak ambient light interference, or a state of no ambient light interference. This makes the detection of the ambient light interference state of the environment in which the cleaning robot is located more accurate.

[0081] It should be noted that when the cleaning robot is in a state of weak ambient light interference, the change range of the ambient light characteristic value is usually small. Therefore, the magnitude of the ambient light characteristic value cannot well reflect the specific intensity of the ambient light.

[0082] As an example, after generating ambient light feature values ​​based on the ratio between a first voltage change value and a second voltage change value, the cliff detection method includes:

[0083] When the ambient light characteristic value is less than the first preset characteristic value, the first voltage signal output by the infrared receiving circuit when the infrared transmitting circuit emits the first infrared signal, and the second voltage signal output by the infrared receiving circuit when the infrared transmitting circuit emits the second infrared signal are determined; a third voltage change value is generated based on the difference between the first voltage signal and the second voltage signal; if the third voltage change value is greater than the first preset voltage threshold, the ambient light interference state of the cleaning robot is determined to be under weak ambient light interference; if the third voltage change value is not greater than the first preset voltage threshold, the ambient light interference state of the cleaning robot is determined to be not under ambient light interference.

[0084] Specifically, when the ambient light characteristic value is less than a first preset characteristic value, the system acquires the first voltage signal output by the infrared receiving circuit when the first effective resistor is connected and no infrared feedback signal corresponding to the first infrared signal is received, and the second voltage signal output by the infrared receiving circuit when the second effective resistor is connected and no infrared feedback signal corresponding to the second infrared signal is received. The difference between the signal amplitude of the second voltage signal and the signal amplitude of the first voltage signal is calculated to obtain a third voltage change value. Since the output voltage of the infrared receiving circuit is determined by the ambient light and is not affected by the infrared signal emitted by the infrared emitting circuit, the third voltage change value can better reflect the ambient light intensity under weak ambient light interference. If the third voltage change value is greater than the first preset voltage threshold, the ambient light interference state of the cleaning robot can be determined to be under weak ambient light interference. If the third voltage change value is not greater than the first preset voltage threshold, the ambient light interference state of the cleaning robot can be determined to be under no ambient light interference.

[0085] As an example, the first preset voltage threshold can be 0 or a value close to 0.

[0086] In this embodiment, the first voltage signal output by the infrared receiving circuit when the first effective resistor is connected and no infrared feedback signal corresponding to the first infrared signal is received, and the second voltage signal output when the second effective resistor is connected and no infrared feedback signal corresponding to the second infrared signal is received are first acquired. Since the signal amplitudes of the first and second voltage signals are affected by ambient infrared light but not by the infrared signal emitted by the infrared emitting circuit, a third voltage change value is generated based on the difference between the first and second voltage signals. The third voltage change value can better reflect the intensity of ambient light under weak ambient light interference. Therefore, the cleaning robot is quantitatively detected as being affected by weak ambient light interference or not, based on the third voltage change value, resulting in higher detection accuracy.

[0087] In one embodiment, reference Figure 3When the ambient light interference state characterization is subjected to strong ambient light interference, compensation is made for the change value of the first voltage, including:

[0088] Step 302: Obtain the ambient light feature value and the first device feature parameter corresponding to the infrared receiving circuit. The ambient light feature value is generated based on the first voltage change value and the second voltage change value. The ambient light feature value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located.

[0089] Among them, the first device characteristic parameter is the inherent parameter of the infrared receiving circuit, which is usually a constant. The ambient light characteristic value can be the ratio between the second voltage change value and the first voltage change value, which is used to characterize the ambient light intensity of the environment in which the cleaning robot is located. The larger the ambient light characteristic value, the higher the intensity of the ambient infrared light in the environment in which the cleaning robot is located. The smaller the ambient light characteristic value, the lower the intensity of the ambient infrared light in the environment in which the cleaning robot is located.

[0090] Step 304: Compensate for the first voltage change value based on the ambient light characteristic value and the first device characteristic parameter.

[0091] As an example, step 304 includes: calculating the product of the ambient light characteristic value, the first device characteristic parameter, and the first voltage change value, and using the product as the compensated first voltage change value.

[0092] The specific calculation formula for compensating for the first voltage change is as follows:

[0093]

[0094] in, The first voltage change value after compensation. This is the first voltage change value. Ambient light characteristic value, This is the first characteristic parameter of the device, which is usually a constant.

[0095] In this embodiment, when the ambient light interference state characterization is subjected to strong ambient light interference, the ambient light feature value and the device feature parameters corresponding to the infrared receiving circuit are first obtained. Since the ambient light feature value is generated based on the first voltage change value and the second voltage change value, and the ambient light feature value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located, the first voltage change value can be quantitatively compensated according to the ambient light feature value and the device feature parameters, thereby eliminating the influence of ambient infrared light on the first voltage change value, making the first voltage change value more suitable for cliff detection, and improving the accuracy of cliff detection.

[0096] In one embodiment, reference Figure 4When the ambient light interference state characterization is affected by weak ambient light interference, compensation is made for the first voltage change value, including:

[0097] Step 402: Obtain the third voltage change value, wherein the third voltage change value is determined based on the first voltage signal and the second voltage signal. The first voltage signal is the voltage signal output by the infrared receiving circuit when the first effective resistor is connected and no infrared feedback signal corresponding to the first infrared signal is received. The second voltage signal is the voltage signal output by the infrared receiving circuit when the second effective resistor is connected and no infrared feedback signal corresponding to the second infrared signal is received.

[0098] The third voltage change value can be the difference between the signal amplitude of the second voltage signal and the signal amplitude of the first voltage signal.

[0099] Step 404: Compensate the first voltage change value based on the voltage compensation value generated by the third voltage change value.

[0100] As an example, step 404 includes: obtaining the second device characteristic parameters corresponding to the infrared receiving circuit, and calculating the voltage compensation value based on the second device characteristic parameters and the third voltage change value; and compensating the first voltage change value based on the voltage compensation value, for example, by accumulating the voltage compensation value and the first voltage change value to obtain the compensated first voltage change value.

[0101] As an example, when a cleaning robot is subjected to weak ambient light interference, the third voltage change value first increases and then decreases as the ambient infrared light intensifies; the first voltage change value is compensated based on the voltage compensation value generated from the third voltage change value, including:

[0102] Obtain the second device characteristic parameters corresponding to the infrared receiving circuit; generate a voltage compensation value based on the difference between the third voltage change value and the second device characteristic parameters; and compensate the first voltage change value based on the voltage compensation value.

[0103] The second device characteristic parameter is an inherent parameter of the infrared receiving circuit, usually a constant. The third voltage change value can be the voltage difference between the voltage value corresponding to the second voltage signal and the voltage value corresponding to the first voltage signal. When there is basically no infrared light in the external environment, the voltage value corresponding to the second voltage signal and the voltage value corresponding to the first voltage signal are basically equal, and the third voltage change value approaches 0. When the infrared light in the external environment gradually increases, there is a weak photocurrent in the infrared receiving circuit. At this time, the infrared receiving tube in the infrared receiving circuit will have a switching delay phenomenon. Therefore, the voltage value corresponding to the second voltage signal and the voltage value corresponding to the first voltage signal are not equal, which will cause the third voltage change value to be greater than 0. As the infrared light in the external environment continues to increase, the switching delay component of the infrared receiving tube decreases until it disappears. When there is no switching delay in the infrared receiving tube, the voltage value corresponding to the second voltage signal and the voltage value corresponding to the first voltage signal will be equal again, and the third voltage change value approaches 0. It can be seen that when the cleaning robot is in a weak ambient light interference state, as the intensity of the ambient light continues to increase, the trend of the third voltage change value is first increasing and then decreasing.

[0104] Specifically, the second device characteristic parameters corresponding to the infrared receiving circuit are obtained; the absolute value of the difference between the third voltage change value and the second device characteristic parameters is calculated, and the absolute value of the difference is mapped to a voltage compensation value according to a preset mapping function; the first voltage change value is compensated according to the voltage compensation value.

[0105] As an example, the formula for calculating the voltage compensation value is as follows:

[0106]

[0107] in, This is the voltage compensation value. For the preset mapping function, This is the third voltage change value. These are the characteristic parameters of the second device. It is a constant.

[0108] In this embodiment, the third voltage change value and the second device characteristic parameters of the infrared receiving circuit are first obtained. Then, based on the difference between the third voltage change value and the second device characteristic parameters, a voltage compensation value is quantitatively generated. The first voltage change value can then be compensated based on the voltage compensation value, thus achieving quantitative compensation for the first voltage change value. This makes the voltage compensation more reliable and accurate, laying the foundation for improving the accuracy of cliff detection.

[0109] It should be noted that, in the above embodiments, strong ambient light interference can be the ambient light interference experienced by the cleaning robot when the ambient light feature value is greater than the first preset feature value; weak ambient light interference can be the ambient light interference experienced by the cleaning robot when the ambient light feature value is less than the second preset feature value and greater than the third preset feature value. Weak ambient light interference can also be the ambient light interference experienced by the cleaning robot when the third voltage change value is greater than the first preset voltage threshold, wherein the first preset feature value is greater than or equal to the second preset feature value.

[0110] In one embodiment, reference Figure 5 This embodiment also provides a cliff detection circuit, which is applied to a cleaning robot and includes an infrared emitting circuit 100, an infrared receiving circuit 200, and a processor module 300.

[0111] The infrared emitting circuit 100 is used to sequentially emit a first infrared signal and a second infrared signal.

[0112] The processor module 300 outputs a first control signal to the infrared receiving circuit 200, which is used to control the infrared receiving circuit 200 to connect to a first effective resistor. When the infrared receiving circuit 200 connects to the first effective resistor, it outputs a first voltage signal to the processor module 300 before the infrared emitting circuit 100 emits the first infrared signal, and outputs a second voltage signal to the processor module 300 after the infrared emitting circuit 100 emits the first infrared signal. The second voltage signal is a voltage signal output by the infrared emitting circuit 100 based on the influence of ambient infrared light and the first infrared light emitted by the infrared generating circuit, and the first voltage signal is a voltage signal output by the infrared emitting circuit 100 based on the influence of ambient infrared light.

[0113] The processor module 300 also outputs a second control signal to the infrared receiving circuit 200. This second control signal is used to control the infrared receiving circuit 200 to connect to the second effective resistor. When the infrared receiving circuit 200 connects to the second effective resistor, it outputs a third voltage signal to the processor module 300 before the infrared emitting circuit 100 emits the second infrared signal, and outputs a fourth voltage signal to the processor module 300 after the infrared emitting circuit 100 emits the second infrared signal. The third voltage signal is a voltage signal output by the infrared emitting circuit 100 based on the influence of ambient infrared light and the second infrared light emitted by the infrared generating circuit, and the fourth voltage signal is a voltage signal output by the infrared emitting circuit 100 based on the influence of ambient infrared light.

[0114] After receiving the first voltage signal and the second voltage signal, the processor module 300 calculates the difference between the signal amplitude of the second voltage signal and the signal amplitude of the first voltage signal to obtain the first voltage change value; and after receiving the third voltage signal and the fourth voltage signal, it calculates the difference between the signal amplitude of the fourth voltage signal and the signal amplitude of the third voltage signal to obtain the second voltage change value.

[0115] The processor module 300 can also calculate the ratio between the second voltage change value and the first voltage change value, and use the ratio as an ambient light feature value. Based on the ambient light feature value, it can detect the ambient light interference state corresponding to the cleaning robot. The ambient light interference state indicates that when the robot is subjected to ambient light interference, the processor module 300 compensates for the first voltage change value and performs cliff detection on the cleaning robot based on the compensated first voltage change value.

[0116] The specific implementation process of the processor module 300 can be referred to the content of the above method embodiment, and will not be repeated here.

[0117] As an example, refer to Figure 6 , Figure 6 A hardware circuit diagram of an infrared receiving circuit 200 in one embodiment is shown. The infrared receiving circuit 200 includes an input port P1, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a transistor Q, an infrared receiving tube PD, a protection capacitor C, and an output port P2.

[0118] In this configuration, one end of the first resistor R1 is connected to the input port P1, and the other end of the first resistor R1 is connected to the control terminal of the transistor Q; one end of the second resistor R2 is connected between the first resistor R1 and the control terminal of the transistor Q; one end of the third resistor R3 is connected to the second resistor R2, and the other end of the third resistor R3 is connected to the input terminal of the infrared receiver PD; the input terminal of the transistor Q is connected to the voltage input terminal Vcc, and the output terminal of the transistor Q is connected to the fourth resistor R4, and the other end of the fourth resistor R4 is connected to the input terminal of the infrared receiver PD; the output terminal of the infrared receiver PD is grounded; one end of the fifth resistor R5 is connected to the input terminal of the infrared receiver PD, and the other end of the fifth resistor R5 is connected to the output port P2; and the protection capacitor C is connected between the fifth resistor R5 and the output port P2.

[0119] It should be noted that the processor module 300 receives a first control signal through input port P1. Under the action of the first control signal, transistor Q is in the open state. At this time, R2 and R3 are connected in series to the infrared receiving circuit. The first effective resistance is the series resistance of R2 and R3. The infrared receiving circuit 200 outputs a first voltage signal to the processor module 300 through output port P2 before the infrared transmitting circuit 100 transmits the first infrared signal, and outputs a second voltage signal to the processor module 300 through output port P2 after the infrared transmitting circuit 100 transmits the first infrared signal. Block 300 also receives a second control signal through input port P1. Under the action of the second control signal, transistor Q is in a closed state. At this time, R2 and R3 are connected in series and then connected in parallel with R4 to the infrared receiving circuit. The second effective resistance is the equivalent resistance of R2, R3 and R4. Before the infrared transmitting circuit 100 transmits the second infrared signal, the infrared receiving circuit 200 outputs a third voltage signal to the processor module 300 through output port P2, and after the infrared transmitting circuit 100 transmits the second infrared signal, it outputs a fourth voltage signal to the processor module 300 through output port P2.

[0120] It should be understood that although the steps in the flowcharts of the embodiments described above 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 flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0121] Based on the same inventive concept, this application also provides a cliff detection device for implementing the cliff detection method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more cliff detection device embodiments provided below can be found in the limitations of the cliff detection method described above, and will not be repeated here.

[0122] In one exemplary embodiment, such as Figure 7As shown, a cliff detection device is provided for use in a cleaning robot. The cleaning robot includes an infrared emitting circuit and an infrared receiving circuit. The infrared emitting circuit is used to sequentially emit a first infrared signal and a second infrared signal. The device includes: a first detection module 502, a second detection module 504, a third detection module 506, and a voltage compensation module 508, wherein:

[0123] The first detection module 502 is used to detect the first voltage change value of the output voltage of the infrared receiving circuit when the first effective resistor is connected after the infrared emitting circuit emits the first infrared signal.

[0124] The second detection module 504 is used to detect the second voltage change value of the output voltage of the infrared receiving circuit when the second effective resistor is connected after the infrared emitting circuit emits the second infrared signal, wherein the resistance values ​​of the first effective resistor and the second effective resistor are different.

[0125] The third detection module 506 is used to detect the ambient light interference state corresponding to the cleaning machine based on the first voltage change value and the second voltage change value.

[0126] The voltage compensation module 508 is used to compensate the first voltage change value when the ambient light interference state characterization is subjected to ambient light interference, and to perform cliff detection on the cleaning robot based on the compensated first voltage change value.

[0127] In one embodiment, the third detection module is further configured to:

[0128] An ambient light feature value is generated based on the ratio between the first voltage change value and the second voltage change value, wherein the ambient light feature value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located; if the ambient light feature value is greater than a first preset feature value, the ambient light interference state of the cleaning robot is determined to be under strong ambient light interference.

[0129] In one embodiment, the third detection module is further configured to:

[0130] If the ambient light characteristic value is less than the second preset characteristic value and greater than the third preset characteristic value, the ambient light interference state of the cleaning robot is determined to be weak ambient light interference; if the ambient light characteristic value is less than the third preset characteristic value, the ambient light interference state of the cleaning robot is determined to be no ambient light interference; wherein, the first preset characteristic value is greater than or equal to the second preset characteristic value.

[0131] In one embodiment, the third detection module is further configured to:

[0132] When the ambient light characteristic value is less than the first preset characteristic value, the infrared receiving circuit acquires a first voltage signal when connected to the first effective resistor and without receiving an infrared feedback signal corresponding to the first infrared signal, and a second voltage signal when connected to the second effective resistor and without receiving an infrared feedback signal corresponding to the second infrared signal; a third voltage change value is generated based on the difference between the first voltage signal and the second voltage signal; if the third voltage change value is greater than the first preset voltage threshold, the ambient light interference state of the cleaning robot is determined to be under weak ambient light interference; if the third voltage change value is not greater than the first preset voltage threshold, the ambient light interference state of the cleaning robot is determined to be not under ambient light interference.

[0133] In one embodiment, when the ambient light interference state characterizes strong ambient light interference, the voltage compensation module is further configured to:

[0134] The ambient light feature value and the first device feature parameter corresponding to the infrared receiving circuit are obtained. The ambient light feature value is generated based on the first voltage change value and the second voltage change value. The ambient light feature value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located. The first voltage change value is compensated according to the ambient light feature value and the first device feature parameter.

[0135] In one embodiment, when the ambient light interference state characterizes weak ambient light interference, the voltage compensation module is further configured to:

[0136] A third voltage change value is obtained, wherein the third voltage change value is determined based on a first voltage signal and a second voltage signal, the first voltage signal being the voltage signal output by the infrared receiving circuit when the first effective resistor is connected and no infrared feedback signal corresponding to the first infrared signal is received, and the second voltage signal being the voltage signal output by the infrared receiving circuit when the second effective resistor is connected and no infrared feedback signal corresponding to the second infrared signal is received; the first voltage change value is compensated based on a voltage compensation value generated according to the third voltage change value.

[0137] In one embodiment, when the cleaning robot is subjected to weak ambient light interference, as the ambient infrared light intensifies, the third voltage change value first increases and then decreases. The voltage compensation module is further used for:

[0138] Obtain the second device characteristic parameters corresponding to the infrared receiving circuit; generate a voltage compensation value based on the difference between the third voltage change value and the second device characteristic parameters; and compensate the first voltage change value based on the voltage compensation value.

[0139] In one embodiment, the voltage compensation module is further configured to:

[0140] If the compensated first voltage change value is greater than the second preset voltage threshold, then the area in front of the cleaning robot is determined to be a cliff area; if the compensated first voltage change value is not greater than the second preset voltage threshold, then the area in front of the cleaning robot is determined not to be a cliff area.

[0141] Each module in the aforementioned cliff detection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the cleaning robot in hardware form or independent of it, or stored in the memory of the cleaning robot in software form, so that the processor can call and execute the corresponding operations of each module.

[0142] In one exemplary embodiment, a cleaning robot is provided, the internal structure of which can be shown in the diagram below. Figure 8 As shown, the cleaning robot includes an infrared emitting circuit, an infrared receiving circuit, a body, a cleaning component, a drive component, a memory and processor, an input / output interface, a communication interface, a display unit, and an input device. The infrared emitting circuit, the infrared receiving circuit, the drive component, and the cleaning component are all mounted on the body. The drive component propels the body to move on the working surface, the cleaning component cleans the working surface, the infrared emitting circuit emits infrared signals, and the infrared receiving circuit receives infrared signals and outputs corresponding voltage signals based on the received infrared signals. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor of the cleaning robot provides computing and control capabilities. The memory of the cleaning robot includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the cleaning robot is used for information exchange between the processor and external devices. The cleaning robot's communication interface is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a cliff detection method. Those skilled in the art will understand that... Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the cleaning robot to which the present application is applied. A specific cleaning robot may include more or fewer parts than shown in the figure, or combine certain parts, or have different part arrangements.

[0143] In one embodiment, a cleaning robot is also provided, including an infrared emitting circuit, an infrared receiving circuit, a body, a cleaning component, a drive component, a memory, and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0144] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0145] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0146] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0147] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0148] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A cliff detection method, characterized in that, The method is applied to a cleaning robot, which includes an infrared emitting circuit and an infrared receiving circuit, wherein the infrared emitting circuit is used to sequentially emit a first infrared signal and a second infrared signal; the method includes: After the infrared emitting circuit emits the first infrared signal, the first voltage change value of the output voltage of the infrared receiving circuit when the first effective resistor is connected is detected. After the infrared emitting circuit emits the second infrared signal, the second voltage change value of the output voltage of the infrared receiving circuit when the second effective resistor is connected is detected, wherein the resistance values ​​of the first effective resistor and the second effective resistor are different; Based on the first voltage change value and the second voltage change value, the ambient light interference state corresponding to the cleaning machine is detected; When the ambient light interference state characterization is affected by ambient light interference, the first voltage change value is compensated, and the cleaning robot is used for cliff detection based on the compensated first voltage change value.

2. The cliff detection method as described in claim 1, characterized in that, The step of detecting the ambient light interference state corresponding to the cleaning machine based on the first voltage change value and the second voltage change value includes: An ambient light feature value is generated based on the ratio between the first voltage change value and the second voltage change value, wherein the ambient light feature value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located; If the ambient light characteristic value is greater than the first preset characteristic value, the ambient light interference state of the cleaning robot is determined to be under strong ambient light interference.

3. The cliff detection method as described in claim 2, characterized in that, After generating ambient light feature values ​​based on the ratio between the first voltage change value and the second voltage change value, the method includes: If the ambient light characteristic value is less than the second preset characteristic value and greater than the third preset characteristic value, the ambient light interference state of the cleaning robot is determined to be weak ambient light interference. If the ambient light characteristic value is less than the third preset characteristic value, the ambient light interference state of the cleaning robot is determined to be that it is not affected by ambient light interference. Wherein, the first preset feature value is greater than or equal to the second preset feature value.

4. The cliff detection method as described in claim 2, characterized in that, After generating ambient light feature values ​​based on the ratio between the first voltage change value and the second voltage change value, the method includes: When the ambient light characteristic value is less than the first preset characteristic value, the first voltage signal output by the infrared receiving circuit when the first effective resistor is connected and no infrared feedback signal corresponding to the first infrared signal is received, and the second voltage signal output when the second effective resistor is connected and no infrared feedback signal corresponding to the second infrared signal is received; A third voltage change value is generated based on the difference between the first voltage signal and the second voltage signal; If the third voltage change value is greater than the first preset voltage threshold, then the ambient light interference state of the cleaning robot is determined to be under weak ambient light interference. If the third voltage change value is not greater than the first preset voltage threshold, then the ambient light interference state of the cleaning robot is determined to be unaffected by ambient light.

5. The cliff detection method as described in claim 1, characterized in that, When the ambient light interference state characterization is subjected to strong ambient light interference, the compensation for the first voltage change value includes: The ambient light feature value and the first device feature parameter corresponding to the infrared receiving circuit are obtained. The ambient light feature value is generated based on the first voltage change value and the second voltage change value. The ambient light feature value is used to characterize the ambient light intensity of the environment in which the cleaning robot is located. The first voltage change value is compensated based on the ambient light characteristic value and the first device characteristic parameter.

6. The cliff detection method as described in claim 1, characterized in that, When the ambient light interference state characterization is subjected to weak ambient light interference, the compensation for the first voltage change value includes: Obtain a third voltage change value, wherein the third voltage change value is determined based on a first voltage signal and a second voltage signal, the first voltage signal being the voltage signal output by the infrared receiving circuit when the first effective resistor is connected and no infrared feedback signal corresponding to the first infrared signal is received, and the second voltage signal being the voltage signal output by the infrared receiving circuit when the second effective resistor is connected and no infrared feedback signal corresponding to the second infrared signal is received. The first voltage change value is compensated based on the voltage compensation value generated from the third voltage change value.

7. The cliff detection method as described in claim 6, characterized in that, When the cleaning robot is subjected to weak ambient light interference, the third voltage change value first increases and then decreases as the ambient infrared light intensifies; the compensation of the first voltage change value based on the voltage compensation value generated from the third voltage change value includes: Obtain the second device characteristic parameters corresponding to the infrared receiving circuit; A voltage compensation value is generated based on the difference between the third voltage change value and the characteristic parameters of the second device; The first voltage change value is compensated based on the voltage compensation value.

8. The cliff detection method as described in claim 1, characterized in that, The step of performing cliff detection on the cleaning robot based on the compensated first voltage change value includes: If the compensated first voltage change value is greater than the second preset voltage threshold, then the area in front of the cleaning robot is determined to be a cliff area. If the compensated first voltage change value is not greater than the second preset voltage threshold, then it is determined that the area in front of the cleaning robot is not a cliff area.

9. A cliff detection circuit, characterized in that, The cliff detection circuit, used in cleaning robots, includes: An infrared emitting circuit, wherein the infrared emitting circuit is used to sequentially emit a first infrared signal and a second infrared signal; An infrared receiving circuit is provided, wherein the infrared receiving circuit is used to connect to a first effective resistor, and outputs a first voltage signal and a second voltage signal to the processor module before and after the infrared transmitting circuit transmits the first infrared signal, respectively. The infrared receiving circuit is also used to switch the connected first effective resistor to a second effective resistor, and to output a third voltage signal and a fourth voltage signal to the processor module before and after the infrared transmitting circuit transmits the second infrared signal, respectively, wherein the resistance values ​​of the first effective resistor and the second effective resistor are different. The processor module is configured to detect the ambient light interference state of the cleaning robot based on a first voltage change value between the first voltage signal and the second voltage signal, and a second voltage change value between the third voltage signal and the fourth voltage signal. The processor module is also configured to compensate for the first voltage change value when the ambient light interference state characterization is subjected to ambient light interference, and to perform cliff detection on the cleaning robot based on the compensated first voltage change value.

10. A cleaning robot, comprising an infrared emitting circuit, an infrared receiving circuit, a body, a cleaning component, a drive component, a memory, and a processor, wherein the infrared emitting circuit, the infrared receiving circuit, the drive component, and the cleaning component are all mounted on the body, the drive component is used to drive the body to move on a work surface, the cleaning component is used to clean the work surface, and the memory stores a computer program, characterized in that... When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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