Cleaning method and apparatus for cleaning robot, medium, and device

Abstract

A cleaning method and apparatus for a cleaning robot, a medium, and a device. The method comprises: performing obstacle detection to obtain a detection result; at least on the basis of the detection result and current cleaning parameters, determining a preset adjustment condition which is met by a cleaning robot and used for adjusting the cleaning parameters; adjusting the cleaning parameters by using an adjustment strategy corresponding to the preset adjustment condition so as to adjust the current cleaning parameters from predetermined first cleaning parameters to second cleaning parameters corresponding to a target obstacle in the detection result, or to adjust the current cleaning parameters from the second cleaning parameters corresponding to the target obstacle to the predetermined first cleaning parameters, wherein the cleaning intensity corresponding to the first cleaning parameters is higher than the cleaning intensity corresponding to the second cleaning parameters; and performing cleaning on the basis of the current cleaning parameters.

Description

CROSS-REFERENCE TO RELATED APPLICATION

[0001] The present disclosure claims priority to Chinese Patent Application No. 202211732817.9, filed with the China National Intellectual Property Administration on December 30, 2022 and entitled "CLEANING METHOD AND APPARATUS FOR CLEANING ROBOT, MEDIUM, AND DEVICE", which is incorporated herein by reference in its entirety.TECHNICAL FIELD

[0002] The present disclosure relates to household appliances, and in particular, to a cleaning method and apparatus for a cleaning robot, a medium, and a device.BACKGROUND

[0003] With the continuous development of science and technology, the popularity of cleaning robots has gradually increased. The cleaning robots can be used to conveniently and quickly remove dust and foreign matters. The popularization of the cleaning robots has made people's life more convenient and comfortable.

[0004] However, the existing cleaning robots are prone to entangling obstacles during a cleaning process, which makes the cleaning process less safe and reliable, and easily causes damage to the cleaning robots.SUMMARY

[0005] In view of the above, the present disclosure provides a cleaning method and apparatus for a cleaning robot, a medium, and a device, mainly aiming to solve the existing problem that an obstacle is easily entangled, which makes the cleaning process less safe and reliable, and easily causes damage to the cleaning robot.

[0006] To solve the above problem, the present disclosure provides a cleaning method for a cleaning robot, including: obtaining a detection result by performing obstacle detection; determining, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; performing adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and performing cleaning based on the current cleaning parameter.

[0007] Optionally, the obtaining the detection result by performing the obstacle detection, includes: obtaining, by making a determination based on an obstacle type determination algorithm, the detection result including the target obstacle, or the detection result not including the target obstacle.

[0008] Optionally, the obstacle includes one or more predetermined items and / or pets.

[0009] Optionally, the determining, at least based on the detection result and the current cleaning parameter, the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter, includes: in a case of determining that the detection result includes the target obstacle and the current cleaning parameter is a predetermined first cleaning parameter, determining that a first preset adjustment condition is satisfied; and in a case of determining that the detection result does not include the target obstacle and the current cleaning parameter is a second cleaning parameter, determining that a second preset adjustment condition is satisfied.

[0010] Optionally, the determining, at least based on the detection result and the current cleaning parameter, the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter, includes: determining, based on whether the detection result includes a target obstacle, the current cleaning parameter, and a positional relationship between the cleaning robot and the target obstacle, a preset adjustment condition satisfied by the cleaning robot, specifically including: in a case of determining that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, determining that a first preset adjustment condition is satisfied; and in a case of determining that the detection result does not include the target obstacle or the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, and the current cleaning parameter is a second cleaning parameter, determining that a second preset adjustment condition is satisfied.

[0011] Optionally, the method further includes: acquiring the positional relationship between the cleaning robot and the target obstacle, including: determining, based on a cleaning scene image and a preset cleaning map, a target region including the target obstacle in the cleaning map; determining, in real time, a current cleaning position where the cleaning robot is located in the cleaning map; determining, based on the current cleaning position and the target region, a spacing distance between the current position and an edge of the target region; and obtaining, based on a magnitude relationship between the spacing distance and a preset distance threshold, the positional relationship between the cleaning robot and the target obstacle.

[0012] Optionally, the performing adjustment on the cleaning parameter by using the adjustment manner corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result, or adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter, includes: in a case that the preset adjustment condition is the first preset adjustment condition, performing adjustment on the cleaning parameter by using a first adjustment strategy, thereby adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result; and in a case that the preset adjustment condition is the second preset adjustment condition, performing adjustment on the cleaning parameter by using a second adjustment strategy, thereby adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter.

[0013] Optionally, before adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result, the method further includes: acquiring an obstacle type of a target obstacle in the detection result; and determining, based on the obstacle type, a cleaning parameter corresponding to the obstacle type as the second cleaning parameter, where the obstacle type includes any one or more of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

[0014] Optionally, in a case of determining that the first preset adjustment condition is satisfied, the method further includes: determining a first region where the target obstacle is located in a cleaning map; and determining, at least based on the first region, a path around the first region as a target cleaning path; said performing cleaning based on the current cleaning parameter, includes: performing cleaning based on the current cleaning parameter and the target cleaning path.

[0015] Optionally, the determining, at least based on the first region, the path around the first region as the target cleaning path, includes: determining, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determining, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

[0016] Optionally, the cleaning parameter includes any one or more of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force, where the main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; and the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0017] To solve the above problem, the present disclosure provides a cleaning method for a cleaning robot, including: obtaining a detection result by performing obstacle detection; acquiring, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle; and performing cleaning based on the at least two cleaning parameters.

[0018] Optionally, the obtaining the detection result by performing the obstacle detection includes: obtaining, by making a determination based on an obstacle type determination algorithm, the detection result including the target obstacle, or the detection result not including the target obstacle.

[0019] Optionally, the acquiring the at least two cleaning parameters corresponding to the target obstacle, includes: acquiring, based on an obstacle type of the target obstacle, at least two cleaning parameters corresponding to the obstacle type, where the target obstacle includes one or more predetermined items and / or pets; the obstacle type includes any one of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

[0020] Optionally, before performing cleaning based on the at least two cleaning parameters, the method further includes: acquiring a spacing distance between the cleaning robot and an edge of the target obstacle; said performing cleaning based on the cleaning parameters, includes: in a case that the spacing distance is less than or equal to a predetermined distance threshold, performing cleaning based on the cleaning parameters.

[0021] Optionally, before performing cleaning based on the at least two cleaning parameters, the method further includes: determining a first region where the target obstacle is located in a cleaning map; and determining, at least based on the first region, a path around the first region as a target cleaning path; said performing cleaning based on the cleaning parameters, includes: performing cleaning based on the at least two cleaning parameters and the target cleaning path.

[0022] Optionally, the determining, at least based on the first region, the path around the first region as the target cleaning path, includes: determining, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determining, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

[0023] Optionally, the at least two cleaning parameters include at least two of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force, where the main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; and the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0024] Optionally, the acquiring, based on the target obstacle in the detection result, the cleaning parameters corresponding to the target obstacle, includes: in a case that the target obstacle is a pet, acquiring the corresponding cleaning parameters as follows: a main brush stops rotation and a side brush operates in a low-speed mode.

[0025] To solve the above problem, the present disclosure provides a cleaning apparatus for a cleaning robot, including: a detection module, configured to obtain a detection result by performing obstacle detection; a determination module, configured to determine, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; an adjustment module, configured to perform adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and a cleaning module, configured to perform cleaning based on the current cleaning parameter.

[0026] To solve the above problem, the present disclosure provides a cleaning apparatus for a cleaning robot, including: a detection module, configured to obtain a detection result by performing obstacle detection; an acquisition module, configured to acquire, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle; and a cleaning module, configured to perform cleaning based on the at least two cleaning parameters.

[0027] To solve the above problem, the present disclosure provides a storage medium storing a computer program thereon, where the computer program, when run by a processor, implements steps of the cleaning method for a cleaning robot according to any one of the above embodiments.

[0028] To solve the above problems, the present disclosure provides an electronic device, including at least a memory and a processor, where the memory stores a computer program thereon, and the processor, when executing the computer program on the memory, implements steps of the cleaning method for a cleaning robot according to any one of the above embodiments.

[0029] According to the cleaning method and apparatus for a cleaning robot, the medium, and the device in the present disclosure, the cleaning parameter can be flexibly adjusted based on a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0030] The above description is only an overview of the technical solutions of the present disclosure. To more clearly understand the technical means of the present disclosure to enable implementation in accordance with the content of the specification and to make the above and other purposes, features, and advantages of the present disclosure more obvious and easy to understand, the detailed description of the present disclosure is provided below.BRIEF DESCRIPTION OF THE DRAWINGS

[0031] By reading the detailed description of preferred embodiments below, various additional advantages and benefits will become clear to those of ordinary skill in the art. The drawings are provided solely for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the scope of the present disclosure. Furthermore, the same reference symbols are used to represent the same components throughout the drawings. In the drawings: FIG. 1 is a flowchart of a cleaning method for a cleaning robot according to an embodiment of the present disclosure; FIG. 2 is a flowchart of a cleaning method for a cleaning robot according to another embodiment of the present disclosure; FIG. 3 is a structural block diagram of a cleaning apparatus for a cleaning robot according to an embodiment of the present disclosure; FIG. 4 is a structural block diagram of a cleaning apparatus for a cleaning robot according to another embodiment of the present disclosure; FIG. 5 is a structural block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0033] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limitations, but merely as exemplifications of the embodiments. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0034] The drawings, which are incorporated in and constitute a part of the specification, illustrate the embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0035] These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of the embodiments, given as non-limiting examples, with reference to the drawings.

[0036] It should also be understood that although the present disclosure has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of the present disclosure.

[0037] The above and other aspects, features, and advantages of the present disclosure will become more apparent in view of the following detailed description when taken in conjunction with the drawings.

[0038] Specific embodiments of the present disclosure are described hereinafter with reference to the drawings. However, it should be understood that the embodiments disclosed herein are merely examples of the present disclosure, which can be implemented in various ways. Well-known and / or repeated functions and constructions are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, specific structural and functional details disclosed herein are not intended to be limiting, but merely as a basis and representative basis of the claims for teaching those skilled in the art to variously use the present disclosure with substantially any appropriate detailed structure.

[0039] The phrase "in an embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments" may be used in this description, and may refer to one or more of the same or different embodiments according to the present disclosure.

[0040] The embodiments of the present disclosure provide a cleaning method for a cleaning robot. As shown in FIG. 1, the method in this embodiment includes: In step S101, obstacle detection is performed to obtain a detection result.

[0041] In this step, the cleaning robot can capture a cleaning process in real time by using a built-in camera. Specifically, the cleaning robot can capture an environment image in a cleaning direction in real time along the cleaning direction during the cleaning process, to obtain a cleaning scene image, and then perform obstacle detection according to the cleaning scene image, to obtain a detection result.

[0042] After the cleaning robot obtains the cleaning scene image by capturing, the cleaning robot can make a determination by using a predetermined obstacle detection model or a predetermined obstacle type determination algorithm, to determine whether an obstacle is included in the cleaning scene image. For example, whether an obstacle is included can be determined by comparing the cleaning scene image with an obstacle label image. The obstacle refers to an item or a pet that affects a cleaning route, and may be, for example, a shoe, a weight scale, a fabric (for example, a sock), a yarn ball, a pet, etc.

[0043] In step S102, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter is determined.

[0044] The cleaning parameter in this step includes a first cleaning parameter with a relatively high cleaning strength and one or more second cleaning parameters with relatively low cleaning strengths. In other words, when the current cleaning parameter of the cleaning robot is the first cleaning parameter and a target obstacle is detected in front of the cleaning robot, if the cleaning robot still performs cleaning by using the first cleaning parameter, the obstacle is easily entangled in the cleaning robot. Therefore, the current cleaning parameter needs to be adjusted to the second cleaning parameter. By reducing the cleaning parameter and performing cleaning in a low-speed cleaning mode, a yarn ball, a sock, and dog hairs can be effectively prevented from being entangled in the cleaning robot, which may otherwise cause injury to the pet or damage to the cleaning robot. Thus, it may be determined that the cleaning robot satisfies a first preset adjustment condition. When the current cleaning parameter of the cleaning robot is the second cleaning parameter and no target obstacle is detected in front of the cleaning robot, it indicates that the cleaning robot is currently in a low-speed cleaning mode. Since there is no obstacle in front of the cleaning robot and there is no need to worry about the obstacle being entangled, continuing to perform cleaning by using the second cleaning parameter may result in a relatively low cleaning strength. Therefore, the current cleaning parameter may be adjusted to the first cleaning parameter to enter a high-speed cleaning mode, which ensures that the cleaned place is cleaner. Thus, it may be determined that the cleaning robot satisfies a second preset adjustment condition.

[0045] Specifically, the cleaning parameter may include any one or more of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0046] In step S103, adjustment on the cleaning parameter is performed by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter.

[0047] In this step, the adjustment strategy refers to a specific manner for adjusting the cleaning parameter, including a first adjustment strategy and a second adjustment strategy. The first adjustment strategy is to adjust the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result. The second adjustment strategy is to adjust the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter.

[0048] In a specific implementation process of this embodiment, corresponding relationships between the preset adjustment conditions and the adjustment strategies may be established in advance, that is, a mapping relationship between the first preset adjustment condition and the first adjustment strategy and a mapping relationship between the second preset adjustment condition and the second adjustment strategy may be established in advance. Thus, after the preset adjustment condition satisfied by the cleaning robot is determined, the adjustment strategy may be quickly determined by searching the mapping relationship, thereby quickly and accurately adjusting the cleaning parameter.

[0049] In step S104, cleaning is performed based on the current cleaning parameter.

[0050] After the cleaning parameter is adjusted in this step, cleaning may be performed in real time based on the adjusted current cleaning parameter.

[0051] According to the cleaning method in this embodiment, the cleaning parameter can be flexibly adjusted according to a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0052] On the basis of the above embodiments, another embodiment of the present disclosure provides a cleaning method for a cleaning robot. In this embodiment, when performing obstacle detection to obtain a detection result, the following specific manner may be used: making a determination based on an obstacle type determination algorithm, to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle. For example, one or more obstacle object images are extracted based on the cleaning scene image acquired in real time; the obstacle object images are compared with predetermined obstacle label images to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle, where the obstacle includes one or more predetermined item images and / or pet images.

[0053] In this embodiment, the obstacle label image refers to a pre-stored obstacle template image. The obstacle label image may specifically include one or more predetermined item images and / or pet images. For example, the obstacle label image may be: a shoe picture, a weight scale picture, a yarn ball picture, a fabric picture (for example, a sock picture, a glove picture, and a scarf picture), a power cord picture, a pet dog image, a pet cat image, a pet rabbit image, etc. In this embodiment, whether the cleaning scene image includes the target obstacle can be quickly and accurately detected by comparing the obstacle object image with the obstacle label images. This lays a foundation for subsequent adjustment of a reasonable and accurate cleaning parameter.

[0054] In some embodiments, the obstacle-related picture does not need to be pre-stored, but a recognition algorithm required for recognizing an obstacle type is preset in the control system of the robot. The specific type of the obstacle can be determined by directly performing calculation using the recognition algorithm based on the feature information in the obstacle object image.

[0055] On the basis of the above embodiments, another embodiment of the present disclosure provides a cleaning method for a cleaning robot. In this embodiment, the determining, at least based on the detection result and the current cleaning parameter, the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter, specifically includes: in the case of determining that the detection result includes the target obstacle and the current cleaning parameter is a predetermined first cleaning parameter, determining that a first preset adjustment condition is satisfied; and in the case of determining that the detection result does not include the target obstacle and the current cleaning parameter is a second cleaning parameter, determining that a second preset adjustment condition is satisfied. That is, during the cleaning process, when determining the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter, there are four cases as follows: Case I: When a target obstacle is found and the cleaning robot performs cleaning by using a first cleaning parameter, the current cleaning parameter needs to be adjusted to be reduced to a second cleaning parameter corresponding to the target obstacle, that is, it is determined that the cleaning robot satisfies a first preset adjustment condition. Case II: When a target obstacle is found and the cleaning robot performs cleaning by using a second cleaning parameter, it indicates that the cleaning robot is currently in a low-speed cleaning mode. Therefore, the cleaning may continue to be performed by using the current second cleaning parameter. Case III: When no target obstacle is found and the cleaning robot performs cleaning by using a second cleaning parameter, it indicates that the cleaning robot is currently in a low-speed cleaning mode. Therefore, the current cleaning parameter needs to be adjusted to be increased to a predetermined first cleaning parameter, that is, it is determined that the cleaning robot satisfies a second preset adjustment condition. Case IV: When no target obstacle is found and the cleaning robot performs cleaning by using a first cleaning parameter, it indicates that the cleaning robot is currently in a high-speed cleaning mode and no obstacle exists in front of the cleaning robot. Therefore, the cleaning parameter does not need to be adjusted, and the cleaning may continue to be performed by using the current first cleaning parameter.

[0056] In this embodiment, in order to make the determination of the preset adjustment condition accurate and reasonable, whether the preset adjustment condition is satisfied may be further determined in conjunction with a positional relationship between the cleaning robot and the target obstacle. That is, the preset adjustment condition satisfied by the cleaning robot is determined based on whether the detection result includes the target obstacle, the current cleaning parameter, and the positional relationship between the cleaning robot and the target obstacle. The method specifically includes: in the case of determining that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, determining that a first preset adjustment condition is satisfied; and in the case of determining that the detection result does not include the target obstacle or the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, and the current cleaning parameter is a second cleaning parameter, determining that a second preset adjustment condition is satisfied.

[0057] That is, in Case I above: when it is determined that the detection result includes the target obstacle and the current cleaning parameter is a predetermined first cleaning parameter, whether a first preset adjustment condition is satisfied may be further determined in conjunction with a positional relationship between the cleaning robot and the target obstacle, specifically including: in the case of determining that the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, determining that a first preset adjustment condition is satisfied; and in the case of determining that the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, determining that a first preset adjustment condition is not satisfied. In this embodiment, by further determining whether the parameter adjustment condition is satisfied in conjunction with the positional relationship between the target obstacle and the cleaning robot, subsequent parameter adjustment can be more reasonable. For example, when it is determined that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, it indicates that the cleaning robot is at a relatively close distance from the target obstacle. Therefore, the current cleaning parameter needs to be adjusted to a second cleaning parameter, that is, it is determined that a first preset adjustment condition is satisfied. On the contrary, when it is determined that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and a spacing distance between the cleaning robot and an edge of the target obstacle is greater than the preset distance threshold, it indicates that although the target obstacle exists in front of the cleaning robot and the current cleaning speed is relatively high, the cleaning robot is currently at a relatively far distance from the target obstacle. Therefore, the cleaning parameter does not need to be reduced for the time being, and the cleaning parameter may be reduced when the cleaning robot is at a relatively close distance from the target obstacle. In this embodiment, the preset distance threshold may be adjusted according to a desired robot behavior. For example, if the robot is more inclined to clean without making contact with an obstacle, the distance threshold may be appropriately increased, or may be set by the user.

[0058] In Case II above, when it is determined that the detection result includes the target obstacle and the current cleaning parameter is a second cleaning parameter, whether a second preset adjustment condition is satisfied may be further determined in conjunction with a positional relationship between the cleaning robot and the target obstacle. That is, when it is further determined that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, it indicates that although the target obstacle exists in front of the cleaning robot, it is at a relatively far distance from the cleaning robot. Therefore, the current cleaning parameter may be adjusted to a first cleaning parameter, that is, it is determined that a second preset adjustment condition is satisfied. On the contrary, when a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, it indicates that the target obstacle exists in front of the cleaning robot and is at a relatively close distance from the cleaning robot. Therefore, the cleaning parameter does not need to be adjusted, and the cleaning may be performed by using the second cleaning parameter.

[0059] In a specific implementation process of this embodiment, before determining whether the preset adjustment condition is satisfied in conjunction with the positional relationship between the cleaning robot and the target obstacle, the positional relationship between the cleaning robot and the target obstacle may be further acquired, specifically including: determining, based on a cleaning scene image and a preset cleaning map, a target region including the target obstacle in the cleaning map; determining, in real time, a current cleaning position where the cleaning robot is located in the cleaning map; determining, based on the current cleaning position and the target region, a spacing distance between the current position and an edge of the target region; and obtaining, based on a magnitude relationship between the spacing distance and a preset distance threshold, the positional relationship between the cleaning robot and the target obstacle.

[0060] In this embodiment, when the cleaning robot obtains the cleaning scene image by capturing in real time using a camera device, a predetermined recognition algorithm may be used to recognize minimum bounding boxes corresponding to objects from the cleaning scene image, that is, to obtain field-of-view regions of obstacles in the cleaning scene image. Then, a first region where the field-of-view regions are located in the cleaning map may be further determined in conjunction with the cleaning map and depth-of-field information in the cleaning scene image, and the first region may be directly used as a target region where the target obstacle is located in the cleaning map. Subsequently, the positional relationship between the cleaning robot and the target obstacle may be determined according to a spacing distance between the current cleaning position where the cleaning robot is located in the cleaning map and an edge of the target region.

[0061] In this embodiment, in order to make the determination of the target region accurate, after the first region where the target obstacle is located in the cleaning map is obtained, the first region may be further adjusted in conjunction with a region threshold, so as to obtain a target region. For example, the first region is adjusted to be expanded based on a region threshold, to expand the area range of the first region to 1.05 times the original area range. For another example, the first region is adjusted to be reduced based on a region threshold, to reduce the area of the first region to 0.95 times the original area. The region threshold may be set according to actual needs, and specifically, may be adjusted according to a recognition result of the first region. For example, when the accuracy of the recognition result of the first region is relatively high, the region threshold may be set to 1.01. By appropriately expanding the first region as the target region, the cleaning robot can be prevented from performing parameter adjustment only when the cleaning robot is at a relatively close distance from the target obstacle, thereby effectively preventing the obstacle from being entangled. For another example, when the recognition result of the first region is relatively small, that is, the recognized first region is smaller than the actual region corresponding to the target obstacle, the region threshold may be set to a value greater than 1, for example, set to 1.05, 1.08, or 1.1. For another example, when the recognition result of the first region is relatively large, that is, the recognized first region is greater than the actual region corresponding to the target obstacle, the region threshold may be set to 1 or a value less than 1, for example, set to 0.98 or 0.95.

[0062] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. On the basis of the above embodiments, after it is determined that the cleaning robot satisfies the preset adjustment condition, the current parameter may be adjusted according to the adjustment strategy corresponding to the preset condition. The method specifically includes, for example: in the case that the preset adjustment condition is a first preset adjustment condition, performing adjustment on the cleaning parameter by using a first adjustment strategy, where the first adjustment strategy is to adjust the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result; and in the case that the preset adjustment condition is a second preset adjustment condition, performing adjustment on the cleaning parameter by using a second adjustment strategy, where the second adjustment strategy is to adjust the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter.

[0063] In this embodiment, in order to make the adjustment of the cleaning parameter reasonable and accurate, the obstacles may be classified into one or more obstacle types according to the severity of consequences after being entangled and the easiness level of being entangled, and then different second cleaning parameters are configured for the obstacle types.

[0064] For example, the obstacles may be classified into the following one or more obstacle types: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair. The easiness level of being entangled refers to the degree of difficulty of being entangled in the cleaning robot. The higher the easiness level of being entangled, the easier the obstacle is to be entangled in the cleaning robot. The first easiness level of being entangled is lower than the second easiness level of being entangled, and the second easiness level of being entangled is lower than the third easiness level of being entangled. In this embodiment, the first obstacle type may include the following items: a shoe, a weight scale, and the like. The second obstacle type may include the following items: a sock, a glove, a scarf, and other relatively small fabrics. The third obstacle type may include the following: a yarn ball, a power cord, and feces. The fourth obstacle type may include the following pets: a dog, a cat, a rabbit, and other pets with hair.

[0065] In this embodiment, after the obstacles are classified into different obstacle types, different second cleaning parameters may be pre-configured for the obstacle types. For example, a first second cleaning parameter is configured for the first obstacle type, a second second cleaning parameter is configured for the second obstacle type, a third second cleaning parameter is configured for the third obstacle type, and a fourth second cleaning parameter is configured for the fourth obstacle type. The second cleaning parameters, in descending order of cleaning strength, are a first second cleaning parameter, a second second cleaning parameter, a third second cleaning parameter, and a fourth second cleaning parameter, respectively. That is, the second cleaning parameter corresponding to the obstacle type that is less likely to be entangled is higher, and the second cleaning parameter corresponding to the pet with hair is the lowest, so as to prevent the pet hair from being entangled in the cleaning robot, thus preventing injury to the pet.

[0066] In this embodiment, the cleaning parameter includes any one or more of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength. That is, the cleaning parameter includes any one or more of a main brush rotation speed of a cleaning main brush, a main brush rotation strength of a cleaning main brush, a side brush rotation speed of a cleaning side brush, a side brush rotation strength of a cleaning side brush, and a dust suction force. The first cleaning parameter is a predetermined cleaning parameter, and may be greater than or equal to the second cleaning parameters. That is, the main brush rotation speed, the main brush rotation strength, the side brush rotation speed, the side brush rotation strength, and the dust suction force in the first cleaning parameter are greater than the main brush rotation speed, the main brush rotation strength, the side brush rotation speed, the side brush rotation strength, and the dust suction force in the second cleaning parameters, respectively. Alternatively, the main brush rotation speed and the main brush rotation strength in the first cleaning parameter are greater than the main brush rotation speed and the main brush rotation strength in the second cleaning parameters, respectively, and the side brush rotation speed, the side brush rotation strength, and the dust suction force in the first cleaning parameter are equal to the side brush rotation speed, the side brush rotation strength, and the dust suction force in the second cleaning parameters, respectively.

[0067] Taking the case where the cleaning parameter includes the main brush rotation speed and the side brush rotation speed as an example for explanation, the main brush rotation speed in the first cleaning parameter may be preset to 2000 rpm, and the side brush rotation speed may be preset to 1000 rpm. The first second cleaning parameter may be set to be the same as the first cleaning parameter or may be appropriately reduced. For example, the first second cleaning parameter may be set as follows: The main brush rotation speed is 2000 rpm, and the side brush rotation speed is 1000 rpm. Alternatively, the main brush rotation speed is 1800 rpm, and the side brush rotation speed is 800 rpm. The second second cleaning parameter may be set as follows: The main brush rotation speed is 1200 rpm, and the side brush rotation speed is 700 rpm. The third second cleaning parameter may be set as follows: The main brush rotation speed is 1000 rpm, and the side brush rotation speed is 600 rpm. The fourth second cleaning parameter may be set as follows: The main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 500 rpm; or the main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 1000 rpm. Specifically, the side brush rotation speed may also be adjusted to 30% (450 rpm) of the maximum side brush rotation speed, that is, the side brush is reduced to a rotation speed corresponding to a duty cycle of 30%. In order to prevent accidental injury to the pet, optionally, the main brush and / or the side brush may be further controlled to be lifted. In this embodiment, the first cleaning parameter may be set according to actual needs, and the second cleaning parameters corresponding to the obstacle types may also be adjusted and set according to actual needs. For example, the side brush rotation speed in the second cleaning parameters may be set to be the same as the side brush rotation speed in the first cleaning parameter, and only the main brush rotation speed is reduced. The maximum side brush rotation speed may be higher than the side brush rotation speed in the first cleaning parameter, that is, when cleaning along the wall, the side brush rotation speed will be increased, such that garbage outside the range of the roller brush is swept into the range of the roller brush, and the roller brush operates in conjunction with the dust suction force to pull the garbage into a garbage accommodating box in the machine. However, in this embodiment, by setting the corresponding side brush rotation speed, main brush rotation speed, and dust suction force for different obstacle types, a problem of obstacles being entangled due to performing cleaning with the same high side brush rotation speed as that when cleaning along the wall can be avoided.

[0068] Thus, when it is determined that a first preset adjustment condition is satisfied, an obstacle type of a target obstacle in the detection result may be further acquired; based on the obstacle type, a cleaning parameter corresponding to the obstacle type is determined as the second cleaning parameter.

[0069] For example, when it is determined that a first preset adjustment condition is satisfied, it is detected that the target obstacle is a weight scale, that is, an obstacle type of the target obstacle is a first obstacle type, such that a first second cleaning parameter may be obtained. For example, the first second cleaning parameter is as follows: The main brush rotation speed is 18,000 rpm, and the side brush rotation speed is 1200 rpm. For another example, when it is determined that a first preset adjustment condition is satisfied, it is detected that the target obstacle is a dog, that is, an obstacle type of the target obstacle is a fourth obstacle type, such that the fourth second cleaning parameter may be obtained as follows: The main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 800 rpm.

[0070] On the basis of the above embodiments, another embodiment of the present disclosure provides a cleaning method for a cleaning robot. In this embodiment, when there are a plurality of types of obstacles and the obstacle types correspond to different second cleaning parameters, the current cleaning parameter may be further adjusted in conjunction with the obstacle types. That is, when it is detected that the cleaning scene image includes a target obstacle and the cleaning robot performs cleaning by using a second cleaning parameter, a target second cleaning parameter may be further determined according to the target obstacle, and whether the target second cleaning parameter is consistent with the current second cleaning parameter is determined. If the target second cleaning parameter is consistent with the current second cleaning parameter, cleaning may continue to be performed by using the current second cleaning parameter. If the target second cleaning parameter is inconsistent with the current second cleaning parameter, the current second cleaning parameter may be adjusted based on the target second cleaning parameter corresponding to the target obstacle, which makes the adjustment of the cleaning parameter more flexible and reasonable.

[0071] For example, when it is detected that the cleaning scene image includes a target obstacle, the target obstacle is a pet dog, and the cleaning robot performs cleaning by using a second cleaning parameter, a fourth obstacle type corresponding to the pet dog may be acquired, and then a target second cleaning parameter corresponding to the fourth obstacle type is determined, that is, the target second cleaning parameter is determined as follows: The main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 800 rpm. Meanwhile, the current second cleaning parameter is determined as follows: The main brush rotation speed is 1500 rpm, and the side brush rotation speed is 1000 rpm. Thus, the target cleaning parameter may be compared with the current second cleaning parameter to determine that the target cleaning parameter is inconsistent with the current second cleaning parameter. Therefore, the current second cleaning parameter may be adjusted to the target second cleaning parameter corresponding to the pet dog. In this embodiment, by adjusting the current second cleaning parameter according to the currently detected target obstacle, such a problem can be avoided: a pet dog (or another obstacle) suddenly approaches the cleaning robot while the cleaning robot continues to perform cleaning by using the second parameter corresponding to the original obstacle (for example, a shoe), and fails to reduce the cleaning parameter to the target second cleaning parameter corresponding to the current target obstacle in time, thereby causing the obstacle to be entangled.

[0072] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. After adjustment on the cleaning parameter is performed, that is, the cleaning parameter is adjusted to a second cleaning parameter corresponding to a target obstacle, or when it is determined that a first preset adjustment condition is satisfied, the cleaning method for a cleaning robot in this embodiment further includes: determining a first region where the target obstacle is located in a cleaning map; determining, at least based on the first region, a path around the first region as a target cleaning path; and performing cleaning based on the current cleaning parameter and the target cleaning path. In this embodiment, a specific process of determining a first region where the target obstacle is located in a cleaning map is consistent with the process of determining the target region in the above embodiments, and therefore details will not be repeated here.

[0073] In this embodiment, in order to make the determination of the target cleaning path more reasonable and accurate, the target cleaning path may be further determined in conjunction with a target cleaning distance corresponding to a target obstacle type. Specifically, different cleaning distances may be pre-configured for the obstacle types. For example, a first cleaning distance of 1 cm is configured for the first obstacle type, a second cleaning distance of 5 cm is configured for the second obstacle type, a third cleaning distance of 10 cm is configured for the third obstacle type, and a fourth cleaning distance of 15 cm is configured for the fourth obstacle type. Thus, after the target obstacle is detected, a target cleaning distance corresponding to the target obstacle may be determined according to the obstacle type, and meanwhile, a first region where the target obstacle is located in a cleaning map is determined. Then, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region is determined as a target cleaning path.

[0074] In this embodiment, by adjusting the cleaning distance according to the obstacle type to obtain the corresponding cleaning path, the cleaning can be performed around the obstacle at different cleaning distances for different obstacle types during the cleaning process. In other words, short-distance cleaning is performed on an obstacle that is not easy to be entangled, medium-distance cleaning is performed on an obstacle that is relatively easy to be entangled, and long-distance cleaning is performed on an obstacle that cannot be entangled (for example, a pet dog or a cat), thereby ensuring safety and reliability of a cleaning process.

[0075] According to the cleaning method in this embodiment, the target obstacle is detected in real time during the cleaning process. When a target obstacle is found and the cleaning robot performs cleaning by using a first cleaning parameter, the current cleaning parameter is adjusted to a second cleaning parameter corresponding to the target obstacle, such that the cleaning parameter can be reduced in time, thereby preventing the obstacle from being entangled in the cleaning robot, ensuring a safer and more reliable cleaning process, and avoiding a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0076] On the basis of the above embodiments, the cleaning process in the present disclosure is described below in conjunction with a specific application scenario. The cleaning robot pre-stores a cleaning map of the house. After the cleaning robot is started, the user can enable a "pet mode" in the App, that is, enable a cleaning mode with an adjustable cleaning parameter, so as to perform cleaning in this mode. A specific cleaning process in this mode is as follows: The cleaning robot first cleans a house based on a cleaning map according to a predetermined first cleaning parameter. During the cleaning process, the cleaning robot obtains a cleaning scene image by capturing in real time based on a built-in camera, and then performs obstacle detection based on the cleaning scene image. When a target obstacle is detected in front of the cleaning robot, the cleaning robot further determines a target region where the target obstacle is located in the cleaning map, then determines a current position where the cleaning robot is located in the cleaning map, and determines a spacing distance between the current position and an edge of the target region. When it is determined that the spacing distance between the current position and the edge of the target region is greater than a preset distance threshold, the cleaning may continue to be performed by using the current first cleaning parameter. When it is determined that the spacing distance between the current position and the edge of the target region is less than or equal to a preset distance threshold, an obstacle type of the target obstacle may be further determined. For example, if the target obstacle is a pet dog, it may be determined that the obstacle type is a fourth obstacle type. Thus, a fourth second cleaning parameter corresponding to the fourth obstacle type may be acquired, and then the current first cleaning parameter is adjusted to the fourth second cleaning parameter for cleaning. For example, the fourth second cleaning parameter is: reducing the side brush to a rotation speed corresponding to 30% duty cycle, and stopping the rotation of the main brush. When performing cleaning by using the fourth second cleaning parameter, a cleaning path for cleaning around the pet dog may be further determined, specifically including: determining a first region where the pet dog is located in the cleaning map; determining, at least based on the first region, a path around the first region as a target cleaning path, or determining a corresponding target cleaning distance based on an obstacle type of the pet dog, to determine the target cleaning path based on the target cleaning distance and the first region. After the target cleaning path is determined, cleaning may be performed around the pet dog based on the target cleaning path. After the cleaning around the pet dog according to the target cleaning path is completed, the cleaning robot continues to perform cleaning by using the fourth second cleaning parameter until the cleaning scene image captured in real time does not include an obstacle, or a spacing distance between the cleaning robot and an edge of the pet dog is greater than a preset distance threshold. Thus, the cleaning robot adjusts the current fourth second cleaning parameter to the first cleaning parameter. The adjustment on the cleaning parameter may be further performed in conjunction with a parameter adjustment time. That is, after the cleaning around the pet dog according to the target cleaning path is completed, the cleaning robot continues to perform cleaning by using the fourth second cleaning parameter for a predetermined parameter adjustment time. For example, the cleaning robot continues to perform cleaning by using the fourth second cleaning parameter for 4 s, and may automatically adjust the current fourth second cleaning parameter to the first cleaning parameter after 4 s, or may further adjust the current fourth second cleaning parameter to another second cleaning parameter corresponding to the current obstacle type according to whether there is another obstacle in the current cleaning scene image and the current obstacle type.

[0077] In this embodiment, after the pet is recognized, if the side brush is controlled to stop rotation, there is a risk of blocking the cliff sensor, which is easy to cause a fall and also affects the cleaning effect. In addition, if the side brush is controlled to stop rotation, a small object may get stuck in the side brush and cause the side brush to deform. However, the side brush rotating at a slow speed can push aside a small object. Therefore, after the pet is recognized, the main brush may be stopped while the side brush continues to rotate at a reduced rotation speed, which is achieved by reducing the duty cycle of the side brush. The specific speed of the side brush is currently set according to a normal speed reduction parameter, and is consistent with the reduced speed of another side brush. It can be understood that, at this speed of the side brush, the rotation strength and speed of the side brush are relatively small, making it less likely for the side brush to get entangled with hair.

[0078] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. As shown in FIG. 2, the method includes the following steps.

[0079] In step S201, obstacle detection is performed to obtain a detection result.

[0080] In this step, specifically, determination may be made based on an obstacle type determination algorithm, to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle.

[0081] In step S202, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle are acquired.

[0082] In a specific implementation process of this step, based on an obstacle type of the target obstacle, at least two cleaning parameters corresponding to the obstacle type may be acquired.

[0083] In this step, the obstacle includes one or more predetermined items and / or pets; the obstacle type includes any one of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair. For example, the first obstacle type may include the following items: a shoe, a weight scale, and the like. The second obstacle type may include the following items: a sock, a glove, a scarf, and other relatively small fabrics. The third obstacle type may include the following: a yarn ball, a power cord, and feces. The fourth obstacle type may include the following pets: a dog, a cat, a rabbit, and other pets with hair.

[0084] After the obstacles are classified into different obstacle types, different second cleaning parameters may be pre-configured for the obstacle types. For example, a first second cleaning parameter is configured for the first obstacle type, a second second cleaning parameter is configured for the second obstacle type, a third second cleaning parameter is configured for the third obstacle type, and a fourth second cleaning parameter is configured for the fourth obstacle type. The second cleaning parameters, in descending order of cleaning strength, are a first second cleaning parameter, a second second cleaning parameter, a third second cleaning parameter, and a fourth second cleaning parameter, respectively. That is, the second cleaning parameter corresponding to the obstacle type that is less likely to be entangled is higher, and the second cleaning parameter corresponding to the pet with hair is the lowest, so as to prevent the pet hair from being entangled in the cleaning robot, thus preventing injury to the pet.

[0085] In this step, the at least two cleaning parameters may include at least two of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0086] Taking the case where the cleaning parameters include the main brush rotation speed and the side brush rotation speed as an example, the cleaning parameters during normal cleaning (without obstacles) of the robot are as follows: The main brush rotation speed is 2000 rpm, and the side brush rotation speed is 1000 rpm. Thus, the first second cleaning parameter may be set as follows: The main brush rotation speed is 1800 rpm, and the side brush rotation speed is 800 rpm. The second second cleaning parameter may be set as follows: The main brush rotation speed is 1200 rpm, and the side brush rotation speed is 700 rpm. The third second cleaning parameter may be set as follows: The main brush rotation speed is 1000 rpm, and the side brush rotation speed is 600 rpm. The fourth second cleaning parameter may be set as follows: The main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 500 rpm; or the main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 1000 rpm. Specifically, the side brush rotation speed may also be adjusted to 30% (450 rpm) of the maximum side brush rotation speed, that is, the side brush is reduced to a rotation speed corresponding to a duty cycle of 30%. In order to prevent accidental injury to the pet, optionally, the main brush and / or the side brush may be further controlled to be lifted.

[0087] In step S203, cleaning is performed based on the at least two cleaning parameters.

[0088] In this step, after obtaining the cleaning parameters corresponding to the obstacle, the cleaning robot may directly perform cleaning based on the two or more cleaning parameters.

[0089] In this embodiment, after detecting an obstacle, especially, for example, an obstacle of a pet type, the cleaning robot may directly obtain cleaning parameters corresponding to the pet, and then perform cleaning based on the cleaning parameters, that is, control the main brush to stop rotation and control the side brush to operate in a low-speed mode, so as to prevent, to the greatest extent, the tail, hair, and the like of the pet from being entangled in a rotating member of the cleaning robot. The reason why the side brush does not stop rotation is that blocking of components such as a cliff sensor can be effectively avoided, and meanwhile, bristles of the side brush can be prevented from being stuck in a possible slit. In some embodiments, the low-speed mode of the side brush is set to be 30% (e.g., 450 rpm) of the maximum rotation speed, that is, the side brush is reduced to a rotation speed corresponding to a duty cycle of 30% for cleaning.

[0090] According to the method in this embodiment, by performing cleaning according to the cleaning parameters corresponding to the target obstacle, a problem that the pet dog approaches the cleaning robot and is entangled in the cleaning robot and thus is injured by the cleaning robot is avoided, thereby ensuring the safety and reliability of the cleaning process.

[0091] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. Before performing cleaning based on the at least two cleaning parameters, the cleaning method may further include: acquiring a spacing distance between the cleaning robot and an edge of the target obstacle; and in the case that the spacing distance is less than or equal to a predetermined distance threshold, performing cleaning based on the cleaning parameter. For example, after a target obstacle, especially an obstacle of a pet type, is detected, a spacing distance between the cleaning robot and the pet may be further acquired, and then cleaning is performed based on cleaning parameters corresponding to the pet when the spacing distance is less than or equal to a predetermined distance threshold.

[0092] In this embodiment, when acquiring the spacing distance between the cleaning robot and the edge of the target obstacle, the following manner may be used: determining, based on the cleaning scene image and a preset cleaning map, a target region including the target obstacle in the cleaning map; determining, in real time, a current cleaning position where the cleaning robot is located in the cleaning map; and determining, based on the current cleaning position and the target region, a spacing distance between the current position and the edge of the target region, such that the distance between the cleaning robot and the target obstacle is obtained. In this embodiment, the predetermined distance threshold may be adjusted and set according to actual needs.

[0093] In this embodiment, when the cleaning robot obtains the cleaning scene image by capturing in real time using a camera device, a predetermined recognition algorithm may be used to recognize minimum bounding boxes corresponding to objects from the cleaning scene image, that is, to obtain field-of-view regions of obstacles in the cleaning scene image. Then, a first region where the field-of-view regions are located in the cleaning map may be determined in conjunction with the cleaning map and depth-of-field information in the cleaning scene image, and the first region may be directly used as a target region where the target obstacle is located in the cleaning map. Subsequently, the distance between the cleaning robot and the target obstacle may be determined according to the spacing distance between the current cleaning position where the cleaning robot is located in the cleaning map and the edge of the target region.

[0094] In this embodiment, in order to make the determination of the target region accurate, after the first region where the target obstacle is located in the cleaning map is obtained, the first region may be further adjusted in conjunction with a region threshold, so as to obtain a target region. For example, the first region is adjusted to be expanded based on a region threshold, to expand the area range of the first region to 1.05 times the original area range. For another example, the first region is adjusted to be reduced based on a region threshold, to reduce the area of the first region to 0.95 times the original area. The region threshold may be set according to actual needs, and specifically, may be adjusted according to a recognition result of the first region. For example, when the accuracy of the recognition result of the first region is relatively high, the region threshold may be set to 1.01. By appropriately expanding the first region as the target region, the cleaning robot can be prevented from performing parameter adjustment only when the cleaning robot is at a relatively close distance from the target obstacle, thereby effectively preventing the obstacle from being entangled. For another example, when the recognition result of the first region is relatively small, that is, the recognized first region is smaller than the actual region corresponding to the target obstacle, the region threshold may be set to a value greater than 1, for example, set to 1.05, 1.08, or 1.1. For another example, when the recognition result of the first region is relatively large, that is, the recognized first region is greater than the actual region corresponding to the target obstacle, the region threshold may be set to 1 or a value less than 1, for example, set to 0.98 or 0.95.

[0095] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. Before performing cleaning based on the at least two cleaning parameters, the cleaning method may further include: determining a first region where the target obstacle is located in a cleaning map; and determining, at least based on the first region, a path around the first region as a target cleaning path, such that cleaning may be performed in real time based on the cleaning parameters and the target cleaning path. In this embodiment, a specific process of determining a first region where the target obstacle is located in a cleaning map is consistent with the process of determining the target region in the above embodiments, and therefore details will not be repeated here.

[0096] In this embodiment, in order to make the determination of the target cleaning path more accurate and reasonable, the cleaning method may further include: determining, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; then, determining, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path. In this embodiment, by adjusting the cleaning distance according to the obstacle type to obtain the corresponding cleaning path, the cleaning can be performed around the obstacle at different cleaning distances for different obstacle types during the cleaning process. In other words, short-distance cleaning is performed on an obstacle that is not easy to be entangled, medium-distance cleaning is performed on an obstacle that is relatively easy to be entangled, and long-distance cleaning is performed on an obstacle that cannot be entangled (for example, a pet dog or a cat), thereby ensuring safety and reliability of a cleaning process.

[0097] According to the cleaning method in this embodiment, during the cleaning process, the target obstacle is detected in real time. When a target obstacle is found, at least two cleaning parameters corresponding to the target obstacle are acquired, and then low-speed cleaning is performed based on the cleaning parameters, such that the obstacle can be effectively prevented from being entangled in the cleaning robot, thereby avoiding injury to the pet, ensuring a safer and more reliable cleaning process, and avoiding damage to the cleaning robot caused by the entanglement of the obstacle.

[0098] Another embodiment of the present disclosure provides a cleaning apparatus for a cleaning robot. As shown in FIG. 3, the cleaning apparatus includes: a detection module 11, configured to obtain a detection result by performing obstacle detection; a determination module 12, configured to determine, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; an adjustment module 13, configured to perform adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and a cleaning module 14, configured to perform cleaning based on the current cleaning parameter.

[0099] In a specific implementation process of this embodiment, the detection module is specifically configured to: make a determination based on an obstacle type determination algorithm, to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle, where the obstacle includes one or more predetermined items and / or pets.

[0100] In a specific implementation process of this embodiment, the determination module is specifically configured to: in the case of determining that the detection result includes the target obstacle and the current cleaning parameter is a predetermined first cleaning parameter, determine that a first preset adjustment condition is satisfied; and in the case of determining that the detection result does not include the target obstacle and the current cleaning parameter is a second cleaning parameter, determine that a second preset adjustment condition is satisfied.

[0101] In a specific implementation of this embodiment, the determination module is configured to: determine, based on whether the detection result includes the target obstacle, the current cleaning parameter, and the positional relationship between the cleaning robot and the target obstacle, a preset adjustment condition satisfied by the cleaning robot. That is, the determination module is specifically configured to: in the case of determining that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, determine that a first preset adjustment condition is satisfied; and in the case of determining that the detection result does not include the target obstacle or the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, and the current cleaning parameter is a second cleaning parameter, determine that a second preset adjustment condition is satisfied.

[0102] In a specific implementation of this embodiment, the cleaning apparatus for a cleaning robot further includes: an acquisition module configured to acquire the positional relationship between the cleaning robot and the target obstacle. The acquisition module is configured to: determine, based on the cleaning scene image and a preset cleaning map, a target region including the target obstacle in the cleaning map; determine, in real time, a current cleaning position where the cleaning robot is located in the cleaning map; determine, based on the current cleaning position and the target region, a spacing distance between the current position and an edge of the target region; obtain, based on a magnitude relationship between the spacing distance and a preset distance threshold, the positional relationship between the cleaning robot and the target obstacle.

[0103] In a specific implementation process of this embodiment, the adjustment module is specifically configured to: in the case that the preset adjustment condition is the first preset adjustment condition, perform adjustment on the cleaning parameter by using a first adjustment strategy, thereby adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result; and in the case that the preset adjustment condition is the second preset adjustment condition, perform adjustment on the cleaning parameter by using a second adjustment strategy, adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter.

[0104] In a specific implementation process of this embodiment, the cleaning apparatus for a cleaning robot further includes a parameter acquisition module. The parameter acquisition module is configured to: before adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, acquire an obstacle type of a target obstacle in the detection result; and determine, based on the obstacle type, a cleaning parameter corresponding to the obstacle type as the second cleaning parameter, where the obstacle type includes any one or more of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

[0105] In a specific implementation of this embodiment, the cleaning apparatus for the cleaning robot further includes a path determination module. The path determination module is configured to: in the case of determining that the first preset adjustment condition is satisfied, determine a first region where the target obstacle is located in a cleaning map; and determine, at least based on the first region, a path around the first region as a target cleaning path; the cleaning module is configured to: perform cleaning based on the current cleaning parameter and the target cleaning path.

[0106] In a specific implementation of this embodiment, the path determination module is configured to: determine, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determine, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

[0107] In a specific implementation process of this embodiment, the cleaning parameter includes any one or more of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0108] According to the cleaning apparatus for a cleaning robot in the present disclosure, the cleaning parameter can be flexibly adjusted based on a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0109] Another embodiment of the present disclosure provides a cleaning apparatus for a cleaning robot. As shown in FIG. 4, the cleaning apparatus includes: a detection module 21, configured to obtain a detection result by performing obstacle detection; a first acquisition module 22, configured to acquire, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle; and a cleaning module 23, configured to perform cleaning based on the at least two cleaning parameters.

[0110] In a specific implementation process of this embodiment, the detection module is specifically configured to: make a determination based on an obstacle type determination algorithm, to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle.

[0111] In a specific implementation process of this embodiment, the first acquisition module is specifically configured to: acquire, based on an obstacle type of the target obstacle, cleaning parameters corresponding to the obstacle type, where the target obstacle includes one or more predetermined items and / or pets. The obstacle type includes any one of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

[0112] In a specific implementation of this embodiment, the cleaning apparatus for a cleaning robot further includes a second acquisition module. The second acquisition module is configured to: before performing cleaning based on the cleaning parameters, acquire a spacing distance between the cleaning robot and an edge of the target obstacle; the cleaning module is configured to: in the case that the spacing distance is less than or equal to a predetermined distance threshold, perform cleaning based on the cleaning parameters.

[0113] In a specific implementation of this embodiment, the cleaning apparatus for a cleaning robot further includes a third acquisition module. The third acquisition module is configured to: before performing cleaning based on the cleaning parameters, determine a first region where the target obstacle is located in a cleaning map; and determine, at least based on the first region, a path around the first region as a target cleaning path; the cleaning module is specifically configured to: perform cleaning based on the cleaning parameters and the target cleaning path.

[0114] In a specific implementation process of this embodiment, the third acquisition module is specifically configured to: determine, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determine, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

[0115] In a specific implementation process of this embodiment, the at least two cleaning parameters include at least two of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0116] According to the cleaning method in this embodiment, during the cleaning process, the target obstacle is detected in real time. When the target obstacle is found, at least two cleaning parameters corresponding to the target obstacle are acquired, and then low-speed cleaning is performed based on the cleaning parameters, such that the obstacle can be effectively prevented from being entangled in the cleaning robot, thereby avoiding injury to the pet, ensuring a safer and more reliable cleaning process, and avoiding damage to the cleaning robot caused by the entanglement of the obstacle.

[0117] Another embodiment of the present disclosure provides a storage medium storing a computer program thereon. The computer program, when run by a processor, causes the processor to implement the following method steps: step I: obtaining a detection result by performing obstacle detection; step II: determining, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; step III: performing adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and step IV: performing cleaning based on the current cleaning parameter.

[0118] For a specific implementation process of the above method steps, reference may be made to any one of the above embodiments of the cleaning method for a cleaning robot, and therefore details will not be repeated here.

[0119] According to the storage medium in the present disclosure, the cleaning parameter can be flexibly adjusted based on a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0120] Another embodiment of the present disclosure provides an electronic device, as shown in FIG. 5, including at least a memory 1 and a processor 2. The memory 1 stores a computer program thereon, and the processor 2, when executing the computer program on the memory 1, implements the following method steps: step I: obtaining a detection result by performing obstacle detection; step II: determining, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; step III: performing adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and step IV: performing cleaning based on the current cleaning parameter.

[0121] For a specific implementation process of the above method steps, reference may be made to any one of the above embodiments of the cleaning method for a cleaning robot, and therefore details will not be repeated here.

[0122] According to the electronic device in the present disclosure, the cleaning parameter can be flexibly adjusted based on a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0123] The above embodiments are merely exemplary embodiments of the present disclosure, and are not intended to limit the present disclosure. The protection scope of the present disclosure is defined by the claims. Various modifications or equivalent replacements to the present disclosure may be made by those skilled in the art within the spirit and protection scope of the present disclosure, and such modifications or equivalent replacements shall also be deemed to fall within the protection scope of the present disclosure.

Examples

Embodiment Construction

[0032]Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0033]It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limitations, but merely as exemplifications of the embodiments. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0034]The drawings, which are incorporated in and constitute a part of the specification, illustrate the embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0035]These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of the embodiments, given as non-limiting examples, with refere...

CROSS-REFERENCE TO RELATED APPLICATION

[0001] The present disclosure claims priority to Chinese Patent Application No. 202211732817.9, filed with the China National Intellectual Property Administration on December 30, 2022 and entitled "CLEANING METHOD AND APPARATUS FOR CLEANING ROBOT, MEDIUM, AND DEVICE", which is incorporated herein by reference in its entirety.TECHNICAL FIELD

[0002] The present disclosure relates to household appliances, and in particular, to a cleaning method and apparatus for a cleaning robot, a medium, and a device.BACKGROUND

[0003] With the continuous development of science and technology, the popularity of cleaning robots has gradually increased. The cleaning robots can be used to conveniently and quickly remove dust and foreign matters. The popularization of the cleaning robots has made people's life more convenient and comfortable.

[0004] However, the existing cleaning robots are prone to entangling obstacles during a cleaning process, which makes the cleaning process less safe and reliable, and easily causes damage to the cleaning robots.SUMMARY

[0005] In view of the above, the present disclosure provides a cleaning method and apparatus for a cleaning robot, a medium, and a device, mainly aiming to solve the existing problem that an obstacle is easily entangled, which makes the cleaning process less safe and reliable, and easily causes damage to the cleaning robot.

[0006] To solve the above problem, the present disclosure provides a cleaning method for a cleaning robot, including: obtaining a detection result by performing obstacle detection; determining, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; performing adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and performing cleaning based on the current cleaning parameter.

[0007] Optionally, the obtaining the detection result by performing the obstacle detection, includes: obtaining, by making a determination based on an obstacle type determination algorithm, the detection result including the target obstacle, or the detection result not including the target obstacle.

[0008] Optionally, the obstacle includes one or more predetermined items and / or pets.

[0009] Optionally, the determining, at least based on the detection result and the current cleaning parameter, the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter, includes: in a case of determining that the detection result includes the target obstacle and the current cleaning parameter is a predetermined first cleaning parameter, determining that a first preset adjustment condition is satisfied; and in a case of determining that the detection result does not include the target obstacle and the current cleaning parameter is a second cleaning parameter, determining that a second preset adjustment condition is satisfied.

[0010] Optionally, the determining, at least based on the detection result and the current cleaning parameter, the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter, includes: determining, based on whether the detection result includes a target obstacle, the current cleaning parameter, and a positional relationship between the cleaning robot and the target obstacle, a preset adjustment condition satisfied by the cleaning robot, specifically including: in a case of determining that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, determining that a first preset adjustment condition is satisfied; and in a case of determining that the detection result does not include the target obstacle or the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, and the current cleaning parameter is a second cleaning parameter, determining that a second preset adjustment condition is satisfied.

[0011] Optionally, the method further includes: acquiring the positional relationship between the cleaning robot and the target obstacle, including: determining, based on a cleaning scene image and a preset cleaning map, a target region including the target obstacle in the cleaning map; determining, in real time, a current cleaning position where the cleaning robot is located in the cleaning map; determining, based on the current cleaning position and the target region, a spacing distance between the current position and an edge of the target region; and obtaining, based on a magnitude relationship between the spacing distance and a preset distance threshold, the positional relationship between the cleaning robot and the target obstacle.

[0012] Optionally, the performing adjustment on the cleaning parameter by using the adjustment manner corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result, or adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter, includes: in a case that the preset adjustment condition is the first preset adjustment condition, performing adjustment on the cleaning parameter by using a first adjustment strategy, thereby adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result; and in a case that the preset adjustment condition is the second preset adjustment condition, performing adjustment on the cleaning parameter by using a second adjustment strategy, thereby adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter.

[0013] Optionally, before adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result, the method further includes: acquiring an obstacle type of a target obstacle in the detection result; and determining, based on the obstacle type, a cleaning parameter corresponding to the obstacle type as the second cleaning parameter, where the obstacle type includes any one or more of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

[0014] Optionally, in a case of determining that the first preset adjustment condition is satisfied, the method further includes: determining a first region where the target obstacle is located in a cleaning map; and determining, at least based on the first region, a path around the first region as a target cleaning path; said performing cleaning based on the current cleaning parameter, includes: performing cleaning based on the current cleaning parameter and the target cleaning path.

[0015] Optionally, the determining, at least based on the first region, the path around the first region as the target cleaning path, includes: determining, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determining, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

[0016] Optionally, the cleaning parameter includes any one or more of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force, where the main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; and the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0017] To solve the above problem, the present disclosure provides a cleaning method for a cleaning robot, including: obtaining a detection result by performing obstacle detection; acquiring, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle; and performing cleaning based on the at least two cleaning parameters.

[0018] Optionally, the obtaining the detection result by performing the obstacle detection includes: obtaining, by making a determination based on an obstacle type determination algorithm, the detection result including the target obstacle, or the detection result not including the target obstacle.

[0019] Optionally, the acquiring the at least two cleaning parameters corresponding to the target obstacle, includes: acquiring, based on an obstacle type of the target obstacle, at least two cleaning parameters corresponding to the obstacle type, where the target obstacle includes one or more predetermined items and / or pets; the obstacle type includes any one of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

[0020] Optionally, before performing cleaning based on the at least two cleaning parameters, the method further includes: acquiring a spacing distance between the cleaning robot and an edge of the target obstacle; said performing cleaning based on the cleaning parameters, includes: in a case that the spacing distance is less than or equal to a predetermined distance threshold, performing cleaning based on the cleaning parameters.

[0021] Optionally, before performing cleaning based on the at least two cleaning parameters, the method further includes: determining a first region where the target obstacle is located in a cleaning map; and determining, at least based on the first region, a path around the first region as a target cleaning path; said performing cleaning based on the cleaning parameters, includes: performing cleaning based on the at least two cleaning parameters and the target cleaning path.

[0022] Optionally, the determining, at least based on the first region, the path around the first region as the target cleaning path, includes: determining, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determining, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

[0023] Optionally, the at least two cleaning parameters include at least two of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force, where the main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; and the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0024] Optionally, the acquiring, based on the target obstacle in the detection result, the cleaning parameters corresponding to the target obstacle, includes: in a case that the target obstacle is a pet, acquiring the corresponding cleaning parameters as follows: a main brush stops rotation and a side brush operates in a low-speed mode.

[0025] To solve the above problem, the present disclosure provides a cleaning apparatus for a cleaning robot, including: a detection module, configured to obtain a detection result by performing obstacle detection; a determination module, configured to determine, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; an adjustment module, configured to perform adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and a cleaning module, configured to perform cleaning based on the current cleaning parameter.

[0026] To solve the above problem, the present disclosure provides a cleaning apparatus for a cleaning robot, including: a detection module, configured to obtain a detection result by performing obstacle detection; an acquisition module, configured to acquire, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle; and a cleaning module, configured to perform cleaning based on the at least two cleaning parameters.

[0027] To solve the above problem, the present disclosure provides a storage medium storing a computer program thereon, where the computer program, when run by a processor, implements steps of the cleaning method for a cleaning robot according to any one of the above embodiments.

[0028] To solve the above problems, the present disclosure provides an electronic device, including at least a memory and a processor, where the memory stores a computer program thereon, and the processor, when executing the computer program on the memory, implements steps of the cleaning method for a cleaning robot according to any one of the above embodiments.

[0029] According to the cleaning method and apparatus for a cleaning robot, the medium, and the device in the present disclosure, the cleaning parameter can be flexibly adjusted based on a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0030] The above description is only an overview of the technical solutions of the present disclosure. To more clearly understand the technical means of the present disclosure to enable implementation in accordance with the content of the specification and to make the above and other purposes, features, and advantages of the present disclosure more obvious and easy to understand, the detailed description of the present disclosure is provided below.BRIEF DESCRIPTION OF THE DRAWINGS

[0031] By reading the detailed description of preferred embodiments below, various additional advantages and benefits will become clear to those of ordinary skill in the art. The drawings are provided solely for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the scope of the present disclosure. Furthermore, the same reference symbols are used to represent the same components throughout the drawings. In the drawings: FIG. 1 is a flowchart of a cleaning method for a cleaning robot according to an embodiment of the present disclosure; FIG. 2 is a flowchart of a cleaning method for a cleaning robot according to another embodiment of the present disclosure; FIG. 3 is a structural block diagram of a cleaning apparatus for a cleaning robot according to an embodiment of the present disclosure; FIG. 4 is a structural block diagram of a cleaning apparatus for a cleaning robot according to another embodiment of the present disclosure; FIG. 5 is a structural block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0033] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limitations, but merely as exemplifications of the embodiments. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0034] The drawings, which are incorporated in and constitute a part of the specification, illustrate the embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0035] These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of the embodiments, given as non-limiting examples, with reference to the drawings.

[0036] It should also be understood that although the present disclosure has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of the present disclosure.

[0037] The above and other aspects, features, and advantages of the present disclosure will become more apparent in view of the following detailed description when taken in conjunction with the drawings.

[0038] Specific embodiments of the present disclosure are described hereinafter with reference to the drawings. However, it should be understood that the embodiments disclosed herein are merely examples of the present disclosure, which can be implemented in various ways. Well-known and / or repeated functions and constructions are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, specific structural and functional details disclosed herein are not intended to be limiting, but merely as a basis and representative basis of the claims for teaching those skilled in the art to variously use the present disclosure with substantially any appropriate detailed structure.

[0039] The phrase "in an embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments" may be used in this description, and may refer to one or more of the same or different embodiments according to the present disclosure.

[0040] The embodiments of the present disclosure provide a cleaning method for a cleaning robot. As shown in FIG. 1, the method in this embodiment includes: In step S101, obstacle detection is performed to obtain a detection result.

[0041] In this step, the cleaning robot can capture a cleaning process in real time by using a built-in camera. Specifically, the cleaning robot can capture an environment image in a cleaning direction in real time along the cleaning direction during the cleaning process, to obtain a cleaning scene image, and then perform obstacle detection according to the cleaning scene image, to obtain a detection result.

[0042] After the cleaning robot obtains the cleaning scene image by capturing, the cleaning robot can make a determination by using a predetermined obstacle detection model or a predetermined obstacle type determination algorithm, to determine whether an obstacle is included in the cleaning scene image. For example, whether an obstacle is included can be determined by comparing the cleaning scene image with an obstacle label image. The obstacle refers to an item or a pet that affects a cleaning route, and may be, for example, a shoe, a weight scale, a fabric (for example, a sock), a yarn ball, a pet, etc.

[0043] In step S102, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter is determined.

[0044] The cleaning parameter in this step includes a first cleaning parameter with a relatively high cleaning strength and one or more second cleaning parameters with relatively low cleaning strengths. In other words, when the current cleaning parameter of the cleaning robot is the first cleaning parameter and a target obstacle is detected in front of the cleaning robot, if the cleaning robot still performs cleaning by using the first cleaning parameter, the obstacle is easily entangled in the cleaning robot. Therefore, the current cleaning parameter needs to be adjusted to the second cleaning parameter. By reducing the cleaning parameter and performing cleaning in a low-speed cleaning mode, a yarn ball, a sock, and dog hairs can be effectively prevented from being entangled in the cleaning robot, which may otherwise cause injury to the pet or damage to the cleaning robot. Thus, it may be determined that the cleaning robot satisfies a first preset adjustment condition. When the current cleaning parameter of the cleaning robot is the second cleaning parameter and no target obstacle is detected in front of the cleaning robot, it indicates that the cleaning robot is currently in a low-speed cleaning mode. Since there is no obstacle in front of the cleaning robot and there is no need to worry about the obstacle being entangled, continuing to perform cleaning by using the second cleaning parameter may result in a relatively low cleaning strength. Therefore, the current cleaning parameter may be adjusted to the first cleaning parameter to enter a high-speed cleaning mode, which ensures that the cleaned place is cleaner. Thus, it may be determined that the cleaning robot satisfies a second preset adjustment condition.

[0045] Specifically, the cleaning parameter may include any one or more of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0046] In step S103, adjustment on the cleaning parameter is performed by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter.

[0047] In this step, the adjustment strategy refers to a specific manner for adjusting the cleaning parameter, including a first adjustment strategy and a second adjustment strategy. The first adjustment strategy is to adjust the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result. The second adjustment strategy is to adjust the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter.

[0048] In a specific implementation process of this embodiment, corresponding relationships between the preset adjustment conditions and the adjustment strategies may be established in advance, that is, a mapping relationship between the first preset adjustment condition and the first adjustment strategy and a mapping relationship between the second preset adjustment condition and the second adjustment strategy may be established in advance. Thus, after the preset adjustment condition satisfied by the cleaning robot is determined, the adjustment strategy may be quickly determined by searching the mapping relationship, thereby quickly and accurately adjusting the cleaning parameter.

[0049] In step S104, cleaning is performed based on the current cleaning parameter.

[0050] After the cleaning parameter is adjusted in this step, cleaning may be performed in real time based on the adjusted current cleaning parameter.

[0051] According to the cleaning method in this embodiment, the cleaning parameter can be flexibly adjusted according to a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0052] On the basis of the above embodiments, another embodiment of the present disclosure provides a cleaning method for a cleaning robot. In this embodiment, when performing obstacle detection to obtain a detection result, the following specific manner may be used: making a determination based on an obstacle type determination algorithm, to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle. For example, one or more obstacle object images are extracted based on the cleaning scene image acquired in real time; the obstacle object images are compared with predetermined obstacle label images to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle, where the obstacle includes one or more predetermined item images and / or pet images.

[0053] In this embodiment, the obstacle label image refers to a pre-stored obstacle template image. The obstacle label image may specifically include one or more predetermined item images and / or pet images. For example, the obstacle label image may be: a shoe picture, a weight scale picture, a yarn ball picture, a fabric picture (for example, a sock picture, a glove picture, and a scarf picture), a power cord picture, a pet dog image, a pet cat image, a pet rabbit image, etc. In this embodiment, whether the cleaning scene image includes the target obstacle can be quickly and accurately detected by comparing the obstacle object image with the obstacle label images. This lays a foundation for subsequent adjustment of a reasonable and accurate cleaning parameter.

[0054] In some embodiments, the obstacle-related picture does not need to be pre-stored, but a recognition algorithm required for recognizing an obstacle type is preset in the control system of the robot. The specific type of the obstacle can be determined by directly performing calculation using the recognition algorithm based on the feature information in the obstacle object image.

[0055] On the basis of the above embodiments, another embodiment of the present disclosure provides a cleaning method for a cleaning robot. In this embodiment, the determining, at least based on the detection result and the current cleaning parameter, the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter, specifically includes: in the case of determining that the detection result includes the target obstacle and the current cleaning parameter is a predetermined first cleaning parameter, determining that a first preset adjustment condition is satisfied; and in the case of determining that the detection result does not include the target obstacle and the current cleaning parameter is a second cleaning parameter, determining that a second preset adjustment condition is satisfied. That is, during the cleaning process, when determining the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter, there are four cases as follows: Case I: When a target obstacle is found and the cleaning robot performs cleaning by using a first cleaning parameter, the current cleaning parameter needs to be adjusted to be reduced to a second cleaning parameter corresponding to the target obstacle, that is, it is determined that the cleaning robot satisfies a first preset adjustment condition. Case II: When a target obstacle is found and the cleaning robot performs cleaning by using a second cleaning parameter, it indicates that the cleaning robot is currently in a low-speed cleaning mode. Therefore, the cleaning may continue to be performed by using the current second cleaning parameter. Case III: When no target obstacle is found and the cleaning robot performs cleaning by using a second cleaning parameter, it indicates that the cleaning robot is currently in a low-speed cleaning mode. Therefore, the current cleaning parameter needs to be adjusted to be increased to a predetermined first cleaning parameter, that is, it is determined that the cleaning robot satisfies a second preset adjustment condition. Case IV: When no target obstacle is found and the cleaning robot performs cleaning by using a first cleaning parameter, it indicates that the cleaning robot is currently in a high-speed cleaning mode and no obstacle exists in front of the cleaning robot. Therefore, the cleaning parameter does not need to be adjusted, and the cleaning may continue to be performed by using the current first cleaning parameter.

[0056] In this embodiment, in order to make the determination of the preset adjustment condition accurate and reasonable, whether the preset adjustment condition is satisfied may be further determined in conjunction with a positional relationship between the cleaning robot and the target obstacle. That is, the preset adjustment condition satisfied by the cleaning robot is determined based on whether the detection result includes the target obstacle, the current cleaning parameter, and the positional relationship between the cleaning robot and the target obstacle. The method specifically includes: in the case of determining that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, determining that a first preset adjustment condition is satisfied; and in the case of determining that the detection result does not include the target obstacle or the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, and the current cleaning parameter is a second cleaning parameter, determining that a second preset adjustment condition is satisfied.

[0057] That is, in Case I above: when it is determined that the detection result includes the target obstacle and the current cleaning parameter is a predetermined first cleaning parameter, whether a first preset adjustment condition is satisfied may be further determined in conjunction with a positional relationship between the cleaning robot and the target obstacle, specifically including: in the case of determining that the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, determining that a first preset adjustment condition is satisfied; and in the case of determining that the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, determining that a first preset adjustment condition is not satisfied. In this embodiment, by further determining whether the parameter adjustment condition is satisfied in conjunction with the positional relationship between the target obstacle and the cleaning robot, subsequent parameter adjustment can be more reasonable. For example, when it is determined that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, it indicates that the cleaning robot is at a relatively close distance from the target obstacle. Therefore, the current cleaning parameter needs to be adjusted to a second cleaning parameter, that is, it is determined that a first preset adjustment condition is satisfied. On the contrary, when it is determined that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and a spacing distance between the cleaning robot and an edge of the target obstacle is greater than the preset distance threshold, it indicates that although the target obstacle exists in front of the cleaning robot and the current cleaning speed is relatively high, the cleaning robot is currently at a relatively far distance from the target obstacle. Therefore, the cleaning parameter does not need to be reduced for the time being, and the cleaning parameter may be reduced when the cleaning robot is at a relatively close distance from the target obstacle. In this embodiment, the preset distance threshold may be adjusted according to a desired robot behavior. For example, if the robot is more inclined to clean without making contact with an obstacle, the distance threshold may be appropriately increased, or may be set by the user.

[0058] In Case II above, when it is determined that the detection result includes the target obstacle and the current cleaning parameter is a second cleaning parameter, whether a second preset adjustment condition is satisfied may be further determined in conjunction with a positional relationship between the cleaning robot and the target obstacle. That is, when it is further determined that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, it indicates that although the target obstacle exists in front of the cleaning robot, it is at a relatively far distance from the cleaning robot. Therefore, the current cleaning parameter may be adjusted to a first cleaning parameter, that is, it is determined that a second preset adjustment condition is satisfied. On the contrary, when a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, it indicates that the target obstacle exists in front of the cleaning robot and is at a relatively close distance from the cleaning robot. Therefore, the cleaning parameter does not need to be adjusted, and the cleaning may be performed by using the second cleaning parameter.

[0059] In a specific implementation process of this embodiment, before determining whether the preset adjustment condition is satisfied in conjunction with the positional relationship between the cleaning robot and the target obstacle, the positional relationship between the cleaning robot and the target obstacle may be further acquired, specifically including: determining, based on a cleaning scene image and a preset cleaning map, a target region including the target obstacle in the cleaning map; determining, in real time, a current cleaning position where the cleaning robot is located in the cleaning map; determining, based on the current cleaning position and the target region, a spacing distance between the current position and an edge of the target region; and obtaining, based on a magnitude relationship between the spacing distance and a preset distance threshold, the positional relationship between the cleaning robot and the target obstacle.

[0060] In this embodiment, when the cleaning robot obtains the cleaning scene image by capturing in real time using a camera device, a predetermined recognition algorithm may be used to recognize minimum bounding boxes corresponding to objects from the cleaning scene image, that is, to obtain field-of-view regions of obstacles in the cleaning scene image. Then, a first region where the field-of-view regions are located in the cleaning map may be further determined in conjunction with the cleaning map and depth-of-field information in the cleaning scene image, and the first region may be directly used as a target region where the target obstacle is located in the cleaning map. Subsequently, the positional relationship between the cleaning robot and the target obstacle may be determined according to a spacing distance between the current cleaning position where the cleaning robot is located in the cleaning map and an edge of the target region.

[0061] In this embodiment, in order to make the determination of the target region accurate, after the first region where the target obstacle is located in the cleaning map is obtained, the first region may be further adjusted in conjunction with a region threshold, so as to obtain a target region. For example, the first region is adjusted to be expanded based on a region threshold, to expand the area range of the first region to 1.05 times the original area range. For another example, the first region is adjusted to be reduced based on a region threshold, to reduce the area of the first region to 0.95 times the original area. The region threshold may be set according to actual needs, and specifically, may be adjusted according to a recognition result of the first region. For example, when the accuracy of the recognition result of the first region is relatively high, the region threshold may be set to 1.01. By appropriately expanding the first region as the target region, the cleaning robot can be prevented from performing parameter adjustment only when the cleaning robot is at a relatively close distance from the target obstacle, thereby effectively preventing the obstacle from being entangled. For another example, when the recognition result of the first region is relatively small, that is, the recognized first region is smaller than the actual region corresponding to the target obstacle, the region threshold may be set to a value greater than 1, for example, set to 1.05, 1.08, or 1.1. For another example, when the recognition result of the first region is relatively large, that is, the recognized first region is greater than the actual region corresponding to the target obstacle, the region threshold may be set to 1 or a value less than 1, for example, set to 0.98 or 0.95.

[0062] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. On the basis of the above embodiments, after it is determined that the cleaning robot satisfies the preset adjustment condition, the current parameter may be adjusted according to the adjustment strategy corresponding to the preset condition. The method specifically includes, for example: in the case that the preset adjustment condition is a first preset adjustment condition, performing adjustment on the cleaning parameter by using a first adjustment strategy, where the first adjustment strategy is to adjust the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result; and in the case that the preset adjustment condition is a second preset adjustment condition, performing adjustment on the cleaning parameter by using a second adjustment strategy, where the second adjustment strategy is to adjust the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter.

[0063] In this embodiment, in order to make the adjustment of the cleaning parameter reasonable and accurate, the obstacles may be classified into one or more obstacle types according to the severity of consequences after being entangled and the easiness level of being entangled, and then different second cleaning parameters are configured for the obstacle types.

[0064] For example, the obstacles may be classified into the following one or more obstacle types: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair. The easiness level of being entangled refers to the degree of difficulty of being entangled in the cleaning robot. The higher the easiness level of being entangled, the easier the obstacle is to be entangled in the cleaning robot. The first easiness level of being entangled is lower than the second easiness level of being entangled, and the second easiness level of being entangled is lower than the third easiness level of being entangled. In this embodiment, the first obstacle type may include the following items: a shoe, a weight scale, and the like. The second obstacle type may include the following items: a sock, a glove, a scarf, and other relatively small fabrics. The third obstacle type may include the following: a yarn ball, a power cord, and feces. The fourth obstacle type may include the following pets: a dog, a cat, a rabbit, and other pets with hair.

[0065] In this embodiment, after the obstacles are classified into different obstacle types, different second cleaning parameters may be pre-configured for the obstacle types. For example, a first second cleaning parameter is configured for the first obstacle type, a second second cleaning parameter is configured for the second obstacle type, a third second cleaning parameter is configured for the third obstacle type, and a fourth second cleaning parameter is configured for the fourth obstacle type. The second cleaning parameters, in descending order of cleaning strength, are a first second cleaning parameter, a second second cleaning parameter, a third second cleaning parameter, and a fourth second cleaning parameter, respectively. That is, the second cleaning parameter corresponding to the obstacle type that is less likely to be entangled is higher, and the second cleaning parameter corresponding to the pet with hair is the lowest, so as to prevent the pet hair from being entangled in the cleaning robot, thus preventing injury to the pet.

[0066] In this embodiment, the cleaning parameter includes any one or more of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength. That is, the cleaning parameter includes any one or more of a main brush rotation speed of a cleaning main brush, a main brush rotation strength of a cleaning main brush, a side brush rotation speed of a cleaning side brush, a side brush rotation strength of a cleaning side brush, and a dust suction force. The first cleaning parameter is a predetermined cleaning parameter, and may be greater than or equal to the second cleaning parameters. That is, the main brush rotation speed, the main brush rotation strength, the side brush rotation speed, the side brush rotation strength, and the dust suction force in the first cleaning parameter are greater than the main brush rotation speed, the main brush rotation strength, the side brush rotation speed, the side brush rotation strength, and the dust suction force in the second cleaning parameters, respectively. Alternatively, the main brush rotation speed and the main brush rotation strength in the first cleaning parameter are greater than the main brush rotation speed and the main brush rotation strength in the second cleaning parameters, respectively, and the side brush rotation speed, the side brush rotation strength, and the dust suction force in the first cleaning parameter are equal to the side brush rotation speed, the side brush rotation strength, and the dust suction force in the second cleaning parameters, respectively.

[0067] Taking the case where the cleaning parameter includes the main brush rotation speed and the side brush rotation speed as an example for explanation, the main brush rotation speed in the first cleaning parameter may be preset to 2000 rpm, and the side brush rotation speed may be preset to 1000 rpm. The first second cleaning parameter may be set to be the same as the first cleaning parameter or may be appropriately reduced. For example, the first second cleaning parameter may be set as follows: The main brush rotation speed is 2000 rpm, and the side brush rotation speed is 1000 rpm. Alternatively, the main brush rotation speed is 1800 rpm, and the side brush rotation speed is 800 rpm. The second second cleaning parameter may be set as follows: The main brush rotation speed is 1200 rpm, and the side brush rotation speed is 700 rpm. The third second cleaning parameter may be set as follows: The main brush rotation speed is 1000 rpm, and the side brush rotation speed is 600 rpm. The fourth second cleaning parameter may be set as follows: The main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 500 rpm; or the main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 1000 rpm. Specifically, the side brush rotation speed may also be adjusted to 30% (450 rpm) of the maximum side brush rotation speed, that is, the side brush is reduced to a rotation speed corresponding to a duty cycle of 30%. In order to prevent accidental injury to the pet, optionally, the main brush and / or the side brush may be further controlled to be lifted. In this embodiment, the first cleaning parameter may be set according to actual needs, and the second cleaning parameters corresponding to the obstacle types may also be adjusted and set according to actual needs. For example, the side brush rotation speed in the second cleaning parameters may be set to be the same as the side brush rotation speed in the first cleaning parameter, and only the main brush rotation speed is reduced. The maximum side brush rotation speed may be higher than the side brush rotation speed in the first cleaning parameter, that is, when cleaning along the wall, the side brush rotation speed will be increased, such that garbage outside the range of the roller brush is swept into the range of the roller brush, and the roller brush operates in conjunction with the dust suction force to pull the garbage into a garbage accommodating box in the machine. However, in this embodiment, by setting the corresponding side brush rotation speed, main brush rotation speed, and dust suction force for different obstacle types, a problem of obstacles being entangled due to performing cleaning with the same high side brush rotation speed as that when cleaning along the wall can be avoided.

[0068] Thus, when it is determined that a first preset adjustment condition is satisfied, an obstacle type of a target obstacle in the detection result may be further acquired; based on the obstacle type, a cleaning parameter corresponding to the obstacle type is determined as the second cleaning parameter.

[0069] For example, when it is determined that a first preset adjustment condition is satisfied, it is detected that the target obstacle is a weight scale, that is, an obstacle type of the target obstacle is a first obstacle type, such that a first second cleaning parameter may be obtained. For example, the first second cleaning parameter is as follows: The main brush rotation speed is 18,000 rpm, and the side brush rotation speed is 1200 rpm. For another example, when it is determined that a first preset adjustment condition is satisfied, it is detected that the target obstacle is a dog, that is, an obstacle type of the target obstacle is a fourth obstacle type, such that the fourth second cleaning parameter may be obtained as follows: The main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 800 rpm.

[0070] On the basis of the above embodiments, another embodiment of the present disclosure provides a cleaning method for a cleaning robot. In this embodiment, when there are a plurality of types of obstacles and the obstacle types correspond to different second cleaning parameters, the current cleaning parameter may be further adjusted in conjunction with the obstacle types. That is, when it is detected that the cleaning scene image includes a target obstacle and the cleaning robot performs cleaning by using a second cleaning parameter, a target second cleaning parameter may be further determined according to the target obstacle, and whether the target second cleaning parameter is consistent with the current second cleaning parameter is determined. If the target second cleaning parameter is consistent with the current second cleaning parameter, cleaning may continue to be performed by using the current second cleaning parameter. If the target second cleaning parameter is inconsistent with the current second cleaning parameter, the current second cleaning parameter may be adjusted based on the target second cleaning parameter corresponding to the target obstacle, which makes the adjustment of the cleaning parameter more flexible and reasonable.

[0071] For example, when it is detected that the cleaning scene image includes a target obstacle, the target obstacle is a pet dog, and the cleaning robot performs cleaning by using a second cleaning parameter, a fourth obstacle type corresponding to the pet dog may be acquired, and then a target second cleaning parameter corresponding to the fourth obstacle type is determined, that is, the target second cleaning parameter is determined as follows: The main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 800 rpm. Meanwhile, the current second cleaning parameter is determined as follows: The main brush rotation speed is 1500 rpm, and the side brush rotation speed is 1000 rpm. Thus, the target cleaning parameter may be compared with the current second cleaning parameter to determine that the target cleaning parameter is inconsistent with the current second cleaning parameter. Therefore, the current second cleaning parameter may be adjusted to the target second cleaning parameter corresponding to the pet dog. In this embodiment, by adjusting the current second cleaning parameter according to the currently detected target obstacle, such a problem can be avoided: a pet dog (or another obstacle) suddenly approaches the cleaning robot while the cleaning robot continues to perform cleaning by using the second parameter corresponding to the original obstacle (for example, a shoe), and fails to reduce the cleaning parameter to the target second cleaning parameter corresponding to the current target obstacle in time, thereby causing the obstacle to be entangled.

[0072] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. After adjustment on the cleaning parameter is performed, that is, the cleaning parameter is adjusted to a second cleaning parameter corresponding to a target obstacle, or when it is determined that a first preset adjustment condition is satisfied, the cleaning method for a cleaning robot in this embodiment further includes: determining a first region where the target obstacle is located in a cleaning map; determining, at least based on the first region, a path around the first region as a target cleaning path; and performing cleaning based on the current cleaning parameter and the target cleaning path. In this embodiment, a specific process of determining a first region where the target obstacle is located in a cleaning map is consistent with the process of determining the target region in the above embodiments, and therefore details will not be repeated here.

[0073] In this embodiment, in order to make the determination of the target cleaning path more reasonable and accurate, the target cleaning path may be further determined in conjunction with a target cleaning distance corresponding to a target obstacle type. Specifically, different cleaning distances may be pre-configured for the obstacle types. For example, a first cleaning distance of 1 cm is configured for the first obstacle type, a second cleaning distance of 5 cm is configured for the second obstacle type, a third cleaning distance of 10 cm is configured for the third obstacle type, and a fourth cleaning distance of 15 cm is configured for the fourth obstacle type. Thus, after the target obstacle is detected, a target cleaning distance corresponding to the target obstacle may be determined according to the obstacle type, and meanwhile, a first region where the target obstacle is located in a cleaning map is determined. Then, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region is determined as a target cleaning path.

[0074] In this embodiment, by adjusting the cleaning distance according to the obstacle type to obtain the corresponding cleaning path, the cleaning can be performed around the obstacle at different cleaning distances for different obstacle types during the cleaning process. In other words, short-distance cleaning is performed on an obstacle that is not easy to be entangled, medium-distance cleaning is performed on an obstacle that is relatively easy to be entangled, and long-distance cleaning is performed on an obstacle that cannot be entangled (for example, a pet dog or a cat), thereby ensuring safety and reliability of a cleaning process.

[0075] According to the cleaning method in this embodiment, the target obstacle is detected in real time during the cleaning process. When a target obstacle is found and the cleaning robot performs cleaning by using a first cleaning parameter, the current cleaning parameter is adjusted to a second cleaning parameter corresponding to the target obstacle, such that the cleaning parameter can be reduced in time, thereby preventing the obstacle from being entangled in the cleaning robot, ensuring a safer and more reliable cleaning process, and avoiding a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0076] On the basis of the above embodiments, the cleaning process in the present disclosure is described below in conjunction with a specific application scenario. The cleaning robot pre-stores a cleaning map of the house. After the cleaning robot is started, the user can enable a "pet mode" in the App, that is, enable a cleaning mode with an adjustable cleaning parameter, so as to perform cleaning in this mode. A specific cleaning process in this mode is as follows: The cleaning robot first cleans a house based on a cleaning map according to a predetermined first cleaning parameter. During the cleaning process, the cleaning robot obtains a cleaning scene image by capturing in real time based on a built-in camera, and then performs obstacle detection based on the cleaning scene image. When a target obstacle is detected in front of the cleaning robot, the cleaning robot further determines a target region where the target obstacle is located in the cleaning map, then determines a current position where the cleaning robot is located in the cleaning map, and determines a spacing distance between the current position and an edge of the target region. When it is determined that the spacing distance between the current position and the edge of the target region is greater than a preset distance threshold, the cleaning may continue to be performed by using the current first cleaning parameter. When it is determined that the spacing distance between the current position and the edge of the target region is less than or equal to a preset distance threshold, an obstacle type of the target obstacle may be further determined. For example, if the target obstacle is a pet dog, it may be determined that the obstacle type is a fourth obstacle type. Thus, a fourth second cleaning parameter corresponding to the fourth obstacle type may be acquired, and then the current first cleaning parameter is adjusted to the fourth second cleaning parameter for cleaning. For example, the fourth second cleaning parameter is: reducing the side brush to a rotation speed corresponding to 30% duty cycle, and stopping the rotation of the main brush. When performing cleaning by using the fourth second cleaning parameter, a cleaning path for cleaning around the pet dog may be further determined, specifically including: determining a first region where the pet dog is located in the cleaning map; determining, at least based on the first region, a path around the first region as a target cleaning path, or determining a corresponding target cleaning distance based on an obstacle type of the pet dog, to determine the target cleaning path based on the target cleaning distance and the first region. After the target cleaning path is determined, cleaning may be performed around the pet dog based on the target cleaning path. After the cleaning around the pet dog according to the target cleaning path is completed, the cleaning robot continues to perform cleaning by using the fourth second cleaning parameter until the cleaning scene image captured in real time does not include an obstacle, or a spacing distance between the cleaning robot and an edge of the pet dog is greater than a preset distance threshold. Thus, the cleaning robot adjusts the current fourth second cleaning parameter to the first cleaning parameter. The adjustment on the cleaning parameter may be further performed in conjunction with a parameter adjustment time. That is, after the cleaning around the pet dog according to the target cleaning path is completed, the cleaning robot continues to perform cleaning by using the fourth second cleaning parameter for a predetermined parameter adjustment time. For example, the cleaning robot continues to perform cleaning by using the fourth second cleaning parameter for 4 s, and may automatically adjust the current fourth second cleaning parameter to the first cleaning parameter after 4 s, or may further adjust the current fourth second cleaning parameter to another second cleaning parameter corresponding to the current obstacle type according to whether there is another obstacle in the current cleaning scene image and the current obstacle type.

[0077] In this embodiment, after the pet is recognized, if the side brush is controlled to stop rotation, there is a risk of blocking the cliff sensor, which is easy to cause a fall and also affects the cleaning effect. In addition, if the side brush is controlled to stop rotation, a small object may get stuck in the side brush and cause the side brush to deform. However, the side brush rotating at a slow speed can push aside a small object. Therefore, after the pet is recognized, the main brush may be stopped while the side brush continues to rotate at a reduced rotation speed, which is achieved by reducing the duty cycle of the side brush. The specific speed of the side brush is currently set according to a normal speed reduction parameter, and is consistent with the reduced speed of another side brush. It can be understood that, at this speed of the side brush, the rotation strength and speed of the side brush are relatively small, making it less likely for the side brush to get entangled with hair.

[0078] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. As shown in FIG. 2, the method includes the following steps.

[0079] In step S201, obstacle detection is performed to obtain a detection result.

[0080] In this step, specifically, determination may be made based on an obstacle type determination algorithm, to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle.

[0081] In step S202, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle are acquired.

[0082] In a specific implementation process of this step, based on an obstacle type of the target obstacle, at least two cleaning parameters corresponding to the obstacle type may be acquired.

[0083] In this step, the obstacle includes one or more predetermined items and / or pets; the obstacle type includes any one of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair. For example, the first obstacle type may include the following items: a shoe, a weight scale, and the like. The second obstacle type may include the following items: a sock, a glove, a scarf, and other relatively small fabrics. The third obstacle type may include the following: a yarn ball, a power cord, and feces. The fourth obstacle type may include the following pets: a dog, a cat, a rabbit, and other pets with hair.

[0084] After the obstacles are classified into different obstacle types, different second cleaning parameters may be pre-configured for the obstacle types. For example, a first second cleaning parameter is configured for the first obstacle type, a second second cleaning parameter is configured for the second obstacle type, a third second cleaning parameter is configured for the third obstacle type, and a fourth second cleaning parameter is configured for the fourth obstacle type. The second cleaning parameters, in descending order of cleaning strength, are a first second cleaning parameter, a second second cleaning parameter, a third second cleaning parameter, and a fourth second cleaning parameter, respectively. That is, the second cleaning parameter corresponding to the obstacle type that is less likely to be entangled is higher, and the second cleaning parameter corresponding to the pet with hair is the lowest, so as to prevent the pet hair from being entangled in the cleaning robot, thus preventing injury to the pet.

[0085] In this step, the at least two cleaning parameters may include at least two of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0086] Taking the case where the cleaning parameters include the main brush rotation speed and the side brush rotation speed as an example, the cleaning parameters during normal cleaning (without obstacles) of the robot are as follows: The main brush rotation speed is 2000 rpm, and the side brush rotation speed is 1000 rpm. Thus, the first second cleaning parameter may be set as follows: The main brush rotation speed is 1800 rpm, and the side brush rotation speed is 800 rpm. The second second cleaning parameter may be set as follows: The main brush rotation speed is 1200 rpm, and the side brush rotation speed is 700 rpm. The third second cleaning parameter may be set as follows: The main brush rotation speed is 1000 rpm, and the side brush rotation speed is 600 rpm. The fourth second cleaning parameter may be set as follows: The main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 500 rpm; or the main brush rotation speed is 0 rpm, that is, the main brush stops rotation, and the side brush rotation speed is 1000 rpm. Specifically, the side brush rotation speed may also be adjusted to 30% (450 rpm) of the maximum side brush rotation speed, that is, the side brush is reduced to a rotation speed corresponding to a duty cycle of 30%. In order to prevent accidental injury to the pet, optionally, the main brush and / or the side brush may be further controlled to be lifted.

[0087] In step S203, cleaning is performed based on the at least two cleaning parameters.

[0088] In this step, after obtaining the cleaning parameters corresponding to the obstacle, the cleaning robot may directly perform cleaning based on the two or more cleaning parameters.

[0089] In this embodiment, after detecting an obstacle, especially, for example, an obstacle of a pet type, the cleaning robot may directly obtain cleaning parameters corresponding to the pet, and then perform cleaning based on the cleaning parameters, that is, control the main brush to stop rotation and control the side brush to operate in a low-speed mode, so as to prevent, to the greatest extent, the tail, hair, and the like of the pet from being entangled in a rotating member of the cleaning robot. The reason why the side brush does not stop rotation is that blocking of components such as a cliff sensor can be effectively avoided, and meanwhile, bristles of the side brush can be prevented from being stuck in a possible slit. In some embodiments, the low-speed mode of the side brush is set to be 30% (e.g., 450 rpm) of the maximum rotation speed, that is, the side brush is reduced to a rotation speed corresponding to a duty cycle of 30% for cleaning.

[0090] According to the method in this embodiment, by performing cleaning according to the cleaning parameters corresponding to the target obstacle, a problem that the pet dog approaches the cleaning robot and is entangled in the cleaning robot and thus is injured by the cleaning robot is avoided, thereby ensuring the safety and reliability of the cleaning process.

[0091] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. Before performing cleaning based on the at least two cleaning parameters, the cleaning method may further include: acquiring a spacing distance between the cleaning robot and an edge of the target obstacle; and in the case that the spacing distance is less than or equal to a predetermined distance threshold, performing cleaning based on the cleaning parameter. For example, after a target obstacle, especially an obstacle of a pet type, is detected, a spacing distance between the cleaning robot and the pet may be further acquired, and then cleaning is performed based on cleaning parameters corresponding to the pet when the spacing distance is less than or equal to a predetermined distance threshold.

[0092] In this embodiment, when acquiring the spacing distance between the cleaning robot and the edge of the target obstacle, the following manner may be used: determining, based on the cleaning scene image and a preset cleaning map, a target region including the target obstacle in the cleaning map; determining, in real time, a current cleaning position where the cleaning robot is located in the cleaning map; and determining, based on the current cleaning position and the target region, a spacing distance between the current position and the edge of the target region, such that the distance between the cleaning robot and the target obstacle is obtained. In this embodiment, the predetermined distance threshold may be adjusted and set according to actual needs.

[0093] In this embodiment, when the cleaning robot obtains the cleaning scene image by capturing in real time using a camera device, a predetermined recognition algorithm may be used to recognize minimum bounding boxes corresponding to objects from the cleaning scene image, that is, to obtain field-of-view regions of obstacles in the cleaning scene image. Then, a first region where the field-of-view regions are located in the cleaning map may be determined in conjunction with the cleaning map and depth-of-field information in the cleaning scene image, and the first region may be directly used as a target region where the target obstacle is located in the cleaning map. Subsequently, the distance between the cleaning robot and the target obstacle may be determined according to the spacing distance between the current cleaning position where the cleaning robot is located in the cleaning map and the edge of the target region.

[0094] In this embodiment, in order to make the determination of the target region accurate, after the first region where the target obstacle is located in the cleaning map is obtained, the first region may be further adjusted in conjunction with a region threshold, so as to obtain a target region. For example, the first region is adjusted to be expanded based on a region threshold, to expand the area range of the first region to 1.05 times the original area range. For another example, the first region is adjusted to be reduced based on a region threshold, to reduce the area of the first region to 0.95 times the original area. The region threshold may be set according to actual needs, and specifically, may be adjusted according to a recognition result of the first region. For example, when the accuracy of the recognition result of the first region is relatively high, the region threshold may be set to 1.01. By appropriately expanding the first region as the target region, the cleaning robot can be prevented from performing parameter adjustment only when the cleaning robot is at a relatively close distance from the target obstacle, thereby effectively preventing the obstacle from being entangled. For another example, when the recognition result of the first region is relatively small, that is, the recognized first region is smaller than the actual region corresponding to the target obstacle, the region threshold may be set to a value greater than 1, for example, set to 1.05, 1.08, or 1.1. For another example, when the recognition result of the first region is relatively large, that is, the recognized first region is greater than the actual region corresponding to the target obstacle, the region threshold may be set to 1 or a value less than 1, for example, set to 0.98 or 0.95.

[0095] Another embodiment of the present disclosure provides a cleaning method for a cleaning robot. Before performing cleaning based on the at least two cleaning parameters, the cleaning method may further include: determining a first region where the target obstacle is located in a cleaning map; and determining, at least based on the first region, a path around the first region as a target cleaning path, such that cleaning may be performed in real time based on the cleaning parameters and the target cleaning path. In this embodiment, a specific process of determining a first region where the target obstacle is located in a cleaning map is consistent with the process of determining the target region in the above embodiments, and therefore details will not be repeated here.

[0096] In this embodiment, in order to make the determination of the target cleaning path more accurate and reasonable, the cleaning method may further include: determining, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; then, determining, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path. In this embodiment, by adjusting the cleaning distance according to the obstacle type to obtain the corresponding cleaning path, the cleaning can be performed around the obstacle at different cleaning distances for different obstacle types during the cleaning process. In other words, short-distance cleaning is performed on an obstacle that is not easy to be entangled, medium-distance cleaning is performed on an obstacle that is relatively easy to be entangled, and long-distance cleaning is performed on an obstacle that cannot be entangled (for example, a pet dog or a cat), thereby ensuring safety and reliability of a cleaning process.

[0097] According to the cleaning method in this embodiment, during the cleaning process, the target obstacle is detected in real time. When a target obstacle is found, at least two cleaning parameters corresponding to the target obstacle are acquired, and then low-speed cleaning is performed based on the cleaning parameters, such that the obstacle can be effectively prevented from being entangled in the cleaning robot, thereby avoiding injury to the pet, ensuring a safer and more reliable cleaning process, and avoiding damage to the cleaning robot caused by the entanglement of the obstacle.

[0098] Another embodiment of the present disclosure provides a cleaning apparatus for a cleaning robot. As shown in FIG. 3, the cleaning apparatus includes: a detection module 11, configured to obtain a detection result by performing obstacle detection; a determination module 12, configured to determine, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; an adjustment module 13, configured to perform adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and a cleaning module 14, configured to perform cleaning based on the current cleaning parameter.

[0099] In a specific implementation process of this embodiment, the detection module is specifically configured to: make a determination based on an obstacle type determination algorithm, to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle, where the obstacle includes one or more predetermined items and / or pets.

[0100] In a specific implementation process of this embodiment, the determination module is specifically configured to: in the case of determining that the detection result includes the target obstacle and the current cleaning parameter is a predetermined first cleaning parameter, determine that a first preset adjustment condition is satisfied; and in the case of determining that the detection result does not include the target obstacle and the current cleaning parameter is a second cleaning parameter, determine that a second preset adjustment condition is satisfied.

[0101] In a specific implementation of this embodiment, the determination module is configured to: determine, based on whether the detection result includes the target obstacle, the current cleaning parameter, and the positional relationship between the cleaning robot and the target obstacle, a preset adjustment condition satisfied by the cleaning robot. That is, the determination module is specifically configured to: in the case of determining that the detection result includes the target obstacle, the current cleaning parameter is a predetermined first cleaning parameter, and the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, determine that a first preset adjustment condition is satisfied; and in the case of determining that the detection result does not include the target obstacle or the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is greater than a preset distance threshold, and the current cleaning parameter is a second cleaning parameter, determine that a second preset adjustment condition is satisfied.

[0102] In a specific implementation of this embodiment, the cleaning apparatus for a cleaning robot further includes: an acquisition module configured to acquire the positional relationship between the cleaning robot and the target obstacle. The acquisition module is configured to: determine, based on the cleaning scene image and a preset cleaning map, a target region including the target obstacle in the cleaning map; determine, in real time, a current cleaning position where the cleaning robot is located in the cleaning map; determine, based on the current cleaning position and the target region, a spacing distance between the current position and an edge of the target region; obtain, based on a magnitude relationship between the spacing distance and a preset distance threshold, the positional relationship between the cleaning robot and the target obstacle.

[0103] In a specific implementation process of this embodiment, the adjustment module is specifically configured to: in the case that the preset adjustment condition is the first preset adjustment condition, perform adjustment on the cleaning parameter by using a first adjustment strategy, thereby adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result; and in the case that the preset adjustment condition is the second preset adjustment condition, perform adjustment on the cleaning parameter by using a second adjustment strategy, adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter.

[0104] In a specific implementation process of this embodiment, the cleaning apparatus for a cleaning robot further includes a parameter acquisition module. The parameter acquisition module is configured to: before adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, acquire an obstacle type of a target obstacle in the detection result; and determine, based on the obstacle type, a cleaning parameter corresponding to the obstacle type as the second cleaning parameter, where the obstacle type includes any one or more of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

[0105] In a specific implementation of this embodiment, the cleaning apparatus for the cleaning robot further includes a path determination module. The path determination module is configured to: in the case of determining that the first preset adjustment condition is satisfied, determine a first region where the target obstacle is located in a cleaning map; and determine, at least based on the first region, a path around the first region as a target cleaning path; the cleaning module is configured to: perform cleaning based on the current cleaning parameter and the target cleaning path.

[0106] In a specific implementation of this embodiment, the path determination module is configured to: determine, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determine, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

[0107] In a specific implementation process of this embodiment, the cleaning parameter includes any one or more of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0108] According to the cleaning apparatus for a cleaning robot in the present disclosure, the cleaning parameter can be flexibly adjusted based on a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0109] Another embodiment of the present disclosure provides a cleaning apparatus for a cleaning robot. As shown in FIG. 4, the cleaning apparatus includes: a detection module 21, configured to obtain a detection result by performing obstacle detection; a first acquisition module 22, configured to acquire, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle; and a cleaning module 23, configured to perform cleaning based on the at least two cleaning parameters.

[0110] In a specific implementation process of this embodiment, the detection module is specifically configured to: make a determination based on an obstacle type determination algorithm, to obtain a detection result including a target obstacle, or to obtain a detection result not including a target obstacle.

[0111] In a specific implementation process of this embodiment, the first acquisition module is specifically configured to: acquire, based on an obstacle type of the target obstacle, cleaning parameters corresponding to the obstacle type, where the target obstacle includes one or more predetermined items and / or pets. The obstacle type includes any one of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

[0112] In a specific implementation of this embodiment, the cleaning apparatus for a cleaning robot further includes a second acquisition module. The second acquisition module is configured to: before performing cleaning based on the cleaning parameters, acquire a spacing distance between the cleaning robot and an edge of the target obstacle; the cleaning module is configured to: in the case that the spacing distance is less than or equal to a predetermined distance threshold, perform cleaning based on the cleaning parameters.

[0113] In a specific implementation of this embodiment, the cleaning apparatus for a cleaning robot further includes a third acquisition module. The third acquisition module is configured to: before performing cleaning based on the cleaning parameters, determine a first region where the target obstacle is located in a cleaning map; and determine, at least based on the first region, a path around the first region as a target cleaning path; the cleaning module is specifically configured to: perform cleaning based on the cleaning parameters and the target cleaning path.

[0114] In a specific implementation process of this embodiment, the third acquisition module is specifically configured to: determine, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determine, based on the target cleaning distance and the first region, a path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

[0115] In a specific implementation process of this embodiment, the at least two cleaning parameters include at least two of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force. The main brush operating parameter includes: a main brush rotation speed and / or a main brush rotation strength; the side brush operating parameter includes: a side brush rotation speed and / or a side brush rotation strength.

[0116] According to the cleaning method in this embodiment, during the cleaning process, the target obstacle is detected in real time. When the target obstacle is found, at least two cleaning parameters corresponding to the target obstacle are acquired, and then low-speed cleaning is performed based on the cleaning parameters, such that the obstacle can be effectively prevented from being entangled in the cleaning robot, thereby avoiding injury to the pet, ensuring a safer and more reliable cleaning process, and avoiding damage to the cleaning robot caused by the entanglement of the obstacle.

[0117] Another embodiment of the present disclosure provides a storage medium storing a computer program thereon. The computer program, when run by a processor, causes the processor to implement the following method steps: step I: obtaining a detection result by performing obstacle detection; step II: determining, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; step III: performing adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and step IV: performing cleaning based on the current cleaning parameter.

[0118] For a specific implementation process of the above method steps, reference may be made to any one of the above embodiments of the cleaning method for a cleaning robot, and therefore details will not be repeated here.

[0119] According to the storage medium in the present disclosure, the cleaning parameter can be flexibly adjusted based on a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0120] Another embodiment of the present disclosure provides an electronic device, as shown in FIG. 5, including at least a memory 1 and a processor 2. The memory 1 stores a computer program thereon, and the processor 2, when executing the computer program on the memory 1, implements the following method steps: step I: obtaining a detection result by performing obstacle detection; step II: determining, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; step III: performing adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from a second cleaning parameter corresponding to a target obstacle to a predetermined first cleaning parameter, where a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and step IV: performing cleaning based on the current cleaning parameter.

[0121] For a specific implementation process of the above method steps, reference may be made to any one of the above embodiments of the cleaning method for a cleaning robot, and therefore details will not be repeated here.

[0122] According to the electronic device in the present disclosure, the cleaning parameter can be flexibly adjusted based on a detection status of the obstacle. When the obstacle is detected, by reducing the cleaning parameter, the obstacle can be effectively prevented from being entangled in the cleaning robot, so as to ensure a safer and more reliable cleaning process, and avoid a problem of damage to the cleaning robot caused by the entanglement of the obstacle. When no target obstacle is detected and the cleaning robot performs cleaning by using a second cleaning parameter, the cleaning parameter of the cleaning robot can be adjusted to a first cleaning parameter in time, thereby ensuring the cleaning capability of the cleaning robot.

[0123] The above embodiments are merely exemplary embodiments of the present disclosure, and are not intended to limit the present disclosure. The protection scope of the present disclosure is defined by the claims. Various modifications or equivalent replacements to the present disclosure may be made by those skilled in the art within the spirit and protection scope of the present disclosure, and such modifications or equivalent replacements shall also be deemed to fall within the protection scope of the present disclosure.

Examples

Embodiment Construction

[0032]Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0033]It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limitations, but merely as exemplifications of the embodiments. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0034]The drawings, which are incorporated in and constitute a part of the specification, illustrate the embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0035]These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of the embodiments, given as non-limiting examples, with refere...

Claims

1. A cleaning method for a cleaning robot, comprising: obtaining a detection result by performing obstacle detection; determining, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; performing adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter, wherein a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and performing cleaning based on the current cleaning parameter.

2. The method according to claim 1, wherein the obtaining the detection result by performing the obstacle detection comprises: obtaining, by performing detection based on an obstacle type detection algorithm, the detection result comprising the target obstacle, or the detection result not comprising the target obstacle, wherein the obstacle comprises one or more predetermined items and / or pets.

3. The method according to claim 2, wherein the determining, at least based on the detection result and the current cleaning parameter, the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter comprises: in a case of determining that the detection result comprises the target obstacle and the current cleaning parameter is the predetermined first cleaning parameter, determining that a first preset adjustment condition is satisfied; and in a case of determining that the detection result does not comprise the target obstacle and the current cleaning parameter is the second cleaning parameter, determining that a second preset adjustment condition is satisfied.

4. The method according to claim 1, wherein the determining, at least based on the detection result and the current cleaning parameter, the preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter comprises: determining, based on the target obstacle comprised in the detection result, the current cleaning parameter, and a positional relationship between the cleaning robot and the target obstacle, the preset adjustment condition satisfied by the cleaning robot, comprising: in a case of determining that the detection result comprises the target obstacle, the current cleaning parameter is the predetermined first cleaning parameter, and the positional relationship is that a spacing distance between the cleaning robot and an edge of the target obstacle is less than or equal to a preset distance threshold, determining that a first preset adjustment condition is satisfied; and in a case of determining that the detection result does not comprise the target obstacle or the positional relationship is that the spacing distance between the cleaning robot and the edge of the target obstacle is greater than the preset distance threshold, and the current cleaning parameter is the second cleaning parameter, determining that a second preset adjustment condition is satisfied.

5. The method according to claim 4, further comprising: acquiring the positional relationship between the cleaning robot and the target obstacle, comprising: determining, based on a cleaning scene image and a preset cleaning map, a target region comprising the target obstacle in the cleaning map; determining, in real time, a current cleaning position where the cleaning robot is located in the cleaning map; determining, based on the current cleaning position and the target region, a spacing distance between the current position and an edge of the target region; and obtaining, based on a magnitude relationship between the spacing distance and the preset distance threshold, the positional relationship between the cleaning robot and the target obstacle.

6. The method according to claim 3 or 4, wherein the performing the adjustment on the cleaning parameter by using the adjustment manner corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result, or adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter comprises: in a case of determining that the preset adjustment condition is the first preset adjustment condition, performing the adjustment on the cleaning parameter by using a first adjustment strategy, thereby adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result; and in a case of determining that the preset adjustment condition is the second preset adjustment condition, performing the adjustment on the cleaning parameter by using a second adjustment strategy, thereby adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter.

7. The method according to claim 1, wherein before the adjusting the current cleaning parameter from the predetermined first cleaning parameter to the second cleaning parameter corresponding to the target obstacle in the detection result, the method further comprises: acquiring an obstacle type of the target obstacle in the detection result; and determining, based on the obstacle type, a cleaning parameter corresponding to the obstacle type is the second cleaning parameter, wherein the obstacle type comprises any one or more of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

8. The method according to claim 3 or 4, wherein after the determining that the first preset adjustment condition is satisfied, the method further comprises: determining a first region where the target obstacle is located in a cleaning map; and determining, at least based on the first region, a path around the first region as a target cleaning path; wherein the performing the cleaning based on the current cleaning parameter comprises: performing the cleaning based on the current cleaning parameter and the target cleaning path.

9. The method according to claim 8, wherein the determining, at least based on the first region, the path around the first region as the target cleaning path comprises: determining, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determining, based on the target cleaning distance and the first region, the path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

10. The method according to claim 1, wherein the cleaning parameter comprises any one or more of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force, wherein the main brush operating parameter comprises: a main brush rotation speed and / or a main brush rotation strength; and the side brush operating parameter comprises: a side brush rotation speed and / or a side brush rotation strength.

11. A cleaning method for a cleaning robot, comprising: obtaining a detection result by performing obstacle detection; acquiring, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle; and performing cleaning based on the at least two cleaning parameters.

12. The method according to claim 11, wherein the obtaining the detection result by performing the obstacle detection comprises: obtaining, by performing detection based on an obstacle type detection algorithm, the detection result comprising the target obstacle, or the detection result not comprising the target obstacle; wherein the acquiring the at least two cleaning parameters corresponding to the target obstacle comprises: acquiring, based on an obstacle type of the target obstacle, the at least two cleaning parameters corresponding to the obstacle type, wherein the target obstacle comprises one or more predetermined items and / or pets; and the obstacle type comprises any one of the following: a first obstacle type having a first easiness level of being entangled, a second obstacle type having a second easiness level of being entangled, a third obstacle type having a third easiness level of being entangled, and a fourth obstacle type of a pet with hair.

13. The method according to claim 11, wherein before the performing the cleaning based on the at least two cleaning parameters, the method further comprises: acquiring a spacing distance between the cleaning robot and an edge of the target obstacle; wherein the performing the cleaning based on the cleaning parameters comprises: in a case of determining that the spacing distance is less than or equal to a predetermined distance threshold, performing the cleaning based on the cleaning parameters.

14. The method according to claim 11, wherein before the performing the cleaning based on the at least two cleaning parameters, the method further comprises: determining a first region where the target obstacle is located in a cleaning map; and determining, at least based on the first region, a path around the first region as a target cleaning path; wherein the performing the cleaning based on the cleaning parameters comprises: performing the cleaning based on the at least two cleaning parameters and the target cleaning path.

15. The method according to claim 14, wherein the determining, at least based on the first region, the path around the first region as the target cleaning path comprises: determining, based on an obstacle type of the target obstacle, a cleaning distance corresponding to the obstacle type as a target cleaning distance; and determining, based on the target cleaning distance and the first region, the path around the first region and having a distance of the target cleaning distance from the first region as the target cleaning path.

16. The method according to claim 11, wherein the at least two cleaning parameters comprise at least two of the following: a main brush operating parameter, a side brush operating parameter, and a dust suction force, wherein the main brush operating parameter comprises: a main brush rotation speed and / or a main brush rotation strength; and the side brush operating parameter comprises: a side brush rotation speed and / or a side brush rotation strength.

17. The method according to claim 11, wherein the acquiring, based on the target obstacle in the detection result, the cleaning parameters corresponding to the target obstacle comprises: in a case that the target obstacle is a pet, the corresponding cleaning parameters being a main brush stopping rotation and a side brush operating in a low-speed mode.

18. A cleaning apparatus for a cleaning robot, comprising: a detection module, configured to obtain a detection result by performing obstacle detection; a determination module, configured to determine, at least based on the detection result and a current cleaning parameter, a preset adjustment condition satisfied by the cleaning robot and used for adjusting the cleaning parameter; an adjustment module, configured to perform adjustment on the cleaning parameter by using an adjustment strategy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameter from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result, or adjusting the current cleaning parameter from the second cleaning parameter corresponding to the target obstacle to the predetermined first cleaning parameter, wherein a cleaning strength corresponding to the first cleaning parameter is higher than a cleaning strength corresponding to the second cleaning parameter; and a cleaning module, configured to perform cleaning based on the current cleaning parameter.

19. A cleaning apparatus for a cleaning robot, comprising: a detection module, configured to obtain a detection result by performing obstacle detection; an acquisition module, configured to acquire, based on a target obstacle in the detection result, at least two cleaning parameters corresponding to the target obstacle; and a cleaning module, configured to perform cleaning based on the at least two cleaning parameters.

20. A storage medium, wherein the storage medium stores a computer program, and the computer program, when executed by a processor, implements steps of the cleaning method for the cleaning robot according to any one of claims 1-10 or claims 11-17.

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