Cleaning method, device, medium and equipment for cleaning robot

Abstract

This application discloses a cleaning method, device, medium, and equipment for a cleaning robot, which includes: detecting an obstacle and obtaining a detection result; determining a preset adjustment condition for adjusting cleaning parameters that the cleaning robot satisfies based on at least the detection result and current cleaning parameters; adopting an adjustment policy corresponding to the preset adjustment condition to adjust the cleaning parameters, thereby adjusting the current cleaning parameters 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 a predetermined first cleaning parameter, wherein the cleaning ability corresponding to the first cleaning parameter is higher than the cleaning ability corresponding to the second cleaning parameter; and cleaning based on the current cleaning parameters.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to a Chinese patent application bearing application number 202211732817.9 and entitled "Cleaning method, device, medium and equipment for cleaning robots," filed with the China Patent Office on December 30, 2022, the contents of which are incorporated herein by reference in their entirety.

[0002] The present invention relates to home appliances, and more particularly to a cleaning method, device, medium and equipment for a cleaning robot. [Background technology]

[0003] With the continuous development of science and technology, the popularity of cleaning robots is gradually increasing. Cleaning robots can easily and quickly remove dust and foreign objects, and the popularity of cleaning robots makes people's lives more convenient and comfortable.

[0004] However, conventional cleaning robots have problems such as being prone to getting caught in obstacles during the cleaning process, making the cleaning process unsafe and unreliable, and easily damaging the cleaning robot. Summary of the Invention

[0005] In view of the above, the present application aims to provide a cleaning method, device, medium and equipment for a cleaning robot, and to solve the current problems of being prone to entanglement of obstacles, insufficient safety and reliability of the cleaning process, and prone to damage to the cleaning robot.

[0006] In order to solve the above problems, the present invention provides a cleaning method for a cleaning robot, which includes: Detecting an obstacle and obtaining a detection result; Determining a preset adjustment condition for adjusting the cleaning parameters that the cleaning robot satisfies based on at least the detection result and the current cleaning parameters; Adopting an adjustment policy corresponding to the preset adjustment condition to adjust cleaning parameters, so as to adjust the current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to the target obstacle in the detection result, or adjust the current cleaning parameters from the second cleaning parameter corresponding to the target obstacle to a predetermined first cleaning parameter, wherein the cleaning ability corresponding to the first cleaning parameter is higher than the cleaning ability corresponding to the second cleaning parameter; and cleaning based on current cleaning parameters.

[0007] Optionally, detecting the obstacle and obtaining the detection result may include: This includes obtaining a detection result that includes the target obstacle or a detection result that does not include the target obstacle by making a judgment based on an obstacle type judgment algorithm.

[0008] Optionally, the obstacles include a number of predetermined objects and / or pets.

[0009] Optionally, determining a preset adjustment condition for adjusting the cleaning parameters, which is satisfied by the cleaning robot based on at least the detection result and the current cleaning parameters, includes: If the detection result includes a target obstacle and the current cleaning parameters are determined to be predetermined first cleaning parameters, determine that a first preset adjustment condition is satisfied; If the detection result does not include a target obstacle and it is determined that the current cleaning parameters are the second cleaning parameters, determining that a second preset adjustment condition is met.

[0010] Optionally, determining a preset adjustment condition for adjusting cleaning parameters that the cleaning robot satisfies based on at least the detection result and the current cleaning parameters includes determining a preset adjustment condition that the cleaning robot satisfies based on whether the detection result includes a target obstacle, the current cleaning parameters, and a positional relationship between the cleaning robot and the target obstacle, specifically: When determining that the detection result includes a target obstacle, the current cleaning parameters are predetermined first cleaning parameters, and the positional relationship is such that the gap distance between the cleaning robot and the edge of the target obstacle is equal to or less than a predetermined distance threshold, determining that a first predetermined adjustment condition is met; If the detection result does not include the target obstacle, or the positional relationship is such that the distance between the cleaning robot and the edge of the target obstacle is greater than a preset distance threshold, and it is determined that the current cleaning parameters are second cleaning parameters, determining that a second preset adjustment condition is met.

[0011] Optionally, the method further includes acquiring a positional relationship between the cleaning robot and a target obstacle, which includes: Based on the cleaning scene diagram and the preset cleaning map, determine a target area including the target obstacle in the cleaning map; determining a current cleaning position of the cleaning robot on the cleaning map in real time; determining a gap distance between the current position and an edge of the target area based on the current cleaning position and the target area; and obtaining a positional relationship between the cleaning robot and the target obstacle based on a magnitude relationship between the interval distance and a preset distance threshold.

[0012] Selectively, adjusting the cleaning parameters by adopting an adjustment method corresponding to the preset adjustment conditions to adjust the current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to the target obstacle in the detection result, or adjusting the current cleaning parameters from the second cleaning parameter corresponding to the target obstacle to a predetermined first cleaning parameter; If the preset adjustment condition is a first preset adjustment condition, adopting a first adjustment policy to adjust cleaning parameters, thereby adjusting the current cleaning parameters from predetermined first cleaning parameters to second cleaning parameters corresponding to the target obstacle in the detection result; If the preset adjustment condition is a second preset adjustment condition, adopting a second adjustment policy to adjust the cleaning parameters, thereby adjusting the current cleaning parameters from the second cleaning parameters corresponding to the target obstacle to the predetermined first cleaning parameters.

[0013] Optionally, before adjusting the current cleaning parameters from predetermined first cleaning parameters to second cleaning parameters corresponding to the target obstacle in the detection result, the method further comprises: Obtaining an obstacle type of the target obstacle in the detection result; determining, based on the obstacle type, a cleaning parameter corresponding to the obstacle type as the second cleaning parameter; The obstacle types include one or more of a first obstacle type having a first susceptibility to entanglement, a second obstacle type having a second susceptibility to entanglement, a third obstacle type having a third susceptibility to entanglement, and a fourth obstacle type which is a pet with fur.

[0014] Optionally, if it is determined that the first preset adjustment condition is met, the method includes: determining that a target obstacle is located in a first region on the cleaning map; determining a path surrounding the first area as a target cleaning path based on at least the first area; Cleaning based on the current cleaning parameters above Cleaning based on the current cleaning parameters and the target cleaning path.

[0015] Optionally, determining a path surrounding the first area as a target cleaning path based on at least the first area includes: determining a cleaning distance corresponding to the obstacle type as a target cleaning distance based on the obstacle type of the target obstacle; and determining, based on the target cleaning distance and the first area, a route that surrounds the first area and whose distance from the first area is the target cleaning distance, as the target cleaning route.

[0016] Optionally, the cleaning parameters include any one or more of a main brush operation parameter, a side brush operation parameter, and a dust removal wind force; the main brush operation parameters include a main brush rotation speed and / or a main brush rotation strength; The side brush operation parameters include a side brush rotation speed and / or a side brush rotation strength.

[0017] In order to solve the above problems, the present application provides a cleaning method for a cleaning robot, wherein: Detecting an obstacle and obtaining a detection result; Obtaining at least two cleaning parameters corresponding to the target obstacle based on the target obstacle in the detection result; and cleaning based on the at least two cleaning parameters.

[0018] Optionally, detecting the obstacle and obtaining the detection result may include: This includes obtaining a detection result that includes the target obstacle or a detection result that does not include the target obstacle by making a judgment based on an obstacle type judgment algorithm.

[0019] Optionally, obtaining at least two cleaning parameters corresponding to the target obstacle includes: obtaining at least two cleaning parameters corresponding to the obstacle type based on the obstacle type of the target obstacle; Wherein, the target obstacles include some predetermined objects and / or pets; The obstacle types include any one of a first obstacle type having a first susceptibility to entanglement, a second obstacle type having a second susceptibility to entanglement, a third obstacle type having a third susceptibility to entanglement, and a fourth obstacle type which is a pet with fur.

[0020] Optionally, before cleaning based on the at least two cleaning parameters, the method further comprises: The method further includes acquiring a gap distance between the cleaning robot and the edge of the target obstacle; Cleaning based on the above cleaning parameters If the gap distance is less than or equal to a predetermined distance threshold, cleaning based on the cleaning parameters.

[0021] Optionally, before cleaning based on the at least two cleaning parameters, the method further comprises: determining that a target obstacle is located in a first region on the cleaning map; determining a path surrounding the first area as a target cleaning path based on at least the first area; Cleaning based on the above cleaning parameters Cleaning based on the at least two cleaning parameters and the target cleaning path.

[0022] Optionally, determining a path surrounding the first area as a target cleaning path based on at least the first area includes: determining a cleaning distance corresponding to the obstacle type as a target cleaning distance based on the obstacle type of the target obstacle; and determining, based on the target cleaning distance and the first area, a route that surrounds the first area and whose distance from the first area is the target cleaning distance, as the target cleaning route.

[0023] Optionally, the at least two cleaning parameters include at least two of a main brush operation parameter, a side brush operation parameter, and a dust removal wind force; the main brush operation parameters include a main brush rotation speed and / or a main brush rotation strength; The side brush operation parameters include a side brush rotation speed and / or a side brush rotation strength.

[0024] Optionally, obtaining cleaning parameters corresponding to the target obstacle based on the target obstacle in the detection result includes that the target obstacle is a pet, and the corresponding cleaning parameters include the main brush stopping rotation and the side brush operating in a low-speed mode.

[0025] In order to solve the above problems, the present application provides a cleaning device for a cleaning robot, which includes: a detection module for detecting an obstacle and obtaining a detection result; a determining module for determining, based on at least the detection result and the current cleaning parameters, a preset adjustment condition for adjusting the cleaning parameters that the cleaning robot satisfies; an adjustment module for adjusting cleaning parameters by adopting an adjustment policy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to the target obstacle in the detection result, or adjusting the current cleaning parameters from the second cleaning parameter corresponding to the target obstacle to a predetermined first cleaning parameter, wherein the cleaning ability corresponding to the first cleaning parameter is higher than the cleaning ability corresponding to the second cleaning parameter; a cleaning module for cleaning based on current cleaning parameters.

[0026] In order to solve the above problems, the present application provides a cleaning device for a cleaning robot, which includes: a detection module for detecting an obstacle and obtaining a detection result; an acquisition module for acquiring at least two cleaning parameters corresponding to the target obstacle based on the target obstacle in the detection result; and a cleaning module for cleaning based on the at least two cleaning parameters.

[0027] In order to solve the above problem, the present application provides a storage medium storing a computer program that, when executed by a processor, realizes the steps of the cleaning method for a cleaning robot described above.

[0028] In order to solve the above problem, the present application provides an electronic device including at least a memory storing a computer program and a processor that, when executing the computer program in the memory, realizes the steps of the cleaning method for a cleaning robot described in any one of the above claims.

[0029] The cleaning method, device, medium, and equipment for a cleaning robot in this application can flexibly adjust cleaning parameters according to the detection situation of an obstacle, and when an obstacle is detected, the cleaning parameters can be reduced to effectively prevent the obstacle from being entangled in the cleaning robot, ensuring a safer and more reliable cleaning process and avoiding the problem of the cleaning robot being damaged by the obstacle.When a target obstacle is not detected and the cleaning robot is cleaning with the second cleaning parameters, the cleaning parameters of the cleaning robot can be timely adjusted to the first cleaning parameters to ensure the cleaning ability of the cleaning robot.

[0030] The above description is merely an outline of the technical solution of the present application. In order to make the technical solution of the present application more clearly understood and implemented in accordance with the content of the specification, and to make the above and other objectives, features and advantages of the present application more clearly and easily understood, specific embodiments of the present application are given below.

[0031] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the present application. Furthermore, the same reference numerals are used in all drawings to refer to the same elements. [Brief explanation of the drawings]

[0032] [Figure 1] 1 is a flowchart of a cleaning method for a cleaning robot according to an embodiment of the present application; [Figure 2] 10 is a flowchart of a cleaning method for a cleaning robot according to another embodiment of the present application. [Figure 3] 10 is a structural block diagram of a cleaning device for a cleaning robot according to another embodiment of the present application; [Figure 4] 1 is a structural block diagram of a cleaning device for a cleaning robot according to a further embodiment of the present application; [Figure 5] 1 is a structural block diagram of an electronic device according to a further embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0033] The various aspects and features of the present invention will be described with reference to the drawings.

[0034] It should be understood that various modifications can be made to the embodiments of this application. Accordingly, the above specification should not be considered limiting, but merely exemplary. Those skilled in the art will envision other modifications within the scope and spirit of the present invention.

[0035] The drawings, which are incorporated in and constitute a part of this specification, illustrate examples of the present application and, together with the general description of the present application above and the detailed description of the embodiments below, serve to explain the principles of the present application.

[0036] These and other characteristics of the present application will become apparent from the following description of preferred forms of embodiment given as non-limiting examples with reference to the drawings.

[0037] It should further be understood that although the present application has been described with reference to certain specific examples, those skilled in the art will no doubt be able to realise many other equivalent forms of the present application.

[0038] These and other aspects, features, and advantages of the present application will become apparent in light of the following detailed description when taken in conjunction with the drawings.

[0039] Specific embodiments of the present application will be described below with reference to the drawings. However, it should be understood that the embodiments described are merely examples of the present application and may be implemented in multiple forms. To avoid obscuring the present application with unnecessary or redundant details, detailed descriptions of well-known and / or redundant functions and structures will be omitted. Therefore, the specific structural and functional details described herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims, to teach those skilled in the art how to use the present application in various ways in substantially any appropriate detailed configuration.

[0040] The phrases "in one embodiment," "in a further embodiment," "in another embodiment," or "in another embodiment" may be used herein, any of which may refer to one or more of the same or different embodiments of the present application.

[0041] An embodiment of the present application provides a cleaning method for a cleaning robot, and as shown in FIG. 1 , the method in this embodiment includes:

[0042] Step S101: detecting an obstacle and obtaining a detection result; In this step, the cleaning robot can capture the cleaning process in real time using the built-in camera. Specifically, the cleaning robot can capture environmental images in the cleaning direction in real time during the cleaning process along the cleaning direction to obtain cleaning scene images, and then perform fault detection based on the cleaning scene images to obtain detection results.

[0043] After capturing a cleaning scene image, the cleaning robot can determine whether an obstacle is included in the cleaning scene image by using a predetermined obstacle detection model or a predetermined obstacle type determination algorithm. For example, the cleaning robot can determine whether an obstacle is included in the cleaning scene image by comparing it with an obstacle label image. An obstacle refers to an object or pet that may affect the cleaning path, such as a shoe, a scale, fabric (e.g., a sock), a ball of yarn, or a pet.

[0044] Step S102: determining, based on at least the detection result and the current cleaning parameters, a preset adjustment condition for adjusting the cleaning parameters that the cleaning robot satisfies; In this step, the cleaning parameters include a first cleaning parameter with a higher cleaning ability and several second cleaning parameters with a lower cleaning ability. That is, when the current cleaning parameter of the cleaning robot is the first cleaning parameter and a target obstacle is detected ahead for cleaning, cleaning with the first cleaning parameter is likely to entangle the obstacle inside the cleaning robot, so the current cleaning parameter needs to be adjusted to the second cleaning parameter. By reducing the cleaning parameter and cleaning in a slow cleaning mode, it is possible to effectively prevent lint, socks, dog hair from being entangled in the cleaning robot and causing injury to pets or damage to the cleaning robot, and it is thus determined that the cleaning robot satisfies the first preset adjustment condition. When the current cleaning parameters of the cleaning robot are the second cleaning parameters and no target obstacle is detected ahead of the cleaning, it indicates that the cleaning robot is in low-speed cleaning mode. Since there is no obstacle ahead of the cleaning, there is no risk of the obstacle getting caught. If the cleaning continues with the second cleaning parameters, the cleaning ability will be low. Therefore, the current cleaning parameters can be adjusted to the first cleaning parameters to enter high-speed cleaning mode, so that the cleaned area will be cleaner. This can determine that the cleaning robot meets the second preset adjustment conditions.

[0045] Specifically, the cleaning parameters may include one or more of main brush operation parameters, side brush operation parameters, and dust removal wind force, where the main brush operation parameters include main brush rotation speed and / or main brush rotation strength, and the side brush operation parameters include side brush rotation speed and / or side brush rotation strength.

[0046] Step S103: Adopting an adjustment policy corresponding to the preset adjustment condition to adjust cleaning parameters, so as to adjust the current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to the target obstacle in the detection result, or adjust the current cleaning parameters from the second cleaning parameter corresponding to the target obstacle to a predetermined first cleaning parameter, wherein the cleaning ability corresponding to the first cleaning parameter is higher than the cleaning ability corresponding to the second cleaning parameter; In this step, the adjustment policy refers to a specific method for adjusting the cleaning parameters, and includes a first adjustment policy and a second adjustment policy. The first adjustment policy is to adjust the current cleaning parameters from the predetermined first cleaning parameters to the second cleaning parameters corresponding to the target obstacle in the detection result. The second adjustment policy is to adjust the current cleaning parameters from the second cleaning parameters corresponding to the target obstacle to the predetermined first cleaning parameters.

[0047] In the specific implementation of this embodiment, a correspondence relationship between each preset adjustment condition and the adjustment policy can be established in advance, that is, a mapping relationship between a first preset adjustment condition and the first adjustment policy, and a mapping relationship between a second preset adjustment condition and the second adjustment policy can be established in advance, so that after determining the preset adjustment conditions satisfied by the cleaning robot, the adjustment policy can be quickly determined by checking the mapping relationship, thereby realizing fast and accurate adjustment of the cleaning parameters.

[0048] Step S104 is to clean based on the current cleaning parameters.

[0049] In this step, once the cleaning parameters have been adjusted, cleaning can be performed in real time based on the current adjusted cleaning parameters.

[0050] The cleaning method in this embodiment can flexibly adjust cleaning parameters according to the obstacle detection situation, and when an obstacle is detected, the cleaning parameters can be reduced to effectively prevent the obstacle from being entangled in the cleaning robot, ensuring a safer and more reliable cleaning process and avoiding the problem of the cleaning robot being damaged by the obstacle.When a target obstacle is not detected and the cleaning robot is cleaning with the second cleaning parameters, the cleaning parameters of the cleaning robot can be timely adjusted to the first cleaning parameters to ensure the cleaning ability of the cleaning robot.

[0051] Based on the above embodiment, another embodiment of the present application provides a cleaning method for a cleaning robot, and in this embodiment, when detecting an obstacle and obtaining a detection result, specifically, the detection result may be obtained by judging based on an obstacle type determination algorithm, thereby obtaining a detection result including or not including the target obstacle. For example, several obstacle object images may be extracted based on cleaning scene images captured in real time, and each of the obstacle object images may be compared with a predetermined obstacle label image to obtain a detection result including or not including the target obstacle, and the obstacles may include several predetermined object images and / or pet images.

[0052] In this embodiment, the obstacle label image refers to a pre-stored obstacle template image, and the obstacle label image may specifically include several predetermined object images and / or pet images. For example, the obstacle label image may be a photo of shoes, a photo of a scale, a photo of a ball of yarn, a photo of fabric (e.g., a photo of socks, a photo of gloves, a photo of a scarf, etc.), a photo of a power cord, an image of a pet dog, an image of a pet cat, an image of a pet rabbit, etc. In this embodiment, by comparing the obstacle object image with each obstacle label image, it is possible to quickly and accurately detect whether a target obstacle is included in the cleaning scene image, laying a foundation for subsequent rational and accurate cleaning parameter adjustment.

[0053] In some embodiments, without storing obstacle-related images in advance, a recognition algorithm required to recognize the type of obstacle can be preset in the robot's control system, and the specific type of obstacle can be determined by directly calculating the recognition algorithm based on the feature information in the obstacle object image.

[0054] Based on the above embodiment, another embodiment of the present application provides a cleaning method for a cleaning robot, in which determining, based on at least the detection results and the current cleaning parameters, whether the cleaning robot satisfies a preset adjustment condition for adjusting the cleaning parameters specifically includes: determining that the first preset adjustment condition is met if the detection results include a target obstacle and the current cleaning parameters are determined to be a first predetermined cleaning parameter; and determining that the second preset adjustment condition is met if the detection results do not include a target obstacle and the current cleaning parameters are determined to be a second cleaning parameter. That is, determining whether the cleaning robot satisfies a preset adjustment condition for adjusting the cleaning parameters during the cleaning process can be divided into the following four cases:

[0055] In case 1, when a target obstacle is found and the cleaning robot is cleaning with a first cleaning parameter, the current cleaning parameter needs to be adjusted to reduce to a second cleaning parameter for the target obstacle, that is, it is determined that the cleaning robot satisfies the first preset adjustment condition.

[0056] In case 2, if a target obstacle is found and the cleaning robot is cleaning with the second cleaning parameters, it indicates that it is currently in the slow cleaning mode, and therefore cleaning can continue with the current second cleaning parameters.

[0057] In case 3, if the target obstacle is not found and the cleaning robot is cleaning with the second cleaning parameters, it indicates that the cleaning robot is currently in a low-speed cleaning mode, so the current cleaning parameters need to be adjusted to improve to the predetermined first cleaning parameters, that is, it is determined that the cleaning robot meets the second preset adjustment condition.

[0058] In case 4, if the target obstacle is not found and the cleaning robot is cleaning with the first cleaning parameters, it indicates that the robot is currently in the high-speed cleaning mode and there are no obstacles ahead, so there is no need to adjust the cleaning parameters and the robot can continue cleaning with the current first cleaning parameters.

[0059] In this embodiment, to ensure that the basis for determining the preset adjustment condition is accurate and reasonable, the cleaning robot may further determine whether the preset adjustment condition is satisfied according to the positional relationship between the cleaning robot and the target obstacle. That is, the cleaning robot determines whether the preset adjustment condition is satisfied based on whether the target obstacle is included in the detection result, the current cleaning parameters, and the positional relationship between the cleaning robot and the target obstacle. Specifically, if the detection result includes the target obstacle, the current cleaning parameters are a first cleaning parameter, and the positional relationship is such that the distance between the cleaning robot and the edge of the target obstacle is equal to or less than a predetermined distance threshold, the cleaning robot determines that the first preset adjustment condition is satisfied. If the detection result does not include the target obstacle, or the positional relationship is such that the distance between the cleaning robot and the edge of the target obstacle is greater than the predetermined distance threshold, and the current cleaning parameters are a second cleaning parameter, the cleaning robot determines that the second preset adjustment condition is satisfied.

[0060] That is, in the above case 1, if it is determined that the detection result includes a target obstacle and the current cleaning parameters are the predetermined first cleaning parameters, it can further determine whether a first preset adjustment condition is met according to the positional relationship between the cleaning robot and the target obstacle. That is, in terms of the positional relationship, if it is determined that the distance between the cleaning robot and the edge of the target obstacle is less than the predetermined distance threshold, it can determine that the first preset adjustment condition is met. In terms of the positional relationship, if it is determined that the distance between the cleaning robot and the edge of the target obstacle is greater than the predetermined distance threshold, it can determine that the first preset adjustment condition is not met. In this embodiment, by further determining whether the parameter adjustment condition is met according to the positional relationship between the target obstacle and the cleaning robot, it can make subsequent parameter adjustments more reasonable. For example, if the detection result includes a target obstacle, the current cleaning parameters are predetermined first cleaning parameters, and it is determined that the distance between the cleaning robot and the edge of the target obstacle is less than or equal to the predetermined distance threshold, it indicates that the distance between the cleaning robot and the target obstacle is close, so the current cleaning parameters need to be adjusted to second cleaning parameters, i.e., it is determined that the first predetermined adjustment condition is met. Conversely, if the detection result includes a target obstacle, the current cleaning parameters are predetermined first cleaning parameters, and it is determined that the distance between the cleaning robot and the edge of the target obstacle is greater than the predetermined distance threshold, it indicates that the target obstacle is ahead of the cleaning, the current cleaning speed is fast, but the cleaning robot is currently far from the target obstacle, so it is not necessary to reduce the cleaning parameters for a while; it is enough to reduce the cleaning parameters once the cleaning robot approaches the target obstacle. In an embodiment, the predetermined distance threshold can be adjusted according to the desired robot behavior. For example, if it is desired to clean without contacting obstacles, the threshold can be adjusted appropriately to a larger value or can be set by a user.

[0061] In the above case 2, if it is determined that the detection result includes a target obstacle and that the current cleaning parameters are the second cleaning parameters, it can further determine whether a second preset adjustment condition is met based on the positional relationship between the cleaning robot and the target obstacle. That is, if it is further determined that the gap between the cleaning robot and the edge of the target obstacle is greater than the preset distance threshold, it indicates that there is a target obstacle ahead of the cleaning robot but far from the cleaning robot, so the current cleaning parameters can be adjusted to the first cleaning parameters, that is, it is determined that the second preset adjustment condition is met. Conversely, if the gap between the cleaning robot and the edge of the target obstacle is equal to or less than the preset distance threshold, it indicates that there is a target obstacle ahead of the cleaning robot but close to the cleaning robot, so there is no need to adjust the cleaning parameters and cleaning can be performed with the second cleaning parameters.

[0062] In a specific implementation process, this embodiment may acquire the positional relationship between the cleaning robot and the target obstacle before determining whether the positional relationship between the cleaning robot and the target obstacle satisfies a preset adjustment condition. Specifically, the process includes: determining a target area including the target obstacle on the cleaning map based on the cleaning scene image and the preset cleaning map; determining a current cleaning position of the cleaning robot on the cleaning map in real time; determining a gap distance between the current position and an edge of the target area based on the current cleaning position and the target area; and obtaining the positional relationship between the cleaning robot and the target obstacle based on the magnitude relationship between the gap distance and a preset distance threshold.

[0063] In this embodiment, the cleaning robot captures images in real time using an imaging device to obtain cleaning scene images, and then uses a predetermined recognition algorithm to recognize the minimum bounding rectangle corresponding to each object from the cleaning scene image, i.e., obtain the field of view of each obstacle in the cleaning scene image. Then, according to the depth of field information in the cleaning map and the cleaning scene image, a first area in the cleaning map for each field of view can be determined, and the first area can be directly used as the target area in the cleaning map for the target obstacle. Thereafter, the positional relationship between the cleaning robot and the target obstacle can be determined based on the distance between the current cleaning position of the cleaning robot on the cleaning map and the edge of the target area.

[0064] In this embodiment, to ensure accurate determination of the target area, after obtaining a first area on the cleaning map of the target obstacle, the target area may be obtained by further adjusting the first area according to an area threshold. For example, by adjusting the first area to enlarge based on the area threshold, the area range of the first area may be enlarged to 1.05 times its original size. For example, by adjusting the first area to shrink based on the area threshold, the area range of the first area may be reduced to 0.95 times its original size. The area threshold may be set according to actual needs, specifically, adjusted according to the recognition result of the first area. For example, if the recognition result of the first area has a relatively high accuracy, the area threshold may be set to 1.01, and the first area may be appropriately enlarged to become the target area. This avoids adjusting parameters only when the cleaning robot approaches the target obstacle, and more effectively prevents the obstacle from getting caught. Furthermore, for example, if the recognition result of the first region is too small, i.e., if 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, such as 1.05, 1.08, 1.1, etc. Furthermore, for example, if the recognition result of the first region is too large, i.e., if the recognized first region is larger than the actual region corresponding to the target obstacle, the region threshold may be set to a value equal to or less than 1, such as 0.98, 0.95, etc.

[0065] Another embodiment of the present application provides a cleaning method for a cleaning robot, which, based on the above embodiment, when it is determined that the cleaning robot satisfies a preset adjustment condition, can adjust current parameters according to an adjustment policy corresponding to the preset condition. Specifically, If the preset adjustment condition is a first preset adjustment condition, adjusting the cleaning parameters by adopting a first adjustment policy to adjust the current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to the target obstacle in the detection result; and adjusting the cleaning parameters by adopting a second adjustment policy that adjusts the current cleaning parameters from the second cleaning parameters corresponding to the target obstacle to the predetermined first cleaning parameters when the preset adjustment conditions are second preset adjustment conditions.

[0066] In this embodiment, in order to make the basis for adjusting the cleaning parameters reasonable and accurate, each obstacle is classified according to the severity of the consequences after the obstacle is caught and the ease of being caught, to obtain several obstacle types, and then different second cleaning parameters can be set for each obstacle type.

[0067] For example, obstacles can be classified into a first obstacle type having a first entanglement susceptibility, a second obstacle type having a second entanglement susceptibility, a third obstacle type having a third entanglement susceptibility, and a fourth obstacle type including pets with fur. The entanglement susceptibility indicates the difficulty of an obstacle being entangled in a cleaning robot, and the higher the entanglement susceptibility, the more likely the obstacle is to be entangled in the cleaning robot. The first entanglement susceptibility is lower than the second entanglement susceptibility, which is lower than the third entanglement susceptibility. In this embodiment, the first obstacle type may include objects such as shoes and scales. The second obstacle type may include small textiles such as socks, gloves, and scarves. The third obstacle type may include balls of yarn, power cords, and feces. The fourth obstacle type may include pets with fur such as dogs, cats, and rabbits.

[0068] In this example, after different obstacle types are classified, different second cleaning parameters can be preset for each obstacle type. For example, a first second cleaning parameter is set for the first obstacle type, a second second cleaning parameter is set for the second obstacle type, a third second cleaning parameter is set for the third obstacle type, and a fourth second cleaning parameter is set for the fourth obstacle type. The second cleaning parameters are arranged in descending order of cleaning ability as follows: the first second cleaning parameter, the second second cleaning parameter, the third second cleaning parameter, and the fourth second cleaning parameter. That is, the more difficult an obstacle type is to get caught in, the higher the corresponding second cleaning parameter will be, and the lowest second cleaning parameter will be for a pet with hair, thereby preventing the pet from getting caught in the cleaning robot and being injured.

[0069] In this embodiment, the cleaning parameters include one or more of a main brush operation parameter, a side brush operation parameter, and dust removal air force, where the main brush operation parameter includes the main brush rotation speed and / or the main brush rotation strength, and the side brush operation parameter includes the side brush rotation speed and / or the side brush rotation strength. That is, the cleaning parameters include one or more of the main brush rotation speed of the cleaning main brush, the main brush rotation strength of the cleaning main brush, the side brush rotation speed of the cleaning side brush, the side brush rotation strength of the cleaning side brush, and dust removal air force. Among them, the first cleaning parameter is a predetermined cleaning parameter and may be equal to or greater than each of the second cleaning parameters. That is, the main brush rotation speed, main brush rotation strength, side brush rotation speed, side brush rotation strength, and dust removal air force of the first cleaning parameter are greater than the main brush rotation speed, main brush rotation strength, side brush rotation speed, side brush rotation strength, and dust removal air force of the second cleaning parameters, respectively. Alternatively, the main brush rotation speed and main brush rotation strength in the first cleaning parameter are greater than the main brush rotation speed and main brush rotation strength in each second cleaning parameter, and the side brush rotation speed, side brush rotation strength and dust removal wind force in the first cleaning parameter are equal to the side brush rotation speed, side brush rotation strength and dust removal wind force in each second cleaning parameter, respectively.

[0070] For example, assuming that the cleaning parameters include a main brush rotation speed and a side brush rotation speed, the first cleaning parameter may be preset to a main brush rotation speed of 2000 rpm and a side brush rotation speed of 1000 rpm. The first second cleaning parameter may be set to the same as the first cleaning parameter or may be set to an appropriate lower value, such as a main brush rotation speed of 2000 rpm and a side brush rotation speed of 1000 rpm. Alternatively, the main brush rotation speed may be 1800 rpm and a side brush rotation speed of 800 rpm. The second second cleaning parameter may be set to a main brush rotation speed of 1200 rpm and a side brush rotation speed of 700 rpm. The third second cleaning parameter may be set to a main brush rotation speed of 1000 rpm and a side brush rotation speed of 600 rpm. The fourth second cleaning parameter may be set so that the main brush rotation speed is 0 rpm (i.e., the main brush stops rotating) and the side brush rotation speed is 500 rpm, or so that the main brush rotation speed is 0 rpm (i.e., the main brush stops rotating) and the side brush rotation speed is 1000 rpm. Specifically, the side brush rotation speed may be adjusted to 30% of the maximum side brush rotation speed (450 rpm), i.e., the side brush rotation speed may be reduced to a 30% duty cycle. To prevent accidental injury to pets, the main brush and / or side brushes may be selectively lifted. In this embodiment, the first cleaning parameter may be set according to actual needs, and the second cleaning parameters corresponding to each obstacle type may also be adjusted according to actual needs. For example, the side brush rotation speed for each second cleaning parameter may be set to the same side brush rotation speed as for the first cleaning parameter, and only the main brush rotation speed may be 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 a wall, the side brush rotation speed is increased to sweep the dust outside the range of the roller brush into the range of the roller brush, and the roller brush will sweep the dust into the dust collection box inside the machine in accordance with the dust removal wind force.However, in this embodiment, by setting corresponding side brush rotation speeds, main brush rotation speeds, and dust removal wind force for different types of obstacles, the problem of obstacles getting caught can be avoided by cleaning at the same high side brush rotation speed as along walls.

[0071] As a result, if it is determined that the first preset adjustment condition is satisfied, the obstacle type of the target obstacle in the detection result can be further obtained, and based on the obstacle type, the cleaning parameters corresponding to the obstacle type can be determined as the second cleaning parameters.

[0072] For example, if it is determined that the first preset adjustment condition is met, the target obstacle is detected to be a scale, i.e., the obstacle type of the target obstacle is determined to be the first obstacle type, and thus the first second cleaning parameters can be obtained, for example, the first second cleaning parameters are a main brush rotation speed of 18,000 rpm and a side brush rotation speed of 1,200 rpm.Also, if it is determined that the first preset adjustment condition is met, the target obstacle is detected to be a dog, i.e., the obstacle type of the target obstacle is determined to be the fourth obstacle type, and thus the fourth second cleaning parameters are a main brush rotation speed of 0 rpm, i.e., the main brush stops rotating, and a side brush rotation speed of 800 rpm.

[0073] Based on the above embodiment, a further embodiment of the present application provides a cleaning method for a cleaning robot. In this embodiment, if there are multiple types of obstacles and each obstacle type corresponds to a different second cleaning parameter, the current cleaning parameter can be further adjusted according to each obstacle type. That is, if a target obstacle is included in the cleaning scene image and it is detected that the cleaning robot is cleaning with the second cleaning parameter, the target second cleaning parameter is further determined according to the target obstacle, and it is determined whether the target second cleaning parameter matches the current second cleaning parameter. If the two match, cleaning can continue with the current second cleaning parameter. If the two do not match, the current second cleaning parameter can be adjusted based on the target second cleaning parameter corresponding to the target obstacle, so that the adjustment of the cleaning parameter is more flexible and reasonable.

[0074] For example, if the cleaning scene image includes a target obstacle, the target obstacle is a pet dog, and the cleaning robot detects that it is cleaning with second cleaning parameters, a fourth obstacle type corresponding to the pet dog is obtained, and then the target second cleaning parameters corresponding to the fourth obstacle type are determined, i.e., the main brush rotation speed is 0 rpm, i.e., the main brush stops rotating, and the side brush rotation speed is 800 rpm. At the same time, the current second cleaning parameters are determined to be a main brush rotation speed of 1500 rpm and a side brush rotation speed of 1000 rpm. By comparing the target cleaning parameters with the current second cleaning parameters, it is determined that they do not match, and the current second cleaning parameters can be adjusted to the target second cleaning parameters corresponding to the pet dog. In this embodiment, by adjusting the current second cleaning parameters according to the currently detected target obstacle, even if a pet dog (or other obstacle) suddenly approaches the cleaning robot, the cleaning robot will not timely reduce the cleaning parameters to the target second cleaning parameters corresponding to the current target obstacle, but will still clean with the second parameters corresponding to the original obstacle (e.g., shoes), which can avoid causing problems with the obstacle getting caught.

[0075]

[0013] A further embodiment of the present application provides a cleaning method for a cleaning robot, which adjusts cleaning parameters, i.e., adjusts the cleaning parameters to second cleaning parameters corresponding to a target obstacle, or determines that the first preset adjustment condition is met. The cleaning method for a cleaning robot in this embodiment includes: determining a first area in a cleaning map of the target obstacle; determining a path surrounding the first area as a target cleaning path based on at least the first area; and cleaning based on the current cleaning parameters and the target cleaning path. In this embodiment, the specific process of determining the first area in the cleaning map of the target obstacle is the same as the process of determining the target area in the above embodiment, and therefore, description thereof will be omitted here.

[0076] In this embodiment, to determine the target cleaning path more rationally and accurately, the target cleaning path may be determined based on a target cleaning distance corresponding to the target obstacle type. Specifically, a different cleaning distance may be preset for each obstacle type. For example, a first cleaning distance of 1 cm may be set for a first obstacle type, a second cleaning distance of 5 cm may be set for a second obstacle type, a third cleaning distance of 10 cm may be set for a third obstacle type, and a fourth cleaning distance of 15 cm may be set for a fourth obstacle type. In this way, when a target obstacle is detected, a target cleaning distance corresponding to the obstacle type is determined, and a first area on the cleaning map for the target obstacle is determined. Then, based on the target cleaning distance and the first area, a path that surrounds the first area and is the target cleaning distance from the first area can be determined as the target cleaning path.

[0077] In this embodiment, the cleaning distance is adjusted according to the type of obstacle to obtain a corresponding cleaning path, so that different types of obstacles can be surrounded and cleaned at different cleaning distances during the cleaning process, i.e., short-distance cleaning can be performed for obstacles that are difficult to get caught in, medium-distance cleaning can be performed for obstacles that are relatively easy to get caught in, and long-distance cleaning can be performed for obstacles that are not likely to get caught in (e.g., pet dogs, cats, etc.), ensuring a safe and reliable cleaning process.

[0078] The cleaning method in this embodiment detects target obstacles in real time during the cleaning process, and when the target obstacle is found and the cleaning robot is cleaning with first cleaning parameters, the current cleaning parameters are adjusted to second cleaning parameters for the target obstacle, thereby reducing the cleaning parameters in a timely manner to prevent the obstacle from being entangled in the cleaning robot, ensuring a safer and more reliable cleaning process and avoiding the problem of the cleaning robot being damaged by the obstacle being entangled.When the target obstacle is not detected and the cleaning robot is cleaning with the second cleaning parameters, the cleaning parameters of the cleaning robot are adjusted to the first cleaning parameters in a timely manner to ensure the cleaning ability of the cleaning robot.

[0079] Based on the above embodiment, the cleaning process of the present application will be described below in accordance with specific application scenarios. The cleaning robot pre-stores a cleaning map for the room. When the cleaning robot is started, the user can activate "Pet Mode" in the app, i.e., a cleaning mode with adjustable cleaning parameters, to clean in this mode. The specific cleaning process in this mode is as follows: The cleaning robot first cleans the room based on the cleaning map in accordance with predetermined first cleaning parameters. During the cleaning process, the cleaning robot takes real-time photos using the built-in camera to obtain cleaning scene images, and then performs obstacle detection based on the cleaning scene images. If a target obstacle is detected ahead of the cleaning, the cleaning robot further determines the target area on the cleaning map for the target obstacle, determines the current position of the cleaning robot on the cleaning map, and determines the distance between the current position and the edge of the target area. If it is determined that the distance between the current position and the edge of the target area is greater than the preset distance threshold, the cleaning robot can continue cleaning using the current first cleaning parameters. If it is determined that the gap distance between the current position and the edge of the target area is equal to or less than the preset distance threshold, the obstacle type of the target obstacle can be further determined. For example, if the target obstacle is a pet dog, the obstacle type can be determined to be a fourth obstacle type, and a fourth second cleaning parameter corresponding to the fourth obstacle type can be obtained. The current first cleaning parameter can be adjusted to the fourth second cleaning parameter for cleaning. For example, the fourth second cleaning parameter can be a parameter that the side brushes are slowed to a 30% duty ratio and the main brush stops rotating. When cleaning with the fourth second cleaning parameter, a cleaning path along the pet dog, i.e., a first area on the pet dog cleaning map can be determined, and a path surrounding the first area can be determined as a target cleaning path based on at least the first area. Alternatively, a corresponding target cleaning distance can be determined based on the obstacle type of the pet dog, and the target cleaning path can be determined based on the target cleaning distance and the first area. Once the target cleaning path is determined, cleaning can be performed along the pet dog based on the target cleaning path.After completing cleaning along the target cleaning path along the pet dog, the cleaning robot continues to clean with the fourth second cleaning parameter until the obstacle is no longer included in the cleaning scene image captured in real time or the distance between the cleaning robot and the edge of the pet dog is greater than a preset distance threshold, so that the cleaning robot adjusts the current fourth second cleaning parameter to the first cleaning parameter. The cleaning parameter may also be adjusted according to the parameter adjustment time, that is, after completing cleaning along the target cleaning path along the pet dog, the cleaning robot continues to clean with the fourth second cleaning parameter and maintains it for a predetermined parameter adjustment time, for example, the cleaning robot may continue to clean with the fourth second cleaning parameter and maintain it for 4 seconds, and after 4 seconds, automatically adjust the current fourth second cleaning parameter to the first cleaning parameter. The current fourth second cleaning parameter may also be adjusted to another second cleaning parameter corresponding to the current obstacle type according to the presence or absence of other obstacles in the current cleaning scene image and the current obstacle type.

[0080] In this embodiment, if the side brushes are stopped after a pet is detected, there is a risk that they will block the cliff sensor, making them more likely to fall and affecting cleaning efficiency. Furthermore, stopping the side brushes can cause small objects to become trapped in the side brushes and deform them. However, if the side brushes rotate slowly, small objects can be ejected. Therefore, after a pet is detected, only the main brush can be stopped, and the rotation speed of the side brushes can be reduced without stopping them, i.e., the duty cycle of the side brushes can be reduced. The specific speed of the side brushes is currently set according to the normal deceleration parameters and is consistent with the deceleration speeds of the other side brushes. It can be understood that at this side brush speed, the rotation strength and speed of the side brushes are relatively low, making them less likely to become entangled with hair.

[0081] Another embodiment of the present application provides a cleaning method for a cleaning robot, as shown in FIG. 2, including the following steps.

[0082] Step S201: detecting an obstacle and obtaining a detection result; Specifically, in this step, by making a judgment based on an obstacle type judgment algorithm, it is possible to obtain a detection result that includes the target obstacle, or a detection result that does not include the target obstacle.

[0083] Step S202: obtaining at least two cleaning parameters corresponding to the target obstacle according to the detection result; In a specific implementation, this step can obtain at least two cleaning parameters corresponding to the obstacle type of the target obstacle according to the obstacle type of the target obstacle.

[0084] In this step, the obstacles include some predetermined objects and / or pets, and the obstacle types include any one of a first obstacle type having a first entanglement susceptibility, a second obstacle type having a second entanglement susceptibility, a third obstacle type having a third entanglement susceptibility, and a fourth obstacle type being a pet with fur. For example, the first obstacle type may include objects such as shoes and a scale. The second obstacle type may include small textiles such as socks, gloves, and scarves. The third obstacle type may include balls of yarn, power cords, and feces. The fourth obstacle type may include pets with fur such as dogs, cats, and rabbits.

[0085] After different obstacle types are classified, different second cleaning parameters can be preset for each obstacle type. For example, a first second cleaning parameter can be set for a first obstacle type, a second second cleaning parameter can be set for a second obstacle type, a third second cleaning parameter can be set for a third obstacle type, and a fourth second cleaning parameter can be set for a fourth obstacle type. The second cleaning parameters are arranged in descending order of cleaning ability as follows: the first second cleaning parameter, the second second cleaning parameter, the third second cleaning parameter, and the fourth second cleaning parameter. That is, the more difficult an obstacle type is to get caught in, the higher the corresponding second cleaning parameter will be, and the lowest second cleaning parameter will be for a pet with hair, thereby preventing the pet from getting caught in the cleaning robot and being injured.

[0086] In this step, the at least two cleaning parameters may include at least two of a main brush operation parameter, a side brush operation parameter, and dust removal wind force, wherein the main brush operation parameter includes a main brush rotation speed and / or a main brush rotation strength, and the side brush operation parameter includes a side brush rotation speed and / or a side brush rotation strength.

[0087] For example, if the cleaning parameters include the main brush rotation speed and the side brush rotation speed, the cleaning parameters for the robot during normal cleaning (no obstacles) are a main brush rotation speed of 2000 rpm and a side brush rotation speed of 1000 rpm. Therefore, the first secondary cleaning parameter may be set to a main brush rotation speed of 1800 rpm and a side brush rotation speed of 800 rpm. The second secondary cleaning parameter may be set to a main brush rotation speed of 1200 rpm and a side brush rotation speed of 700 rpm. The third secondary cleaning parameter may be set to a main brush rotation speed of 1000 rpm and a side brush rotation speed of 600 rpm. The fourth second cleaning parameter may be set so that the main brush rotation speed is 0 rpm (i.e., the main brush stops rotating) and the side brush rotation speed is 500 rpm, or so that the main brush rotation speed is 0 rpm (i.e., the main brush stops rotating) and the side brush rotation speed is 1000 rpm. Specifically, the side brush rotation speed may be adjusted to 30% of the maximum side brush rotation speed (450 rpm), i.e., the side brush rotation speed may be reduced to a 30% duty ratio. To prevent accidental injury to pets, the main brush and / or side brushes may be selectively lifted.

[0088] Step S203 is to clean based on the at least two cleaning parameters.

[0089] In this step, once the cleaning parameters corresponding to the obstacles are obtained, the cleaning robot can directly clean based on the two or more cleaning parameters.

[0090] In this embodiment, when the cleaning robot detects an obstacle, particularly a pet-shaped obstacle, it directly obtains cleaning parameters corresponding to the pet and cleans based on the cleaning parameters. That is, the main brush is controlled to stop rotating and the side brushes are controlled to operate in low-speed mode, thereby minimizing the risk of the pet's tail or hair getting caught in the rotating parts of the cleaning robot. The reason the side brushes do not stop rotating is to effectively avoid being blocked by parts such as cliff sensors and to prevent hair from getting caught in potential slits. In some embodiments, the low-speed mode of the side brushes is set to convert to 30% of the maximum rotation speed (e.g., 450 rpm), that is, the side brushes are slowed down to a rotation speed with a 30% duty cycle for cleaning.

[0091] The method in this embodiment cleans based on cleaning parameters corresponding to the target obstacle, thereby avoiding the problem of the pet dog getting caught in the cleaning robot due to approaching the cleaning robot and being injured by the vacuum cleaner, and ensuring a safe and reliable cleaning process.

[0092] A further embodiment of the present application provides a cleaning method for a cleaning robot, in which, before cleaning based on the at least two cleaning parameters, a distance between the cleaning robot and an edge of a target obstacle may be obtained, and if the distance is equal to or less than a predetermined distance threshold, cleaning may be performed based on the cleaning parameters. For example, when a target obstacle, particularly a pet-type obstacle, is detected, a distance between the cleaning robot and the pet may be further obtained, and if the distance is equal to or less than a predetermined distance threshold, cleaning may be performed based on cleaning parameters corresponding to the pet.

[0093] In this embodiment, the distance between the cleaning robot and the edge of the target obstacle may be obtained by determining a target area including the target obstacle on the cleaning map based on the cleaning scene image and a preset cleaning map, determining a current cleaning position of the cleaning robot on the cleaning map in real time, and determining the distance between the current position and the edge of the target area based on the current cleaning position and the target area, i.e., obtaining the distance between the cleaning robot and the target obstacle. In this embodiment, the predetermined distance threshold may be adjusted and set according to actual needs.

[0094] In this embodiment, the cleaning robot captures images in real time using an imaging device to obtain cleaning scene images, and then uses a predetermined recognition algorithm to recognize the minimum bounding rectangle corresponding to each object from the cleaning scene image, i.e., obtain the field of view of each obstacle in the cleaning scene image. Then, according to the depth of field information in the cleaning map and the cleaning scene image, a first area in the cleaning map for each field of view can be determined, and the first area can be directly used as the target area in the cleaning map for the target obstacle. Thereafter, the distance between the cleaning robot and the target obstacle can be determined based on the gap distance between the cleaning robot's current cleaning position on the cleaning map and the edge of the target area.

[0095] In this embodiment, to ensure accurate determination of the target area, after obtaining a first area on the cleaning map of the target obstacle, the target area may be obtained by further adjusting the first area according to an area threshold. For example, by adjusting the first area to enlarge based on the area threshold, the area range of the first area may be enlarged to 1.05 times its original size. For example, by adjusting the first area to shrink based on the area threshold, the area range of the first area may be reduced to 0.95 times its original size. The area threshold may be set according to actual needs, specifically, adjusted according to the recognition result of the first area. For example, if the recognition result of the first area has a relatively high accuracy, the area threshold may be set to 1.01, and the first area may be appropriately enlarged to become the target area. This avoids adjusting parameters only when the cleaning robot approaches the target obstacle, and more effectively prevents the obstacle from getting caught. Furthermore, for example, if the recognition result of the first region is too small, i.e., if 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, such as 1.05, 1.08, 1.1, etc. Furthermore, for example, if the recognition result of the first region is too large, i.e., if the recognized first region is larger than the actual region corresponding to the target obstacle, the region threshold may be set to a value equal to or less than 1, such as 0.98, 0.95, etc.

[0096] A further embodiment of the present application provides a cleaning method for a cleaning robot, wherein before cleaning based on the at least two cleaning parameters, a first area in a cleaning map of a target obstacle is determined, and a path surrounding the first area is determined as a target cleaning path based on at least the first area, so that cleaning can be performed in real time based on the cleaning parameters and the target cleaning path. In this embodiment, the specific process of determining the first area in the cleaning map of the target obstacle is the same as the process of determining the target area in the above embodiment, and therefore, description thereof will be omitted here.

[0097] In this embodiment, to determine the target cleaning path more accurately and reasonably, a cleaning distance corresponding to the obstacle type of the target obstacle may be determined as the target cleaning distance, and a path that surrounds the first area and is the target cleaning distance from the first area may be determined as the target cleaning path based on the target cleaning distance and the first area. In this embodiment, by adjusting the cleaning distance according to the obstacle type to obtain a corresponding cleaning path, different obstacle types can be surrounded and cleaned at different cleaning distances during the cleaning process. That is, close-range cleaning can be performed for obstacles that are less likely to get caught in the robot, medium-range cleaning can be performed for obstacles that are relatively easy to get caught in the robot, and long-range cleaning can be performed for obstacles that are not likely to get caught in the robot (e.g., pet dogs, cats, etc.), thereby ensuring a safe and reliable cleaning process.

[0098] The cleaning method in this embodiment detects target obstacles in real time during the cleaning process, and when a target obstacle is found, obtains at least two cleaning parameters corresponding to the target obstacle, and then cleans at a low speed based on the cleaning parameters, thereby effectively preventing the cleaning robot from getting entangled in the obstacles, avoiding injury to pets, and ensuring a safer and more reliable cleaning process, as well as avoiding the problem of the cleaning robot being damaged by the obstacles being entangled.

[0099] A further embodiment of the present application is shown in FIG. a detection module 11 for detecting obstacles and obtaining detection results; a judging module 12 for judging, based on at least the detection result and the current cleaning parameters, a preset adjustment condition for adjusting the cleaning parameters that the cleaning robot satisfies; an adjustment module 13 for adjusting cleaning parameters by adopting an adjustment policy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to the target obstacle in the detection result, or adjusting the current cleaning parameters from the second cleaning parameter corresponding to the target obstacle to a predetermined first cleaning parameter, wherein the cleaning ability corresponding to the first cleaning parameter is higher than the cleaning ability corresponding to the second cleaning parameter; and a cleaning module (14) for cleaning based on current cleaning parameters.

[0100] In the specific implementation process of this embodiment, the detection module is specifically used to obtain a detection result including a target obstacle or a detection result not including a target obstacle by making a judgment based on an obstacle type judgment algorithm, and the obstacle includes some predetermined objects and / or pets.

[0101] In a specific implementation process of this embodiment, the judgment module specifically includes: determining that a first preset adjustment condition is met if the detection result includes a target obstacle and the current cleaning parameters are determined to be a predetermined first cleaning parameter; and determining that a second preset adjustment condition is met if the detection result does not include a target obstacle and the current cleaning parameters are determined to be a second cleaning parameter.

[0102] In a specific implementation process of this embodiment, the judgment module is used to determine whether the detection result includes a target obstacle and whether the cleaning robot satisfies a preset adjustment condition based on the current cleaning parameters and the positional relationship between the cleaning robot and the target obstacle. That is, the judgment module is specifically used to determine that the first preset adjustment condition is met if it determines that the detection result includes a target obstacle, the current cleaning parameters are a predetermined first cleaning parameter, and the positional relationship is such that the distance between the cleaning robot and the edge of the target obstacle is less than or equal to a preset distance threshold; and to determine that the second preset adjustment condition is met if it determines that the detection result does not include a target obstacle or the positional relationship is such that the distance between the cleaning robot and the edge of the target obstacle is greater than the preset distance threshold and the current cleaning parameters are a second cleaning parameter.

[0103] In a specific implementation process of this embodiment, the cleaning device for the cleaning robot further includes an acquisition module for acquiring a positional relationship between the cleaning robot and a target obstacle. The acquisition module is used to determine a target area including the target obstacle on the cleaning map based on the cleaning scene image and a preset cleaning map, determine a current cleaning position of the cleaning robot on the cleaning map in real time, determine a gap distance between the current position and an edge of the target area based on the current cleaning position and the target area, and obtain the positional relationship between the cleaning robot and the target obstacle based on the magnitude relationship between the gap distance and a preset distance threshold.

[0104] In the specific implementation process of this embodiment, the adjustment module is specifically used to adjust the cleaning parameters from the predetermined first cleaning parameters to the second cleaning parameters corresponding to the target obstacle in the detection result by adopting a first adjustment policy when the predetermined adjustment conditions are the first predetermined adjustment conditions, and to adjust the cleaning parameters from the second cleaning parameters corresponding to the target obstacle to the predetermined first cleaning parameters by adopting a second adjustment policy when the predetermined adjustment conditions are the second predetermined adjustment conditions.

[0105] In a specific implementation process of this embodiment, the cleaning device for the cleaning robot further includes a parameter acquisition module, and before adjusting the current cleaning parameters from the predetermined first cleaning parameters to the second cleaning parameters corresponding to the target obstacle in the detection result, the parameter acquisition module: The obstacle type of the target obstacle in the detection result is obtained, and a cleaning parameter corresponding to the obstacle type is determined as the second cleaning parameter based on the obstacle type, wherein the obstacle type includes any one or more of a first obstacle type having a first susceptibility to entanglement, a second obstacle type having a second susceptibility to entanglement, a third obstacle type having a third susceptibility to entanglement, and a fourth obstacle type which is a pet with fur.

[0106] In a specific implementation process of this embodiment, the cleaning device for the cleaning robot further includes a path determination module, which, when it is determined that the first preset adjustment condition is met, determines a first area in the cleaning map of the target obstacle, and determines a path surrounding the first area as a target cleaning path based on at least the first area, and the cleaning module is used to clean based on the current cleaning parameters and the target cleaning path.

[0107] In the specific implementation process of this embodiment, the path determination module is used to determine a cleaning distance corresponding to the obstacle type as a target cleaning distance based on the obstacle type of the target obstacle, and to determine a path that surrounds the first area and whose distance from the first area is the target cleaning distance as the target cleaning path based on the target cleaning distance and the first area.

[0108] In a specific implementation process of this embodiment, the cleaning parameters include one or more of main brush operating parameters, side brush operating parameters, and dust removal wind force, the main brush operating parameters include main brush rotation speed and / or main brush rotation strength, and the side brush operating parameters include side brush rotation speed and / or side brush rotation strength.

[0109] The cleaning device for a cleaning robot in this application can flexibly adjust cleaning parameters according to obstacle detection situations, and when an obstacle is detected, the cleaning parameters can be reduced to effectively prevent the obstacle from being entangled in the cleaning robot, ensuring a safer and more reliable cleaning process and avoiding the problem of the cleaning robot being damaged by the obstacle.When a target obstacle is not detected and the cleaning robot is cleaning with the second cleaning parameters, the cleaning parameters of the cleaning robot can be timely adjusted to the first cleaning parameters to ensure the cleaning ability of the cleaning robot.

[0110] A further embodiment of the present application is shown in FIG. a detection module 21 for detecting an obstacle and obtaining a detection result; a first obtaining module (22) for obtaining at least two cleaning parameters corresponding to the target obstacle based on the target obstacle in the detection result; and a cleaning module (23) for cleaning based on the at least two cleaning parameters.

[0111] In the specific implementation process of this embodiment, the detection module is specifically used to obtain a detection result including the target obstacle or a detection result not including the target obstacle by making a judgment based on an obstacle type judgment algorithm.

[0112] In the specific implementation process of this embodiment, the first acquisition module is specifically used to acquire cleaning parameters corresponding to the obstacle type of the target obstacle based on the obstacle type of the target obstacle, where the target obstacle includes some predetermined objects and / or pets, and the obstacle type includes any one of a first obstacle type having a first entanglement tendency, a second obstacle type having a second entanglement tendency, a third obstacle type having a third entanglement tendency, and a fourth obstacle type which is a pet with fur.

[0113] In a specific implementation process of this embodiment, the cleaning device for the cleaning robot further includes a second acquisition module, which is used to acquire a gap distance between the cleaning robot and the edge of a target obstacle before cleaning according to the cleaning parameters; The cleaning module is adapted to clean based on the cleaning parameters if the gap distance is less than or equal to a predetermined distance threshold.

[0114] In a specific implementation process of this embodiment, the cleaning device for the cleaning robot further includes a third acquisition module, which is used to determine a first area in the cleaning map of the target obstacle before cleaning based on the cleaning parameters, and determine a path surrounding the first area as a target cleaning path based on at least the first area; The cleaning module is specifically used to clean based on the cleaning parameters and the target cleaning path.

[0115] In the specific implementation process of this embodiment, the third acquisition module is specifically used to determine a cleaning distance corresponding to the obstacle type of the target obstacle as a target cleaning distance based on the obstacle type of the target obstacle, and to determine a path that surrounds the first area and whose distance from the first area is the target cleaning distance as the target cleaning path based on the target cleaning distance and the first area.

[0116] In a specific implementation process of this embodiment, the at least two cleaning parameters include at least two of a main brush operating parameter, a side brush operating parameter, and dust removal wind force, 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.

[0117] The cleaning method in this embodiment detects target obstacles in real time during the cleaning process, and when a target obstacle is found, obtains at least two cleaning parameters for the target obstacle, and then cleans at a low speed based on the cleaning parameters, thereby effectively preventing the obstacle from being entangled in the cleaning robot, avoiding injury to pets, making the cleaning process safer and more reliable, and also avoiding the problem of the cleaning robot being damaged by being entangled in obstacles.

[0118] A further embodiment of the present application provides a storage medium storing a computer program, the computer program, when executed by a processor, Step 1: detecting obstacles and obtaining detection results; Step 2: determining a preset adjustment condition for adjusting the cleaning parameters that the cleaning robot satisfies based on at least the detection result and the current cleaning parameters; Step 3: adjusting cleaning parameters by adopting an adjustment policy corresponding to the preset adjustment condition, so as to adjust the current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to the target obstacle in the detection result, or adjusting the current cleaning parameters from the second cleaning parameter corresponding to the target obstacle to a predetermined first cleaning parameter, wherein the cleaning ability corresponding to the first cleaning parameter is higher than the cleaning ability corresponding to the second cleaning parameter; and step 4 of cleaning based on current cleaning parameters.

[0119] For the specific implementation process of the above method steps, reference may be made to any of the above embodiments of the cleaning method for a cleaning robot, and the description of this embodiment will be omitted here.

[0120] The storage medium in the present application can flexibly adjust cleaning parameters according to obstacle detection situations, and when an obstacle is detected, the cleaning parameters can be reduced to effectively prevent the obstacle from being entangled in the cleaning robot, ensuring a safer and more reliable cleaning process and avoiding the problem of the cleaning robot being damaged by the obstacle.When a target obstacle is not detected and the cleaning robot is cleaning with the second cleaning parameters, the cleaning parameters of the cleaning robot can be timely adjusted to the first cleaning parameters to ensure the cleaning ability of the cleaning robot.

[0121] A further embodiment of the present application provides an electronic device including at least a memory 1 storing a computer program and a processor 2, as shown in FIG. 5, wherein the processor 2, when executing the computer program in the memory 1, performs the following: Step 1: detecting obstacles and obtaining detection results; Step 2: determining a preset adjustment condition for adjusting the cleaning parameters that the cleaning robot satisfies based on at least the detection result and the current cleaning parameters; Step 3: adjusting cleaning parameters by adopting an adjustment policy corresponding to the preset adjustment condition, so as to adjust the current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to the target obstacle in the detection result, or adjusting the current cleaning parameters from the second cleaning parameter corresponding to the target obstacle to a predetermined first cleaning parameter, wherein the cleaning ability corresponding to the first cleaning parameter is higher than the cleaning ability corresponding to the second cleaning parameter; and step 4 of cleaning based on current cleaning parameters.

[0122] For the specific implementation process of the above method steps, reference may be made to any of the above embodiments of the cleaning method for a cleaning robot, and the description of this embodiment will be omitted here.

[0123] The electronic device in the present application can flexibly adjust cleaning parameters according to obstacle detection situations, and when an obstacle is detected, the cleaning parameters can be reduced to effectively prevent the obstacle from being entangled in the cleaning robot, ensuring a safer and more reliable cleaning process and avoiding the problem of the cleaning robot being damaged by the obstacle.When a target obstacle is not detected and the cleaning robot is cleaning with the second cleaning parameters, the cleaning parameters of the cleaning robot can be timely adjusted to the first cleaning parameters to ensure the cleaning ability of the cleaning robot.

[0124] The above embodiments are merely illustrative examples of the present application and do not limit the present application, and the scope of the claims of the present application is limited by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present application within the spirit and scope of the claims of the present application, and such modifications or equivalent substitutions should also be considered to be included in the scope of the claims of the present application.

Claims

1. Detecting an obstacle and obtaining a detection result; determining a preset adjustment condition for adjusting cleaning parameters, which is satisfied by the cleaning robot, based on at least the detection result and the current cleaning parameters; Adopting an adjustment policy corresponding to the preset adjustment condition to adjust cleaning parameters, thereby adjusting the current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to the target obstacle in the detection result, or adjusting the current cleaning parameters from the second cleaning parameter corresponding to the target obstacle to a predetermined first cleaning parameter, wherein the cleaning ability corresponding to the first cleaning parameter is higher than the cleaning ability corresponding to the second cleaning parameter; cleaning based on current cleaning parameters. Cleaning method for cleaning robots.

2. The detecting of the obstacle and obtaining the detection result includes: performing detection based on an obstacle type detection algorithm to obtain a detection result including the target obstacle or a detection result not including the target obstacle; the obstacles include a number of predetermined objects and / or pets; The cleaning method for the cleaning robot according to claim 1.

3. determining a preset adjustment condition for adjusting cleaning parameters, which is satisfied by the cleaning robot, based on at least the detection result and the current cleaning parameters; If the detection result includes a target obstacle and the current cleaning parameters are determined to be predetermined first cleaning parameters, determining that a first preset adjustment condition is satisfied; If the detection result does not include a target obstacle and the current cleaning parameters are determined to be second cleaning parameters, determining that a second preset adjustment condition is satisfied. The cleaning method for the cleaning robot according to claim 2.

4. Determining a preset adjustment condition for adjusting cleaning parameters to be satisfied by the cleaning robot based on at least the detection result and the current cleaning parameters includes determining a preset adjustment condition to be satisfied by the cleaning robot based on a target obstacle included in the detection result, the current cleaning parameters, and a positional relationship between the cleaning robot and the target obstacle; determining a preset adjustment condition to be satisfied by the cleaning robot based on the target obstacle included in the detection result, the current cleaning parameters, and a positional relationship between the cleaning robot and the target obstacle; determining that the positional relationship satisfies a first preset adjustment condition when determining that the detection result includes a target obstacle, the current cleaning parameters are predetermined first cleaning parameters, and the gap distance between the cleaning robot and the edge of the target obstacle is equal to or less than a preset distance threshold; If the detection result does not include a target obstacle, or the positional relationship is such that the gap distance between the cleaning robot and the edge of the target obstacle is greater than a preset distance threshold, and if it is determined that the current cleaning parameters are second cleaning parameters, determining that a second preset adjustment condition is satisfied. The cleaning method for the cleaning robot according to claim 1.

5. The cleaning method for the cleaning robot further includes acquiring a positional relationship between the cleaning robot and a target obstacle; Obtaining the positional relationship between the cleaning robot and the target obstacle includes: Based on the cleaning scene diagram and the preset cleaning map, determine a target area in the cleaning map including the target obstacle; determining a current cleaning position of the cleaning robot on the cleaning map in real time; determining a gap distance between the current position and an edge of the target area based on the current cleaning position and the target area; and obtaining a positional relationship between the cleaning robot and the target obstacle based on a magnitude relationship between the interval distance and a preset distance threshold. The cleaning method for a cleaning robot according to claim 4.

6. Adopting an adjustment method corresponding to the preset adjustment conditions to adjust the cleaning parameters, so as to adjust the current cleaning parameters from a predetermined first cleaning parameter to a 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 a predetermined first cleaning parameter; determining the preset adjustment condition as a first preset adjustment condition, and adopting a first adjustment policy to adjust cleaning parameters, and adjusting current cleaning parameters from a predetermined first cleaning parameter to a second cleaning parameter corresponding to a target obstacle in the detection result; determining the preset adjustment condition as a second preset adjustment condition, and adopting a second adjustment policy to adjust cleaning parameters, and adjusting the current cleaning parameters from the second cleaning parameters corresponding to the target obstacle to predetermined first cleaning parameters; A cleaning method for a cleaning robot according to claim 3 or 4.

7. Before adjusting the current cleaning parameters from predetermined first cleaning parameters to second cleaning parameters corresponding to the target obstacle in the detection result, the cleaning method for the cleaning robot includes: Obtaining an obstacle type of the target obstacle in the detection result; determining, based on the obstacle type, a cleaning parameter corresponding to the obstacle type as the second cleaning parameter; the obstacle types include one or more of a first obstacle type having a first likelihood of getting entangled, a second obstacle type having a second likelihood of getting entangled, a third obstacle type having a third likelihood of getting entangled, and a fourth obstacle type that is a pet with fur; The cleaning method for the cleaning robot according to claim 1.

8. After determining that the first preset adjustment condition is satisfied, the cleaning method for the cleaning robot includes: determining that a target obstacle is located in a first region on the cleaning map; determining a path surrounding the first area as a target cleaning path based on at least the first area; cleaning based on the current cleaning parameters cleaning based on the current cleaning parameters and the target cleaning path. A cleaning method for a cleaning robot according to claim 3 or 4.

9. Determining a path surrounding the first area as a target cleaning path based on at least the first area includes: determining a cleaning distance corresponding to the obstacle type as a target cleaning distance based on the obstacle type of the target obstacle; and determining, based on the target cleaning distance and the first area, a route that surrounds the first area and whose distance from the first area is the target cleaning distance, as the target cleaning route. The cleaning method for a cleaning robot according to claim 8.

10. The cleaning parameters include one or more of a main brush operation parameter, a side brush operation parameter, and a dust removal wind force; The main brush operation parameters include a main brush rotation speed and / or a main brush rotation strength; The side brush operation parameters include a side brush rotation speed and / or a side brush rotation strength. The cleaning method for the cleaning robot according to claim 1.

11. Detecting an obstacle and obtaining a detection result; Obtaining at least two cleaning parameters corresponding to the target obstacle based on the target obstacle in the detection result; cleaning based on the at least two cleaning parameters. Cleaning method for cleaning robots.

12. The detecting of the obstacle and obtaining the detection result includes: performing detection based on an obstacle type detection algorithm to obtain a detection result including the target obstacle or a detection result not including the target obstacle; Obtaining at least two cleaning parameters corresponding to the target obstacle includes: obtaining at least two cleaning parameters corresponding to the obstacle type based on the obstacle type of the target obstacle; the target obstacles include a number of predetermined objects and / or pets; the obstacle types include any one of a first obstacle type having a first likelihood of getting caught in the obstacle, a second obstacle type having a second likelihood of getting caught in the obstacle, a third obstacle type having a third likelihood of getting caught in the obstacle, and a fourth obstacle type being a pet with fur; The cleaning method for a cleaning robot according to claim 11.

13. Before cleaning based on the at least two cleaning parameters, the cleaning method for the cleaning robot includes: The method further includes acquiring a gap distance between the cleaning robot and the edge of the target obstacle; Cleaning based on the cleaning parameters includes: determining that the gap distance is less than or equal to a predetermined distance threshold; and cleaning based on the cleaning parameters. The cleaning method for a cleaning robot according to claim 11.

14. Before cleaning based on the at least two cleaning parameters, the cleaning method for the cleaning robot includes: determining that a target obstacle is located in a first region on the cleaning map; determining a path surrounding the first area as a target cleaning path based on at least the first area; Cleaning based on the cleaning parameters includes: cleaning based on the at least two cleaning parameters and the target cleaning path. The cleaning method for a cleaning robot according to claim 11.

15. determining a path surrounding the first area as a target cleaning path based on at least the first area, determining a cleaning distance corresponding to the obstacle type as a target cleaning distance based on the obstacle type of the target obstacle; and determining, based on the target cleaning distance and the first area, a route that surrounds the first area and whose distance from the first area is the target cleaning distance, as the target cleaning route. The cleaning method for a cleaning robot according to claim 14.

16. the at least two cleaning parameters include at least two of a main brush operation parameter, a side brush operation parameter, and dust removal wind power; The main brush operation parameters include a main brush rotation speed and / or a main brush rotation strength; The side brush operation parameters include a side brush rotation speed and / or a side brush rotation strength. The cleaning method for a cleaning robot according to claim 11.

17. and obtaining cleaning parameters corresponding to the target obstacle based on the target obstacle in the detection result, the cleaning parameters including: the target obstacle is a pet; and the corresponding cleaning parameters are that the main brush stops rotating and the side brushes operate in a low-speed mode. The cleaning method for a cleaning robot according to claim 11.

18. a detection module configured to perform obstacle detection and obtain a detection result; a judging module configured to determine a preset adjustment condition for adjusting cleaning parameters, which is satisfied by the cleaning robot, based on at least the detection result and current cleaning parameters; an adjustment module configured to adjust cleaning parameters by adopting an adjustment policy corresponding to the preset adjustment condition, thereby adjusting the current cleaning parameters 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 parameters from the second cleaning parameter corresponding to the target obstacle to a predetermined first cleaning parameter, wherein a cleaning ability corresponding to the first cleaning parameter is higher than a cleaning ability corresponding to the second cleaning parameter; a cleaning module configured to clean based on current cleaning parameters; Cleaning device for cleaning robots.

19. a detection module configured to perform obstacle detection and obtain a detection result; an acquisition module configured to acquire at least two cleaning parameters corresponding to the target obstacle based on the target obstacle in the detection result; a cleaning module configured to clean based on the at least two cleaning parameters. Cleaning device for cleaning robots.

20. A storage medium on which a computer program is stored, When the computer program is executed by a processor, the steps of the cleaning method for a cleaning robot according to any one of claims 1 to 10 or claims 11 to 17 are realized. storage medium.

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