Method and device for determining the state of a cleaning robot

Abstract

The present application discloses a method and device for determining the state of a cleaning robot, which includes the steps of: acquiring an operation mode of a cleaning robot in real time (S101); acquiring a target cumulative threshold corresponding to the operation mode based on the operation mode (S102); selecting and accumulating each angle change value detected within a preset time based on the target cumulative threshold to obtain an accumulated change value (S103); and determining the state of the cleaning robot based on the accumulated change value (S104). In the present application, by adjusting the target cumulative threshold in real time based on the operation mode of the cleaning robot and accumulating the angle change value that meets the condition based on the target cumulative threshold, the accumulated change value obtained by accumulation is more accurate and reliable, and the accurate determination of the state of the cleaning robot based on the accumulated change value can be ensured.

Description

[Technical Field]

[0001] (Related Applications) This application claims priority to Chinese Patent Application No. 202111677232.7, filed on December 31, 2021, the entire contents of which are incorporated herein by reference as part of this application.

[0002] The present disclosure relates to home appliances, and more particularly to a method and device for determining the state of a cleaning robot. [Background technology]

[0003] With the continuous development of science and technology, cleaning robots are gradually becoming more popular. By using cleaning robots, they can quickly remove dust, foreign objects, etc., making people's lives more convenient and comfortable.

[0004] Since the robot cleans based on a map, it needs to sense whether it is being dragged, moved, or offset. For this reason, the cleaning robot is usually equipped with a gyro, which detects changes in angle based on changes in the gyro and determines whether the cleaning robot is being dragged, moved, or offset, i.e., determines the state of the cleaning robot.

[0005] In the conventional method for determining the state of a cleaning robot, a certain threshold is set, and the change in the angle value is compared with the threshold to obtain a cumulative change in the angle, and finally, based on the cumulative change, it is determined whether the cleaning robot is in a moving state or an offset movement state. Under this premise, it is particularly important to accurately determine the current state of the cleaning robot. Summary of the Invention

[0006] According to one aspect, the present application provides a state determination method for a cleaning robot, the method comprising: obtaining an operation mode of the cleaning robot in real time; obtaining a target cumulative threshold value corresponding to the operation mode based on the operation mode; a step of selecting and accumulating each angle change value detected within a predetermined time period based on the target accumulation threshold value to obtain an accumulated change value; and determining a state of the cleaning robot based on the cumulative change value.

[0007] According to another aspect, the present application provides a state determination device for a cleaning robot, the device comprising: an angle change value detection module used for detecting an angle change value of the cleaning robot in real time; a first acquisition module used for acquiring the operation mode of the cleaning robot in real time; a second acquisition module used to acquire a target cumulative threshold value corresponding to the target operating mode based on the target operating mode; an accumulation module, which is used to select and accumulate each angle change value detected by the angle change value detection module within a predetermined time period based on the target accumulation threshold value, to obtain an accumulated change value; and a determination module used to determine a state of the cleaning robot based on the cumulative change value.

[0008] According to another aspect, the present application provides a storage medium having a computer program stored therein, the computer program, when executed by a processor, realizing the steps of the cleaning robot state determination method described in any one of the above.

[0009] According to another aspect, the present application provides an electronic device, the electronic device comprising at least a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program on the memory, the electronic device realizes the steps of the cleaning robot state determination method described in any one of the above.

[0010] The above description is merely a summary of the technical solutions of the present disclosure. In order to more clearly understand the technical means of the present disclosure, which can be implemented in accordance with the content of the specification, and to more clearly understand the above and other objectives, features and advantages of the present disclosure, specific embodiments of the present disclosure will be described below.

[0011] Various advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are used only for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the present disclosure. Like reference numerals refer to like elements throughout the accompanying drawings. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a flowchart of a cleaning robot state determination method according to an embodiment of the present application; [Figure 2] 1 is a flowchart of a cleaning robot state determination method according to another embodiment of the present application; [Figure 3] FIG. 1 is a structural block diagram of a cleaning robot state determination device according to another embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0014] Various aspects and features of the present application will now be described with reference to the accompanying drawings.

[0015] It should be understood that various modifications can be made to the examples herein. Accordingly, the above description should be regarded as illustrative rather than limiting. Other modifications will be readily apparent to those skilled in the art within the scope and spirit of the present application.

[0016] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the above description of the application and the following detailed description of the embodiments, serve to explain the principles of the present application.

[0017] These and other features of the present application will become apparent from the following description of preferred embodiments of the present application, given by way of non-limiting examples, with reference to the accompanying drawings.

[0018] It should be understood that although the present application has been described with reference to certain specific examples, those skilled in the art will certainly be able to devise other equivalent ways of implementing the present application.

[0019] These and other aspects, features, and advantages of the present application will become apparent when taken in conjunction with the following detailed description and with reference to the accompanying drawings.

[0020] Specific examples of the present application will be described below with reference to the accompanying drawings. However, it should be understood that the disclosed examples are merely examples of the present application and can be implemented in various ways. To avoid obscuring the present application with unnecessary or redundant details, well-known and / or overlapping functions and structures will not be described in detail. Therefore, the description of the specific structure and functionality disclosed herein is not limiting, but serves as a basis for the claims and a representative basis to teach those skilled in the art to use the present application in various ways with substantially appropriate detailed structures.

[0021] As used herein, the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in another embodiment" may refer to one or more of the same or different embodiments of the present application.

[0022] An embodiment of the present application provides a state determination method for a cleaning robot, and as shown in FIG. 1, the method includes the following steps:

[0023] In step S101, the operation mode of the cleaning robot is acquired in real time.

[0024] In this step, the operating mode specifically refers to a first operating mode having a swinging state or a second operating mode having a non-swinging state, for example, the first operating mode may be a mop cloth self-cleaning mode, a vibration mopping mode, etc., and the second operating mode may be a charging mode, a sweeping mode, a mopping mode, etc.

[0025] In step S102, a target cumulative threshold corresponding to the operation mode is obtained based on the operation mode.

[0026] In this step, different operation modes correspond to different accumulation thresholds, i.e., the first operation mode corresponds to a first accumulation threshold, and the second operation mode corresponds to a second accumulation threshold, and the first accumulation threshold is smaller than the second accumulation threshold.

[0027] In step S103, the angle change values ​​detected within a preset time period are selected and accumulated based on the target accumulation threshold to obtain an accumulated change value.

[0028] In this step, after obtaining the target accumulation threshold, angle change values ​​equal to or greater than the target accumulation threshold are accumulated within a predetermined time period based on the target accumulation threshold, and angle change values ​​less than the target accumulation threshold are eliminated to accurately obtain an accumulated change value. Because the first accumulation threshold corresponding to the first operation mode is smaller than the second accumulation threshold corresponding to the second operation mode, when the cleaning robot is in the micro-swing / swing operation mode, angle change values ​​equal to or greater than the first accumulation threshold detected at each time point are accumulated based on the smaller first accumulation threshold, thereby obtaining a more accurate accumulated change value. This avoids the accumulation of small angle change values, which can result in an error in the accumulation result and lead to the incorrect identification of the device as having been displaced, and the incorrect identification of the robot as having been dragged, moved, or offset.

[0029] In step S104, the state of the cleaning robot is determined based on the cumulative change value.

[0030] In this step, after obtaining the cumulative change value, the state of the cleaning robot can be determined based on the cumulative change value, i.e., whether the cleaning robot has been offset, moved, or dragged, etc.

[0031] In this embodiment, the method for determining the state of the cleaning robot adjusts the target cumulative threshold in real time based on the operating mode of the cleaning robot, and accumulates the angle change values ​​that meet the conditions based on the target cumulative threshold, so that the cumulative change value obtained by accumulation is more accurate and reliable, and can ensure accurate determination of the state of the cleaning robot based on the subsequent cumulative change value.

[0032] Another embodiment of the present application provides a state determination method for a cleaning robot, and as shown in FIG. 2, the method includes the following steps:

[0033] In step S201, a mapping relationship between the operation mode and the accumulation threshold is established based on each operation mode and each accumulation threshold.

[0034] In this step, the operating modes include a first operating mode having a swinging state and a second operating mode having a non-swinging state, and the cumulative threshold specifically includes a first cumulative threshold corresponding to the first operating mode or a second cumulative threshold corresponding to the second operating mode, where the first cumulative threshold is smaller than the second cumulative threshold. That is, in this step, a mapping relationship between the first operating mode and the first cumulative threshold and a mapping relationship between the second operating mode and the second cumulative threshold are specifically established. In a specific implementation, the angle range of the first cumulative threshold may be 0.0001° to 0.003°, and the angle range of the second cumulative threshold may be 0.01° to 0.3°. Of course, the angle ranges may be adjusted according to actual needs.

[0035] In step S202, the operation mode of the cleaning robot is obtained in real time.

[0036] In step S203, when the operation mode is a first operation mode, the mapping relationship is checked based on the first operation mode to obtain a first cumulative threshold corresponding to the first operation mode, thereby obtaining a target cumulative threshold; or when the operation mode is a second operation mode, the mapping relationship is checked based on the second operation mode to obtain a second cumulative threshold corresponding to the second operation mode, thereby obtaining a target cumulative threshold.

[0037] In this step, during specific implementation, for example, when the cleaning robot is in a second operating mode such as a charging mode / mop mode, a second accumulation threshold corresponding to the charging mode is determined, for example, the second accumulation threshold is determined to be 0.1°, and then the target accumulation threshold for detecting the offset / drift state is adjusted to the second accumulation threshold of 0.1°.

[0038] For example, when the operating mode of the cleaning robot is switched from the mopping operating mode to the mop cloth self-cleaning mode, the mapping relationship is checked to obtain the first cumulative threshold value of 0.001° corresponding to the mop cloth self-cleaning mode, and then the current target cumulative threshold value is switched from the second cumulative threshold value of 0.1° to the first cumulative threshold value of 0.001°, and the angle change value is accumulated in real time based on the first cumulative threshold value of 0.001°.

[0039] In step S204, the angle change value detected in real time is compared with the target cumulative threshold value, and if it is determined that the angle change value is greater than or equal to the target cumulative threshold value, a target angle change value is obtained, and accumulation is performed based on each target angle change value to obtain the cumulative change value.

[0040] In this step, after obtaining the target cumulative threshold, the angle change values ​​detected in real time are selected based on the target cumulative threshold, i.e., angle change values ​​equal to or greater than the target cumulative threshold are selected as target angle change values, thereby accumulating the target angle change values.

[0041] In this step, during specific implementation, for example, when the cleaning robot is in a second operating mode such as a charging mode / mop mode, after determining that the second accumulation threshold corresponding to the charging mode is 0.1°, i.e., adjusting the target accumulation threshold for detecting an offset / drift state to the second accumulation threshold of 0.1°, the absolute value of the angle change value detected in real time is compared with the second accumulation threshold of 0.1°, and if the absolute value of the angle change value is greater than or equal to the second accumulation threshold of 0.1°, the angle change value is accumulated. For example, if the angle change values ​​detected in real time within a preset time period are -0.45°, +0.002°, -0.6°, +0.45°..., the angle change values ​​whose absolute values ​​are greater than the second accumulation threshold, such as -0.45°, -0.6°, and +0.45°, are accumulated to obtain an accumulated change value of -0.6°.

[0042] For example, when the operating mode of the cleaning robot is switched from the mopping operating mode to the mop cloth self-cleaning mode, after obtaining the first cumulative threshold value of 0.001° corresponding to the mop cloth self-cleaning mode, i.e., after switching the current target cumulative threshold value from the second cumulative threshold value of 0.1° to the first cumulative threshold value of 0.001°, angle change values ​​are accumulated in real time based on the first cumulative threshold value of 0.001°. For example, if the angle change values ​​detected in real time within a preset time period are −0.04°, +0.5°, −0.06°, +0.5°, etc., angle change values ​​whose absolute values ​​are greater than the first cumulative threshold, such as −0.04°, +0.5°, −0.06°, and +0.5°, are accumulated to obtain an accumulated change value of +0.9°. In the mop cloth self-cleaning mode, the mop cloth is rubbed left and right by the cleaning assembly at high frequency, causing the angle change value to change continuously within a short period of time. When using the above method in such a scenario, the slight angle changes of "-0.04°" and "-0.06°" that occur during the mop cloth self-cleaning mode are also accumulated, and these slight angle changes are accumulated as a cumulative change value of 1° without filtering, and the cumulative change value accumulated in the mop cloth self-cleaning mode is more accurate, thereby avoiding the problem of using a fixed cumulative threshold resulting in inaccurate cumulative change values ​​and inaccurate state judgment of the cleaning robot.

[0043] In step S205, the cumulative change value is compared with a preset state threshold, and if it is determined that the cumulative change value is greater than the state threshold, it is determined that the state of the cleaning robot is in an offset state, and if it is determined that the cumulative change value is less than or equal to the state threshold, it is determined that the state of the cleaning robot is in a non-offset state.

[0044] In this step, in a specific implementation, the state threshold is a cumulative angle critical value for determining whether the cleaning robot is in an offset state / moved state, and may be set to, for example, 0.1°, 0.3°, 0.5°, 1°, or 1.5°, and may be adjusted according to actual needs. For example, if the state threshold is set to 0.95° and the cumulative angle value corresponding to the current time is detected to be +1°, it can be determined that the cleaning robot is in an offset state, and if the cumulative angle value corresponding to the current time is detected to be +0.9°, it can be determined that the cleaning robot is in a non-offset state.

[0045] In this step, the cumulative change value may be combined with the duration of the cumulative change value to more accurately determine the state of the cleaning robot. That is, if it is determined that the cumulative change value is greater than the state threshold and the duration has reached a predetermined time, the state of the cleaning robot is determined to be in an offset state. If it is determined that the cumulative change value is equal to or less than the state threshold, or if it is determined that the cumulative change value is greater than the state threshold and the duration has not reached a predetermined time, the state of the cleaning robot is determined to be in a non-offset state. For example, if the state threshold is set to 10° and the cumulative angle value corresponding to the current time is detected to be 11°, the cumulative change value at the next time is obtained. If the cumulative change value at the next time is 12°, i.e., still greater than the state threshold, it is determined that the duration has reached a predetermined time, and therefore the state of the cleaning robot is in an offset state. Conversely, if it is detected that the cumulative change value corresponding to the current time is 5°, which is less than 10°, the state of the cleaning robot is determined to be in a non-offset state. Alternatively, if the accumulated change value corresponding to the current time is detected as 12°, which is greater than 10°, but the accumulated change value corresponding to the next acquired time is 6°, which is less than 10°, the cleaning robot is still determined to be in a non-offset state. This prevents erroneous determination of an offset state due to incorrect accumulation at a certain time or incomplete accumulation data, making the state determination of the cleaning robot more accurate and reliable.

[0046] In this embodiment, if it is determined during the specific implementation process that the cleaning robot is in an offset state, the method further includes a step of outputting presentation information in a predetermined manner to present the offset state. The predetermined manner may be an audio presentation manner, a text presentation manner, or a manner of remotely transmitting information to a designated terminal device. For example, predetermined presentation music may be output in an audio presentation manner, or predetermined presentation text may be output in a text presentation manner, or presentation information such as text or images may be remotely transmitted to a designated terminal device, thereby allowing the user to know the status of the cleaning robot in a timely manner.

[0047] In this embodiment, by obtaining the operating mode of the cleaning robot in real time, when the operating mode is a mode involving swing / oscillation, such as a mop cloth cleaning mode, the cumulative threshold is readjusted according to the mode, that is, by adjusting the cumulative threshold to a smaller value, small angle change values ​​caused by the equipment swinging back and forth at high frequency due to rubbing can also be accumulated. This avoids the problem that when a large threshold is fixed, small angle change values ​​are not accumulated, and the cumulative change value caused by accumulating only large angle change values ​​exceeds the status threshold, thereby avoiding the equipment mistakingly determining that a displacement / offset has occurred in itself, and avoiding the problem of insufficient accuracy in determining the status of the cleaning robot.

[0048] Another embodiment of the present application provides a state determination device for a cleaning robot, as shown in FIG. 3, the device includes: An angle change value detection module 1 is used to detect the angle change value of the cleaning robot in real time; a first acquisition module 2 used for acquiring the working mode of the cleaning robot in real time; a second acquisition module 3 used to acquire a target cumulative threshold value corresponding to the target operation mode based on the target operation mode; an accumulation module 4, which is used to select and accumulate each angle change value detected by the angle change value detection module within a preset time period according to the target accumulation threshold value, to obtain an accumulated change value; and a determination module 5 used to determine the state of the cleaning robot based on the cumulative change value.

[0049] In this embodiment, in a specific implementation process, the operation mode includes one of a first operation mode having a swinging state and a second operation mode having a non-swinging state; The second acquisition module is specifically used to acquire the target accumulation threshold by acquiring a first accumulation threshold corresponding to the first operating mode based on the first operating mode, or to acquire the target accumulation threshold by acquiring a second accumulation threshold corresponding to the second operating mode based on the second operating mode, where the first accumulation threshold is smaller than the second accumulation threshold.

[0050] In the specific implementation of this embodiment, the accumulation module is specifically used to compare the angle change value detected in real time within the preset time period with the target accumulation threshold, and if it determines that the angle change value is greater than or equal to the target accumulation threshold, obtain a target angle change value, and accumulate each of the target angle change values ​​within the preset time period to obtain the accumulated change value.

[0051] The specific judgment module is specifically used to compare the cumulative change value with a preset state threshold, and if it determines that the cumulative change value is greater than the state threshold, determine that the state of the cleaning robot is in an offset state, and if it determines that the cumulative change value is less than or equal to the state threshold, determine that the state of the cleaning robot is in a non-offset state.

[0052] In this embodiment, the state determination device for the cleaning robot further includes an establishment module, which is used to establish a mapping relationship between the operation mode and the cumulative threshold value based on each operation mode and each cumulative threshold value before obtaining the operation mode of the cleaning robot in real time, and specifically, the second acquisition module is specifically used to check the mapping relationship based on the operation mode and obtain a target cumulative threshold value corresponding to the operation mode.

[0053] In the specific implementation of this embodiment, the angle range of the first cumulative threshold is 0.0001° to 0.003°, and the angle range of the second cumulative threshold is 0.01° to 0.3°.

[0054] The state determination device for the cleaning robot of this embodiment further includes a presentation module, which is used to output presentation information in a predetermined manner to present the offset state.

[0055] Through the above description of the embodiments, it is clear to those skilled in the art that the present application can be realized by hardware, or by combining software with a required general-purpose hardware platform. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which may be stored in a non-volatile storage medium (such as a CD-ROM, a USB disk, or a mobile hard disk) and include a number of instructions for causing a computer device (such as a personal computer, a server, or a network device) to perform the methods described in each implementation scenario of the present application.

[0056] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of preferred implementation scenarios, and that any module or process in the accompanying drawings is not necessarily required to implement the present application.

[0057] Those skilled in the art should understand that each module of the device in the implementation scenario may be distributed among the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the implementation scenario with corresponding changes. The modules in the above implementation scenario may be combined into a single module or divided into multiple sub-modules.

[0058] Another embodiment of the present application provides a storage medium, having a computer program stored on the storage medium, which, when executed by a processor, realizes the following method steps:

[0059] Step 1: Obtain the working mode of the cleaning robot in real time.

[0060] Step 2: obtaining a target accumulation threshold value corresponding to the operation mode based on the operation mode;

[0061] Step 3: based on the target cumulative threshold, each angle change value detected within a preset time period is selected and accumulated to obtain a cumulative change value.

[0062] Step 4: determining the state of the cleaning robot based on the cumulative change value;

[0063] The specific implementation process of the above method steps can be referred to the embodiment of the method for determining the state of the cleaning robot, and will not be repeated in this embodiment.

[0064] In this application, by adjusting the target accumulation threshold in real time based on the operating mode of the cleaning robot and accumulating the angle change values ​​that meet the conditions based on the target accumulation threshold, the accumulated change value obtained by accumulation is more accurate and reliable, and can ensure accurate judgment of the state of the cleaning robot based on the subsequent accumulated change value.

[0065] Another embodiment of the present application provides an electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, and the processor executes the computer program on the memory to implement the following method steps:

[0066] Step 1: Obtain the working mode of the cleaning robot in real time.

[0067] Step 2: obtaining a target accumulation threshold value corresponding to the operation mode based on the operation mode;

[0068] Step 3: based on the target cumulative threshold, each angle change value detected within a preset time period is selected and accumulated to obtain a cumulative change value.

[0069] Step 4: determining the state of the cleaning robot based on the cumulative change value;

[0070] The specific implementation process of the above method steps can be referred to the embodiment of the method for determining the state of any cleaning robot, and will not be repeated in this embodiment.

[0071] In this application, by adjusting the target accumulation threshold in real time based on the operating mode of the cleaning robot and accumulating the angle change values ​​that meet the conditions based on the target accumulation threshold, the accumulated change value obtained by accumulation is more accurate and reliable, and can ensure accurate judgment of the state of the cleaning robot based on the subsequent accumulated change value.

[0072] In some embodiments, the operational mode includes one of a first operational mode having a rocking state and a second operational mode having a non-rocking state; The step of obtaining a target cumulative threshold value corresponding to the operation mode based on the operation mode specifically includes: obtaining the target accumulation threshold value by obtaining a first accumulation threshold value corresponding to the first operation mode based on the first operation mode; or obtaining the target accumulation threshold value by obtaining a second accumulation threshold value corresponding to the second operating mode based on the second operating mode; The first cumulative threshold is less than the second cumulative threshold.

[0073] In some embodiments, the step of selecting and accumulating each angle change value detected within a predetermined time period based on the target accumulation threshold to obtain an accumulated change value specifically includes: comparing the angle change value detected in real time with the target cumulative threshold value within the preset time period, and acquiring a target angle change value when it is determined that the angle change value is equal to or greater than the target cumulative threshold value; and accumulating each of the target angle change values ​​within the predetermined time period to obtain the accumulated change value.

[0074] In some embodiments, the step of determining the state of the cleaning robot based on the cumulative change value specifically includes: comparing the cumulative change value with a preset condition threshold; determining that the state of the cleaning robot is an offset state when the cumulative change value is determined to be greater than the state threshold; If it is determined that the cumulative change value is equal to or less than the state threshold, determining that the state of the cleaning robot is in a non-offset state.

[0075] In some embodiments, before obtaining the operation mode of the cleaning robot in real time, the method further includes establishing a mapping relationship between the operation mode and the accumulation threshold value based on each operation mode and each accumulation threshold value; The step of obtaining a target cumulative threshold value corresponding to the operation mode based on the operation mode specifically includes: The method includes checking the mapping relationship based on the operation mode to obtain a target cumulative threshold value corresponding to the operation mode.

[0076] In some embodiments, the first cumulative threshold angle range is 0.0001° to 0.003°; The angle range of the second cumulative threshold is 0.01° to 0.3°.

[0077] In some embodiments, when it is determined that the state of the cleaning robot is an offset state, the method further includes outputting presentation information in a predetermined manner to present the offset state.

[0078] According to the method and device for determining the state of a cleaning robot in the present application, the target cumulative threshold is adjusted in real time based on the operating mode of the cleaning robot, and angle change values ​​that meet the conditions are accumulated based on the target cumulative threshold, so that the cumulative change value obtained by accumulation is more accurate and reliable, and the accurate determination of the state of the cleaning robot based on the subsequent cumulative change value can be ensured.

[0079] The above examples are merely illustrative examples of the present application and are not intended to limit the present application, and the scope of protection of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present application within the substantial scope of protection of the present application, and these modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the present application.

Claims

1. obtaining an operation mode of the cleaning robot in real time; obtaining a target cumulative threshold value corresponding to the operation mode based on the operation mode; a step of selecting and accumulating each angle change value detected within a predetermined time period based on the target accumulation threshold value to obtain an accumulated change value; and determining the state of the cleaning robot based on the cumulative change value.

2. the operation mode includes one of a first operation mode having a swinging state and a second operation mode having a non-swinging state; The step of obtaining a target cumulative threshold value corresponding to the operation mode based on the operation mode specifically includes: obtaining the target accumulation threshold by obtaining a first accumulation threshold corresponding to the first operation mode based on the first operation mode; or obtaining the target accumulation threshold value by obtaining a second accumulation threshold value corresponding to the second operation mode based on the second operation mode; The method for determining a state of a cleaning robot according to claim 1 , wherein the first cumulative threshold is smaller than the second cumulative threshold.

3. The step of selecting and accumulating each angle change value detected within a predetermined time based on the target cumulative threshold to obtain a cumulative change value specifically includes: comparing the angle change value detected in real time with the target cumulative threshold value within the preset time period, and acquiring a target angle change value when it is determined that the angle change value is equal to or greater than the target cumulative threshold value; The method of claim 1 , further comprising: accumulating each of the target angle change values ​​within the predetermined time period to obtain the cumulative change value.

4. The step of determining the state of the cleaning robot based on the cumulative change value specifically includes: comparing the cumulative change value with a preset condition threshold; determining that the state of the cleaning robot is an offset state when the cumulative change value is determined to be greater than the state threshold; The method of claim 1 , further comprising: determining that the state of the cleaning robot is in a non-offset state when it is determined that the cumulative change value is equal to or less than the state threshold value.

5. Before obtaining the operation mode of the cleaning robot in real time, the method for determining a state of the cleaning robot further includes: establishing a mapping relationship between the operation mode and the accumulation threshold value based on each operation mode and each accumulation threshold value; The step of obtaining a target cumulative threshold value corresponding to the operation mode based on the operation mode specifically includes: The cleaning robot state determination method according to claim 1 , further comprising: checking the mapping relationship based on the operation mode and obtaining a target cumulative threshold value corresponding to the operation mode.

6. the first cumulative threshold angle range is 0.0001° to 0.003°; The method for determining the state of a cleaning robot according to claim 2 , wherein the angle range of the second cumulative threshold is 0.01° to 0.3°.

7. 5. The cleaning robot state determination method according to claim 4, further comprising the step of outputting presentation information in a predetermined manner to indicate the offset state when it is determined that the cleaning robot is in an offset state.

8. An angle change value detection module used to detect angle change values ​​of a cleaning robot in real time; a first acquisition module used for acquiring an operation mode of the cleaning robot in real time; a second acquisition module used to acquire a target cumulative threshold value corresponding to the target operating mode based on the target operating mode; an accumulation module, which is used to select and accumulate each angle change value detected by the angle change value detection module within a predetermined time period based on the target accumulation threshold value, to obtain an accumulated change value; a determination module used to determine the state of the cleaning robot based on the cumulative change value.

9. A storage medium storing a computer program, which, when executed by a processor, realizes the cleaning robot state determination method according to any one of claims 1 to 4.

10. An electronic device comprising at least a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program in the memory, the electronic device realizes the cleaning robot state determination method described in any one of claims 1 to 4.

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