Control method and apparatus for cleaning robot, computer-readable storage medium, and electronic device

Abstract

This disclosure provides a control method for a cleaning robot, a control device for a cleaning robot, a computer-readable storage medium, and an electronic device. The method includes: in response to detecting a suspended obstacle, controlling the cleaning robot to extend a retractable cleaner; a gap exists between the bottom of the suspended obstacle and the ground, the height of the gap being greater than the height of the retractable cleaner; controlling the cleaning robot to move along the suspended obstacle to clean the gap using the retractable cleaner. This method can effectively and accurately clean the gap in the area where the suspended obstacle is located.

Description

Control method and device for cleaning robot, computer-readable storage medium, and electronic device This application claims priority to Chinese Patent Application No. 202410024160.3, filed on January 5, 2024, the disclosure of which is incorporated herein by reference in its entirety. This disclosure relates to the field of smart homes, and more specifically, to a control method for a cleaning robot, a control device for the cleaning robot, a computer-readable storage medium, and an electronic device. In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robotics has gradually become a hot topic in the field of modern robotics research. Among them, cleaning robots, as the most practical type of intelligent robots, can automatically complete floor cleaning tasks with a certain degree of artificial intelligence. Currently, during the cleaning process, cleaning robots are unable to effectively clean the gaps under suspended obstacles such as sofas and refrigerators that have gaps with the ground, resulting in poor cleaning effects of the cleaning robots. How to accurately and effectively clean the area where the suspended obstacles are located to improve the cleaning efficiency of the cleaning robot is a problem that needs to be solved urgently in the existing technology. The purpose of the present disclosure is to provide a control method for a cleaning robot, a control device for a cleaning robot, a computer-readable storage medium, and an electronic device, so as to overcome the problem that the prior art cannot effectively clean the gaps of suspended obstacles. The specific scheme is as follows: According to the specific implementation mode of the present disclosure, in the first aspect, the present disclosure provides a control method for a cleaning robot, the cleaning robot includes a retractable cleaner, and when the retractable cleaner is extended, the first projection on the horizontal plane is at least partially located outside the second projection of the body of the cleaning robot on the horizontal plane; the method includes: in response to detecting a suspended obstacle, controlling the cleaning robot to extend the retractable cleaner; there is a gap between the bottom of the suspended obstacle and the ground, and the height of the gap is greater than the height of the retractable cleaner; controlling the cleaning robot to move along the suspended obstacle to clean the gap through the retractable cleaner. In an exemplary embodiment of the present disclosure, a height of the gap is smaller than a height of the cleaning robot. In an exemplary embodiment of the present disclosure, the detecting of a suspended obstacle and controlling the cleaning robot to extend the retractable cleaner includes: in response to detecting the presence of a suspended obstacle in the area to be cleaned and the distance between the cleaning robot and the suspended obstacle does not exceed a preset distance, controlling the cleaning robot to extend the retractable cleaner. In an exemplary embodiment of the present disclosure, in response to detecting a suspended obstacle, controlling the cleaning robot to extend the retractable cleaner includes: in response to detecting a suspended obstacle, controlling the cleaning robot to enter a crevice cleaning mode, and controlling the cleaning robot to extend the retractable cleaner. In an exemplary embodiment of the present disclosure, controlling the cleaning robot to move along the suspended obstacle includes: in a gap cleaning mode, controlling the cleaning robot to move along the suspended obstacle at a first moving speed; the first moving speed is less than a second moving speed of the cleaning robot in a normal cleaning mode. In an exemplary embodiment of the present disclosure, the method further includes: in the gap cleaning mode, if the cleaning robot needs to rotate, controlling the cleaning robot to rotate at a first rotation speed; the first rotation speed is less than the second rotation speed of the cleaning robot in the normal cleaning mode. In an exemplary embodiment of the present disclosure, the cleaning robot is equipped with a sensor for mapping; the method further comprises: when the cleaning robot is rapidly building a map using the sensor, turning off the crevice cleaning mode. In an exemplary embodiment of the present disclosure, the method further includes: obtaining identification data corresponding to the area in which the gap cleaning mode is running in the completed map, and sending the identification data to the display terminal so that the display terminal displays the identification data corresponding to the area in the gap cleaning mode when displaying the completed map. In an exemplary embodiment of the present disclosure, after the gap is cleaned by the retractable cleaner, the method further includes: in response to a retraction condition being met, controlling the cleaning robot to retract the retractable cleaner. In an exemplary embodiment of the present disclosure, the retraction condition includes at least one of the following: detecting that the cleaning robot is away from the suspended obstacle; not detecting the suspended obstacle; the time when the retractable cleaner is extended reaches a preset time. In second aspect, the present disclosure provides a control device for a cleaning robot, wherein the cleaning robot includes a retractable cleaner, and a first projection of the retractable cleaner on a horizontal plane when extended is at least partially located outside a second projection of the body of the cleaning robot on the horizontal plane; the device includes: an obstacle detection module, for controlling the cleaning robot to extend the retractable cleaner in response to detecting a suspended obstacle; there is a gap between the bottom of the suspended obstacle and the ground, and the height of the gap is greater than the height of the retractable cleaner; a robot control module, for controlling the cleaning robot to move along the suspended obstacle so as to clean the gap through the retractable cleaner. In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the above-mentioned method when executed by a processor. In a fourth aspect, the present disclosure provides an electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the above-mentioned method by executing the executable instructions. The exemplary embodiments disclosed herein have the following beneficial effects: in response to detecting a suspended obstacle, controlling the cleaning robot to extend a retractable cleaner; a gap exists between the bottom of the suspended obstacle and the ground, and the height of the gap is greater than the height of the retractable cleaner; controlling the cleaning robot to move along the suspended obstacle to clean the gap with the retractable cleaner. On the one hand, this exemplary embodiment provides a new control method for a cleaning robot, which can control the cleaning robot to extend the retractable cleaner when the cleaning robot detects a suspended obstacle, so as to expand the cleaning range of the cleaning robot by extending the retractable cleaner beyond the projection of the cleaning robot body on the horizontal plane, and effectively clean the gap of the suspended obstacle, which is a special application scenario; on the other hand, this exemplary embodiment can control the cleaning robot to extend the retractable cleaner into the gap of the suspended obstacle, and while extending the retractable cleaner, move and clean in the gap between the bottom of the suspended obstacle and the ground, so that the retractable cleaner is coordinated with the movement state of the cleaning robot, thereby improving the cleaning efficiency of the cleaning robot in the gap. It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. To further clarify the objectives, technical solutions, and advantages of the present disclosure, the present disclosure will be further described below in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are merely a portion of the embodiments of the present disclosure, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without further development are intended to fall within the scope of protection of the present disclosure. The terms used in the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms "a," "an," and "the" used in the present disclosure and the appended claims are intended to include the plural forms, and "a plurality" generally includes at least two unless the context clearly indicates otherwise. It should be understood that the term "and / or" as used herein is merely a description of a relationship between associated entities, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated entities are in an "or" relationship. It should be understood that although the terms "first," "second," and "third" may be used to describe various types of information in the present disclosure, the information should not be limited to these terms. These terms are used only to distinguish between information of the same type. For example, first information could be referred to as second information, and similarly, second information could be referred to as first information without departing from the scope of the present disclosure. As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context. It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the product or device comprising the element. Cleaning robots are smart home appliances that use artificial intelligence to automatically clean floors. They can sweep and / or vacuum, collecting debris into their own trash bins to complete the cleaning process. However, when a cleaning robot encounters a suspended obstacle during the cleaning process, such as a refrigerator or bed with a gap between the ground and the ground, the robot is often unable to effectively clean the gap area, resulting in missed areas and affecting the cleaning effect. Based on this, exemplary embodiments of the present disclosure provide a control method for a cleaning robot, which can be applied to the cleaning robot, and the cleaning robot can implement the method through hardware and / or software. In this exemplary embodiment, the cleaning robot includes a retractable cleaner. When the retractable cleaner is extended, a first projection of the retractable cleaner on a horizontal plane is at least partially located outside a second projection of the cleaning robot's body on the horizontal plane. This ensures that when the retractable cleaner is extended, the cleaning range of the retractable cleaner exceeds the projection of the cleaning robot's body on the horizontal plane. Among them, a retractable cleaner refers to a cleaning device that can be retracted and extended. The cleaning device can clean the environment through cleaning media of different materials or forms, such as cleaning cloths or cleaning brushes. The retractable cleaner can be a rotational retractable method. For example, as shown in Figure 1, with a reference point a on the body of the cleaning robot P as the center of the circle and a robotic arm of a preset length as the radius, the other end b of the robotic arm located at the center a is rotated out from the S2 or S3 position to the S1 position outside the body of the cleaning robot, so that the cleaning task can be performed through the cleaning medium configured on the robotic arm, or retracted to the S2 / S3 position inside the body, etc. When the rotational extension method is adopted, the extension state of the retractable cleaner can be determined by the sensing data collected by the sensor configured by the cleaning robot. For example, in the cleaning robot shown in Figure 1, when the retractable cleaner is in position S2, it can be considered to be reset, and the corresponding sensing data, such as the mark "1", can be considered as the extended target position, corresponding to the mark "0", and position S3 can be considered as the safety position, corresponding to the mark "0". When the retractable cleaner of the cleaning robot is squeezed or pushed by an obstacle, it can be forced to retract to the safety position. In addition, the extension method can also be sliding extension, for example, based on the push-pull operation between the retractable inner rod and the pipe sleeve, the retractable arm is extended or retracted. In addition, the above-mentioned cleaning robot can also include other devices, such as a cleaning roller configured at the bottom of the cleaning robot to clean the floor. 2 , a flow chart of a method for controlling a cleaning robot according to an exemplary embodiment of the present disclosure is shown. The method may include the following steps S210 and S220: Step S210, in response to detecting a suspended obstacle, controlling the cleaning robot to extend a retractable cleaner; there is a gap between the bottom of the suspended obstacle and the ground, and the height of the gap is greater than the height of the retractable cleaner. A suspended obstacle is one that impedes the cleaning robot's cleaning work and has a gap between the bottom of the obstacle and the ground. Examples include a cabinet supported by legs so that the cabinet body does not directly contact the ground; a refrigerator supported by wheels so that the refrigerator does not directly contact the ground; and sofas and beds with similar structures. To facilitate the cleaning robot's extended retractable cleaner to reach into the gap between the bottom of the suspended obstacle and the ground, the height of the gap needs to be greater than the height of the retractable cleaner. For example, the distance from the bottom of a refrigerator to the ground is greater than the retractable cleaner of the cleaning robot. In one exemplary embodiment, the height of the gap can be smaller than the height of the cleaning robot. This ensures that when the cleaning robot is cleaning an area where a suspended obstacle is located, the retractable cleaner can reach areas that the cleaning robot cannot reach. By retracting the retractable cleaner, the cleaning range of the cleaning robot is expanded, thereby improving cleaning efficiency. When the cleaning robot is in working state, it can perform positioning tasks or target detection tasks through various sensors or functional modules, such as laser ranging sensors, visual sensors, proximity sensors or collision sensors, to determine the position of the cleaning robot or identify or detect objects in the environment. For example, the laser ranging sensor can be used to identify suspended obstacles and determine whether the cleaning robot needs to clean the area where the suspended obstacle is located. When a suspended obstacle is detected, the cleaning robot can be controlled to extend a retractable cleaner. In an exemplary embodiment, the above step S210 may include: in response to detecting that there is a suspended obstacle in the area to be cleaned and the distance between the cleaning robot and the suspended obstacle does not exceed a preset distance, controlling the cleaning robot to extend the retractable cleaner. The "area to be cleaned" refers to the area where the cleaning robot needs to perform cleaning tasks. This can be the entire environment, an area that has not been cleaned, or a pre-set area. In this exemplary embodiment, when a suspended obstacle is detected in the area to be cleaned and the distance between the cleaning robot and the suspended obstacle does not exceed a preset distance, the cleaning robot can be controlled to extend its retractable cleaning device. The preset distance refers to a pre-configured trigger distance, which can be set randomly or determined based on the actual scenario or the type of suspended obstacle. For example, the preset distance can be set to 10 cm. This exemplary embodiment can detect suspended obstacles in the area to be cleaned in the following manner. Considering the gap between the bottom of a suspended obstacle and the ground, this exemplary embodiment can detect obstacles in the area to be cleaned and measure the distance between the cleaning robot and the obstacle at at least two heights to determine whether the obstacle is a suspended obstacle. The at least two heights include a first height and a second height, with the first height being greater than the second height; the distance between the cleaning robot and the obstacle at the first height is the first distance, and the distance between the cleaning robot and the obstacle at the second height is the second distance; if it is determined that the first distance is less than the second distance, and the difference between the two is greater than a preset value, the obstacle is determined to be a suspended obstacle, and the first distance is used as the distance between the cleaning robot and the suspended obstacle. In an exemplary embodiment, in response to detecting a suspended obstacle, controlling the cleaning robot to extend a retractable cleaner includes: in response to detecting the suspended obstacle, controlling the cleaning robot to enter a crevice cleaning mode, and controlling the cleaning robot to extend the retractable cleaner. This exemplary embodiment can set multiple operating modes for the cleaning robot. When a suspended obstacle is detected, the cleaning robot can be controlled to enter the gap cleaning mode, which is mainly used to clean the gap between the bottom of the suspended obstacle and the ground. The non-gap cleaning mode can be other modes, such as the preset mode, the corner mode, etc. In addition, this exemplary embodiment can set specific control parameters for the gap cleaning mode to distinguish it from the non-gap cleaning mode. For example, when the cleaning robot moves at a certain speed in the normal mode, it can enter the gap cleaning mode when a suspended obstacle is detected, and reduce its movement speed to the movement speed corresponding to the gap cleaning mode. Step S220 , controlling the cleaning robot to move along the suspended obstacle to clean the gap with the retractable cleaner. When a suspended obstacle is detected and the retractable cleaner is controlled to extend, the cleaning robot can be controlled to move along the suspended obstacle to clean the gap using the retractable cleaner. When controlling the cleaning robot to move along the suspended obstacle, it can be kept at a small distance from the suspended obstacle, or it can move almost close to the suspended obstacle. When moving, it can move forward, backward, reciprocate, or rotate, etc. During movement, since the cleaning robot extends the retractable cleaner, it can use the retractable cleaner to clean the gap between the bottom of the suspended obstacle and the ground. When cleaning the area where the suspended obstacle is located, the cleaning robot can maintain a continuous movement state without stopping. In this way, the retractable cleaner, when extended, can coordinate with the movement of the cleaning robot to continuously clean the gap area. Figure 3 shows a schematic diagram of a cleaning robot cleaning the gap between the bottom of a suspended obstacle, a refrigerator, and the ground. It can be seen that when the cleaning robot P extends the retractable cleaner, since the retractable cleaner can extend beyond the range of the body and since the height of the retractable cleaner is less than the height of the gap, the retractable cleaner can extend into the gap under the refrigerator Q to perform cleaning work. In an exemplary embodiment, controlling the cleaning robot to move along the suspended obstacle includes: in a crevice cleaning mode, controlling the cleaning robot to move along the suspended obstacle at a first moving speed; the first moving speed is less than a second moving speed of the cleaning robot in a normal cleaning mode. Taking into account that the gap area is more difficult to clean than the regular area, in order to ensure the accuracy and effectiveness of the cleaning robot's cleaning, this exemplary embodiment can be set. When a suspended obstacle is detected, the cleaning robot can be controlled to move at a first moving speed, and the first moving speed is less than the second moving speed of the cleaning robot in the regular cleaning mode. By controlling the cleaning robot to move along the suspended obstacle at the first moving speed, it can be ensured that the cleaning robot moves at a low speed in the gap cleaning mode to ensure the cleaning efficiency of the gap. The size of the first moving speed can be customized as needed, for example, the first moving speed can be set to 15cm / s (centimeter / second); it can also be set according to the size of the second moving speed, for example, the first moving speed is set to half or two-thirds of the second moving speed, etc. This disclosure does not make specific restrictions on this. In an exemplary embodiment, the control method of the cleaning robot may further include: in the crevice cleaning mode, if the cleaning robot needs to rotate, controlling the cleaning robot to rotate at a first rotation speed; the first rotation speed is less than the second rotation speed of the cleaning robot in the normal cleaning mode. Considering that when the cleaning robot rotates in a conventional area, most of the time it is to change direction, and in this exemplary embodiment, when the cleaning robot rotates in the gap cleaning mode, in addition to being able to change direction, it can also improve the cleaning perfection of the gap area. Therefore, in order to ensure cleaning efficiency, when the cleaning robot needs to rotate, this exemplary embodiment can limit the rotation speed. Specifically, it can be to control the cleaning robot to rotate at a first rotation speed, and the first rotation speed is less than the second rotation speed of the cleaning robot in the conventional cleaning mode. The settings of the first rotation speed and the second rotation speed can be set according to specific needs. The first rotation speed and the second rotation speed can have a correlation relationship, for example, the first rotation speed is half of the second rotation speed, and the first rotation speed and the second rotation speed may not have a corresponding relationship, etc. This disclosure does not make specific limitations on this. In an exemplary embodiment, the cleaning robot is equipped with a sensor for mapping; the control method of the cleaning robot may further include: when the cleaning robot is rapidly building a map using the sensor, turning off the crevice cleaning mode. In this exemplary embodiment, a variety of sensors can be configured for the cleaning robot to achieve different functions, such as configuring a wall sensor for actually measuring the distance to the wall; configuring an identification and obstacle avoidance sensor (such as a dual-line laser or single-line laser sensor) on the front collision part of the cleaning robot to identify the environment or avoid obstacles; and configuring a laser ranging sensor for building a map and real-time positioning of the cleaning robot; and combining the above-mentioned multiple sensors to perform scene judgment, such as judging the gap area between the bottom of suspended obstacles such as the bottom of the sofa and the bottom of the refrigerator and the ground. In order to ensure the accuracy of rapid map construction, this exemplary embodiment can be set to turn off the gap cleaning mode when the cleaning robot is performing rapid map construction through sensors, that is, when the cleaning robot is performing rapid map construction, it cannot enter the gap cleaning mode. When the cleaning robot completes the rapid map construction and moves on the constructed map, it can enter the gap cleaning mode when it detects a suspended obstacle. In an exemplary embodiment, the control method of the above-mentioned cleaning robot may further include: obtaining identification data corresponding to the area running the gap cleaning mode in the completed map, and sending the identification data to the display terminal so that the display terminal displays the identification data corresponding to the area running the gap cleaning mode when displaying the completed map. In this exemplary embodiment, when constructing a map, the cleaning robot can record the identification data corresponding to the area where the gap cleaning mode is running. The identification data can be the annotation information or location information that can reflect the area where the gap cleaning mode is running, such as the size, dimensions, position coordinates, etc. of the area. The display terminal refers to a control device that can be used to control the cleaning robot, such as a mobile phone, tablet computer, television or wearable device. After the map is built, the identification data corresponding to the area of ​​the gap cleaning mode can be sent to the display terminal, so that when the user uses the display terminal to open the completed map, the display terminal can automatically display the identification data corresponding to the area of ​​the gap cleaning mode while displaying the map, such as automatically marking the area where the gap cleaning mode can be run, such as box selection, highlighting or text / voice marking prompts. In an exemplary embodiment, after the gap is cleaned by the retractable cleaner, the control method of the cleaning robot may further include: controlling the cleaning robot to retract the retractable cleaner in response to a retraction condition being met. When the cleaning robot detects that a retractable cleaner retracts, it can be controlled to retract the retractable cleaner. The retraction condition can be a time condition, such as when the cumulative time since the retractable cleaner was extended reaches a preset time length. The retraction condition can also be a target detection condition, such as when the area containing a suspended obstacle is no longer detected. The specific retraction condition can be configured based on actual needs, and can be a combination of one or more conditions. This can be implemented with the help of specific hardware devices, such as a timer or a laser ranging sensor. In an exemplary embodiment, the retraction condition is satisfied, including at least one of the following: the cleaning robot is detected to be away from a suspended obstacle; no suspended obstacle is detected; the retractable cleaner is extended for a preset time. In actual applications, the cleaning robot can continuously or periodically detect the surrounding environment through its configured device or sensing device for target detection. When it is detected that the cleaning robot is away from the suspended obstacle, for example, when the distance between the robot and the suspended obstacle is increasingly farther through laser ranging, or when the suspended obstacle cannot be detected, it can be determined that the retraction condition is met and the retractable cleaner is retracted. Detecting that the cleaning robot is away from the suspended obstacle can include detecting that the distance between the cleaning robot and the suspended obstacle exceeds a preset distance, for example, when the distance between the edge or center of the cleaning robot and the suspended obstacle is increasingly farther, and the distance between the two exceeds 10 cm, determining that the retraction condition is met and triggering the cleaning robot to retract the retractable cleaner. In addition, it can also be configured that when the time the retractable cleaner is extended reaches a preset time, the retraction of the retractable cleaner is triggered, wherein the preset time can be determined based on the historical time spent cleaning the area where the suspended obstacle is located, or it can be a pre-set custom time, or it can be the estimated time required to complete the cleaning based on the size of the suspended obstacle, etc., and the present disclosure does not specifically limit this. FIG4 shows a flow chart of a control method for a retractable cleaner, which may specifically include the following steps: Step S402: When a suspended obstacle is detected, the gap cleaning mode is entered, and the cleaning robot is controlled to extend the retractable cleaner; Step S404: Determine whether the retractable cleaner has an extension abnormality; Whether the retractable cleaner has an extension abnormality may be determined by current detection. Specifically, before issuing an extension control instruction, a first current value A of the retractable cleaner is recorded, and during the extension process, a second current value B is monitored. For example, the second current value B is recorded every 20 ms within 600 ms. By comparing whether the difference between the second current value B and the first current value A reaches a threshold, it is determined whether the retractable cleaner has an extension abnormality. For example, the formula: second current value B-first current value A≥k may be used to determine whether the retractable cleaner has an extension abnormality. Here, k may be set according to the specific situation or calculated according to a specific formula. In this exemplary embodiment, k may be set as a preset parameter / A, where the preset parameter may be set as k=0.4; Step S406: If an extension abnormality exists, the cleaning robot is controlled to retract the retractable cleaner and extend it again; Step S408, determining whether there is an extension abnormality when the retractable cleaner is extended M times in a row; Step S410, if there is an extension abnormality, giving up extending the retractable cleaner; Step S412, if there is no extension abnormality, operating the control of the cleaning robot normally; Step S414, when the retraction condition is met, controlling the cleaning robot to retract the retractable cleaner; Step S416, determining whether there is a retraction abnormality in the retractable cleaner; wherein, whether there is a retraction abnormality can be determined by whether a reset signal is received. For example, when the retractable cleaner is retracted to the original position, the reset signal flag of the sensor is at "1", then the judgment of the reset signal can be used to determine whether the retractable cleaner has completed the retraction operation; Step S418, if there is a retraction abnormality, controlling the cleaning robot to extend the retractable cleaner and retract it again; Step S420, determining whether there is a retraction abnormality when the retractable cleaner is retracted again; Step S422, if there is still a retraction abnormality when the retractable cleaner is retracted again, controlling the cleaning robot to rotate a preset angle and then retract the retractable cleaner; Step S424: If there is no retraction abnormality, the control of the cleaning robot is operated normally. In this exemplary embodiment, when the cleaning robot enters the crevice cleaning mode, the retractable cleaner is extended, and the extension duty cycle may be 65%; when the cleaning robot exits the crevice cleaning mode, the retractable cleaner is retracted, and the retraction duty cycle may be 65%. Based on the above description, in this exemplary embodiment, in response to detecting a suspended obstacle, the cleaning robot is controlled to extend a retractable cleaner; a gap exists between the bottom of the suspended obstacle and the ground, and the height of the gap is greater than the height of the retractable cleaner; and the cleaning robot is controlled to move along the suspended obstacle to clean the gap with the retractable cleaner. On the one hand, this exemplary embodiment provides a new control method for a cleaning robot, which can control the cleaning robot to extend the retractable cleaner when the cleaning robot detects a suspended obstacle. This method can extend the retractable cleaner beyond the horizontal projection of the cleaning robot body, thereby expanding the cleaning range of the cleaning robot and effectively cleaning the gap between suspended obstacles, a special application scenario. On the other hand, this exemplary embodiment can control the cleaning robot to extend the retractable cleaner into the gap between the suspended obstacle and, while extending the retractable cleaner, move and clean within the gap between the bottom of the suspended obstacle and the ground, so that the retractable cleaner coordinates with the movement of the cleaning robot, thereby improving the cleaning efficiency of the cleaning robot within the gap. In an exemplary embodiment of the present disclosure, a control device for a cleaning robot is also provided. As shown in Figure 5, the control device 500 of the cleaning robot may include: an obstacle detection module 510, which is used to control the cleaning robot to extend a retractable cleaner in response to detecting a suspended obstacle; there is a gap between the bottom of the suspended obstacle and the ground, and the height of the gap is greater than the height of the retractable cleaner; a robot control module 520, which is used to control the cleaning robot to move along the suspended obstacle to clean the gap with the retractable cleaner. In an exemplary embodiment of the present disclosure, the height of the gap is smaller than the height of the cleaning robot. In an exemplary embodiment of the present disclosure, the obstacle detection module includes: a cleaner control unit for controlling the cleaning robot to extend a retractable cleaner in response to detecting the presence of a suspended obstacle in the area to be cleaned and the distance between the cleaning robot and the suspended obstacle does not exceed a preset distance. In an exemplary embodiment of the present disclosure, the obstacle detection module includes: a cleaning mode control unit for controlling the cleaning robot to enter a crevice cleaning mode and to extend a retractable cleaner in response to detecting a suspended obstacle. In an exemplary embodiment of the present disclosure, the robot control module includes: a movement speed control unit for controlling the cleaning robot to move along a suspended obstacle at a first movement speed in a gap cleaning mode; the first movement speed is less than the second movement speed of the cleaning robot in a normal cleaning mode. In an exemplary embodiment of the present disclosure, the control device of the cleaning robot also includes: a rotation control unit for controlling the cleaning robot to rotate at a first rotation speed in the gap cleaning mode if the cleaning robot needs to rotate; the first rotation speed is less than the second rotation speed of the cleaning robot in the normal cleaning mode. In an exemplary embodiment of the present disclosure, the cleaning robot is equipped with a sensor for mapping; the control device of the cleaning robot further includes: a crevice cleaning mode shutoff unit for shutting off the crevice cleaning mode when the cleaning robot is rapidly mapping using the sensor. In an exemplary embodiment of the present disclosure, the control device of the cleaning robot also includes: an identification data acquisition unit, which is used to obtain identification data corresponding to the area running the gap cleaning mode in the completed map, and send the identification data to the display terminal so that the display terminal displays the identification data corresponding to the area running the gap cleaning mode when displaying the completed map. In an exemplary embodiment of the present disclosure, after the gap is cleaned by the retractable cleaner, the control device of the cleaning robot further includes: a retraction condition judgment unit for controlling the cleaning robot to retract the retractable cleaner in response to the retraction condition being met. In an exemplary embodiment of the present disclosure, satisfying the retraction condition includes at least one of the following: detecting that the cleaning robot is away from a suspended obstacle; not detecting a suspended obstacle; and the time the retractable cleaner is extended reaches a preset time. The specific details of the control device modules of each of the above-mentioned cleaning robots have been described in detail in the control method of the corresponding cleaning robot, so they will not be repeated here. It should be noted that although the detailed description above mentions several modules or units of the device for execution, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in a single module or unit. Conversely, the features and functions of a single module or unit described above can be further divided to be embodied by multiple modules or units. In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided. For example, the electronic device may be a cleaning robot capable of implementing the above method. Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods, or program products. Therefore, various aspects of the present disclosure may be implemented as a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as "circuits," "modules," or "systems." An electronic device 600 according to an exemplary embodiment of the present disclosure is described below with reference to Figure 6. The electronic device 600 shown in Figure 6 is merely an example and should not limit the functionality and scope of use of the present disclosure. As shown in Figure 6 , electronic device 600 is implemented as a general-purpose computing device. Components of electronic device 600 may include, but are not limited to, the aforementioned at least one processing unit 610 , the aforementioned at least one storage unit 620 , a bus 630 connecting various system components (including storage unit 620 and processing unit 610 ), and a display unit 640 . The storage unit stores program code that can be executed by the processing unit 610, causing the processing unit 610 to perform the steps described in the "Exemplary Methods" section above according to various exemplary embodiments of the present disclosure. For example, the processing unit 610 can perform the steps shown in FIG. 2 . The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 621 and / or a cache memory unit 622 , and may further include a read-only memory unit (ROM) 623 . The storage unit 620 may also include a program / utility 624 having a set (at least one) of program modules 625, such program modules 625 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment. Bus 630 may represent one or more of several types of bus structures, including a storage unit bus or storage unit controller, a peripheral bus, a graphics accelerator port, a processing unit, or a local bus using any of a variety of bus structures. The electronic device 600 can also communicate with one or more external devices 700 (e.g., a keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., a router, modem, etc.). This communication can occur via an input / output (I / O) interface 650. Furthermore, the electronic device 600 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network interface card 660. As shown, the network interface card 660 communicates with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown, other hardware and / or software modules can be used in conjunction with the electronic device 600, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems. From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented via software or via a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product. This software product can be stored on a non-volatile storage medium (such as a CD-ROM, USB flash drive, or removable hard drive) or on a network, and includes instructions for causing a computing device (such as a personal computer, server, terminal device, or network device) to execute the methods according to the embodiments of the present disclosure. In exemplary embodiments of the present disclosure, a computer-readable storage medium is also provided, on which is stored a program product capable of implementing the methods described above. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product comprising program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps described in the "Exemplary Methods" section above according to various exemplary embodiments of the present disclosure. According to embodiments of the present disclosure, a program product for implementing the above-described method may be a portable compact disc read-only memory (CD-ROM) and include program code, which can be executed on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. The program product may utilize any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical memory device, a magnetic memory device, or any suitable combination thereof. A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for performing the operations of the present disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can execute entirely on the user computing device, partially on the user computing device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider). Furthermore, the aforementioned figures are merely illustrative of the processes involved in the methods according to exemplary embodiments of the present disclosure and are not intended to be limiting. It should be understood that the processes illustrated in the aforementioned figures do not indicate or limit the temporal order of these processes. Furthermore, it should be understood that these processes may be executed synchronously or asynchronously, for example, across multiple modules. Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow from the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims. It should be understood that the present disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and that various modifications and variations can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims. The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention. a: Reference point / center of the robotic arm b: Other end S1, S2, S3: Positions S210, S220, S402, S404, S406, S408, S410, S412, S414, S416, S418, S420, S422, S424: Steps 500: Control device 510: Obstacle detection module 520: Robot control module 600: Electronic device 610: Processing unit 620: Storage unit 621: Random access memory unit (RAM) 622: Cache memory storage unit 623: Read-only memory unit (ROM) 624: Program / Utility 625: Program module 630: Bus 640: Display unit 650: Input / output (I / O) interface 660: Network interface card 700: External device P: Cleaning robot Q: Refrigerator The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without making any progressive efforts. In the drawings: Figure 1 schematically shows a structural schematic diagram of a cleaning robot in this exemplary embodiment; Figure 2 schematically shows a flow chart of a control method for a cleaning robot in this exemplary embodiment; Figure 3 schematically shows a schematic diagram of the cleaning robot in the area where the refrigerator is located in this exemplary embodiment; Figure 4 schematically shows a sub-flow chart of a control method for a cleaning robot in this exemplary embodiment; Figure 5 schematically shows a structural block diagram of a control device for a cleaning robot in this exemplary embodiment; Figure 6 schematically shows an electronic device for implementing the above method in this exemplary embodiment. S210: Step S220: Step

Claims

1. A control method for a cleaning robot, wherein, The cleaning robot includes a retractable cleaner, wherein a first projection of the retractable cleaner on a horizontal plane when extended is at least partially located outside a second projection of the cleaning robot's body on the horizontal plane; the method includes: controlling the cleaning robot to extend the retractable cleaner in response to detecting a suspended obstacle; a gap exists between the bottom of the suspended obstacle and the ground, the height of the gap being greater than the height of the retractable cleaner; controlling the cleaning robot to move along the suspended obstacle to clean the gap through the retractable cleaner; the step of detecting the suspended obstacle and controlling the cleaning robot to extend the retractable cleaner includes: controlling the cleaning robot to extend the retractable cleaner in response to detecting the presence of the suspended obstacle in the area to be cleaned, and the distance between the cleaning robot and the suspended obstacle not exceeding a preset distance.

2. The control method for the cleaning robot as described in claim 1, wherein, The height of the gap is less than the height of the cleaning robot.

3. The control method for the cleaning robot as described in claim 1, wherein, The step of controlling the cleaning robot to extend the retractable cleaner in response to detecting the suspended obstacle includes: controlling the cleaning robot to enter a crevice cleaning mode and controlling the cleaning robot to extend the retractable cleaner in response to detecting the suspended obstacle.

4. The control method for the cleaning robot as described in claim 3, wherein, The method of controlling the cleaning robot to move along the suspended obstacle includes: in the crevice cleaning mode, controlling the cleaning robot to move along the suspended obstacle at a first moving speed; the first moving speed is less than the second moving speed of the cleaning robot in the normal cleaning mode.

5. The control method for the cleaning robot as described in claim 3 further includes: In the crevice cleaning mode, if the cleaning robot needs to rotate, the cleaning robot is controlled to rotate at a first rotation speed. The first rotational speed is less than the second rotational speed of the cleaning robot in normal cleaning mode.

6. The control method for the cleaning robot as described in claim 3, wherein, The cleaning robot is equipped with sensors for mapping; the method further includes: turning off the crevice cleaning mode when the cleaning robot is rapidly building a map using the sensors.

7. The control method for the cleaning robot as described in claim 6 further includes: Obtain the identification data corresponding to the area running the crevice cleaning mode in the completed map, and send the identification data to the display terminal so that the display terminal displays the identification data corresponding to the area of ​​the crevice cleaning mode when displaying the completed map.

8. A control method for a cleaning robot as described in claim 1, wherein, After cleaning the crevices with the retractable cleaner, the method further includes: controlling the cleaning robot to retract the retractable cleaner in response to a retraction condition being met.

9. A control method for a cleaning robot as described in claim 8, wherein, The retraction conditions include at least one of the following: the cleaning robot is detected to be moving away from the suspended obstacle; the suspended obstacle is not detected; the retractable cleaner is extended for a preset duration.

10. A control device for a cleaning robot, wherein, The cleaning robot includes a retractable cleaner, the first projection of which, when extended, is at least partially located outside the second projection of the robot's body on the horizontal plane. The control device includes: an obstacle detection module, used to control the cleaning robot to extend the retractable cleaner in response to the detection of a suspended obstacle; A gap exists between the bottom of the suspended obstacle and the ground, and the height of the gap is greater than the height of the retractable cleaner; a robot control module is used to control the cleaning robot to move along the suspended obstacle to clean the gap using the retractable cleaner; the obstacle detection module is also used to control the cleaning robot to extend the retractable cleaner in response to detecting the presence of the suspended obstacle in the area to be cleaned and the distance between the cleaning robot and the suspended obstacle not exceeding a preset distance.

11. A computer-readable storage medium having a computer program stored thereon, wherein, When the computer program is executed by the processor, it implements the control method for the cleaning robot according to any one of requests 1 to 9.

12. An electronic device, comprising: processor; and memory for storing executable instructions of the processor; wherein the processor is configured to execute a control method for a cleaning robot for any one of requests 1 to 9 by executing the executable instructions.

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