Cleaning robot control method, cleaning robot, medium, and program product

Abstract

A cleaning robot control method, a cleaning robot, a medium, a program product, and a computer program. The cleaning robot control method comprises: in response to a cleaning robot moving to a cliff edge, controlling the cleaning robot to execute a first curved avoidance action for avoiding the cliff edge, wherein the first curved avoidance action is an action of first moving away from the cliff edge and then moving close to the cliff edge (S101); and during the execution of the first curved avoidance action by the cleaning robot, for each reference length of cliff edge avoidance, the cleaning robot executing the first curved avoidance action four to eight times (S102).

Description

Control method of cleaning robot, cleaning robot, medium and program product

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202410903501.4, filed on July 05, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of robots, and in particular, to a control method of a cleaning robot, a cleaning robot, a medium, a program product and a computer program. BACKGROUND

[0004] A user's home environment with multiple floors can have cliffs with a higher height difference, such as stairs and balconies. A cleaning robot that crosses the edge of a cliff will have a risk of falling. The cleaning robot in the related technology will carry a cliff sensor to detect and avoid the cliff. Limited by the accuracy of the cliff sensor, the cleaning robot will have a certain probability of triggering the cliff sensor when crossing the edge of a threshold, a door stone or a dark carpet. In order to reduce the range of cleaning coverage, a small amplitude avoidance action is used to avoid when the cliff sensor is triggered, resulting in a higher risk of falling when avoiding the edge of the cliff.

[0005] SUMMARY

[0006] The embodiments of the present disclosure provide a control method of a cleaning robot, a cleaning robot, a medium, a program product and a computer program, which at least partially solve the technical problem of a higher risk of falling when avoiding the edge of a cliff in the related technology.

[0007] In a first aspect of the embodiments of the present disclosure, a control method of a cleaning robot is provided, including: in response to the cleaning robot moving to the edge of a cliff, controlling the cleaning robot to perform a first curve avoidance action for avoiding the edge of the cliff, wherein the first curve avoidance action is an action of first moving away from the edge of the cliff and then moving close to the edge of the cliff; during the process of the cleaning robot performing the first curve avoidance action, the cleaning robot performs the first curve avoidance action 4-8 times every reference length of the edge of the cliff.

[0008] In some embodiments, the cleaning robot performs the first curve avoidance action 5-7 times every reference length of the edge of the cliff.

[0009] In some embodiments, the reference length is 1.2 meters.

[0010] In some embodiments, the controlling the cleaning robot to perform the first curve avoidance action for avoiding the edge of the cliff includes:

[0011] controlling the cleaning robot to rotate in place;

[0012] in response to the cleaning robot rotating in place to a first target state, controlling the cleaning robot to turn at a first turning radius, the first target state being the cleaning robot facing away from the cliff edge;

[0013] in response to the cleaning robot turning at the first turning radius to the cliff edge, controlling the cleaning robot to rotate in place again.

[0014] In some embodiments, the first turning radius is 30-40 cm.

[0015] In some embodiments, the controlling the cleaning robot to rotate in place comprises:

[0016] controlling the cleaning robot to rotate in place to a first preset distance away from the cliff edge and then continue to rotate in place by a first preset angle to reach the first target state.

[0017] In some embodiments, the first preset distance is set to be within 50 cm.

[0018] In some embodiments, the first preset angle is 10°-30°.

[0019] In some embodiments, before the controlling the cleaning robot to perform the first curve avoidance action for avoiding the cliff edge, the control method of the cleaning robot further comprises:

[0020] in response to the cleaning robot moving to a front edge to be avoided, obtaining target scene information from a cleaning map, the target scene information being scene information marked in a map area within a preset distance range of the cleaning robot;

[0021] based on the target scene information, identifying whether the edge to be avoided is a cliff edge.

[0022] In some embodiments, after the identifying whether the front of the cleaning robot is a cliff edge based on the target scene information, the control method of the cleaning robot further comprises:

[0023] if the identification result indicates that the edge to be avoided in front of the cleaning robot is not a cliff edge, controlling the cleaning robot to perform a second curve avoidance action, wherein the second curve avoidance action is an action of first moving away from the edge to be avoided and then moving close to the edge to be avoided;

[0024] During the process that the cleaning robot performs the second curve avoidance action, the cleaning robot performs the second curve avoidance action 9-15 times every time the cleaning robot avoids a reference length of the edge to be avoided.

[0025] In some embodiments, the controlling the cleaning robot to perform the second curve avoidance action comprises:

[0026] controlling the cleaning robot to rotate in place;

[0027] in response to the cleaning robot rotating in place to a second target state, the second target state being that the cleaning robot faces away from the edge to be avoided, controlling the cleaning robot to turn at a second turning radius, the second turning radius being smaller than the first turning radius;

[0028] in response to the cleaning robot turning at the second turning radius to the edge to be avoided, controlling the cleaning robot to rotate in place again.

[0029] In some embodiments, a rotation angle of the second target state relative to an initial state is smaller than a rotation angle of the first target state relative to the initial state.

[0030] wherein the initial state is a state of the cleaning robot before the cleaning robot rotates in place for the current time.

[0031] In some embodiments, the controlling the cleaning robot to rotate in place comprises:

[0032] controlling the cleaning robot to rotate in place to a second preset distance away from the edge to be avoided, so as to reach the second target state.

[0033] In some embodiments, the cleaning robot is provided with an edge brush at a bottom thereof and a plurality of cliff sensors are arranged at intervals, and the method further comprises:

[0034] determining a rotation angle required for the cleaning robot to rotate in place in the second curve avoidance action according to a layout position of a cliff sensor closest to the edge to be avoided in the initial state;

[0035] wherein the farther the cliff sensor closest to the edge to be avoided in the initial state is from the edge brush, the greater a rotation angle of the second target state relative to the initial state is.

[0036] In some embodiments, the determining the rotation angle required for the cleaning robot to rotate in place in the second curve avoidance action according to the layout position of the cliff sensor closest to the edge to be avoided in the initial state further comprises:

[0037] If the cliff sensor closest to the edge to be avoided is on the side far from the brush in the initial state, the cleaning robot is controlled to rotate in place by a second preset angle to reach the second target state;

[0038] If the cliff sensor closest to the edge to be avoided is on the side close to the brush in the initial state, the cleaning robot is controlled to rotate in place by a third preset angle to reach the second target state.

[0039] In some embodiments, the second preset angle is 80°-90°, and the third preset angle is 10°-20°.

[0040] In some embodiments, the second turning radius is 10-15 cm.

[0041] In some embodiments, the control method of the cleaning robot further comprises:

[0042] In response to the length of the walking track generated by the cleaning robot performing the first curve avoidance action reaching a preset length threshold, the cleaning robot is controlled to switch to performing a third curve avoidance action, wherein the third curve avoidance action is an action of first moving away from the front scene and then moving close to the front scene;

[0043] During the execution of the third curve avoidance action by the cleaning robot, the cleaning robot performs the third curve avoidance action 9-15 times for each reference length of the front scene to be avoided.

[0044] In some embodiments, the control method of the cleaning robot further comprises:

[0045] During the execution of the first curve avoidance action by the cleaning robot, if the turning angle of the cleaning robot turning according to the first turning radius reaches a preset angle threshold, it is indicated that the avoidance of the cliff edge is completed, and the cleaning robot is controlled to switch to performing a third curve avoidance action, wherein the third curve avoidance action is an action of first moving away from the front scene and then moving close to the front scene;

[0046] During the execution of the third curve avoidance action by the cleaning robot, the cleaning robot performs the third curve avoidance action 9-15 times for each reference length of the front scene to be avoided.

[0047] In some embodiments, the identification of whether the edge to be avoided is a cliff edge based on the target scene information comprises:

[0048] From the cleaning map, each position point within a preset distance range of at least one cliff sensor closest to the edge to be avoided is obtained;

[0049] In each position point in the preset distance range, if a preset number of position points are not marked with scene information, it is determined that the edge to be avoided is a cliff edge, otherwise, it is determined that the edge to be avoided is not a cliff edge.

[0050] In some embodiments, the control method of the cleaning robot further includes:

[0051] Obtaining sensing data of a target sensor mounted on the cleaning robot;

[0052] According to the sensing data, pre-marking scene information on a cleaning map.

[0053] In some embodiments, the target sensor is a line laser sensor, and the pre-marking of scene information on the cleaning map according to the sensing data includes:

[0054] For any one position point on the cleaning map, if the line laser sensor receives reflected laser of the real position represented by the position point, the scene information is marked at the position point, and if the line laser sensor does not receive reflected laser of the real position represented by the position point, the scene information is not marked at the position point.

[0055] In a second aspect of the present disclosure, a cleaning robot is provided, including: a processor; a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the control method of the cleaning robot according to any one of the first aspect embodiments.

[0056] In a third aspect of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the control method of the cleaning robot according to any one of the first aspect embodiments.

[0057] In a fourth aspect of the present disclosure, a computer program product is provided, which includes a computer program, and the computer program is executed by a processor to implement the control method of the cleaning robot according to any one of the first aspect embodiments.

[0058] In a fifth aspect of the present disclosure, a computer program is provided, which includes computer program code, and when the computer program code is run on a computer, the computer is caused to perform the control method of the cleaning robot according to any one of the first aspect embodiments.

[0059] The one or more technical solutions provided by the embodiments of the present disclosure have at least the following technical effects or advantages:

[0060] The embodiment of the present disclosure controls the cleaning robot to perform a first curve avoidance action for avoiding the cliff edge in response to the cleaning robot moving to the cliff edge, since the first curve avoidance action is an action of moving away from the cliff edge first and then moving close to the cliff edge; during the process of the cleaning robot performing the first curve avoidance action, the cleaning robot performs the first curve avoidance action 4-8 times every time the reference length of the cliff edge is avoided, so as to realize a large-amplitude curve avoidance action, and the large-amplitude curve avoidance action can reduce the number of times of the cleaning robot moving close to the cliff edge, thereby reducing the risk of the cleaning robot falling off the cliff. BRIEF DESCRIPTION OF DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0062] FIG. 1 shows a structural schematic diagram of a cleaning robot in some embodiments of the present disclosure;

[0063] FIG. 2 shows a flowchart of a control method of a cleaning robot in some embodiments of the present disclosure;

[0064] FIG. 3a shows a schematic diagram of in-place rotation in a first curve avoidance action in some embodiments of the present disclosure;

[0065] FIG. 3b shows a schematic diagram of turning according to a first turning radius in the first curve avoidance action in some embodiments of the present disclosure;

[0066] FIG. 4a shows a schematic diagram of a scene in which a line laser sensor of a cleaning robot emits a line laser signal to detect an obstacle in some embodiments of the present disclosure;

[0067] FIG. 4b shows a schematic diagram of a scene in which a line laser sensor of a cleaning robot emits a line laser signal to detect a cliff area in some embodiments of the present disclosure;

[0068] FIG. 5a shows a schematic diagram of in-place rotation in a second curve avoidance action in some embodiments of the present disclosure;

[0069] FIG. 5b shows a schematic diagram of turning according to a second turning radius in the second curve avoidance action in some embodiments of the present disclosure;

[0070] FIG. 6 shows a schematic diagram of a walking track of the first curve avoidance action in some embodiments of the present disclosure;

[0071] FIG. 7 shows a schematic diagram of the end of performing the first curve avoidance action to avoid the cliff edge in some embodiments of the present disclosure;

[0072] FIG. 8 shows a schematic diagram of an electrical structure of a cleaning robot in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0073] In order to better understand the above technical solutions, the technical solutions of the embodiments of the present disclosure will be described in detail below with the help of the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present disclosure and the specific embodiments are detailed descriptions of the technical solutions of the embodiments of the present disclosure, and are not limitations of the technical solutions of the present disclosure. In the case of no conflict, the technical features in the embodiments of the present disclosure and the specific embodiments can be combined with each other.

[0074] The first aspect of the present disclosure provides a control method of a cleaning robot, which can be a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot, etc.

[0075] As shown in FIG. 1, FIG. 1 shows a schematic diagram of the structure of a cleaning robot in some embodiments of the present disclosure, the cleaning robot 10 comprising a body 110, a perception component, a walking component, and a guiding component.

[0076] The body 110 forms the shell of the cleaning robot 10 and accommodates other components. In some embodiments, the body 110 can be a flat cylinder.

[0077] In some embodiments, the walking component comprises a first driving wheel 131 and a second driving wheel 132 arranged at intervals at the bottom of the body 110, and the guiding component comprises a guiding wheel 141 arranged at the bottom of the body 110.

[0078] In some embodiments, the perception component is used to collect perception data of the cleaning robot 10 in the traveling area, the perception data comprising data related to the cleaning robot 10 itself and data related to the surrounding environment objects during the traveling of the cleaning robot 10, wherein the data related to the cleaning robot 10 itself includes but is not limited to the traveling position, the traveling speed, and the traveling mileage of the cleaning robot 10, etc., and the data related to the surrounding environment objects includes but is not limited to the distance between the cleaning robot 10 and the wall, the step, the door bar, the electric wire, etc.

[0079] In some embodiments, the perception component includes at least one of a camera, a three-axis accelerometer, a gyroscope, an odometer, an LDS (Laser Distance Sensor), an ultrasonic sensor, and a cliff sensor, etc. In some embodiments, the camera is used to measure the travel position of the cleaning robot 10, the three-axis accelerometer is used to obtain the acceleration and / or inclination angle of the mobile robot 10, the gyroscope is used to obtain the angular velocity and / or inclination angle of the cleaning robot 10, the odometer is used to obtain the travel mileage of the cleaning robot 10; the LDS is usually arranged at the top of the cleaning robot 10 and is used to measure the distance between the cleaning robot 10 and the environmental objects by laser; the ultrasonic sensor is usually arranged at the side of the cleaning robot 10 and is used to measure the distance between the cleaning robot 10 and the environmental objects by ultrasonic wave; the cliff sensor 121 is usually arranged at the bottom of the cleaning robot 10 and is used to measure the distance between the cleaning robot 10 and the environmental objects by infrared ray.

[0080] The number and location of the perception component are not limited in the present disclosure.

[0081] As shown in FIG. 1, in some embodiments, the cliff sensor 121 includes a plurality of sensors and is arranged at the bottom of the body 110. In some embodiments, the body 110 can be divided into left and right sides according to the center line connecting the head and the tail of the body 110, two cliff sensors 121 are arranged at the left side of the body 110, and two cliff sensors 121 are arranged at the right side of the body 110.

[0082] As shown in FIG. 1, a first driving wheel 131 and a second driving wheel 132 are arranged at the bottom of the body 110. In some embodiments, the first driving wheel 131 is located at the right side of the body 110, referred to as the right wheel, and the second driving wheel 132 is arranged in parallel with the first driving wheel 131 at the left side of the body 110, referred to as the left wheel. It can be understood that in some embodiments, the left wheel of the cleaning robot 10 can also be determined as the first driving wheel 131, and the right wheel can be determined as the second driving wheel 132, which is not limited in the embodiments of the present disclosure. A motor connected with the first driving wheel 131 is also installed at the right side of the body 110 of the cleaning robot 10. The driving circuit of the motor generates corresponding driving current to make the motor rotate according to the first control signal, so as to control the driving direction and rotation speed of the first driving wheel 131. The first control signal corresponds to different duty cycles, and the duty cycle refers to the ratio of the energized time of the pulse signal to the energized period. The greater the duty cycle, the greater the rotation speed of the first driving wheel 131, and the smaller the duty cycle, the smaller the rotation speed of the first driving wheel 131. For example, the driving circuit of the motor connected with the first driving wheel 131 receives the first control signal corresponding to a duty cycle of 1 / 2, and generates corresponding driving current according to the first control signal. Under the action of the driving current, the motor connected with the first driving wheel 131 controls the driving direction of the first driving wheel 131 to be the forward direction, and the rotation speed is 50 revolutions per minute. A motor connected with the second driving wheel 132 is also installed at the left side of the body 110 of the cleaning robot 10. The driving circuit of the motor generates corresponding driving current to make the motor rotate according to the second control signal, so as to control the driving direction and rotation speed of the second driving wheel 132. The second control signal corresponds to different duty cycles. For example, the driving circuit of the motor connected with the second driving wheel 132 receives the second control signal corresponding to a duty cycle of 1 / 2 sent by the control unit, and generates corresponding driving current according to the second control signal. Under the action of the driving current, the motor connected with the second driving wheel 132 controls the driving direction of the second driving wheel 132 to be the forward direction, and the rotation speed is 50 revolutions per minute.

[0083] In some embodiments, the cleaning robot 10 comprises a cleaning system. The cleaning system comprises a dry cleaning assembly and / or a wet cleaning assembly, wherein the main brush device 151 and the side brush 152 comprised by the dry cleaning assembly are installed at the bottom of the body 110. In some embodiments, the main brush device 150 is a drum-shaped rotating brush that rotates relative to the contact surface in the form of a roller. In some embodiments, only the side brush 152 is installed at the left side or the right side of the bottom of the body 110. In some embodiments, the side brush 152 is installed at the left side and the right side of the bottom of the body 110.

[0084] It should be noted that the cleaning robot 10 can also include other modules or components, or only include the above-mentioned partial modules or components, and the embodiments of the present disclosure do not limit this, and only take the above-mentioned cleaning robot 10 as an example for description.

[0085] As shown in FIG. 2, the control method of the cleaning robot 10 provided by the embodiments of the present disclosure includes the following steps S101-S102.

[0086] S101: In response to the cleaning robot 10 moving to the cliff edge, controlling the cleaning robot 10 to perform a first curve avoidance action for avoiding the cliff edge, wherein the first curve avoidance action is an action of first moving away from the cliff edge and then moving close to the cliff edge.

[0087] In some embodiments, during the process of the cleaning robot 10 performing the cleaning task, if the cleaning robot 10 cleans to the cliff edge, the cleaning robot 10 is controlled to perform the first curve avoidance action for avoiding the cliff edge. It should be noted that, as shown in FIG. 3a, the cliff edge is the junction of the cliff area in front of the cleaning robot and the cleaning area where the cleaning robot is currently located.

[0088] In some embodiments, controlling the cleaning robot 10 to perform the first curve avoidance action for avoiding the cliff edge includes: controlling the cleaning robot 10 to rotate in place; in response to the cleaning robot 10 rotating in place to a first target state, controlling the cleaning robot 10 to turn at a first turning radius, the first target state being that the cleaning robot 10 is away from the cliff edge; and in response to the cleaning robot 10 turning at the first turning radius to the cliff edge, controlling the cleaning robot 10 to rotate in place again, so as to realize the circulation of the rotating in place and the turning action alternately, to realize the curve walking to avoid the cliff edge.

[0089] In some embodiments, controlling the cleaning robot 10 to rotate in place includes: controlling the cleaning robot 10 to rotate in place to a first preset distance away from the cliff edge, and then continue to rotate in place by a first preset angle, to reach the first target state.

[0090] In some embodiments, whether the cleaning robot 10 rotates in place to a first preset distance away from the cliff edge can be identified by the cliff sensor 121 carried on the cleaning robot 10: the cleaning robot 10 starts to rotate in place from an initial state, and when the triggering state of each cliff sensor 121 carried on the cleaning robot 10 is all released, it indicates that the cleaning robot 10 rotates in place to a first preset distance away from the cliff edge. And by continuing to rotate in place by a first preset angle after the cleaning robot 10 rotates in place to a first preset distance away from the cliff edge, a large-angle rotation in place can be realized, so that the head part of the cleaning robot 10 is more away from the cliff edge, and can cooperate with the first turning radius.

[0091] As shown in FIG. 3a, the first preset distance refers to a distance threshold L1 to be reached between the cliff edge and the head portion of the cleaning robot 10, wherein the first preset distance can be set as a value not greater than 50 cm, such as 50 cm, 45 cm or 40 cm, etc.

[0092] As shown in FIG. 3a, the first preset angle a1 is 10°-20°. For example, the first preset angle a1 can be set as 10°, 15° or 20°.

[0093] As shown in FIG. 3b, the cleaning robot 10 turns according to the first turning radius r1, and the trajectory formed is a circular arc trajectory with a center O2 at a position outside the cleaning robot 10. In some embodiments, the first turning radius r1 is a value in the range of 30-40 cm, so as to realize turning with a large turning radius, and by turning around with a larger turning radius, the number of times that the cleaning robot 10 approaches the cliff edge is reduced, and the number of times that the cliff sensor 121 is triggered is also reduced, so as to effectively avoid the cliff edge and reduce the risk of falling. For example, the first turning radius r1 can be set as 30 cm, 35 cm or 40 cm.

[0094] In some embodiments, in the case that the cliff sensor 121 carried on the cleaning robot 10 includes multiple sensors arranged at intervals on the bottom of the body 110: when any one of the cliff sensors 121 carried on the cleaning robot 10 is triggered during the turning of the cleaning robot 10 according to the first turning radius, it is indicated that the cleaning robot 10 has turned to the cliff edge.

[0095] S102: During the execution of the first curve avoidance action by the cleaning robot 10, the cleaning robot 10 executes the first curve avoidance action 4-8 times per reference length of avoiding the cliff edge.

[0096] It should be noted that the reference length is the length used to determine the number of times of execution of the first curve avoidance action, and in the embodiments of the present disclosure, the first curve avoidance action is determined to be executed 4-8 times with the reference length of 1.2 meters. If other values are selected for the reference length, the number of times of execution of the first curve avoidance action is increased or decreased in proportion, for example, if the reference length is 2.4 meters, the cleaning robot 10 executes the first curve avoidance action 8-16 times per reference length of avoiding the cliff edge.

[0097] In some embodiments, the cleaning robot 10 executes the first curve avoidance action 5-7 times per reference length of avoiding the cliff edge. In some embodiments, the cleaning robot 10 executes the first curve avoidance action 5-6 times per reference length of avoiding the cliff edge, wherein the first curve avoidance action can be executed 5 or 6 times according to actual conditions.

[0098] In some embodiments, before the control method controls the cleaning robot 10 to perform the first curve avoidance action for avoiding the cliff edge, the control method further comprises: in response to the cleaning robot 10 moving to the front of the edge to be avoided, obtaining target scene information from the cleaning map, the target scene information being scene information marked in a map area within a preset distance range of the cleaning robot 10; and identifying whether the edge to be avoided is a cliff edge based on the target scene information.

[0099] In some embodiments, during the movement of the cleaning robot 10, any one of the cliff sensors 121 carried on the cleaning robot 10 is triggered, indicating that the front of the cleaning robot 10 is the edge to be avoided. Therefore, the step of obtaining the target scene information from the cleaning map can be performed when any one of the cliff sensors 121 carried on the cleaning robot 10 is triggered.

[0100] It should be understood that the triggering of the cliff sensor 121 indicates that the cliff sensor 121 detects a cliff edge, but the triggering of the cliff sensor 121 is not necessarily a real cliff edge due to the accuracy of the cliff sensor 121. It is also possible that a scene such as a threshold, a threshold stone, or a dark carpet is misidentified as a cliff edge. Therefore, in the actual working environment of the cleaning robot 10, the edge to be avoided detected based on the triggering of the cliff sensor 121 is the edge of any one of a threshold, a step, a dark carpet, a cliff, etc.

[0101] In some embodiments, before obtaining the target scene information from the cleaning map, the control method further comprises: marking the global position points on the cleaning map with scene information, so that the cleaning robot 10 can obtain the target scene information from the cleaning map when moving to the front of the edge to be avoided. Thus, the scene information marked on the cleaning map is used to assist in determining whether the edge to be avoided is a cliff edge or other types of edges to be avoided, and further, the scene information marked on the cleaning map is used to assist in determining whether the triggering of the cliff sensor 121 is a real cliff edge or other scenes that have mistakenly triggered the cliff sensor 121, thereby compensating for the insufficient accuracy of the cliff sensor.

[0102] It should be noted that the global position points include each position point on the cleaning map, and the position coordinates of each position point are represented by relative coordinates of the position point relative to the cleaning base station.

[0103] In some embodiments, marking the global position points on the cleaning map with scene information comprises: obtaining sensing data of a target sensor carried on the cleaning robot 10; and marking the scene information on the cleaning map according to the sensing data.

[0104] It can be understood that the target sensor can include at least one of a camera, a TOF sensor, and a line laser sensor mounted on the cleaning robot 10. In some embodiments, the target sensor is a line laser sensor, and a cleaning map of the entire cleaning area is established during the working process of the cleaning robot 10, and scene information is marked on the cleaning map according to the sensing data of the line laser sensor.

[0105] In some embodiments, the marking of the scene information on the cleaning map according to the sensing data of the line laser sensor includes: for any one position point on the cleaning map, if the line laser sensor receives reflected laser of the real position represented by the position point, the scene information is marked at the position point, and if the line laser sensor does not receive reflected laser of the real position represented by the position point, the scene information is not marked at the position point.

[0106] As shown in FIG. 4a, if at the current time, the ground or an obstacle is in front of the cleaning robot 10, the line laser signal emitted by the line laser sensor will hit the ground or the obstacle and be reflected back to be received by the line laser sensor, so that the cleaning robot 10 recognizes that there is ground or an object that needs to be avoided in the front position, and uses the map data of the cleaning robot 10 to mark the scene information on the cleaning map at the position point corresponding to the front position of the cleaning robot 10. As shown in FIG. 4b, if at the current time, the real cliff edge is in the front position of the cleaning robot 10, a part of the line laser signal emitted by the line laser sensor cannot be reflected back by the ground or the obstacle, and the scene information of the front position obtained by the cleaning robot 10 is not marked on the cleaning map at the position point corresponding to the front position.

[0107] It should be understood that if the target sensor is another type of sensor, the implementation process of marking the scene information on the cleaning map according to the sensing data of the other type of sensor is similar, which will not be described here.

[0108] In some embodiments, determining whether the front of the cleaning robot 10 is a cliff based on the target scene information includes: obtaining each position point within a preset distance range of at least one cliff sensor 121 closest to the edge to be avoided from the cleaning map; among the position points within the preset distance range, if there are a preset number of position points that are not marked with scene information, it is determined that the edge to be avoided is a cliff edge, otherwise, it is determined that the edge to be avoided is not a cliff edge.

[0109] Since the cliff sensor 121 is more likely to be triggered as it is closer to the edge to be avoided, the at least one cliff sensor 121 closest to the edge to be avoided is the triggered cliff sensor 121 among the cliff sensors 121 carried on the cleaning robot 10. That is, from the cleaning map, the position points within the preset distance range of the triggered cliff sensor 121 are obtained; if there are a preset number of position points without scene information in the position points within the preset distance range, it is determined that the edge to be avoided in front of the cleaning robot 10 is a real cliff edge, otherwise, it is determined that the edge to be avoided in front of the cleaning robot 10 is not a real cliff edge, but a scene such as a threshold, a step, a carpet, etc. which is misrecognized as a cliff edge.

[0110] It should be noted that the preset distance range is a circular area range with the position of the cliff sensor 121 as the center and a preset radius.

[0111] In some embodiments, if at least one of the position points within the preset distance range is not marked with scene information, it is determined that the edge to be avoided in front of the cleaning robot 10 is a cliff edge, which is a real cliff edge that triggers the cliff sensor 121; if all the position points within the preset distance range are marked with scene information, it is determined that the edge to be avoided in front of the cleaning robot 10 is not a cliff edge, and the cliff sensor 121 is mis-triggered by other edges, so as to further reduce the risk of the cleaning robot 10 falling.

[0112] In some embodiments, if all the position points within the preset distance range are not marked with scene information, it is determined that the edge to be avoided in front of the cleaning robot 10 is a cliff edge, which is a real cliff edge that triggers the cliff sensor 121; if at least one of the position points within the preset distance range is marked with scene information, it is determined that the edge to be avoided in front of the cleaning robot 10 is not a cliff edge, and the cliff sensor 121 is mis-triggered by other edges, so as to balance the cleaning coverage and the risk of the cleaning robot 10 falling off the cliff.

[0113] In some embodiments, the cleaning robot 10 is provided with at least a first curve avoidance action and a second curve avoidance action, and the action amplitude of the first curve avoidance action is greater than that of the second curve avoidance action.

[0114] In some embodiments, the action amplitude of the first curve avoidance action is greater than that of the second curve avoidance action, including: the rotation angle of the in-place rotation in the first curve avoidance action is greater than that of the in-place rotation in the second curve avoidance action, and the first turning radius of the turning in the first curve avoidance action is greater than the second turning radius of the turning in the second curve avoidance action.

[0115] In some embodiments, after identifying whether the edge to be avoided is a cliff edge based on the target scene information, the control method further comprises: if the identification result indicates that the edge to be avoided in front of the cleaning robot 10 is not a cliff edge, controlling the cleaning robot 10 to perform a second curve avoidance action for avoiding the edge to be avoided in front, wherein the second curve avoidance action is an action of first moving away from the edge to be avoided and then moving close to the edge to be avoided; and during the execution of the second curve avoidance action by the cleaning robot 10, the cleaning robot 10 performs the second curve avoidance action 9-15 times every reference length of the edge to be avoided.

[0116] In some embodiments, the cleaning robot 10 performs the second curve avoidance action 10-12 times every reference length of the edge to be avoided, wherein the number of times of performing the second curve avoidance action can be 10, 11 or 12 according to actual conditions.

[0117] In some embodiments, controlling the cleaning robot 10 to perform the second curve avoidance action comprises: controlling the cleaning robot 10 to rotate in place; in response to the cleaning robot 10 rotating in place to a second target state, controlling the cleaning robot 10 to turn at a second turning radius, the second target state being that the cleaning robot 10 faces away from the edge to be avoided, and the second turning radius being smaller than the first turning radius; and in response to the cleaning robot 10 turning at the second turning radius to the edge to be avoided, controlling the cleaning robot 10 to rotate in place again, so as to realize the circulation of the rotation in place and the turning action in the second curve avoidance action, and realize the curve avoidance action with a small amplitude to avoid other types of edges to be avoided which are not cliff edges, so as to balance the cleaning coverage at these edges to be avoided.

[0118] In some embodiments, the rotation angle of the second target state relative to the initial state is smaller than the rotation angle of the first target state relative to the initial state, wherein the initial state is the state of the cleaning robot 10 after completing the last turning and before the current rotation in place.

[0119] In some embodiments, controlling the cleaning robot 10 to rotate in place comprises: controlling the cleaning robot 10 to rotate in place to a second preset distance away from the edge to be avoided, so as to reach the second target state.

[0120] In some embodiments, whether the cleaning robot 10 rotates in place to a second preset distance away from the cliff edge can be identified by the cliff sensor 121 mounted on the cleaning robot 10: the cleaning robot 10 rotates in place from the initial state, and when each cliff sensor 121 mounted on the cleaning robot 10 is disengaged from the triggered state, it indicates that the cleaning robot 10 rotates in place to a second preset distance away from the cliff edge. In the second curve avoidance action, the cleaning robot 10 rotates in place to a second preset distance away from the cliff edge and no longer continues to rotate in place, thereby achieving a small-angle rotation for cooperation with a smaller second turning radius to achieve a small-amplitude curve avoidance action.

[0121] As shown in FIG. 5a, the second preset distance refers to a distance threshold L2 to be reached between the head part and the cliff edge, wherein the second preset distance can be the same as the first preset distance, and is set to a value not greater than 50 cm, such as 50 cm, 45 cm, or 40 cm, etc.

[0122] In order to achieve the first target state with a larger rotation angle than the second target state, as shown in FIG. 3a, the first target state is that all cliff sensors 121 mounted on the cleaning robot 10 are disengaged from the triggered state and continue to rotate in place by a first preset angle a1. As shown in FIG. 5a, the second target state is that all cliff sensors 121 mounted on the cleaning robot 10 are disengaged from the triggered state, or that all cliff sensors 121 mounted on the cleaning robot 10 are disengaged from the triggered state and continue to rotate in place by a fourth preset angle, wherein the fourth preset angle is smaller than the first preset angle a1. It can be understood that the fourth preset angle can be pre-set to an angle value in the range of 0°-5°.

[0123] In some embodiments, in the case that the cleaning robot 10 is provided with an edge brush 152 at the bottom and a plurality of cliff sensors 121 are arranged at intervals, the rotation angle required for rotation in place in the second curve avoidance action is determined according to the arrangement position of the cliff sensor 121 closest to the edge to be avoided in the initial state; wherein the farther the cliff sensor 121 closest to the edge to be avoided in the initial state is from the edge brush, the larger the rotation angle of the second target state relative to the initial state.

[0124] In some embodiments, the rotation angle required for the in-place rotation in the second curve avoidance action is determined according to the arrangement position of the cliff sensor 121 closest to the avoidance edge in the initial state, including: if the cliff sensor 121 closest to the avoidance edge in the initial state is on the side far from the brush 152, the cleaning robot 10 is controlled to rotate by a second preset angle to reach the second target state; if the cliff sensor 121 closest to the avoidance edge in the initial state is on the side close to the brush 152, the cleaning robot 10 is controlled to rotate by a third preset angle to reach the second target state.

[0125] It can be understood that the cliff sensor 121 closest to the avoidance edge in the initial state is the cliff sensor 121 triggered by the cliff edge, and therefore, in some embodiments, the rotation angle required for the in-place rotation in the second curve avoidance action is determined according to the arrangement position of the triggered cliff sensor 121 in the initial state; wherein the farther the triggered cliff sensor 121 is from the brush 152 in the initial state, the greater the rotation angle of the second target state relative to the initial state.

[0126] In some embodiments, if the triggered cliff sensor 121 in the initial state is on the side far from the brush 152 (for example, the brush 152 is located on the right side of the bottom of the body 110, and any cliff sensor 121 on the left side is triggered), the second target state is that the cleaning robot 10 rotates by a second preset angle; as shown in FIG. 5a, if the triggered cliff sensor 121 is on the side close to the brush 152 (for example, the brush 152 is located on the right side of the bottom of the body 110, and any cliff sensor 121 on the right side is triggered), the second target state is that the cleaning robot 10 rotates by a third preset angle a3, and the second preset angle is greater than the third preset angle.

[0127] In some embodiments, the second preset angle is an angle value in the range of 80°-90°, and the third angle is an angle value in the range of 10°-20°. In some embodiments, the second preset angle is 90° and the third preset angle is 20°, or the second preset angle is 85° and the third preset angle is 15°, or the second preset angle is 80° and the third preset angle is 10°.

[0128] It should be noted that, since the edge sensor is arranged at the outer edge of the position where the edge brush 152 is located on the body 110, so that the distance from the side obstacle is identified by the edge sensor during the rotation of the cleaning robot 10 in place. Therefore, in the first curve avoidance action and the second curve avoidance action, the direction of the rotation of the cleaning robot 10 in place is related to the arrangement position of the edge brush 152. In terms of the symmetry division of the body 110 along the center line of the guide wheel 141 (i.e., the center line connecting the head and the tail), if the edge brush 152 is arranged at the right side of the bottom of the body 110, the direction of the rotation of the cleaning robot 10 in place is set as counterclockwise direction in advance, if the edge brush 152 is arranged at the left side of the bottom of the body 110, the direction of the rotation in place is set as clockwise direction in advance, so that the edge sensor can identify the distance from the side obstacle during the rotation of the cleaning robot 10 in place; if the edge brush 152 is arranged at both left and right sides of the body 110, the direction of the rotation in place is set as clockwise direction or counterclockwise direction in advance.

[0129] As shown in FIG. 5b, the cleaning robot 10 turns according to the second turning radius r2, and the formed walking track is a circular arc track with a center O2 at a position outside the cleaning robot 10. In some embodiments, the second turning radius r2 is a value in the range of 10-15 cm, so that the turning around the edge to be avoided due to the false triggering of the cliff sensor 121 can be realized with a small turning radius, the coverage area of cleaning can be increased, and the cleaning coverage rate can be reduced. For example, the second turning radius r2 can be 10 cm, 12 cm, 14 cm or 15 cm.

[0130] It should be noted that, in the first curve avoidance action and the second curve avoidance action, the rotation speed and the rotation direction of the first driving wheel 131 and the second driving wheel 132 are controlled, so that the first driving wheel 131 and the second driving wheel 132 rotate at the same speed and in different directions, and then the cleaning robot 10 rotates in place. The rotation of the cleaning robot 10 in place is taken as the geometric center of the cleaning robot 10 as the rotation center. For example, the body 110 is a flat cylindrical shape, and the rotation in place is taken as the position of the center O1 as the rotation center.

[0131] It should be noted that, in the first curve avoidance action, the rotation speed and rotation direction of the first driving wheel 131 and the second driving wheel 132 are controlled to enable the cleaning robot 10 to turn at a first turning radius. In the second curve avoidance action, the rotation speed and rotation direction of the first driving wheel 131 and the second driving wheel 132 are controlled to enable the cleaning robot 10 to turn at a second turning radius. Taking the first driving wheel 131 as the left wheel, the second driving wheel 132 as the right wheel, and the side brush 152 arranged at the right side of the bottom of the body 110 as an example, the same rotation speed of the right wheel forward rotation and the left wheel backward rotation is achieved by driving the left and right wheels to enable the cleaning robot 10 to rotate counterclockwise in place. The same rotation speed of the right wheel forward rotation and the left wheel backward rotation is achieved by driving the left and right wheels to enable the cleaning robot 10 to turn in the counterclockwise direction, wherein the rotation speed difference between the left and right wheels is controlled to enable the cleaning robot 10 to turn in the counterclockwise direction at a first turning radius or a second turning radius.

[0132] In some embodiments, the first curve avoidance action and the second curve avoidance action can also be straight lines away from the edge of the cliff first, and then turning to approach the edge of the cliff until reaching the edge of the cliff after the actual path length of the straight line reaches a first preset path length. It can be understood that the included angle formed by the two straight lines in the first curve avoidance action is greater than the included angle formed by the two straight lines in the second curve avoidance action, and the actual path length of the first curve avoidance action is greater than the path length of the second curve avoidance action.

[0133] On the one hand, according to one or more embodiments provided by the present disclosure, the cliff sensor 121 triggers the combination of scene information to improve the accuracy of cliff edge recognition, which can accurately identify the real cliff edge, and on this basis, increase the angle of rotation in place and the turning radius of subsequent turning, to realize the avoidance of the real cliff edge in a larger curve avoidance action (i.e. the first curve avoidance action). The reference length for avoiding the cliff edge is reduced, the number of approaches to the cliff edge is reduced, and the number of cliff sensor 121 triggers is reduced, which can more effectively avoid the real cliff edge and prevent falling off the cliff. Since the recognition accuracy of the cliff edge is improved, even if the first curve avoidance action with a larger action amplitude is used for avoidance, no new cleaning coverage area is added.

[0134] On the other hand, according to one or more embodiments provided in the present disclosure, when obstacles such as thresholds, doorsteps or dark carpets are encountered, scene information can be used to assist in determining that the edge to be avoided is not a cliff edge, but a false trigger of the cliff sensor 121 by other scenes, and a small-range avoidance action (i.e., a second curve avoidance action) is used to avoid the edge to be avoided that falsely triggers the cliff sensor 121, so that more areas can be cleaned, thereby reducing cleaning coverage.

[0135] By combining the above two aspects, the embodiments of the present disclosure compensate for the insufficient accuracy of the cliff sensor 121, and take into account the effective avoidance of real cliff edges and the cleaning coverage problem of other edges to be avoided.

[0136] In some embodiments, during the process of controlling the cleaning robot 10 to perform the first curve avoidance action, a walking trajectory of the cleaning robot 10 performing the first curve avoidance action is obtained; and in response to a trajectory length of the walking trajectory generated by the cleaning robot 10 performing the first curve avoidance action reaching a preset length threshold, the cleaning robot 10 is controlled to switch to performing the third curve avoidance action.

[0137] It should be noted that, as shown in FIG. 6, the trajectory length of the walking trajectory is the length of a curved trajectory with a plurality of consecutive circular arcs formed by the cleaning robot 10 turning at the first turning radius for a plurality of consecutive times. The preset length threshold is set according to the length of the cliff edge in the user scene, for example, it can be set to 3 meters, 4 meters or 5 meters, etc.

[0138] In some embodiments, during the process of controlling the cleaning robot 10 to perform the first curve avoidance action, a turning angle of the cleaning robot 10 turning at the first turning radius is obtained; and if the turning angle of the cleaning robot 10 turning at the first turning radius reaches a preset angle threshold, indicating that the avoidance of the cliff edge is completed, the cleaning robot 10 is controlled to switch to performing the third curve avoidance action.

[0139] In some embodiments, during the process of the cleaning robot 10 turning at the first turning radius, if the turning angle reaches the preset angle threshold without triggering any one of the cliff sensors 121 mounted on the cleaning robot 10, it indicates that the avoidance of the cliff edge is completed.

[0140] As shown in FIG. 7, in some embodiments, the preset angle threshold can be set to a value in the range of 180° to 190°, such as 180° or an angle value slightly greater than 180°, because the front of the cleaning robot 10 is no longer a cliff edge, so the turning angle during the turning process exceeding 180° will not trigger the cliff sensor 121 again.

[0141] In any of the above embodiments, the third curve avoidance action is an action of first moving away from the front scene and then moving close to the front scene; during the execution of the third curve avoidance action by the cleaning robot 10, the cleaning robot 10 executes the third curve avoidance action 9-15 times per reference length of avoiding the front scene.

[0142] In some embodiments, the third curve avoidance action described above can be an avoidance action with the same action amplitude as the second curve avoidance action.

[0143] According to any of the above embodiments, the edge of the cliff is identified in time whether the avoidance is ended, and the third curve avoidance action with a smaller action amplitude can be switched to in time after the avoidance of the edge of the cliff is identified to be ended, further reducing the area of the cleaning coverage, and reducing the cleaning coverage rate.

[0144] Based on the same inventive concept, the second aspect embodiment of the disclosure further provides a cleaning robot 10, as shown in FIG. 8, which shows an electrical structure schematic diagram of the cleaning robot 10 provided by some embodiments of the disclosure, the cleaning robot 10 further comprises: a processor 802; a memory 804 for storing executable instructions of the processor 802, wherein the processor 802 is configured to execute the instructions to implement the control method of the cleaning robot 10 described in any of the above first aspect embodiments.

[0145] In FIG. 8, the bus architecture (represented by a bus 800) can include any number of interconnected buses and bridges, which link various circuits including one or more processors represented by the processor 802 and the memory represented by the memory 804. The bus 800 can also link various other circuits such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art, and thus, will not be further described herein. The bus interface 805 provides an interface between the bus 800 and the receiver 801 and the transmitter 803. The receiver 801 and the transmitter 803 can be the same element, i.e., a transceiver, which provides a unit for communicating with various other devices on a transmission medium. The processor 802 is responsible for managing the bus 800 and general processing, while the memory 804 can be used to store data used by the processor 802 in performing operations.

[0146] Based on the same inventive concept, the third aspect embodiment of the disclosure provides a computer readable storage medium, which stores a computer program, the program being executed by a processor to implement the control method of the cleaning robot 10 described in any of the above first aspect embodiments.

[0147] Based on the same inventive concept, the fourth aspect of the present disclosure provides a computer program product comprising a computer program which, when executed by a processor, implements the control method of the cleaning robot according to any one of the first aspect.

[0148] Based on the same inventive concept, the fifth aspect of the present disclosure provides a computer program comprising computer program code which, when run on a computer, causes the computer to perform the control method of the cleaning robot according to any one of the first aspect.

[0149] It should be noted that the foregoing embodiments of the control method of the cleaning robot are also applicable to the cleaning robot, the computer readable storage medium, the computer program product and the computer program of the embodiments of the present disclosure, which will not be repeated here.

[0150] All the embodiments of the present disclosure can be executed independently or in combination with other embodiments, and are all considered to be within the protection scope of the present disclosure.

[0151] Those skilled in the art should understand that the embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer-usable program code.

[0152] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0153] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product comprising instruction means, which implements the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0154] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks.

[0155] Although preferred embodiments of the disclosure have been described herein, changes and modifications can be suggested to one skilled in the art and are intended to be encompassed within the scope of the disclosure. It is the intent, therefore, to be limited only as indicated by the scope of the claims appended hereto.

[0156] It will be apparent to those skilled in the art that various modifications and variations can be made to the present disclosure without departing from the spirit or scope of the disclosure. Thus, it is intended that the present disclosure cover the modifications and variations of this disclosure provided such modifications and variations come within the scope of the appended claims and their equivalents.

Claims

1. A control method of a cleaning robot, comprising: in response to the cleaning robot moving to a cliff edge, controlling the cleaning robot to perform a first curve avoidance action for avoiding the cliff edge, wherein the first curve avoidance action is an action of moving away from the cliff edge first and then moving close to the cliff edge; during the cleaning robot performing the first curve avoidance action, the cleaning robot performs the first curve avoidance action 4-8 times every reference length of avoiding the cliff edge. 2.The control method of claim 1, wherein the cleaning robot performs the first curve avoidance action 5-7 times every reference length of avoiding the cliff edge. 3.The control method of claim 1 or 2, wherein the reference length is 1.2 meters. 4.The control method of any one of claims 1-3, wherein the controlling the cleaning robot to perform the first curve avoidance action for avoiding the cliff edge comprises: controlling the cleaning robot to rotate in place; in response to the cleaning robot rotating in place to a first target state, the first target state being the cleaning robot facing away from the cliff edge, controlling the cleaning robot to turn at a first turning radius; in response to the cleaning robot turning at the first turning radius to the cliff edge, controlling the cleaning robot to rotate in place again. 5.The control method of claim 4, wherein the first turning radius is 30-40 cm. 6.The control method of claim 4 or 5, wherein the controlling the cleaning robot to rotate in place comprises: controlling the cleaning robot to rotate in place to a first preset distance away from the cliff edge and then continue to rotate in place for a first preset angle to reach the first target state. 7.The control method of claim 6, wherein the first preset distance is set to be within 50 cm. 8.The control method of claim 6 or 7, wherein the first preset angle is 10°-30°. 9.The control method of any one of claims 4-8, wherein before the controlling the cleaning robot to perform the first curve avoidance action for avoiding the cliff edge, the method further comprises: in response to the cleaning robot moving to a to-be-avoided edge in front, obtaining target scene information from a cleaning map, the target scene information being scene information marked in a map area within a preset distance range of the cleaning robot; based on the target scene information, identifying whether the to-be-avoided edge is a cliff edge. 10.The control method of claim 9, wherein after the based on the target scene information, identifying whether the to-be-avoided edge in front of the cleaning robot is a cliff edge, the method further comprises: if the identification result indicates that the to-be-avoided edge in front of the cleaning robot is not a cliff edge, controlling the cleaning robot to perform a second curve avoidance action, wherein the second curve avoidance action is an action of moving away from the to-be-avoided edge first and then moving close to the to-be-avoided edge. In the process that the cleaning robot performs the second curve avoidance action, the cleaning robot performs the second curve avoidance action 9-15 times per reference length of the edge to be avoided. 11.The method of claim 10, wherein the controlling the cleaning robot to perform the second curve avoidance action comprises: controlling the cleaning robot to rotate in place; controlling the cleaning robot to turn at a second turning radius in response to the cleaning robot rotating in place to a second target state, the second target state being that the cleaning robot faces away from the edge to be avoided, the second turning radius being smaller than the first turning radius; controlling the cleaning robot to rotate in place again in response to the cleaning robot turning at the second turning radius to the edge to be avoided. 12.The method of claim 11, wherein a rotation angle of the second target state relative to an initial state is smaller than a rotation angle of the first target state relative to the initial state; wherein, the initial state being a state before the cleaning robot rotates in place for the current time. 13.The method of claim 12, wherein the controlling the cleaning robot to rotate in place comprises: controlling the cleaning robot to rotate in place to a second preset distance away from the edge to be avoided to reach the second target state. 14.The method of claim 12 or 13, wherein a side brush is arranged at a bottom of the cleaning robot and a plurality of cliff sensors are arranged at intervals, the method further comprising: determining a rotation angle required for rotating in place in the second curve avoidance action according to a layout position of a cliff sensor closest to the edge to be avoided in the initial state; wherein the farther the cliff sensor closest to the edge to be avoided in the initial state is from the side brush, the greater the rotation angle of the second target state relative to the initial state. 15.The method of claim 14, wherein the determining the rotation angle required for rotating in place in the second curve avoidance action according to the layout position of the cliff sensor closest to the edge to be avoided in the initial state comprises: if the cliff sensor closest to the edge to be avoided in the initial state is on a side away from the side brush, controlling the cleaning robot to rotate in place by a second preset angle to reach the second target state; if the cliff sensor closest to the edge to be avoided in the initial state is on a side close to the side brush, controlling the cleaning robot to rotate in place by a third preset angle to reach the second target state. 16.The method of claim 15, wherein the second preset angle is 80-90° and the third preset angle is 10-20°. 17.The method of any one of claims 11-16, wherein the second turning radius is 10-15 cm. 18.The control method of claim 1-17, further comprising: in response to a length of a trajectory of a walking track generated by the cleaning robot performing the first curve avoidance action reaching a preset length threshold, controlling the cleaning robot to switch to performing a third curve avoidance action, wherein the third curve avoidance action is an action of first moving away from a front scene and then moving close to the front scene; in a process of the cleaning robot performing the third curve avoidance action, performing the third curve avoidance action 9-15 times per reference length of the front scene. 19.The control method of claim 4-17, further comprising: in a process of the cleaning robot performing the first curve avoidance action, if a turning angle of the cleaning robot turning according to the first turning radius reaches a preset angle threshold, indicating that the avoidance of the cliff edge ends, controlling the cleaning robot to switch to performing a third curve avoidance action, wherein the third curve avoidance action is an action of first moving away from a front scene and then moving close to the front scene; in a process of the cleaning robot performing the third curve avoidance action, performing the third curve avoidance action 9-15 times per reference length of the front scene. 20.The control method of claim 9-19, wherein the identifying whether the edge to be avoided is a cliff edge based on the target scene information comprises: acquiring, from the cleaning map, each position point within a preset distance range of at least one cliff sensor closest to the edge to be avoided; in each position point within the preset distance range, if there are preset number of position points that are not marked with scene information, determining that the edge to be avoided is a cliff edge, otherwise, determining that the edge to be avoided is not a cliff edge. 21.The method of claim 20, further comprising: acquiring sensing data of a target sensor carried on the cleaning robot; pre-marking scene information on the cleaning map according to the sensing data. 22.The method of claim 21, wherein the target sensor is a line laser sensor, and the pre-marking scene information on the cleaning map according to the sensing data comprises: for any one position point on the cleaning map, if the line laser sensor receives reflected laser of a real position represented by the position point, marking scene information at the position point, if the line laser sensor does not receive reflected laser of the real position represented by the position point, not marking scene information at the position point.

23. A cleaning robot comprising: a processor; a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the control method of claim 1-22. 24.A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the control method of claim 1-22.

25. A computer program product comprising a computer program which, when executed by a processor, implements the control method of the cleaning robot according to any one of claims 1-22.

26. A computer program comprising computer program code which, when run on a computer, causes the computer to perform the control method of the cleaning robot according to any one of claims 1-22.

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