Control method and apparatus for cleaning robot, medium and electronic device

Abstract

A control method for a cleaning robot, a control apparatus for a cleaning robot, a computer-readable storage medium and an electronic device. The method comprises: when it is identified that a carpet is present in an area to be cleaned, determining a target carpet type of the carpet from amongst a plurality of candidate carpet types, the plurality of candidate carpet types comprising carpet types defined on the basis of the carpet pile length (S110); and, on the basis of the target carpet type, controlling a cleaning robot to execute a corresponding instruction (S120). Thus, when a carpet is present in an area to be cleaned, a cleaning robot can be reasonably and effectively controlled.

Description

Control method and device of cleaning robot, medium and electronic equipment Cross-reference to Related Applications

[0001] This application claims priority to the application filed on September 4, 2024 in the China National Intellectual Property Office with application number 202411238402.5 and entitled "Control method and device of cleaning robot, medium and electronic equipment", the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of smart home, in particular, to a control method of a cleaning robot, a control device of a cleaning robot, a computer readable storage medium and an electronic device. BACKGROUND

[0003] With the rapid development of computer technology and artificial intelligence science, intelligent robot technology has gradually become a hot spot in the field of modern robot research. Among them, the cleaning robot as the most practical one in intelligent robots, can be applied more widely with certain artificial intelligence. SUMMARY

[0004] The purpose of the present application is to provide a control method of a cleaning robot, a control device of a cleaning robot, a computer readable storage medium and an electronic device, the specific solutions are as follows.

[0005] According to a first aspect of the present application, a control method of a cleaning robot is provided, applied to a cleaning robot; the control method comprises: in the case of identifying that a to-be-cleaned area includes a carpet, determining a target carpet type of the carpet from a plurality of candidate carpet types; the plurality of candidate carpet types include types divided according to the length of carpet hair; according to the target carpet type, controlling the cleaning robot to execute a corresponding instruction.

[0006] In an example embodiment of the present application, the determining of the target carpet type of the carpet from the plurality of candidate carpet types comprises:

[0007] In the case that a cleaner of the cleaning robot contacts the carpet, the target carpet type of the carpet is determined from the plurality of candidate carpet types according to current data of the cleaner.

[0008] In an example embodiment of the present application, the cleaner at least includes a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot, and the determining of the target carpet type of the carpet from the plurality of candidate carpet types according to the current data of the cleaner comprises:

[0009] determining a target carpet type of the carpet according to first current data of the first cleaner running and second current data of the second cleaner running.

[0010] In an example embodiment of the present application, the determining a target carpet type of the carpet according to first current data of the first cleaner running and second current data of the second cleaner running comprises:

[0011] if the first current data is less than a first preset threshold and the second current data is less than a second preset threshold, determining the target carpet type as a first carpet type;

[0012] if the first current data is less than the first preset threshold and the second current data is greater than the second preset threshold, determining the target carpet type as a second carpet type;

[0013] if the first current data is greater than the first preset threshold and the second current data is greater than the second preset threshold, determining the target carpet type as a third carpet type;

[0014] wherein a length of carpet hair under the second carpet type is greater than a length of carpet hair under the first carpet type, and a length of carpet hair under the third carpet type is greater than a length of carpet hair under the second carpet type.

[0015] In an example embodiment of the present application, the determining a target carpet type of the carpet according to first current data of the first cleaner running and second current data of the second cleaner running comprises:

[0016] if the first current data is greater than the first preset threshold and the second current data is less than the second preset threshold, determining the target carpet type as a fourth carpet type; the fourth carpet type is a carpet type with irregular edges and ground adhesion.

[0017] In an example embodiment of the present application, the determining a target carpet type of the carpet from a plurality of candidate carpet types comprises:

[0018] in response to receiving a preset interaction operation, determining the target carpet type of the carpet from the plurality of candidate carpet types according to the preset interaction operation.

[0019] In an example embodiment of the present application, the control method further comprises:

[0020] obtaining pre-configured carpet attribute information;

[0021] determining the plurality of candidate carpet types according to the carpet attribute information.

[0022] In the example embodiments of the present application, the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0023] In the example embodiments of the present application, the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0024] In the example embodiments of the present application, the cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0025] If the target carpet type is a first carpet type, the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0026] In the example embodiments of the present application, the cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0027] If the target carpet type is a second carpet type, the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0028] In the example embodiments of the present application, the cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0029] If the target carpet type is a third carpet type, the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0030] In the example embodiments of the present application, the cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0031] If the target carpet type is a fourth carpet type, the controlling the cleaning robot to execute corresponding instructions according to the target carpet type comprises:

[0032] In the example embodiments of the present application, the cleaning robot further comprises a third cleaner, the first cleaner and the second cleaner adopt a first cleaning mode, the third cleaner adopts a second cleaning mode different from the first cleaning mode; and the controlling the cleaning robot to execute the corresponding instruction according to the target carpet type further comprises:

[0033] controlling the cleaning robot to lift the third cleaner.

[0034] In the example embodiments of the present application, the controlling the cleaning robot to lift the first cleaner comprises:

[0035] controlling the cleaning robot to execute at least one of the following instructions: backing up and rotating the body, and then lifting the first cleaner.

[0036] In the example embodiments of the present application, the cleaning robot comprises a driver for driving the first cleaner to lift; and the controlling the cleaning robot to lift the first cleaner comprises:

[0037] In the process of lifting the first cleaner by the driver, if an abnormal situation occurs, the driver is switched to reverse driving, the body of the cleaning robot is rotated, and then the first cleaner is lifted again by the driver.

[0038] According to a second aspect of the present application, a control device of a cleaning robot is provided, which is applied to a cleaning robot and comprises: a target type determination module, configured to determine a target carpet type of a carpet from a plurality of candidate carpet types when it is identified that the carpet is included in a to-be-cleaned area; the plurality of candidate carpet types comprise types of carpets divided according to lengths of carpet hairs; and a corresponding instruction execution module, configured to control the cleaning robot to execute a corresponding instruction according to the target carpet type.

[0039] In the example embodiments of the present application, the target type determination module comprises:

[0040] a type determination unit, configured to determine the target carpet type of the carpet from the plurality of candidate carpet types according to current data of a cleaner of the cleaning robot when the cleaner contacts the carpet.

[0041] In the example embodiments of the present application, the cleaner comprises at least a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot, and the type determination unit comprises:

[0042] The current data judgment subunit is configured to determine a target carpet type of the carpet according to first current data of the first cleaner and second current data of the second cleaner.

[0043] In an example embodiment of the present application, the current data judgment subunit includes:

[0044] The first judgment subunit is configured to determine the target carpet type as a first carpet type if the first current data is less than a first preset threshold and the second current data is less than a second preset threshold.

[0045] The second judgment subunit is configured to determine the target carpet type as a second carpet type if the first current data is less than the first preset threshold and the second current data is greater than the second preset threshold.

[0046] The third judgment subunit is configured to determine the target carpet type as a third carpet type if the first current data is greater than the first preset threshold and the second current data is greater than the second preset threshold.

[0047] The length of carpet hair in the second carpet type is greater than the length of carpet hair in the first carpet type, and the length of carpet hair in the third carpet type is greater than the length of carpet hair in the second carpet type.

[0048] In an example embodiment of the present application, the current data judgment subunit includes:

[0049] The fourth judgment subunit is configured to determine the target carpet type as a fourth carpet type if the first current data is greater than the first preset threshold and the second current data is less than the second preset threshold, wherein the fourth carpet type is a carpet type with irregular edges and ground.

[0050] In an example embodiment of the present application, the target type determination module includes:

[0051] The interactive operation receiving unit is configured to determine the target carpet type of the carpet from the plurality of candidate carpet types according to a preset interactive operation in response to receiving the preset interactive operation.

[0052] In an example embodiment of the present application, the control device further includes:

[0053] The attribute information obtaining unit is configured to obtain preconfigured carpet attribute information.

[0054] The candidate type determination unit is configured to determine a plurality of candidate carpet types according to the carpet attribute information.

[0055] In the example embodiments of the present application, the corresponding instruction execution module comprises:

[0056] An instruction control unit is configured to control the cleaning robot to execute corresponding instructions according to the target carpet type if the cleaning robot has been located at least partially in the area where the carpet is located.

[0057] In the example embodiments of the present application, the cleaning robot comprises a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot, and the instruction control unit comprises:

[0058] A first control sub-unit is configured to control the cleaning robot to clean the carpet using the first cleaner and the second cleaner if the target carpet type is a first carpet type.

[0059] In the example embodiments of the present application, the cleaning robot comprises a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot, and the instruction control unit comprises:

[0060] A second control sub-unit is configured to control the cleaning robot to lift the second cleaner, and clean the carpet using the first cleaner and / or the second cleaner if the target carpet type is a second carpet type.

[0061] In the example embodiments of the present application, the cleaning robot comprises a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot, and the instruction control unit comprises:

[0062] A third control sub-unit is configured to control the cleaning robot to lift the first cleaner and the second cleaner, and clean the carpet using the first cleaner and / or the second cleaner if the target carpet type is a third carpet type.

[0063] In the example embodiments of the present application, the cleaning robot comprises a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot, and the instruction control unit comprises:

[0064] A fourth control sub-unit is configured to control the cleaning robot to lift the first cleaner, and clean the carpet using the first cleaner and / or the second cleaner if the target carpet type is a fourth carpet type.

[0065] In the example embodiment of the present application, the cleaning robot further comprises a third cleaner, the first cleaner and the second cleaner adopt a first cleaning mode, the third cleaner adopts a second cleaning mode different from the first cleaning mode, and the instruction control unit further comprises:

[0066] A fifth control subunit is configured to control the cleaning robot to lift the third cleaner.

[0067] In the example embodiment of the present application, the third control subunit further comprises:

[0068] A further instruction control subunit is configured to control the cleaning robot to execute at least one of the instructions of backing up and rotating the body, and then lift the first cleaner.

[0069] In the example embodiment of the present application, the fourth control subunit further comprises:

[0070] A further instruction control subunit is configured to control the cleaning robot to execute at least one of the instructions of backing up and rotating the body, and then lift the first cleaner.

[0071] In the example embodiment of the present application, the cleaning robot comprises a driver configured to drive the first cleaner to lift, and the third control subunit comprises:

[0072] A driver driving subunit is configured to, in the process of lifting the first cleaner by the driver, if an abnormal situation occurs, switch the driver to reverse driving, rotate the body of the cleaning robot, and then lift the first cleaner by the driver again.

[0073] In the example embodiment of the present application, the cleaning robot comprises a driver configured to drive the first cleaner to lift, and the fourth control subunit comprises:

[0074] A driver driving subunit is configured to, in the process of lifting the first cleaner by the driver, if an abnormal situation occurs, switch the driver to reverse driving, rotate the body of the cleaning robot, and then lift the first cleaner by the driver again.

[0075] In a third aspect, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the control method described above.

[0076] In a fourth aspect, the present application provides an electronic device comprising: a processor; and a memory configured to store executable instructions of the processor; wherein the processor is configured to execute the control method described above by executing the executable instructions.

[0077] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0078] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application. It is apparent that the accompanying drawings are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings. In the drawings:

[0079] FIG. 1 schematically shows a flow chart of a control method of a cleaning robot according to an exemplary embodiment of the present application;

[0080] FIG. 2 schematically shows a sub-flow chart of a control method of a cleaning robot according to an exemplary embodiment of the present application;

[0081] FIG. 3 schematically shows a structural block diagram of a control device of a cleaning robot according to an exemplary embodiment of the present application;

[0082] FIG. 4 schematically shows an electronic device for implementing the above method according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0083] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be described in further detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort belong to the scope of protection of the present application.

[0084] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0085] It should be understood that the term "and / or" used herein only describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0086] It should be understood that, although the terms first, second, third, etc. can be used herein to describe various..., these... should not be limited to these terms. These terms are only used to distinguish one... from another. For example, a first... could be termed a second..., and, similarly, a second... could be termed a first..., without departing from the scope of example embodiments of the present application.

[0087] Depending on the context, the word "if" as used herein can be interpreted to mean "when" or "while" or "in response to determining" or "in response to detecting." Similarly, the phrase "if it is determined" or "if [a stated condition or event] is detected" can be interpreted to mean "upon determining" or "in response to determining" or "upon detecting [the stated condition or event]" or "in response to detecting [the stated condition or event]."

[0088] It is also to be noted that the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a product or process that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such product or process. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the product or process that includes the element.

[0089] The example embodiments of the present application provide a control method of a cleaning robot, which can be applied to a cleaning robot, and the cleaning robot can implement the method by hardware and / or software. Referring to FIG. 1, a flowchart of a control method of a cleaning robot according to an example embodiment of the present application is shown, and the method can include steps S110-S120.

[0090] In step S110, in a case where it is identified that a carpet is included in a region to be cleaned, a target carpet type of the carpet is determined from among a plurality of candidate carpet types; the plurality of candidate carpet types include types classified according to lengths of carpet hairs.

[0091] The region to be cleaned refers to a region in a working environment of the cleaning robot that needs to be cleaned, such as one or more houses, or specific regions such as a living room or a bedroom. The region to be cleaned can be pre-set, such as being set by a user, or can be set by a system. The example embodiments can configure various sensing devices or hardware modules on the cleaning robot to identify the carpet in the region to be cleaned. For example, an ultrasonic sensor, an infrared sensor, a pressure sensor, a camera module, etc. can be integrated on the cleaning robot, and the sensing data collected by each device or module is analyzed to identify whether the region to be cleaned includes a carpet.

[0092] The carpet type can be used to distinguish the attributes of different carpets. In the present exemplary embodiment, the candidate carpet types can include types classified according to the length of the carpet pile, such as long-pile carpet, short-pile carpet, or medium-pile carpet, etc. The length of the pile can be classified according to actual needs. For example, less than 2 cm can be considered as short-pile carpet, 2-5 cm can be considered as medium-pile carpet, and more than 5 cm can be considered as long-pile carpet; or less than 1 cm can be considered as short-pile carpet, 1-2 cm can be considered as medium-pile carpet, and more than 2 cm can be considered as long-pile carpet, etc. The classification of different carpet types according to the length of the carpet pile can be customized according to actual needs, which is not limited in the present application. The candidate carpet types can be randomly configured by the system or configured in advance by the user, such as short-pile, long-pile, and medium-pile carpet types configured in advance by the user, etc. The classification standard of the specific type configuration can be customized according to actual needs. The target carpet type refers to the type of the carpet identified in the cleaning area. In the present exemplary embodiment, the carpet type corresponding to the current carpet can be determined from a plurality of candidate carpet types as the target carpet type.

[0093] In step S120, the cleaning robot is controlled to execute corresponding instructions according to the target carpet type.

[0094] Further, the cleaning robot can be controlled to execute corresponding instructions according to the determined target carpet type. The instructions can include control instructions for the cleaner or control instructions for the cleaning robot itself, such as instructions for the cleaning robot to lift the cleaner, instructions for the cleaning robot to rotate, or instructions for the cleaning robot to rotate and lift the cleaner, etc. When the cleaning robot includes a plurality of cleaners, such as a plurality of cleaners including a side brush, a main brush, and a mop, etc., the cleaning robot can also be controlled to execute corresponding instructions for different cleaners according to the target carpet type, such as instructions for the cleaning robot to lift the mop for short-pile carpet type, instructions for the cleaning robot to lift the main brush, the side brush, and the mop for long-pile carpet type, etc. The specific instructions can be determined according to the target carpet type and the specific control device of the cleaning robot.

[0095] In the present exemplary embodiment, when the cleaning robot fails to execute the corresponding instructions, the corresponding instructions can also be repeatedly executed again, such as executing the corresponding instructions again after waiting for a preset time interval, canceling the stop instruction when the number of repetitions reaches a preset number, or canceling the stop instruction when receiving a user input canceling the stop instruction, etc.

[0096] Based on the above description, in the present exemplary embodiment, in the case where it is identified that the carpet is included in the to-be-cleaned area, the target carpet type of the carpet is determined from a plurality of candidate carpet types; the plurality of candidate carpet types include types classified according to the length of the carpet hair; according to the target carpet type, the cleaning robot is controlled to execute corresponding instructions. On the one hand, the present exemplary embodiment proposes a new control method of the cleaning robot, which can execute corresponding instructions for the carpet in the to-be-cleaned area, so as to avoid the special situation that the cleaning robot pushes against or clamps the carpet when executing general instructions on the carpet; on the other hand, by effectively identifying the carpet type determined based on the length of the carpet hair, the present exemplary embodiment determines the target carpet type of the carpet in the to-be-cleaned area, and controls the cleaning robot to execute corresponding instructions according to the target carpet type, so as to execute accurate control instructions according to the actual carpet type, thereby improving the effectiveness and accuracy of controlling the cleaning robot when facing the carpet medium.

[0097] In an exemplary embodiment, the above determination of the target carpet type of the carpet from a plurality of candidate carpet types can include:

[0098] In the case where the cleaner of the cleaning robot contacts the carpet, the target carpet type of the carpet is determined from a plurality of candidate carpet types according to current data of the cleaner.

[0099] The cleaner of the cleaning robot refers to the main part for executing the cleaning task, for example, can be a cleaning brush, a cleaning mop, etc., and specifically, according to actual needs, a plurality of cleaners can be configured for the cleaning robot, for example, the cleaning robot can be configured with a plurality of types of cleaners such as side brushes, main brushes and mops, and the number and position of each type of cleaner can also be set according to needs, which is not limited in the present application.

[0100] In the working state, the cleaner of the cleaning robot is usually in contact with the ground or very close to the ground, when the cleaning robot approaches the carpet or enters the carpet area, the cleaner of the cleaning robot can contact the carpet, at this time, in order to ensure that the cleaning robot can still maintain effective and reasonable cleaning work in the carpet area, the target carpet type of the current carpet can be determined from a plurality of candidate carpet types according to current data of the cleaner, and the instructions to be executed are further determined according to the target carpet type.

[0101] The current data of the cleaner running can be a current value of the cleaner running. When the cleaner runs on the pile of the carpet, the length, density, and other different carpet types of the pile of the carpet have an impact on the current of the cleaner. For example, when the carpet is thicker or has a harder texture, the motor current value of the cleaner rotating will also be larger. Therefore, the example embodiment can determine the target carpet type of the carpet according to the size of the current value. When the cleaner includes multiple cleaners, the target carpet type of the carpet can be determined according to the current values of the multiple cleaners running.

[0102] In an example embodiment, the cleaner includes at least a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot, and determining the target carpet type of the carpet from the multiple candidate carpet types according to the current data of the cleaner running can include:

[0103] Determining the target carpet type of the carpet according to the first current data of the first cleaner running and the second current data of the second cleaner running.

[0104] In the example embodiment, the cleaner includes at least two, a first cleaner and a second cleaner. The first cleaner is located at an edge area of the cleaning robot, for example, can be an edge brush. The second cleaner is located at a non-edge area of the cleaning robot, for example, can be a main brush. The number of the first cleaner and the second cleaner can be multiple, for example, an edge brush is arranged on each side of the forward direction of the cleaning robot, or two main brushes are arranged at the non-edge area of the cleaning robot, etc. In addition, the cleaner can also include other cleaners, such as a mop, etc.

[0105] The cleaner includes at least a first cleaner and a second cleaner. The example embodiment can determine the target carpet type of the carpet according to the first current data of the first cleaner running, for example, the current value of the first cleaner running, and the second current data of the second cleaner running, for example, the current value of the second cleaner running. For example, when the current value of the first cleaner running is lower than a first preset threshold value, and the current value of the second cleaner running is lower than a second preset threshold value, it can be determined that the carpet is a short pile carpet type, etc.

[0106] In an example embodiment, as shown in FIG. 2, the above determining the target carpet type of the carpet according to the first current data of the first cleaner running and the second current data of the second cleaner running can include:

[0107] In S210, if the first current data is less than a first preset threshold value, and the second current data is less than a second preset threshold value, it is determined that the target carpet type is a first carpet type.

[0108] At S220, if the first current data is less than the first preset threshold value and the second current data is greater than the second preset threshold value, it is determined that the target carpet type is the second carpet type.

[0109] At S230, if the first current data is greater than the first preset threshold value and the second current data is greater than the second preset threshold value, it is determined that the target carpet type is the third carpet type.

[0110] The length of the carpet hair in the second carpet type is greater than the length of the carpet hair in the first carpet type, and the length of the carpet hair in the third carpet type is greater than the length of the carpet hair in the second carpet type.

[0111] The first preset threshold value is a threshold value for determining whether the first current data meets the requirements, and the second preset threshold value is a threshold value for determining whether the second current data meets the requirements. The first preset threshold value and the second preset threshold value can be self-defined according to actual needs. In the example embodiment, the first preset threshold value can be less than the second preset threshold value. The first preset threshold value and the second preset threshold value can be associated, for example, the first preset threshold value can be set to 450 mA (milliampere), and the second preset threshold value can be twice the first preset threshold value, such as 900 mA.

[0112] When the first current data is less than the first preset threshold value and the second current data is less than the second preset threshold value, it can be determined that the target carpet type is the first carpet type, in which the length of the carpet hair is relatively short, for example, it can be referred to as a short hair carpet type. When the first current data is less than the first preset threshold value and the second current data is greater than the second preset threshold value, it can be determined that the target carpet type is the second carpet type, in which the length of the carpet hair is slightly longer than the first carpet type, for example, it can be referred to as a medium-length hair carpet type. When the first current data is greater than the first preset threshold value and the second current data is greater than the second preset threshold value, it can be determined that the target carpet type is the third carpet type, in which the length of the carpet hair is longer than the second carpet type, for example, it can be referred to as a long hair carpet type.

[0113] In an example embodiment, according to the first current data of the first cleaner and the second current data of the second cleaner, the target carpet type of the carpet can be determined, which can include:

[0114] If the first current data is greater than the first preset threshold value and the second current data is less than the second preset threshold value, it is determined that the target carpet type is the fourth carpet type, which is a carpet type in which the edge does not fit the ground irregularly.

[0115] When the first current data is greater than the first preset threshold and the second current data is less than the second preset threshold, for example, the brush rotating motor current value exceeds 450 mA and the main brush rotating motor current value is less than 900 mA, at this time, it is possible that the first cleaner, such as the edge brush, lifts the edge of the carpet to cause overcurrent, in which case, the target carpet type can be determined as the fourth carpet type. The fourth carpet type in the example embodiment refers to a carpet type in which the edge is irregularly attached to the ground. The irregularity can include a gap with unequal height spacing between the carpet and the ground, or the edge of the carpet has different lengths so that the height from the ground to the top of the carpet is different, and the like.

[0116] In an example embodiment, the above determining the target carpet type of the carpet from the plurality of candidate carpet types can include:

[0117] In response to receiving the preset interaction operation, determining the target carpet type of the carpet from the plurality of candidate carpet types according to the preset interaction operation.

[0118] The preset interaction operation refers to an operation input by the user for selecting the target carpet type, for example, it can be a single click, double click or sliding operation for selecting from a plurality of existing carpet type options, or it can be a text operation or voice operation input by the user, for example, when the long pile carpet type is included in the cleaning area, the user can determine the target carpet type of the carpet included in the current cleaning area as the long pile carpet type through voice wake-up or text input.

[0119] The example embodiment can determine the target carpet type through the current data of the cleaner, or determine the target carpet type according to the preset interaction operation of the user, and can send confirmation information to the user after the cleaning robot determines the target carpet type, respond to the user's confirmation operation, or consider that the user defaults to the target carpet type determined by the current data of the cleaner as accurate within a preset time without a specific operation. When the target carpet type cannot be determined according to the current data of the cleaner, a notification can also be sent to the user to determine the target carpet type according to the preset interaction operation of the user to ensure the accuracy and effectiveness of the determination of the target carpet type, and to avoid the problem that the single way of determining the target carpet type is inaccurate when the cleaning robot encounters special situations.

[0120] In an example embodiment, the above control method of the cleaning robot can further include:

[0121] Obtaining pre-configured carpet attribute information;

[0122] Determining a plurality of candidate carpet types according to the carpet attribute information.

[0123] The pre-configured carpet attribute information can include the position of the carpet, the length of the carpet hair, the current data of the carpet, etc. The carpet attribute information can be configured by the user in the cleaning robot. For example, the carpet attribute information can be the correspondence between the length of the carpet hair and the type of the carpet. The user can pre-configure or add in the control program of the cleaning robot. For example, the length of the carpet hair is less than 2 cm for short hair carpet, the length of the carpet hair is 2-5 cm for medium length hair carpet, and the length of the carpet hair is more than 5 cm for long hair carpet. According to the pre-configured carpet attribute information, a plurality of candidate carpet types can be determined, that is, the example embodiment can divide a plurality of candidate carpet types to be selected or to be confirmed according to the pre-configured carpet attribute information of the user. The example embodiment can first obtain the pre-configured carpet attribute information, for example, extract the carpet attribute information from the user configuration file, or pre-configure by the user before starting the cleaning robot, and then determine a plurality of candidate carpet types according to the carpet attribute information.

[0124] In addition, if necessary, the correspondence between the carpet type and the current range can also be pre-configured, so that when the current data of the cleaner of the cleaning robot is detected, the corresponding target carpet type can be found according to the pre-set current data mapping relationship, etc. The present application does not make specific limitations.

[0125] In an example embodiment, according to the target carpet type, the cleaning robot is controlled to execute corresponding instructions, which can include:

[0126] In the case that the cleaning robot has at least partially located in the area where the carpet is located, the cleaning robot is controlled to execute corresponding instructions according to the target carpet type.

[0127] In the example embodiment, if the cleaning robot detects the target carpet type of the carpet before the carpet is placed, the cleaner can be directly controlled, for example, the corresponding cleaner is lifted. If the cleaning robot has at least partially located in the area where the carpet is located, the cleaning robot can be controlled to execute instructions suitable for the target carpet type according to the target carpet type. The cleaning robot has at least partially located in the area where the carpet is located can be that the cleaning robot contacts the carpet area, but does not completely enter the carpet area, or the cleaning robot has completely entered the carpet area, etc.

[0128] In an example embodiment, the cleaning robot includes a first cleaner located at the edge area of the cleaning robot and a second cleaner located at the non-edge area of the cleaning robot; according to the target carpet type, the cleaning robot is controlled to execute corresponding instructions, which can include:

[0129] If the target carpet type is the first carpet type, the cleaning robot is controlled to clean the carpet using the first cleaner and the second cleaner.

[0130] In the example embodiment, the cleaning robot can include a plurality of cleaners, such as a first cleaner located at an edge region of the cleaning robot, and a second cleaner located at a non-edge region of the cleaning robot. In the example embodiment, the first cleaner can be an edge brush, and the second cleaner can be a main brush. After determining the target carpet type, the first cleaner and the second cleaner can be controlled respectively to effectively clean the carpet using the first cleaner and the second cleaner. When the target carpet type is determined to be the first carpet type, if the cleaning robot further includes a third cleaner, such as a mop, the third cleaner can also be controlled to be lifted to avoid the impact of the mop on the carpet, such as pollution.

[0131] In an example embodiment, the cleaning robot includes a first cleaner located at an edge region of the cleaning robot, and a second cleaner located at a non-edge region of the cleaning robot. According to the target carpet type, the cleaning robot is controlled to execute corresponding instructions, including:

[0132] If the target carpet type is the second carpet type, the cleaning robot is controlled to lift the second cleaner, and clean the carpet using the first cleaner and / or the second cleaner.

[0133] When the target carpet type is determined to be the second carpet type, the second cleaner can be controlled to be lifted. For example, when the target carpet type is determined to be the medium-long pile carpet type, the main brush arranged at the bottom of the cleaning robot can be lifted by lifting the chassis of the cleaning robot, and then the first cleaner and / or the second cleaner is used to clean the carpet. In addition, if necessary, the third cleaner can also be lifted to avoid the impact of the third cleaner on the carpet, such as additional pollution.

[0134] In the example embodiment, lifting the second cleaner can include lifting the second cleaner at different lifting heights. For example, the second cleaner can be slightly lifted so that it does not push against the carpet or cause jamming on the carpet, and the cleaner bristles can still contact the carpet pile. The second cleaner can also be lifted higher so that it does not contact the carpet pile, and the like. The specific lifting height can be set according to actual needs. When the second cleaner is lifted, the cleaning robot can normally enter the carpet area, avoiding the jamming of the cleaning robot caused by the cleaner. After entering the carpet area, the example embodiment can use the first cleaner to clean the carpet area. The second cleaner can also be used to simply clean the sharp part of the carpet pile, such as when the second cleaner is lifted at a small distance, the second cleaner can still clean the carpet. The cleaner can also be controlled to be lowered after entering the flat area of the carpet, and the like.

[0135] In an example embodiment, the cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; and controlling the cleaning robot to execute corresponding instructions according to the target carpet type can comprise:

[0136] If the target carpet type is the third carpet type, the cleaning robot is controlled to lift the first cleaner and the second cleaner, and the first cleaner and / or the second cleaner is used to clean the carpet.

[0137] When it is determined that the target carpet type is the third carpet type, the cleaning robot can be controlled to lift the first cleaner and the second cleaner, for example, when it is determined that the target carpet type is the long-pile carpet type, the cleaning robot can be controlled to directly lift the edge brush, and the main brush is lifted by lifting the chassis. Wherein, lifting the first cleaner and the second cleaner can include completely lifting the first cleaner and the second cleaner to be out of contact with the carpet, or lifting the first cleaner and the second cleaner by a small distance to be in contact with the carpet hair, etc. The specific lifting distance can be set according to actual needs, in addition, the lifting height of the first cleaner and the second cleaner can be the same or different, for example, the lifting height of the edge brush can be set to be higher than the lifting height of the main brush. Further, after entering the carpet area, the first cleaner and / or the second cleaner can be used to clean the carpet, for example, the first cleaner and / or the second cleaner is lifted by a small distance but still in contact with the carpet hair to clean the carpet, or after entering the central region of the carpet, the first cleaner and / or the second cleaner is appropriately lowered, and the first cleaner and / or the second cleaner is used to clean the carpet, etc.

[0138] In the example embodiment, according to actual conditions, when the cleaning robot is configured with a third cleaner, the cleaning robot can also be controlled to lift the third cleaner.

[0139] In an example embodiment, the cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; and controlling the cleaning robot to execute corresponding instructions according to the target carpet type can comprise:

[0140] If the target carpet type is the fourth carpet type, the cleaning robot is controlled to lift the first cleaner, and the first cleaner and / or the second cleaner is used to clean the carpet.

[0141] When the target carpet type is determined to be the fourth carpet type, the cleaning robot can be controlled to lift the first cleaner and clean the carpet using the first cleaner and / or the second cleaner. For example, when the target carpet type is determined to be the fourth carpet type, the edge of the carpet can be lifted by the edge brush, and thus the first cleaner and / or the second cleaner can be used to clean the carpet. In the example embodiment, the third cleaner can also be lifted if necessary.

[0142] In an example embodiment, the cleaning robot further includes a third cleaner, the first cleaner and the second cleaner use a first cleaning mode, and the third cleaner uses a second cleaning mode different from the first cleaning mode. According to the target carpet type, the cleaning robot can be controlled to execute corresponding instructions, which can further include:

[0143] The third cleaner can be lifted.

[0144] In the example embodiment, the cleaning robot can further include a third cleaner in addition to the first cleaner and the second cleaner. The first cleaner and the second cleaner use a first cleaning mode, and the third cleaner uses a second cleaning mode different from the first cleaning mode. For example, the first cleaner is an edge brush, the second cleaner is a main brush, the first cleaning mode of the first cleaner and the second cleaner is a sweeping mode, and the third cleaner is a mop, and the second cleaning mode of the third cleaner is a mopping mode. In the example embodiment, the third cleaner can be a cleaner using cleaning liquid, and the first cleaner and the second cleaner can be cleaners not using cleaning liquid. The cleaning liquid can be water, a liquid containing cleaning agent, a gas-liquid mixture, or the like, such as a mop containing cleaning liquid.

[0145] After determining the target carpet type, the cleaning robot can be controlled to lift the third cleaner to avoid unnecessary damage or pollution to the carpet.

[0146] Specifically, when the target carpet type is determined to be the first carpet type, the cleaning robot can be controlled to move backward, for example, 5 cm according to its movement trajectory, and then lift the third cleaner. Further, the first cleaner and the second cleaner can be used to perform corresponding cleaning operations in the carpet. For example, when the target carpet type is determined to be the short-pile carpet type, the cleaning robot can be controlled to perform a backward movement, lift the mop, and continue to enter the carpet area to perform corresponding cleaning operations using the edge brush and the main brush. Based on the method of the example embodiment, the first cleaner and / or the second cleaner can be ensured to work normally while avoiding the third cleaner from affecting the carpet.

[0147] When the target carpet type is determined as the second carpet type, the cleaning robot can be controlled to lift the second cleaner and lift the third cleaner, and clean the carpet using the first cleaner and / or the second cleaner.

[0148] When the target carpet type is determined as the third carpet type, the cleaning robot can be controlled to lift the first cleaner, the second cleaner and the third cleaner, and clean the carpet using the first cleaner and / or the second cleaner. For example, when the brush current is determined to be greater than 450 mA and the main brush current is determined to be greater than 900 mA, it indicates that the carpet can be thicker or harder in texture, and the target carpet type is determined as the long-pile carpet type, the cleaning robot can be controlled to first perform a backward operation, for example, backward by 5 cm, and lift the third cleaner and the first cleaner, such as the mop and the side brush, to reduce the direct contact area and force of the side brush with the carpet. Then, the cleaning robot can be controlled to work the elevator to lift the main brush by lifting the chassis, so that the main brush and the chassis are not lifted by the carpet. Further, the cleaning robot can be controlled to clean the carpet using the first cleaner and / or the second cleaner.

[0149] When the target carpet type is determined as the fourth carpet type, the cleaning robot can be controlled to lift the first cleaner, and clean the carpet using the first cleaner and / or the second cleaner. For example, when the target carpet type is determined as the short-pile carpet type with irregular edges, the cleaning robot can be controlled to perform a backward operation to lift the third cleaner, such as the mop, and then perform a rotation operation. Then, the cleaning robot can be controlled to lift the first cleaner, such as the side brush. Further, the cleaning robot can be controlled to clean the carpet using the first cleaner and / or the second cleaner.

[0150] In an example embodiment, the control of the cleaning robot to lift the first cleaner can include:

[0151] The control of the cleaning robot to perform at least one of a backward operation and a rotation operation of the body, and then lift the first cleaner.

[0152] In the example embodiment, the cleaning robot can be controlled to perform at least one of a backward operation and a rotation operation of the body, and then perform the operation of lifting the first cleaner, according to the need of the control operation of the cleaning robot. The rotation operation of the body can be a rotation in a preset direction by a preset angle, for example, a rotation by 45 degrees in a positive direction. The specific rotation direction and angle can be set according to the need, which is not limited in the present application.

[0153] For example, when the target carpet type is determined as the first carpet type, the cleaning robot can be controlled to execute the backward instruction, then execute the operation of lifting the first cleaner, or execute the backward instruction while lifting the first cleaner; or when the target carpet type is determined as the fourth carpet type, the cleaning robot can be controlled to execute the backward instruction first, then execute the rotation instruction, and then lift the first cleaner, or execute the backward instruction first, then execute the rotation instruction while lifting the first cleaner, and the like. The specific instructions, the sequence of lifting the first cleaner, and whether to execute simultaneously are not limited in the present application.

[0154] In an example embodiment, the cleaning robot comprises a driver for driving the first cleaner to lift; the control of the cleaning robot to lift the first cleaner can comprise:

[0155] In the process of lifting the first cleaner by the driver, if an abnormal situation occurs, the driver is switched to reverse driving, the body of the cleaning robot is rotated, and then the first cleaner is lifted again by the driver.

[0156] The driver for driving the first cleaner to lift can be a motor device.

[0157] In the example embodiment, the forward driving of the driver can control the cleaning robot to lift the cleaner, and the reverse driving of the driver can control the cleaning robot to lower the cleaner. In the process of lifting the first cleaner by the driver, if an abnormal situation occurs, such as excessive current of the driver, or other error, failure, etc., the driver can be switched to reverse driving first to execute the operation of controlling the cleaning robot to lower the cleaner, and after reaching a preset working time, for example, 1 second, the cleaning robot is rotated, for example, controlled to rotate 45 degrees counterclockwise by a second preset angle, and the operation of lifting the cleaner is executed again. If it is still overcurrent or failure, a prompt information can also be sent to the user, such as information prompting that the lifting cleaner module is abnormal.

[0158] In the example embodiment, if the driving current is too large in the process of lifting the first cleaner, the driving current refers to the current for driving the first cleaner to lift, the cleaning robot can be controlled to execute the operation of lowering the cleaner first, and when the lowering time exceeds a preset threshold, such as 1 second, or the overcurrent is triggered, the cleaner is lowered to the position, etc., the operation of lifting the cleaner can be executed. If the lifting of the cleaner fails, the cleaner can be lowered again and then rotated, for example, rotated 45 degrees counterclockwise, and then the lifting of the cleaner is tried again. If the lifting still fails, an error mechanism can be triggered, and the cleaner can execute the operation of continuing to rotate.

[0159] In the example embodiment of the present application, a control device of a cleaning robot is also provided, as shown in FIG. 3, the control device 300 of the cleaning robot can include: a target type determination module 310, and a corresponding instruction execution module 320, wherein: the target type determination module 310 is configured to determine a target carpet type of a carpet from a plurality of candidate carpet types when it is identified that the carpet is included in a region to be cleaned; the plurality of candidate carpet types include types classified according to the length of carpet fibers; and the corresponding instruction execution module 320 is configured to control the cleaning robot to execute a corresponding instruction according to the target carpet type.

[0160] In an example embodiment of the present application, the target type determination module 310 includes: a type determination unit configured to determine a target carpet type of a carpet from a plurality of candidate carpet types according to current data of a cleaner running when the cleaner of the cleaning robot contacts the carpet.

[0161] In an example embodiment of the present application, the cleaner includes at least a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot, and the type determination unit includes: a current data judgment subunit configured to determine the target carpet type of the carpet according to first current data of the first cleaner running and second current data of the second cleaner running.

[0162] In an example embodiment of the present application, the current data judgment subunit includes: a first judgment subunit configured to determine the target carpet type as a first carpet type if the first current data is less than a first preset threshold value and the second current data is less than a second preset threshold value; a second judgment subunit configured to determine the target carpet type as a second carpet type if the first current data is less than the first preset threshold value and the second current data is greater than the second preset threshold value; and a third judgment subunit configured to determine the target carpet type as a third carpet type if the first current data is greater than the first preset threshold value and the second current data is greater than the second preset threshold value; wherein the length of carpet fibers in the second carpet type is greater than the length of carpet fibers in the first carpet type, and the length of carpet fibers in the third carpet type is greater than the length of carpet fibers in the second carpet type.

[0163] In an example embodiment of the present application, the current data judgment subunit includes: a fourth judgment subunit configured to determine the target carpet type as a fourth carpet type if the first current data is greater than the first preset threshold value and the second current data is less than the second preset threshold value; and the fourth carpet type is a carpet type in which the edge and the ground are irregularly attached.

[0164] In an example embodiment, the target type determining module 310 comprises an interaction operation receiving unit configured to determine a target carpet type of the carpet from a plurality of candidate carpet types according to the preset interaction operation in response to receiving the preset interaction operation.

[0165] In an example embodiment, the control device of the cleaning robot further comprises an attribute information obtaining unit configured to obtain preconfigured carpet attribute information; and a candidate type determining unit configured to determine a plurality of candidate carpet types according to the carpet attribute information.

[0166] In an example embodiment of the present application, the corresponding instruction executing module 320 comprises an instruction control unit configured to control the cleaning robot to execute corresponding instructions according to the target carpet type in a case where the cleaning robot has been located at least partially in the area where the carpet is located.

[0167] In an example embodiment of the present application, the cleaning robot comprises a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot; and the instruction control unit comprises a first control subunit configured to control the cleaning robot to clean the carpet using the first cleaner and the second cleaner if the target carpet type is a first carpet type.

[0168] In an example embodiment of the present application, the cleaning robot comprises a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot; and the instruction control unit comprises a second control subunit configured to control the cleaning robot to lift the second cleaner and clean the carpet using the first cleaner and / or the second cleaner if the target carpet type is a second carpet type.

[0169] In an example embodiment of the present application, the cleaning robot comprises a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot; and the instruction control unit comprises a third control subunit configured to control the cleaning robot to lift the first cleaner and the second cleaner and clean the carpet using the first cleaner and / or the second cleaner if the target carpet type is a third carpet type.

[0170] In an example embodiment of the present application, the cleaning robot comprises a first cleaner located at an edge area of the cleaning robot and a second cleaner located at a non-edge area of the cleaning robot; and the instruction control unit comprises a fourth control subunit configured to control the cleaning robot to lift the first cleaner and clean the carpet using the first cleaner and / or the second cleaner if the target carpet type is a fourth carpet type.

[0171] In an example embodiment of the present application, the cleaning robot further comprises a third cleaner, the first cleaner and the second cleaner adopt a first cleaning mode, the third cleaner adopts a second cleaning mode different from the first cleaning mode; the instruction control unit further comprises a fifth control sub-unit configured to control the cleaning robot to lift the third cleaner.

[0172] In an example embodiment of the present application, the third control sub-unit and the fourth control sub-unit further comprise a further instruction control sub-unit configured to control the cleaning robot to perform at least one of the following instructions: backing up and rotating the body, and then lifting the first cleaner.

[0173] In an example embodiment of the present application, the cleaning robot comprises a driver configured to drive the first cleaner to lift; the third control sub-unit and the fourth control sub-unit comprise a driver driving sub-unit configured to, during the process of lifting the first cleaner by the driver, if an abnormal situation occurs, switch the driver to reverse driving, rotate the body of the cleaning robot, and then lift the first cleaner by the driver again.

[0174] The specific details of the control device modules of the cleaning robots in the above embodiments have been described in detail in the corresponding methods, and thus will not be described here again.

[0175] It should be noted that although several modules or units of the device for performing are mentioned in the above detailed description, such division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into embodied by multiple modules or units.

[0176] In an example embodiment of the present application, an electronic device capable of implementing the above method is also provided, for example, the electronic device can be a cleaning robot capable of implementing the above method.

[0177] Those skilled in the art can understand that each aspect of the present application can be implemented as a system, a method or a program product. Therefore, each aspect of the present application can be embodied as a complete hardware embodiment, a complete software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, which can be collectively referred to as "circuitry", "module" or "system" here.

[0178] The electronic device 400 according to this example embodiment of the present application will be described below with reference to FIG. 4. The electronic device 400 shown in FIG. 4 is merely an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0179] As shown in FIG. 4, electronic device 400 is in the form of a general-purpose computing device. The components of electronic device 400 can include, but are not limited to, at least one processing unit 410, at least one memory 420, a bus 430 that connects the various system components, including the memory 420 and the processing unit 410, and a display unit 440.

[0180] The memory 420 stores, and the processing unit 410 executes, program code that causes the processing unit 410 to perform the steps described in the above "Example Methods" section of this specification in accordance with various example embodiments of the present application. For example, the processing unit 410 can perform the steps shown in FIG. 1, etc.

[0181] The memory 420 can include read-only memory (ROM), such as a flash memory 423, and / or a random access memory (RAM) 421, and / or a cache memory 422, in the form of a volatile memory unit that is used by the processing unit 410.

[0182] The memory 420 can also include program / utility 424 having a set of programs / modules 425, including operating system, one or more application programs, other program modules, and program data, each of which can give the electronic device 400 its functionality, such as implementing the network environment in some combination of each or some of these examples.

[0183] The bus 430 can represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration bus, a processor or local bus using any of a variety of bus architectures, etc.

[0184] The electronic device 400 can also communicate with one or more external devices 500 such as a keyboard or pointing device, using one or more communication ports 450. One or more devices enabling a user to interact with the electronic device 400 can be present, and / or one or more devices enabling the electronic device 400 to communicate with one or more other computing devices. Such communication can be via an input / output (I / O) interface 450. Additionally, the electronic device 400 can communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, through a network adapter 460. As depicted, the network adapter 460 communicates with the other components of the electronic device 400 via the bus 430. It should be appreciated that although not shown, other hardware and / or software modules could be used in connection with the electronic device 400. These can include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0185] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB, a mobile hard disk, etc.) or a network, and includes a number of instructions to make a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) execute the methods according to the embodiments of the present application.

[0186] In the example embodiments of the present application, a computer readable storage medium is also provided, which stores the program product capable of implementing the above-mentioned method of the present specification. In some possible embodiments, various aspects of the present application can also be implemented in the form of a program product, which includes program codes for causing the terminal device to execute the steps according to various example embodiments of the present application described in the above-mentioned “example method” section of the present specification when the program product is run on the terminal device.

[0187] The program product for implementing the above-mentioned method according to the embodiments of the present application can adopt a portable compact disc read-only memory (CD-ROM) and include program codes, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited to this, and in the present document, the readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, device or apparatus.

[0188] The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0189] A computer readable signal medium can include a propagated data signal with computer executable code embodied therein. The computer readable signal medium can be any medium that can be used to carry computer executable code for use by or in connection with an instruction execution system, apparatus, or device.

[0190] The program code embodied on the computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0191] The program code can be executed by one or more programmable processors, which can be individual components or configured to operate in concert. The program code can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider (ISP).

[0192] In addition, the above-described flowcharts are merely illustrative examples of the processes included in the method according to the exemplary embodiments of the present application, and are not intended to limit the present application. It is readily understood that the processes shown in the flowcharts are not indicative of or restrictive of the time sequence of the processes. In addition, it is readily understood that the processes can be executed synchronously or asynchronously, for example, in a plurality of modules.

[0193] Other embodiments of the present application will be readily apparent to those skilled in the art upon considering the specification and practice of the application disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the application pertains. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the application is indicated by the appended claims.

[0194] It should be understood that the application is not limited to the precise construction and the arrangement of the components described above and shown in the attached drawings, and that various modifications and changes can be made without departing from the scope of the application. The scope of the application is limited only by the claims appended hereto.

Claims

A control method of a cleaning robot applied to a cleaning robot, wherein, The control method comprises: In the case of identifying that the to-be-cleaned area includes a carpet, determining a target carpet type of the carpet from a plurality of candidate carpet types; the plurality of candidate carpet types include types of carpets divided according to lengths of carpet hairs; According to the target carpet type, controlling the cleaning robot to execute a corresponding instruction. The control method according to claim 1, wherein The determination of the target carpet type of the carpet from the plurality of candidate carpet types comprises: In the case that a cleaner of the cleaning robot contacts the carpet, determining the target carpet type of the carpet from the plurality of candidate carpet types according to current data of the cleaner. The control method according to claim 2, wherein The cleaner at least includes a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot, and the determination of the target carpet type of the carpet from the plurality of candidate carpet types according to the current data of the cleaner comprises: According to first current data of the first cleaner and second current data of the second cleaner, determining the target carpet type of the carpet. The control method according to claim 3, wherein The determination of the target carpet type of the carpet according to the first current data of the first cleaner and the second current data of the second cleaner comprises: If the first current data is less than a first preset threshold value and the second current data is less than a second preset threshold value, determining that the target carpet type is a first carpet type; If the first current data is less than the first preset threshold value and the second current data is greater than the second preset threshold value, determining that the target carpet type is a second carpet type; If the first current data is greater than the first preset threshold value and the second current data is greater than the second preset threshold value, determining that the target carpet type is a third carpet type; Wherein, the length of the carpet hair under the second carpet type is greater than the length of the carpet hair under the first carpet type, and the length of the carpet hair under the third carpet type is greater than the length of the carpet hair under the second carpet type. The control method according to claim 3 or 4, wherein The determination of the target carpet type of the carpet according to the first current data of the first cleaner and the second current data of the second cleaner comprises: If the first current data is greater than the first preset threshold value and the second current data is less than the second preset threshold value, determining that the target carpet type is a fourth carpet type; the fourth carpet type is a carpet type with irregular edge and ground adhesion. The control method according to claim 1, wherein The determination of the target carpet type of the carpet from the plurality of candidate carpet types comprises: In response to receiving a preset interaction operation, determining the target carpet type of the carpet from the plurality of candidate carpet types according to the preset interaction operation. The control method according to claim 1, wherein The control method further comprises: Obtaining pre-configured carpet attribute information; According to the carpet attribute information, determining the plurality of candidate carpet types. The control method according to claim 1, wherein The control according to the target carpet type, comprising: In the case that the cleaning robot has been located at least partially in the area where the carpet is located, controlling the cleaning robot to execute a corresponding instruction according to the target carpet type. The control method according to claim 8, wherein The cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; The control of the cleaning robot to execute corresponding instructions according to the target carpet type comprises: If the target carpet type is the first carpet type, the cleaning robot is controlled to clean the carpet using the first cleaner and the second cleaner. The control method according to claim 8, wherein The cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; The control of the cleaning robot to execute corresponding instructions according to the target carpet type comprises: If the target carpet type is the second carpet type, the cleaning robot is controlled to lift the second cleaner and clean the carpet using the first cleaner and / or the second cleaner. The control method according to claim 8, wherein The cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; The control of the cleaning robot to execute corresponding instructions according to the target carpet type comprises: If the target carpet type is the third carpet type, the cleaning robot is controlled to lift the first cleaner and the second cleaner and clean the carpet using the first cleaner and / or the second cleaner. The control method according to claim 8, wherein The cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot; The control of the cleaning robot to execute corresponding instructions according to the target carpet type comprises: If the target carpet type is the fourth carpet type, the cleaning robot is controlled to lift the first cleaner and clean the carpet using the first cleaner and / or the second cleaner. The control method according to any one of claims 9-12, wherein The cleaning robot further comprises a third cleaner, the first cleaner and the second cleaner adopt a first cleaning mode, and the third cleaner adopts a second cleaning mode different from the first cleaning mode; the control of the cleaning robot to execute corresponding instructions according to the target carpet type further comprises: The control of the cleaning robot to lift the third cleaner. The control method according to claim 11 or 12, wherein The control of the cleaning robot to lift the first cleaner comprises: The control of the cleaning robot to execute at least one of the instructions of backward movement and body rotation, and then to lift the first cleaner. The control method according to claim 11 or 12, wherein The cleaning robot comprises a driver for driving the first cleaner to lift; The control of the cleaning robot to lift the first cleaner comprises: During the lifting of the first cleaner by the driver, if an abnormal situation occurs, the driver is switched to reverse driving, the body of the cleaning robot is rotated, and then the first cleaner is lifted again by the driver. A control device of a cleaning robot, wherein The control device is applied to a cleaning robot, and the control device comprises: The target type determination module is configured to, in a case where it is identified that the area to be cleaned includes a carpet, determine a target carpet type of the carpet from a plurality of candidate carpet types; the plurality of candidate carpet types include types of carpets divided according to lengths of carpet hairs. The corresponding instruction execution module is configured to control the cleaning robot to execute a corresponding instruction according to the target carpet type. The control device according to claim 16, wherein The target type determination module includes: The type determination unit is configured to, in a case where a cleaner of the cleaning robot contacts the carpet, determine a target carpet type of the carpet from the plurality of candidate carpet types according to current data of the cleaner. The control device according to claim 17, wherein The cleaner includes at least a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot, and the type determination unit includes: The current data judgment subunit is configured to determine the target carpet type of the carpet according to first current data of the first cleaner and second current data of the second cleaner. The control device according to claim 18, wherein The current data judgment subunit includes: The first judgment subunit is configured to, if the first current data is less than a first preset threshold and the second current data is less than a second preset threshold, determine that the target carpet type is a first carpet type. The second judgment subunit is configured to, if the first current data is less than the first preset threshold and the second current data is greater than the second preset threshold, determine that the target carpet type is a second carpet type. The third judgment subunit is configured to, if the first current data is greater than the first preset threshold and the second current data is greater than the second preset threshold, determine that the target carpet type is a third carpet type. The second carpet type has a length of carpet hair greater than that of the first carpet type, and the third carpet type has a length of carpet hair greater than that of the second carpet type. The control device according to claim 18 or 19, wherein The current data judgment subunit includes: The fourth judgment subunit is configured to, if the first current data is greater than the first preset threshold and the second current data is less than the second preset threshold, determine that the target carpet type is a fourth carpet type, where the fourth carpet type is a carpet type with irregular edge and ground adhesion. The control device according to claim 16, wherein The target type determination module includes: The interactive operation receiving unit is configured to, in response to receiving a preset interactive operation, determine a target carpet type of the carpet from the plurality of candidate carpet types according to the preset interactive operation. The control device according to claim 16, wherein The control device further includes: The attribute information acquisition unit is configured to acquire pre-configured carpet attribute information. The candidate type determination unit is configured to determine a plurality of candidate carpet types according to the carpet attribute information. The control device according to claim 16, wherein The corresponding instruction execution module includes: The instruction control unit is configured to, in a case where the cleaning robot has been located at least partially in the area where the carpet is located, control the cleaning robot to execute a corresponding instruction according to the target carpet type. The control device according to claim 23, wherein The cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot, and the instruction control unit comprises: a first control sub-unit configured to control the cleaning robot to clean the carpet using the first cleaner and the second cleaner if the target carpet type is a first carpet type. The control device according to claim 23, wherein The cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot, and the instruction control unit comprises: a second control sub-unit configured to control the cleaning robot to lift the second cleaner, and clean the carpet using the first cleaner and / or the second cleaner if the target carpet type is a second carpet type. The control device according to claim 23, wherein The cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot, and the instruction control unit comprises: a third control sub-unit configured to control the cleaning robot to lift the first cleaner and the second cleaner, and clean the carpet using the first cleaner and / or the second cleaner if the target carpet type is a third carpet type. The control device according to claim 23, wherein The cleaning robot comprises a first cleaner located at an edge region of the cleaning robot and a second cleaner located at a non-edge region of the cleaning robot, and the instruction control unit comprises: a fourth control sub-unit configured to control the cleaning robot to lift the first cleaner, and clean the carpet using the first cleaner and / or the second cleaner if the target carpet type is a fourth carpet type. The control device according to any one of claims 24-27, wherein The cleaning robot further comprises a third cleaner, the first cleaner and the second cleaner adopt a first cleaning mode, the third cleaner adopts a second cleaning mode different from the first cleaning mode, and the instruction control unit further comprises: a fifth control sub-unit configured to control the cleaning robot to lift the third cleaner. The control device according to claim 26, wherein The third control sub-unit further comprises: another instruction control sub-unit configured to control the cleaning robot to execute at least one of the following instructions: moving backward and rotating the body, and then lifting the first cleaner. The control device according to claim 27, wherein The fourth control sub-unit further comprises: another instruction control sub-unit configured to control the cleaning robot to execute at least one of the following instructions: moving backward and rotating the body, and then lifting the first cleaner. The control device according to claim 26, wherein The cleaning robot comprises a driver for driving the first cleaner to lift, and the third control sub-unit comprises: a driver driving sub-unit configured to, during the process of lifting the first cleaner by the driver, switch the driver to reverse driving, rotate the body of the cleaning robot, and then lift the first cleaner by the driver again if an abnormal situation occurs. The control device according to claim 27, wherein The cleaning robot comprises a driver for driving the first cleaner to lift, and the fourth control sub-unit comprises: a driver driving sub-unit configured to, during the process of lifting the first cleaner by the driver, switch the driver to reverse driving, rotate the body of the cleaning robot, and then lift the first cleaner by the driver again if an abnormal situation occurs. The driver driving subunit is configured to, in the process of lifting the first cleaner by the driver, switch the driver to reverse driving if an abnormal situation occurs, rotate the body of the cleaning robot, and then lift the first cleaner by the driver again. A computer-readable storage medium having stored thereon a computer program, wherein, The computer program is executed by a processor to implement the control method of the cleaning robot according to any one of claims 1-15. An electronic device, wherein, comprises: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to implement the control method of the cleaning robot according to any one of claims 1-15 by executing the executable instructions.

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