Cleaning robot control method and apparatus, cleaning robot, and storage medium

Abstract

The present application relates to the technical field of intelligent cleaning, and provides a cleaning robot control method and apparatus, a cleaning robot, and a storage medium. The method comprises: detecting an area where a cleaning robot is currently located; and if it is detected that the area where the cleaning robot is currently located is a pre-marked area, controlling a cliff sensor of the cleaning robot to work according to a target trigger threshold corresponding to the pre-marked area.

Description

Control methods and devices for cleaning robots, cleaning robots and storage media Cross-references to related applications

[0001] This application claims priority to Chinese Patent Application No. 202411521509.0, filed on October 29, 2024, entitled "Control Method and Apparatus for Cleaning Robot, Cleaning Robot and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent cleaning technology, and in particular to a control method and device for a cleaning robot, a cleaning robot, and a storage medium. Background Technology

[0003] Currently, robotic vacuum cleaners often encounter various obstacles during cleaning tasks, such as steps, tables, and chairs. To ensure that the vacuum cleaner can effectively avoid these obstacles, it is usually equipped with a cliff sensor. This sensor can detect changes in ground elevation, thus preventing the vacuum cleaner from falling from heights. For example, when the vacuum cleaner encounters steps, it needs to be able to identify and avoid them to prevent falls and damage. However, in the obstacle-crossing function of robotic vacuum cleaners, the vacuum cleaner's head may tilt upwards, causing the cliff sensor to misinterpret it as a cliff, thus preventing the vacuum cleaner from passing through areas that could be safely traversed, affecting cleaning efficiency. Therefore, this technical problem urgently needs to be solved. Summary of the Invention

[0004] In view of the above problems, this application is made to provide a control method and apparatus for a cleaning robot, a cleaning robot, and a storage medium that overcome or at least partially solve the above problems. The technical solution is as follows:

[0005] In a first aspect, a control method for a cleaning robot is provided, comprising: detecting the current location of the cleaning robot; if the current location of the cleaning robot is detected to be a pre-marked area, controlling the cliff sensor of the cleaning robot to work according to the target trigger threshold corresponding to the pre-marked area.

[0006] In one possible implementation, the cliff sensor controlling the cleaning robot operates according to a target trigger threshold corresponding to a pre-marked area, including: acquiring the target trigger threshold corresponding to the pre-marked area; determining that the current trigger threshold of the cliff sensor of the cleaning robot is not the target trigger threshold; adjusting the current trigger threshold of the cliff sensor of the cleaning robot to the target trigger threshold, so that the cliff sensor operates according to the target trigger threshold.

[0007] In one possible implementation, the method further includes: if the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold, then no adjustment is made to the current trigger threshold, so that the cliff sensor operates according to the target trigger threshold.

[0008] In one possible implementation, if the pre-marked region is a pre-marked first region, obtaining the target trigger threshold corresponding to the pre-marked region includes: obtaining the correspondence between multiple marked regions and trigger thresholds; and finding the trigger threshold corresponding to the first region in the multiple correspondence between marked regions and trigger thresholds, and using it as the target trigger threshold.

[0009] In one possible implementation, if the pre-marked region is a third region, and the third region is the overlapping area of ​​at least two pre-marked regions, obtaining the target trigger threshold corresponding to the pre-marked region includes: obtaining the correspondence between multiple marked regions and trigger thresholds; in the correspondence between multiple marked regions and trigger thresholds, finding the trigger threshold corresponding to each region in at least two regions; and selecting the trigger threshold with the largest value among the trigger thresholds corresponding to each region in at least two regions as the target trigger threshold.

[0010] In one possible implementation, the pre-marked area is determined by the following steps: receiving an area input by the user through a map of the cleaning robot's working environment as the pre-marked area; and / or identifying an area containing a preset object, and using the identified area containing the preset object as the pre-marked area.

[0011] In one possible implementation, after the cliff sensor of the cleaning robot operates according to the target trigger threshold corresponding to the pre-marked area, the method further includes: if it is detected that the area where the cleaning robot is currently located is not the pre-marked area, then the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to a set trigger threshold, so that the cliff sensor operates according to the set trigger threshold; wherein the target trigger threshold is greater than the set trigger threshold.

[0012] Secondly, a control device for a cleaning robot is provided, comprising: a detection unit configured to detect the current location of the cleaning robot; and a control unit configured to control the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area if the current location of the cleaning robot is detected to be a pre-marked area.

[0013] In one possible implementation, the control unit is further configured to: acquire a target trigger threshold corresponding to a pre-marked area; determine that the current trigger threshold of the cliff sensor of the cleaning robot is not the target trigger threshold, adjust the current trigger threshold of the cliff sensor of the cleaning robot to the target trigger threshold, so that the cliff sensor operates according to the target trigger threshold.

[0014] In one possible implementation, the control unit is further configured to: if the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold, then not to adjust the current trigger threshold, so that the cliff sensor operates according to the target trigger threshold.

[0015] In one possible implementation, if the pre-marked region is a pre-marked first region, the control unit is further configured to: obtain the correspondence between multiple marked regions and trigger thresholds; and in the correspondence between multiple marked regions and trigger thresholds, find the trigger threshold corresponding to the first region as the target trigger threshold.

[0016] In one possible implementation, if the pre-marked region is a third region, and the third region is the overlapping area of ​​at least two pre-marked regions, the control unit is further configured to: obtain the correspondence between multiple marked regions and trigger thresholds; find the trigger threshold corresponding to each region in at least two regions in the multiple correspondence between marked regions and trigger thresholds; and select the trigger threshold with the largest value among the trigger thresholds corresponding to each region in at least two regions as the target trigger threshold.

[0017] In one possible implementation, the device further includes a determining unit configured to: receive an area input by a user through a working environment map of the cleaning robot as a pre-marked area; and / or identify an area containing a preset object, and use the identified area containing the preset object as a pre-marked area.

[0018] In one possible implementation, the control unit is further configured to: after controlling the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area, if it is detected that the current area of ​​the cleaning robot is not the pre-marked area, adjust the current trigger threshold of the cliff sensor of the cleaning robot from the target trigger threshold to a set trigger threshold, so that the cliff sensor operates according to the set trigger threshold; wherein the target trigger threshold is greater than the set trigger threshold.

[0019] Thirdly, a cleaning robot is provided, including a processor and a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the control method of the cleaning robot described in any of the preceding claims.

[0020] Fourthly, a storage medium is provided that stores a computer program, wherein the computer program is configured to execute the control method for the cleaning robot described in any of the preceding claims when running. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0022] Figure 1 shows a flowchart of the control method for a cleaning robot provided in an embodiment of this application;

[0023] Figure 2 shows a flowchart of a control method for a cleaning robot provided in another embodiment of this application;

[0024] Figure 3 shows a two-dimensional planar working environment map provided in an embodiment of this application;

[0025] Figure 4 shows a structural diagram of the control device for the cleaning robot provided in an embodiment of this application;

[0026] Figure 5 shows a structural diagram of the control device for a cleaning robot provided in another embodiment of this application. Detailed Implementation

[0027] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the term "comprising" and its variations should be interpreted as open-ended terms meaning "including but not limited to."

[0029] Before introducing the embodiments of this application, let's first explain the three technical terms: current trigger threshold, target trigger threshold, and set trigger threshold.

[0030] During the cleaning process of a robot vacuum cleaner, the current trigger threshold may be the target trigger threshold corresponding to different pre-marked areas, or it may be a set trigger threshold. The set trigger threshold is the threshold in the machine's normal state or, in most cases, the default threshold. Therefore, if the current trigger threshold is a set trigger threshold, it must be less than the target trigger threshold corresponding to all pre-marked areas. The target trigger thresholds for different areas may be the same or different, but they are all greater than the set trigger threshold.

[0031] To address the aforementioned technical problems, this application provides a control method for a cleaning robot. The cleaning robot can be a sweeping robot, a mopping robot, a sweeping-mopping robot, etc., as shown in Figure 1. The control method for the cleaning robot may include the following steps S101 and S102:

[0032] Step S101: Detect the current location of the cleaning robot;

[0033] Step S102: If the area where the cleaning robot is currently located is detected to be a pre-marked area, the cliff sensor of the cleaning robot is controlled to work according to the target trigger threshold corresponding to the pre-marked area.

[0034] In this embodiment, during the cleaning process, it can be detected whether the current area of ​​the cleaning robot is within a pre-marked area, which can be displayed on the working environment map of the cleaning robot.

[0035] This embodiment can detect the current location of the cleaning robot. If the detected area is a pre-marked area, the robot's cliff sensor is controlled to operate according to the target trigger threshold corresponding to the pre-marked area. Thus, when the cleaning robot is located in a pre-marked area, the cliff sensor can operate according to the target trigger threshold. By controlling and adjusting the trigger threshold of the cliff sensor, its sensitivity in the pre-marked area can be adjusted. This reduces false judgments and false triggers by the cliff sensor when the cleaning robot is cleaning in the pre-marked area, resulting in better passage for the cleaning robot and improved cleaning efficiency.

[0036] In an optional embodiment, the pre-marked area can be determined by the following steps A1 and / or A2:

[0037] Step A1: Receive the area input by the user through the cleaning robot's working environment map as a pre-marked area; this allows the user to determine the pre-marked area according to their needs, making cleaning more flexible.

[0038] In one specific embodiment, the user can edit the map (i.e., the working environment map of the cleaning robot) displayed on the mobile app, for example, by using their finger to outline a certain area as a threshold area. This area is a pre-marked area. When the cleaning robot climbs over the threshold, the body, especially the head, will tilt up, causing the bottom of the cleaning robot to be farther from the ground. At this time, a larger cliff sensor trigger threshold is required. Otherwise, the cliff sensor of the cleaning robot will be falsely triggered, and the threshold area will be regarded as a cliff, causing the robot to fail to overcome the obstacle. Therefore, the trigger threshold of the cliff sensor needs to be increased in the threshold area. When the cleaning robot detects that it is in the area, it will adjust the trigger threshold of the cliff sensor to make its trigger threshold the target trigger threshold corresponding to the threshold area, that is, increase the trigger threshold of the cliff sensor so that the cleaning robot can successfully climb over the threshold.

[0039] Step A2: Identify areas containing preset objects and mark these areas as pre-marked areas. This allows the cleaning robot to automatically recognize and adapt to environmental changes, enabling it to complete cleaning tasks more intelligently.

[0040] Here, the pre-marked area can be the area that the cleaning robot needs to cross and clean, such as thresholds of certain colors, sliding door tracks, etc. This embodiment does not limit this.

[0041] In an optional embodiment, multiple regions can be pre-marked, such as a first region, a second region, a third region, a fourth region, etc., as pre-marked regions. This embodiment does not limit this.

[0042] In optional embodiments, the multiple regions can be independent and non-overlapping; alternatively, they can be overlapping regions. For example, the multiple regions are designated as a first region, a second region, a third region, and a fourth region. The first and second regions overlap, the third region overlaps with the first and second regions, the first and fourth regions are independent and non-overlapping, and the second and fourth regions are also independent and non-overlapping. It should be noted that the examples given here are merely illustrative and do not limit the scope of this embodiment.

[0043] Additionally, a cliff sensor can be installed on the bottom of the cleaning robot and can include a signal transmitter and a signal receiver. When the signal transmitter emits infrared or ultrasonic signals to the ground and returns, the signal receiver detects the reflected signal. The processor of the cliff sensor analyzes and processes the transmitted and reflected signals to determine the current distance between the cleaning robot's chassis and the ground. Furthermore, if the current distance is greater than or equal to the threshold at which the cliff signal is triggered, the cliff signal is triggered. At this point, the cleaning robot can no longer move towards the location where the cliff signal is triggered, thus preventing the cleaning robot from falling at the location where the cliff signal is triggered. If the current distance is less than the threshold at which the cliff signal is triggered, the cliff signal is not triggered.

[0044] In other words, in this implementation, when the cleaning robot is detected to be in a pre-marked area, the threshold for triggering the Cliff signal of the cliff sensor is adjusted to the target trigger threshold corresponding to the pre-marked area. Thus, if the current distance is greater than or equal to the target trigger threshold, the Cliff signal will be triggered, and the cleaning robot will not be able to move to the location where the Cliff signal is triggered. If the current distance is less than the target trigger threshold, the Cliff signal will not be triggered. This ensures that when the cleaning robot is in a pre-marked area (e.g., an area where the cleaning robot needs to overcome obstacles for cleaning), the cliff sensor will not be triggered, and the cleaning robot can work normally, achieving better passage for the cleaning robot and improving cleaning efficiency.

[0045] This application embodiment provides a possible implementation method in which step S102 above controls the cliff sensor of the cleaning robot to work according to the target trigger threshold corresponding to the pre-marked area, which may specifically include the following steps B1 to B4:

[0046] Step B1: Obtain the target trigger threshold corresponding to the pre-marked area;

[0047] Step B2: Determine whether the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold;

[0048] Step B3: If not, adjust the current trigger threshold of the cliff sensor of the cleaning robot to the target trigger threshold so that the cliff sensor works according to the target trigger threshold.

[0049] If so, in step B4, the current trigger threshold will not be adjusted, so that the cliff sensor operates according to the target trigger threshold.

[0050] In steps B2 and B3, that is, determining that the current trigger threshold of the cliff sensor of the cleaning robot is not the target trigger threshold, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted to the target trigger threshold, so that the cliff sensor works according to the target trigger threshold.

[0051] In optional embodiments, different trigger thresholds can be set for different pre-marked regions. The following provides a detailed description of the different pre-marked regions:

[0052] Scenario 1: If the pre-marked area is the first pre-marked area, then step B1 obtains the target trigger threshold corresponding to the pre-marked area. Specifically, it can obtain the correspondence between multiple marked areas and trigger thresholds; among the correspondence between multiple marked areas and trigger thresholds, find the trigger threshold corresponding to the first area and use it as the target trigger threshold.

[0053] Scenario 2: If the pre-marked area is the pre-marked second area, then step B1 obtains the target trigger threshold corresponding to the pre-marked area. Specifically, it can obtain the correspondence between multiple marked areas and trigger thresholds; in the correspondence between multiple marked areas and trigger thresholds, find the trigger threshold corresponding to the second area and use it as the target trigger threshold.

[0054] Scenario 3: If the pre-marked area is the third area, and the third area is the overlapping area of ​​at least two pre-marked areas, then step B1 obtains the target trigger threshold corresponding to the pre-marked area. Specifically, it can obtain the correspondence between multiple marked areas and trigger thresholds; in the correspondence between multiple marked areas and trigger thresholds, find the trigger threshold corresponding to each area in at least two areas; select the trigger threshold with the largest value among the trigger thresholds corresponding to each area in at least two areas as the target trigger threshold.

[0055] Taking the example above, the multiple marked regions are designated as Region 1, Region 2, Region 3, and Region 4. Regions 1 and 2 overlap, Region 3 overlaps with Regions 1 and 2, Regions 1 and 4 are independent and do not overlap, and Regions 2 and 4 are also independent and do not overlap. Therefore, we can find the corresponding trigger thresholds for Regions 1 and 2 from the correspondence between the multiple marked regions and trigger thresholds; and select the trigger threshold with the largest value among the trigger thresholds for Regions 1 and 2 as the target trigger threshold.

[0056] In this embodiment, the cleaning robot can set appropriate sensor sensitivity according to the characteristics of different pre-marked areas and the user's needs, which makes the cleaning robot more flexible in dealing with different environments.

[0057] This application provides a possible implementation method, which, after controlling the cliff sensor of the cleaning robot to work according to the target trigger threshold corresponding to the pre-marked area, may further include the following step C1:

[0058] Step C1: If it is detected that the current area of ​​the cleaning robot is not a pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to the set trigger threshold, so that the cliff sensor works according to the set trigger threshold; wherein, the target trigger threshold is greater than the set trigger threshold.

[0059] In this step, the target trigger threshold is greater than the set trigger threshold. The set trigger threshold is the threshold that is used in the normal state of the machine or in most cases. When it is detected that the current area of ​​the cleaning robot is not a pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to the set trigger threshold, so that the cliff sensor works according to the set trigger threshold. This improves the sensitivity of the cliff sensor, enabling the cleaning robot to more accurately identify and avoid dangerous areas such as cliffs.

[0060] Subsequently, when the cleaning robot is detected to be in a pre-marked area, the current trigger threshold of the cliff sensor is adjusted from the set trigger threshold to the target trigger threshold. This causes the cliff sensor to operate according to the target trigger threshold, which reduces the sensitivity of the cliff sensor. This prevents the cliff sensor from being triggered in pre-marked areas (such as areas that require obstacle crossing and cleaning), allowing the cleaning robot to work normally and achieving better passage and improved cleaning efficiency.

[0061] Therefore, this embodiment enables the cleaning robot to more accurately identify and avoid dangerous areas such as cliffs by intelligently adjusting the trigger threshold of the cliff sensor. At the same time, the cleaning robot can still work normally in pre-marked areas (such as areas that need to be cleared by obstacle crossing) without the cliff sensor being triggered. This improves the cleaning efficiency and safety of the cleaning robot, while also reducing the need for human intervention and enhancing the user experience.

[0062] The above describes various implementation methods for each stage of the embodiment shown in Figure 1. The control method of the cleaning robot will be further described below through specific embodiments.

[0063] Figure 2 shows a flowchart of a control method for a cleaning robot according to another embodiment of this application. As shown in Figure 2, the control method for the cleaning robot may include the following steps S201 to S206:

[0064] Step S201: During the cleaning process of the cleaning robot, detect the area where the cleaning robot is currently located.

[0065] In this step, the area can be pre-marked by the user or by automatic identification. For details, please refer to the introduction of steps A1 and / or A2 above, which will not be repeated here.

[0066] Figure 3 shows a two-dimensional planar working environment map of the cleaning robot provided in this embodiment. In Figure 3, regions 31 and 32 are pre-marked on the working environment map. Regions 31 and 32 are independent of each other and do not overlap. It should be noted that the example here is only illustrative and does not limit this embodiment.

[0067] Step S202: If it is detected that the area where the cleaning robot is currently located is a pre-marked area, then obtain the target trigger threshold corresponding to the pre-marked area.

[0068] Step S203: Determine whether the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold. If not, proceed to step S204; if yes, proceed to step S205.

[0069] Step S204: Adjust the current trigger threshold of the cliff sensor of the cleaning robot to the target trigger threshold, so that the cliff sensor works according to the target trigger threshold, and continue to execute step S206.

[0070] In step S205, the current trigger threshold is not adjusted, so that the cliff sensor works according to the target trigger threshold, and then step S206 is executed.

[0071] Step S206: Continue to detect the current area of ​​the cleaning robot. If the current area of ​​the cleaning robot is not a pre-marked area, adjust the current trigger threshold of the cliff sensor of the cleaning robot from the target trigger threshold to the set trigger threshold, so that the cliff sensor works according to the set trigger threshold; wherein, the target trigger threshold is greater than the set trigger threshold.

[0072] This embodiment intelligently adjusts the trigger threshold of the cliff sensor, enabling the cleaning robot to more accurately identify and avoid dangerous areas such as cliffs. At the same time, the cleaning robot can still work normally in pre-marked areas (such as areas that need to be cleared by overcoming obstacles) without the cliff sensor being triggered. This improves the cleaning efficiency and safety of the cleaning robot, while also reducing the need for human intervention and enhancing the user experience.

[0073] It should be noted that the sequence numbers of the steps in the above embodiments do not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. In practical applications, all the above possible implementation methods can be arbitrarily combined in a combined manner to form possible embodiments of this application, which will not be described in detail here.

[0074] Based on the control methods for cleaning robots provided in the above embodiments, and based on the same inventive concept, this application also provides a control device for cleaning robots.

[0075] Figure 4 is a structural diagram of the control device for a cleaning robot provided in an embodiment of this application. As shown in Figure 4, the control device for the cleaning robot may specifically include a detection unit 410 and a control unit 420.

[0076] Detection unit 410 is configured to detect the current location of the cleaning robot;

[0077] The control unit 420 is configured to control the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area if it is detected that the current area of ​​the cleaning robot is a pre-marked area.

[0078] This application embodiment provides a possible implementation method, wherein the control unit 420 is further configured to: obtain a target trigger threshold corresponding to a pre-marked area; determine whether the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold; if not, adjust the current trigger threshold of the cliff sensor of the cleaning robot to the target trigger threshold, so that the cliff sensor works according to the target trigger threshold.

[0079] In other words, the control unit 420 is also configured to: acquire a target trigger threshold corresponding to a pre-marked area; determine that the current trigger threshold of the cliff sensor of the cleaning robot is not the target trigger threshold; adjust the current trigger threshold of the cliff sensor of the cleaning robot to the target trigger threshold, so that the cliff sensor operates according to the target trigger threshold.

[0080] This application embodiment provides a possible implementation method in which the control unit 420 is further configured to: if the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold, then the current trigger threshold is not adjusted, so that the cliff sensor works according to the target trigger threshold.

[0081] This application provides a possible implementation method whereby, if the pre-marked region is a pre-marked first region, the control unit 420 is further configured to: obtain the correspondence between multiple marked regions and trigger thresholds; and in the correspondence between multiple marked regions and trigger thresholds, find the trigger threshold corresponding to the first region as the target trigger threshold.

[0082] This application provides a possible implementation method. If the pre-marked area is a third area, and the third area is the overlapping area of ​​at least two pre-marked areas, the control unit 420 is further configured to: obtain the correspondence between multiple marked areas and trigger thresholds; find the trigger threshold corresponding to each area in at least two areas in the multiple correspondence between marked areas and trigger thresholds; and select the trigger threshold with the largest value among the trigger thresholds corresponding to each area in at least two areas as the target trigger threshold.

[0083] This application provides a possible implementation method, as shown in FIG5. The device shown in FIG4 above may further include a determining unit 510, which is configured to: receive an area input by the user through the working environment map of the cleaning robot as a pre-marked area; and / or identify an area containing a preset object, and use the identified area containing the preset object as a pre-marked area.

[0084] This application embodiment provides a possible implementation, wherein the control unit 420 is further configured to: after controlling the cliff sensor of the cleaning robot to work according to the target trigger threshold corresponding to the pre-marked area, if it is detected that the current area of ​​the cleaning robot is not the pre-marked area, adjust the current trigger threshold of the cliff sensor of the cleaning robot from the target trigger threshold to a set trigger threshold, so that the cliff sensor works according to the set trigger threshold; wherein the target trigger threshold is greater than the set trigger threshold.

[0085] Based on the same inventive concept, this application also provides a cleaning robot, including a processor and a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the control method of the cleaning robot in any of the above embodiments.

[0086] Based on the same inventive concept, this application also provides a storage medium storing a computer program, wherein the computer program is configured to execute the control method of the cleaning robot of any of the above embodiments when running.

[0087] Those skilled in the art will clearly understand that the specific working process of the systems, devices, and modules described above can be referred to the corresponding process in the foregoing method embodiments. For the sake of brevity, it will not be repeated here.

[0088] Those skilled in the art will understand that the technical solution of this application, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several program instructions to cause an electronic device (e.g., a personal computer, server, or network device) to execute all or part of the steps of the methods described in the embodiments of this application when running the program instructions. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0089] Alternatively, all or part of the steps of the foregoing method embodiments can be implemented by hardware (such as electronic devices like personal computers, servers, or network devices) associated with program instructions. The program instructions can be stored in a computer-readable storage medium. When the program instructions are executed by the processor of the electronic device, the electronic device executes all or part of the steps of the methods described in the embodiments of this application.

[0090] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that within the spirit and principles of this application, modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the corresponding technical solutions to leave the protection scope of this application.

Claims

1. A control method for a cleaning robot, wherein, include: Detect the area where the cleaning robot is currently located; If the cleaning robot is detected to be in a pre-marked area, the cliff sensor controlling the cleaning robot will operate according to the target trigger threshold corresponding to the pre-marked area.

2. The method according to claim 1, wherein, The cliff sensor controlling the cleaning robot operates according to the target trigger threshold corresponding to the pre-marked area, including: Obtain the target trigger threshold corresponding to the pre-marked region; If the current trigger threshold of the cliff sensor of the cleaning robot is determined to be different from the target trigger threshold, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted to the target trigger threshold so that the cliff sensor operates according to the target trigger threshold.

3. The method according to claim 2, wherein, The method further includes: If the current trigger threshold of the cliff sensor of the cleaning robot is the target trigger threshold, then no adjustment is made to the current trigger threshold, so that the cliff sensor works according to the target trigger threshold.

4. The method according to claim 2, wherein, If the pre-marked region is a pre-marked first region, obtaining the target trigger threshold corresponding to the pre-marked region includes: Obtain the correspondence between multiple marked regions and trigger thresholds; In the correspondence between multiple marked regions and trigger thresholds, the trigger threshold corresponding to the first region is found and used as the target trigger threshold.

5. The method according to claim 2, wherein, If the pre-marked region is a third region, and the third region is the overlapping area of ​​at least two pre-marked regions, obtaining the target trigger threshold corresponding to the pre-marked region includes: Obtain the correspondence between multiple marked regions and trigger thresholds; In the correspondence between multiple marked regions and trigger thresholds, find the trigger threshold corresponding to each region in at least two regions; Select the trigger threshold with the largest value among the trigger thresholds corresponding to each of the at least two regions as the target trigger threshold.

6. The method according to any one of claims 1 to 5, wherein, The pre-marked area is determined by the following steps: Receive the area input by the user through the cleaning robot's working environment map as a pre-marked area; and / or Identify regions containing preset objects and use these identified regions as pre-marked regions.

7. The method according to any one of claims 1 to 5, wherein, After the cliff sensors controlling the cleaning robot operate according to the target trigger threshold corresponding to the pre-marked area, the method further includes: If it is detected that the current area where the cleaning robot is located is not a pre-marked area, the current trigger threshold of the cliff sensor of the cleaning robot is adjusted from the target trigger threshold to the set trigger threshold, so that the cliff sensor works according to the set trigger threshold; wherein, the target trigger threshold is greater than the set trigger threshold.

8. A control device for a cleaning robot, wherein, include: The detection unit is configured to detect the area where the cleaning robot is currently located; The control unit is configured to control the cliff sensor of the cleaning robot to operate according to the target trigger threshold corresponding to the pre-marked area if it detects that the area where the cleaning robot is currently located is a pre-marked area.

9. A cleaning robot, wherein, The system includes a processor and a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the control method for the cleaning robot according to any one of claims 1 to 7.

10. A storage medium, wherein, The storage medium stores a computer program, wherein the computer program is configured to execute the control method of the cleaning robot according to any one of claims 1 to 7 when it is run.

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