Control method and apparatus for cleaning robot, and 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: during the movement of a cleaning robot, in response to detecting that an abnormality has occurred in a moving part of the cleaning robot, controlling the cleaning robot to lift a chassis (S110); and controlling the cleaning robot to move (S120).

Description

Control methods, devices, media and electronic equipment for cleaning robots Cross-reference to related applications

[0001] This disclosure claims priority to Chinese Patent Application No. 202411548931.5, filed on October 31, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0002] This disclosure relates to the field of smart homes, and more specifically, to a control method for a cleaning robot, a control device for a cleaning robot, a computer-readable storage medium, and an electronic device. Background Technology

[0003] With the rapid development of computer technology and artificial intelligence, intelligent robot technology has gradually become a hot topic in the field of modern robotics research. Among them, cleaning robots, with their artificial intelligence, are able to complete the cleaning work of daily life environments and have been widely used. Summary of the Invention

[0004] The purpose of this disclosure is to provide a control method for a cleaning robot, a control device for a cleaning robot, a computer-readable storage medium, and an electronic device. The specific solutions are as follows:

[0005] According to a specific embodiment of the present disclosure, in a first aspect, the present disclosure provides a control method for a cleaning robot, the method comprising: during the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, controlling the cleaning robot to raise its chassis; and controlling the cleaning robot to move.

[0006] In one exemplary embodiment of this disclosure, the step of controlling the cleaning robot to raise its chassis in response to detecting an abnormality in the moving part of the cleaning robot during the movement of the cleaning robot includes: in response to the distance between the cleaning robot and the base station being less than or equal to a first preset distance during the movement of the cleaning robot, determining that an abnormality has occurred in the moving part of the cleaning robot, and controlling the cleaning robot to raise its chassis.

[0007] In one exemplary embodiment of this disclosure, detecting an abnormality in the moving part of the cleaning robot includes: acquiring the actual displacement value of the cleaning robot and the driving displacement value of the moving part; and determining that an abnormality has occurred in the moving part of the cleaning robot in response to the actual displacement value and the driving displacement value satisfying a preset condition.

[0008] In one exemplary embodiment of this disclosure, determining that the moving part of the cleaning robot has an abnormal situation in response to the actual displacement value and the driving displacement value satisfying a preset condition includes: determining that the moving part of the cleaning robot has an abnormal situation in response to an increase in the driving displacement value of the moving part and the actual displacement value of the cleaning robot being less than a preset displacement amount.

[0009] In one exemplary embodiment of this disclosure, the actual displacement value is determined based on the positional change of the cleaning robot relative to the base station.

[0010] In one exemplary embodiment of this disclosure, controlling the cleaning robot to move includes: controlling the cleaning robot to move to a target location in the base station to execute a preset command.

[0011] In one exemplary embodiment of this disclosure, controlling the cleaning robot to move to a target location in a base station to execute a preset command includes: in response to the distance between the cleaning robot and the target location being less than or equal to a second preset distance, controlling the cleaning robot to lower its chassis, continue moving to the target location, and execute the preset command.

[0012] In one exemplary embodiment of this disclosure, the method further includes: in response to failure to execute a preset instruction, controlling the cleaning robot to raise its chassis again and controlling the cleaning robot to retreat to a preset position around the base station; and moving back to the target position in the base station to execute the preset instruction.

[0013] In one exemplary embodiment of this disclosure, the method further includes: sending a failure notification in response to a failure to execute a preset instruction.

[0014] In one exemplary embodiment of this disclosure, the moving part includes a walking wheel, and an abnormal condition of the moving part includes the walking wheel malfunctioning.

[0015] In one exemplary embodiment of this disclosure, the moving part includes a driving part for controlling the cleaning robot to lift its chassis.

[0016] Secondly, this disclosure provides a control device for a cleaning robot, comprising: a chassis lifting control module configured to, during the movement of the cleaning robot, control the cleaning robot to lift its chassis in response to detecting an abnormality in the moving part of the cleaning robot; and a robot movement control module configured to control the cleaning robot to move.

[0017] In one exemplary embodiment of this disclosure, the chassis lifting control module is configured to: during the movement of the cleaning robot, in response to the distance between the cleaning robot and the base station being less than or equal to a first preset distance, determine that an abnormality has occurred in the moving part of the cleaning robot, and control the cleaning robot to lift its chassis.

[0018] In one exemplary embodiment of this disclosure, detecting an abnormality in the moving part of the cleaning robot includes: acquiring the actual displacement value of the cleaning robot and the driving displacement value of the moving part; and determining that an abnormality has occurred in the moving part of the cleaning robot in response to the actual displacement value and the driving displacement value satisfying a preset condition.

[0019] In one exemplary embodiment of this disclosure, determining that the moving part of the cleaning robot has an abnormality in response to the actual displacement value and the driving displacement value satisfying a preset condition includes: determining that the moving part of the cleaning robot has an abnormality in response to an increase in the driving displacement value of the moving part and the actual displacement value of the cleaning robot being less than a preset displacement amount.

[0020] In one exemplary embodiment of this disclosure, the actual displacement value is determined based on the positional change of the cleaning robot relative to the base station.

[0021] In one exemplary embodiment of this disclosure, the robot movement control module is configured to control the cleaning robot to move to a target location in the base station to execute preset instructions.

[0022] In one exemplary embodiment of this disclosure, controlling the cleaning robot to move to a target location in the base station to execute a preset command includes: in response to the distance between the cleaning robot and the target location being less than or equal to a second preset distance, controlling the cleaning robot to lower its chassis, continue moving to the target location, and execute the preset command.

[0023] In one exemplary embodiment of this disclosure, the device further includes: a chassis re-lifting module configured to, in response to failure of executing a preset command, control the cleaning robot to re-lift its chassis and control the cleaning robot to retreat to a preset position around the base station; and a chassis re-lowering module configured to move back to the target position in the base station and execute the preset command.

[0024] In one exemplary embodiment of this disclosure, the apparatus further includes: a notification sending unit configured to send a failure reminder notification in response to a failure to execute a preset instruction.

[0025] In one exemplary embodiment of this disclosure, the moving part includes a walking wheel, and an abnormal condition of the moving part includes the walking wheel malfunctioning.

[0026] In one exemplary embodiment of this disclosure, the moving part includes a driving part for controlling the cleaning robot to lift its chassis.

[0027] Thirdly, this disclosure provides a cleaning robot, including: a body; and a controller disposed in the body; the controller is configured to execute the control method of the cleaning robot described above.

[0028] Fourthly, this disclosure provides a cleaning system, including: a base station; and a cleaning robot as described above, wherein the base station is at least used for charging the cleaning robot.

[0029] Fifthly, a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-described method.

[0030] In a sixth aspect, this disclosure provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the above-described method by executing the executable instructions.

[0031] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0033] Figure 1 schematically illustrates a flowchart of a control method for a cleaning robot in this exemplary embodiment;

[0034] Figure 2 schematically illustrates a cleaning robot in this exemplary embodiment;

[0035] Figure 3 schematically illustrates a sub-flowchart of a control method for a cleaning robot in this exemplary embodiment;

[0036] Figure 4 schematically illustrates a control method for a cleaning robot in this exemplary embodiment;

[0037] Figure 5 schematically illustrates a structural block diagram of a control device for a cleaning robot in this exemplary embodiment;

[0038] Figure 6 schematically illustrates an electronic device for implementing the above method in this exemplary embodiment. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0040] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0041] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0042] It should be understood that although the terms first, second, third, etc., may be used to describe... in the embodiments of this disclosure, these... should not be limited to these terms. These terms are only used to distinguish... For example, first... may also be referred to as second... without departing from the scope of the embodiments of this disclosure, and similarly, second... may also be referred to as first...

[0043] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0044] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0045] Cleaning robots are a type of smart home appliance that can automatically clean the environment in a room using a certain amount of artificial intelligence.

[0046] Typically, cleaning robots need to return to the base station to recharge during the cleaning process, or to clean their mops, side brushes, and other cleaning parts. However, in actual applications, cleaning robots often encounter difficulties in moving and are unable to return to the base station due to some special reasons. For example, the cleaning parts or chassis may become contaminated with media such as water or dirt, causing the cleaning robot to be unable to move or to slip, thus affecting the robot's recharging efficiency or cleaning efficiency.

[0047] Based on this, the present disclosure provides an exemplary embodiment of a control method for a cleaning robot, which can be applied to a cleaning robot. This method can be implemented in the cleaning robot through hardware and / or software. Referring to FIG1, a flowchart of the control method for a cleaning robot provided by the exemplary embodiment of the present disclosure is shown. The method may include the following steps S110-S120:

[0048] Step S110: During the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, the cleaning robot is controlled to raise its chassis.

[0049] A cleaning robot is an intelligent robot capable of performing cleaning tasks, such as a pool cleaning robot, a sweeping robot, a mopping robot, or a floor scrubbing robot. The moving part, which contacts the ground, is used to move the cleaning robot. In other words, the moving part refers to the components that control the movement of the cleaning robot within the work area, such as wheel assemblies or tracks. The moving part can include multiple components, such as one or more wheels, or a drive unit connected to the wheels to drive their rotation. The specific configuration can be tailored to actual needs.

[0050] The chassis can refer to the bottom of the cleaning robot. In this exemplary embodiment, the chassis can have a lifting function. The chassis can be equipped with a cleaning part, such as a cleaning mop or a cleaning brush. The cleaning robot can control the lifting of the chassis to drive the cleaning part to make the cleaning part contact the ground for cleaning, or to make the cleaning part leave the ground, so as to ensure the convenient movement of the cleaning robot, or to avoid the cleaning part from cleaning non-clean areas.

[0051] In this exemplary embodiment, during the movement of the cleaning robot, such as when the robot is cleaning in a work area, or when it moves to a base station for charging, water replenishment, or cleaning of the cleaning unit, anomaly detection can be performed on the robot's moving parts to determine if any abnormalities have occurred. Abnormalities may include the robot's inability to move or move effectively due to the movement of the moving parts, such as the wheels getting stuck, slipping, hovering, or spinning freely. This could result in the robot's position not changing while the wheels are rotating, or a shorter walking distance or reduced walking speed. When an abnormality is detected in the robot's moving parts, the robot can be controlled to raise its chassis to lift the cleaning unit, reducing the impact of the cleaning unit's contact with the ground on the movement of the moving parts. For example, this reduces the friction generated between the cleaning unit and the ground, thereby improving the walking efficiency of the wheels.

[0052] In this exemplary embodiment, controlling the lifting of the chassis of the cleaning robot can include various methods. For example, the body of the cleaning robot can be lifted. For instance, a drive device can be configured in the wheels to lift the body of the cleaning robot, thereby lifting the chassis of the cleaning robot. Alternatively, a separate drive device for lifting the chassis can be configured in the cleaning robot to achieve the lifting of the chassis through the corresponding drive device.

[0053] In one exemplary embodiment, the moving part may include a drive unit that can be used to control the cleaning robot to lift its chassis.

[0054] As shown in Figure 2, the moving part of the cleaning robot 200 may include a front walking wheel 210 and a rear walking wheel 220. Drive units for controlling the lifting of the cleaning robot chassis are respectively arranged in the front walking wheel 210 and the rear walking wheel 220. Figure 2(a) shows a schematic diagram of the cleaning robot chassis not lifted, and Figure 2(b) shows a schematic diagram of the cleaning robot 200 chassis lifted. In this exemplary embodiment, the body of the cleaning robot 200 can be lifted by controlling the drive units in the front walking wheel 210 and the rear walking wheel 220, thereby raising the chassis. It should be noted that Figure 2 is only an illustrative example. The number and type of the front and rear walking wheels can be determined according to actual needs. For example, three or four walking wheels can be set. The type of walking wheels may include fixed-direction wheels or free-direction wheels, etc. This disclosure does not specifically limit this.

[0055] Step S120: Control the cleaning robot to move.

[0056] Then, with the chassis raised, the cleaning robot can be further controlled to move, such as moving to the base station for charging, cleaning the cleaning section, or executing preset commands, such as charging.

[0057] Based on the above description, in this exemplary embodiment, during the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, the cleaning robot's chassis is raised; and the cleaning robot is then controlled to move. On one hand, this exemplary embodiment proposes a novel control method for a cleaning robot, capable of detecting abnormalities in the moving part. When an abnormality is detected, the chassis of the cleaning robot is reasonably controlled, reducing the impact of other components on the movement of the moving part and improving the effectiveness and efficiency of the cleaning robot's movement. On the other hand, this exemplary embodiment, through the detection of abnormalities in the moving part combined with chassis raising control, considers the chassis from this perspective. Through simple and convenient chassis lifting control, the impact of friction generated by chassis descent on the movement of the moving part is reduced, further ensuring the effectiveness and convenience of the cleaning robot's control.

[0058] In one exemplary embodiment, during the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, controlling the cleaning robot to raise its chassis may include:

[0059] During the movement of the cleaning robot, if the distance between the cleaning robot and the base station is less than or equal to a first preset distance, it is determined that an abnormality has occurred in the movement of the cleaning robot, and the cleaning robot is controlled to raise its chassis.

[0060] The first preset distance refers to a small range of distances close to the base station. The location of the base station can be determined based on its location, such as the center or edge of the range. As one possible implementation, the "base station location" used to calculate the first preset distance can be a defined reference point. For example, this reference point could be the center or edge of the range, depending on the specific circumstances. Considering that the working environment is generally flat, but there may be slopes or other uneven ground near or close to the base station, the moving part of the cleaning robot is more prone to malfunctions. Therefore, to ensure the effectiveness of the moving part anomaly detection and reduce device power consumption, this exemplary embodiment can, during the movement of the cleaning robot, determine if the moving part of the cleaning robot has malfunctioned when the distance between the cleaning robot and the base station is less than or equal to the first preset distance, and control the cleaning robot to raise its chassis.

[0061] In one exemplary embodiment, the moving part includes a wheel, and an abnormal condition of the moving part includes the wheel malfunctioning.

[0062] In this exemplary embodiment, the moving part can be a walking wheel, and the number of walking wheels can be set according to actual needs, such as 3 or 4. An abnormal situation of the moving part can be that the walking wheel does not operate properly, such as slippage. Slippage means that the moving part can operate normally, but cannot drive the cleaning robot to move. For example, the walking wheel continues to rotate, but the cleaning robot does not change position due to the rotation of the walking wheel.

[0063] In an exemplary embodiment, as shown in FIG3, detecting an abnormality in the moving part of the cleaning robot may include the following steps:

[0064] Step S310: Obtain the actual displacement value and the drive displacement value of the moving part of the cleaning robot;

[0065] Step S320: If the actual displacement value and the driven displacement value meet the preset conditions, it is determined that an abnormality has occurred in the moving part of the cleaning robot.

[0066] The actual displacement value of the cleaning robot refers to the amount of displacement caused by the change of position of the cleaning robot in the working area, such as the amount of movement when the cleaning robot moves from point a to point b, where points a and b are different locations. It should be noted that the actual displacement value can be the shortest straight-line distance before and after the movement, or it can be the actual distance traveled by the cleaning robot. This disclosure does not make a specific limitation on this. The driving displacement value of the moving part refers to the theoretical displacement value of driving the moving part to move. For example, if the driver drives the walking wheels to rotate to move a distance of 2 meters, regardless of whether the cleaning robot moves or how far it moves, the driving displacement value of the moving part is 2 meters. In practical applications, the actual displacement value and the driving displacement value may not match. For example, the driver drives the walking wheels to rotate to move the cleaning robot 2 meters, but the walking wheels continue to rotate in the original position due to wheel slippage, without causing the cleaning robot to move. In this case, the actual displacement value of the cleaning robot is 0, and the driving displacement value of the moving part is 2 meters.

[0067] This exemplary embodiment can be configured with a displacement value statistics device for the moving parts inside the cleaning robot to obtain the driving displacement value of the moving parts based on the statistics device. For example, a wheel odometer can record the theoretical distance traveled by the cleaning robot, which can be the distance traveled over a certain period of time or the total distance traveled. In addition, a positioning system or communication connection can be configured inside the cleaning robot to determine the positional changes of the cleaning robot in the work area and obtain the actual displacement value of the cleaning robot.

[0068] Then, by judging whether the actual displacement value and the driven displacement value meet preset conditions, it can be determined whether there is an abnormality in the moving part of the cleaning robot. The preset conditions can be conditions for whether the actual displacement value matches the driven displacement value; for example, if the actual displacement value equals the driven displacement value, it indicates no abnormality; if the actual displacement value does not equal the driven displacement value, it indicates an abnormality. The preset conditions can also be a first preset condition for the actual displacement value and a second preset condition for the driven displacement value; for example, if the actual displacement value does not change or changes only slightly, and the driven displacement value changes continuously or changes beyond a certain extent, it indicates an abnormality in the moving part, etc. The specific preset conditions can include multiple settings.

[0069] In an exemplary embodiment, if the actual displacement value and the driven displacement value meet preset conditions, determining that an abnormality has occurred in the moving part of the cleaning robot may include:

[0070] When the driving displacement value of the moving part increases and the actual displacement value of the cleaning robot is less than the preset displacement, it is determined that there is an abnormality in the moving part of the cleaning robot.

[0071] The preset displacement can be a small, minute displacement, smaller than or even much smaller than the increase in the drive displacement value. The actual displacement value being less than the preset displacement can mean that the actual displacement value does not increase, or increases by only a very small amount. In this case, it can be considered that the cleaning robot has essentially not moved. Typically, when the moving part slips, the moving part may rotate while the cleaning robot does not move. Therefore, in this exemplary embodiment, the drive displacement value of the moving part and the actual displacement value of the cleaning robot can be detected. When the drive displacement value of the moving part continues to increase, and the actual displacement value of the cleaning robot is less than the preset displacement, it is determined that an abnormality has occurred in the moving part of the cleaning robot.

[0072] In one exemplary embodiment, the actual displacement value is determined based on the change in position of the cleaning robot relative to the base station.

[0073] In this exemplary embodiment, a wireless communication connection can be established between the cleaning robot and the base station to obtain the position information of the cleaning robot relative to the base station in real time, such as the real-time position of the cleaning robot, the position of the base station, and the distance between the cleaning robot and the base station. Based on this position change information, the actual displacement value of the cleaning robot relative to the base station can be determined, such as how much the cleaning robot has moved closer to the base station, how much it has moved away from the base station, and the distance between the two, when the base station is used as a reference position.

[0074] In one exemplary embodiment, controlling the movement of a cleaning robot may include:

[0075] Control the cleaning robot to move to the target location in the base station to execute preset instructions.

[0076] The target location within the base station can be a location within the base station range used to execute preset commands, such as a location that connects to a charging interface to execute a charging command, a location that connects to a water filling interface to execute a water filling command, or a reset location for the cleaning robot. In this exemplary embodiment, the cleaning robot can be controlled to move to the target location within the base station and execute preset commands, such as charging commands, water filling commands, and cleaning commands.

[0077] In one exemplary embodiment, controlling a cleaning robot to move to a base station to execute preset instructions may include:

[0078] In response to the distance between the cleaning robot and the target location being less than or equal to a second preset distance, the cleaning robot is controlled to lower its chassis and execute preset commands.

[0079] The second preset distance can be a distance reference that is relatively close to the target position. At this distance, the descent of the cleaning robot's chassis will not affect the normal movement of the cleaning robot's moving parts. That is, in this exemplary embodiment, the second preset distance can be less than the first preset distance. The second preset distance can be customized according to actual needs, for example, it can be set to 10 centimeters. This disclosure does not specifically limit it in this way.

[0080] To ensure that the cleaning robot can execute preset commands normally and stably, this exemplary embodiment can control the cleaning robot to lower its chassis and execute preset commands when it detects that the distance between the cleaning robot and the target position is less than or equal to a second preset distance. For example, to ensure that the cleaning robot can accurately dock with the charging interface in a standard state, when the cleaning robot continues to move closer to the base station, such as moving onto the slope of the base station's body slot and the distance to the charging interface is less than 10cm, the cleaning robot can be controlled to lower its chassis so that the charging contacts accurately dock with the base station's charging interface to execute the charging command and charge the cleaning robot.

[0081] Figure 4 shows a control schematic diagram of a cleaning robot. Specifically, as shown in Figure 4(a), when the cleaning robot 410 approaches the base station 420 and the distance between the robot and the base station is less than or equal to a first preset distance, the cleaning unit 430 configured on the chassis has friction with the ground or the ramp in front of the base station. This friction is greater than the moving power of the wheels, causing the wheels of the cleaning robot 410 to slip or become unable to move. At this time, as shown in Figure 4(b), the cleaning robot 410 can be controlled to raise its chassis and continue to approach the base station 420. As shown in Figure 4(c), when the cleaning robot 410 approaches the base station 420 and the distance to the target position, such as the charging interface position 440, is less than or equal to a second preset distance, the chassis can be lowered so that the charging contacts of the cleaning robot 410 can accurately connect with the charging interface of the base station 420. As shown in Figure 4(d), after the charging contacts of the cleaning robot 410 are accurately connected with the charging interface of the base station 420, the charging process of the cleaning robot can be realized.

[0082] In one exemplary embodiment, the control method for the cleaning robot described above may further include:

[0083] If the preset command fails to be executed, the cleaning robot will be controlled to raise its chassis again and then retreat to a preset position around the base station.

[0084] Move back to the target location within the base station and execute the preset command.

[0085] This exemplary embodiment configures a multiple-try mechanism. When the cleaning robot fails to execute a preset command, such as being unable to approach the base station or failing to charge successfully, the robot can be controlled to raise its chassis again and retreat to a preset position around the base station. This preset position can be a preset position in front of the base station. From this position, a restart command can be issued, and the robot can then lower its chassis again to approach the base station and execute the preset command. In other words, after charging failure or failing to return to the charging position and dock with the charging interface, the cleaning robot can raise its chassis back to the preset position, or return to the preset position, raise its chassis, and move back to the target position within the base station to execute the preset command. When moving back to the target position within the base station, the distance between the cleaning robot and the target position can be re-detected. If the distance is less than or equal to a second preset distance, the chassis descent can be repeated. It should be noted that this exemplary embodiment can also set the number of retries for the cleaning robot as needed. After exceeding a threshold, a notification can be sent to the user, or the execution of the corresponding command can be stopped. This disclosure does not specifically limit this.

[0086] In one exemplary embodiment, the control method for the cleaning robot described above may further include:

[0087] If the execution of the preset command fails, a failure notification will be sent.

[0088] In some cases, even if the chassis is raised, the mobile unit may still fail to move properly. For example, if the wheels are heavily soiled or have excessive moisture, resulting in low friction, slippage may occur even after raising the chassis, preventing the cleaning robot from returning to the base station to complete the charging command. In such situations, a failure notification can be sent. This notification can inform the user that the cleaning robot cannot execute preset commands, cannot return to the base station, or that the mobile unit needs cleaning. It can be a text message, such as a push notification sent to the user within an application, or a voice message, such as a direct voice announcement.

[0089] By controlling the cleaning robot using the aforementioned control method, the problem of the cleaning robot being unable to move normally or return to the base station due to abnormal movement in practical applications can be effectively solved, significantly improving the cleaning robot's movement efficiency, as well as its recharging efficiency and recharging success rate.

[0090] In an exemplary embodiment of this disclosure, a control device for a cleaning robot is also provided. As shown in FIG5, the control device 500 for the cleaning robot may include: a chassis lifting control module 510, used to control the cleaning robot to lift the chassis in response to detecting an abnormality in the moving part of the cleaning robot during the movement of the cleaning robot; and a robot movement control module 520, used to control the cleaning robot to move.

[0091] In one exemplary embodiment of this disclosure, the chassis lifting control module 510 includes: a first distance detection module, used to determine that an abnormality has occurred in the moving part of the cleaning robot when the distance between the cleaning robot and the base station is less than or equal to a first preset distance during the movement of the cleaning robot, and control the cleaning robot to lift the chassis.

[0092] In one exemplary embodiment of this disclosure, the chassis lifting control module 510 includes: a displacement value acquisition unit, used to acquire the actual displacement value of the cleaning robot and the drive displacement value of the moving part; and a condition judgment unit, used to determine that the moving part of the cleaning robot has an abnormal situation if the actual displacement value and the drive displacement value meet a preset condition.

[0093] In one exemplary embodiment of this disclosure, the condition judgment unit is used to determine that an abnormality has occurred in the moving part of the cleaning robot when the driving displacement value of the moving part increases and the actual displacement value of the cleaning robot is less than a preset displacement amount.

[0094] In one exemplary embodiment of this disclosure, the actual displacement value is determined based on the positional change of the cleaning robot relative to the base station.

[0095] In one exemplary embodiment of this disclosure, the robot movement control module 520 includes: an instruction execution unit, used to control the cleaning robot to move to a target location in the base station to execute preset instructions.

[0096] In one exemplary embodiment of this disclosure, the instruction execution unit includes: a second distance detection unit, configured to control the cleaning robot to lower its chassis and continue moving to the target position and execute a preset instruction in response to the distance between the cleaning robot and the target position being less than or equal to a second preset distance.

[0097] In one exemplary embodiment of this disclosure, the control device for the cleaning robot further includes: a chassis lifting module, used to control the cleaning robot to lift the chassis again and control the cleaning robot to retreat to a preset position around the base station if the execution of the preset command fails; and a chassis lowering module, used to move back to the target position in the base station and execute the preset command.

[0098] In one exemplary embodiment of this disclosure, the control device for the cleaning robot further includes: a notification sending unit, configured to send a failure reminder notification if the execution of a preset instruction fails.

[0099] In one exemplary embodiment of this disclosure, the moving part includes a traveling wheel, and an abnormal condition of the moving part includes the traveling wheel malfunctioning.

[0100] In one exemplary embodiment of this disclosure, the moving part includes a driving part for controlling the cleaning robot to lift its chassis.

[0101] The specific details of the control device modules of each cleaning robot mentioned above have been described in detail in the corresponding methods, so they will not be repeated here.

[0102] It should be noted that although several modules or units for the execution device have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, 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 and embodied by multiple modules or units.

[0103] In an exemplary embodiment of this disclosure, an electronic device capable of implementing the above-described method is also provided. For example, the electronic device may be a cleaning robot capable of implementing the above-described method.

[0104] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0105] The electronic device 600 according to such an exemplary embodiment of the present disclosure will now be described with reference to FIG6. The electronic device 600 shown in FIG6 is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present disclosure.

[0106] As shown in Figure 6, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including storage unit 620 and processing unit 610), and a display unit 640.

[0107] The storage unit stores program code, which can be executed by the processing unit 610 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 610 can perform the steps shown in FIG1 or FIG3, etc.

[0108] Storage unit 620 may include readable media in the form of volatile storage units, such as random access memory (RAM) 621 and / or cache memory 622, and may further include read-only memory (ROM) 623.

[0109] Storage unit 620 may also include a program / utility 624 having a set (at least one) of program modules 625, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0110] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0111] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. As shown, network adapter 660 communicates with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0112] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0113] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible implementations, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of this disclosure described in the "Exemplary Methods" section above.

[0114] The program product for implementing the above-described method according to embodiments of the present disclosure may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0115] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0116] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0117] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0118] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0119] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0120] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0121] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is defined only by the appended claims.

Claims

1. A control method of a cleaning robot, comprising: controlling the cleaning robot to lift a chassis during movement of the cleaning robot in response to detecting an abnormal situation of a moving part of the cleaning robot; and controlling the cleaning robot to move. 2.The method of claim 1, wherein the controlling the cleaning robot to lift the chassis during movement of the cleaning robot in response to detecting the abnormal situation of the moving part of the cleaning robot comprises: controlling the cleaning robot to lift the chassis during movement of the cleaning robot in response to a distance between the cleaning robot and a base station being less than or equal to a first preset distance, and determining that the abnormal situation of the moving part of the cleaning robot occurs. 3.The method of claim 1 or 2, wherein the detecting the abnormal situation of the moving part of the cleaning robot comprises: obtaining an actual displacement value of the cleaning robot and a driving displacement value of the moving part; and determining that the abnormal situation of the moving part of the cleaning robot occurs in response to the actual displacement value and the driving displacement value satisfying a preset condition. 4.The method of claim 3, wherein the determining that the abnormal situation of the moving part of the cleaning robot occurs in response to the actual displacement value and the driving displacement value satisfying the preset condition comprises: determining that the abnormal situation of the moving part of the cleaning robot occurs in response to the driving displacement value of the moving part increasing and the actual displacement value of the cleaning robot being less than a preset displacement amount. 5.The method of claim 3, wherein the actual displacement value is determined according to a change in a position of the cleaning robot relative to the base station. 6.The method of claim 2, wherein the controlling the cleaning robot to move comprises: controlling the cleaning robot to move to a target position in the base station to execute a preset instruction. 7.The method of claim 6, wherein the controlling the cleaning robot to move to the target position in the base station to execute the preset instruction comprises: controlling the cleaning robot to lower the chassis in response to a distance between the cleaning robot and the target position being less than or equal to a second preset distance, and continue to move to the target position and execute the preset instruction. 8.The method of claim 7, further comprising: controlling the cleaning robot to lift the chassis again and control the cleaning robot to retreat to a preset position around the base station in response to failure to execute the preset instruction; and moving to the target position in the base station again to execute the preset instruction. 9.The method of claim 6, further comprising: sending a failure reminder notification in response to failure to execute the preset instruction. 10.The method of any one of the preceding claims, wherein the moving part comprises a walking wheel, and the abnormal situation of the moving part comprises invalid operation of the walking wheel. 11.The method of any one of the preceding claims, wherein the moving part comprises a driving part configured to control the cleaning robot to lift the chassis. 12.A control device of a cleaning robot, comprising: ​ ​ ​ The chassis lifting control module is configured to, during the movement of the cleaning robot, in response to detecting an abnormality in the moving part of the cleaning robot, control the cleaning robot to lift its chassis. as well as The robot movement control module is configured to control the movement of the cleaning robot.

13. The apparatus of claim 12, wherein the chassis lifting control module is configured to: During the movement of the cleaning robot, in response to the distance between the cleaning robot and the base station being less than or equal to a first preset distance, it is determined that an abnormality has occurred in the movement of the cleaning robot, and the cleaning robot is controlled to raise its chassis.

14. The apparatus according to claim 12 or 13, wherein detecting an abnormality in the moving part of the cleaning robot includes: Obtain the actual displacement value of the cleaning robot and the driving displacement value of the moving part; as well as In response to the actual displacement value and the driven displacement value satisfying preset conditions, it is determined that an abnormality has occurred in the moving part of the cleaning robot.

15. The apparatus of claim 14, wherein determining that the moving part of the cleaning robot has malfunctioned in response to the actual displacement value and the driven displacement value satisfying a preset condition includes: In response to an increase in the driving displacement value of the moving part, and the actual displacement value of the cleaning robot being less than a preset displacement, it is determined that an abnormality has occurred in the moving part of the cleaning robot.

16. The apparatus of claim 14, wherein the actual displacement value is determined based on the positional change of the cleaning robot relative to the base station.

17. The apparatus of claim 13, wherein the robot motion control module is configured to: The cleaning robot is controlled to move to the target location in the base station to execute preset instructions.

18. The apparatus of claim 17, wherein controlling the cleaning robot to move to a target location in the base station to execute a preset command includes: In response to the distance between the cleaning robot and the target location being less than or equal to a second preset distance, the cleaning robot is controlled to lower its chassis, continue moving to the target location, and execute preset commands.

19. The apparatus of claim 18, further comprising: The chassis re-lifting module is configured to, in response to the failure of executing a preset command, control the cleaning robot to re-lift the chassis and control the cleaning robot to retreat to a preset position around the base station; as well as The chassis re-landing module is configured to move back to the target location in the base station and execute preset commands.

20. The apparatus of claim 17, further comprising: The notification sending unit is configured to send a failure alert notification in response to the failure to execute a preset instruction.

21. The apparatus according to any one of claims 12 to 20, wherein the moving part includes a wheel, and the abnormal condition of the moving part includes the wheel malfunctioning.

22. The apparatus according to any one of claims 12 to 21, wherein the moving part includes a drive part for controlling the cleaning robot to lift its chassis.

23. A cleaning robot, comprising: Organism; and The controller is located inside the machine body; The controller is configured to perform the control method for the cleaning robot according to any one of claims 1 to 11.

24. A cleaning system comprising: Base station; The cleaning robot of claim 23, wherein the base station is at least used for charging the cleaning robot.

25. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of any one of claims 1 to 11.

26. An electronic device comprising: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 11 by executing the executable instructions.

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