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

Abstract

Disclosed in the embodiments of the present application are a cleaning robot control method and apparatus, and a cleaning robot, a device and a medium. The cleaning robot comprises a body and a cleaning brush, wherein the cleaning brush is disposed on the side of the body that faces an operating surface, the cleaning brush engages with the operating surface so as to clean same, and the distance between the body and the operating surface can be adjusted. During the process of controlling the cleaning robot to clean the operating surface by means of the cleaning brush, an operation monitoring index of the cleaning robot is acquired; and when the operation monitoring index of the cleaning robot does not meet a target condition, the distance between the body and the operating surface is adjusted, such that the operation monitoring index of the cleaning robot meets a target condition, wherein the operation monitoring index represents the degree of engagement between the cleaning brush and the operating surface. In this way, the degree of engagement between a cleaning brush and an operating surface can be more flexibly controlled, thereby better meeting the cleaning requirements of the current operating surface, improving cleaning efficiency, reducing energy loss, and improving energy consumption efficiency.

Description

Control methods for cleaning robots, cleaning robots, devices, equipment and media

[0001] Cross-references to related applications

[0002] This disclosure claims priority to China National Intellectual Property Administration (CNIPA) application No. 202411615275.6, filed on November 12, 2024, entitled “Control method for cleaning robot, cleaning robot, apparatus, equipment and medium”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to, but is not limited to, the field of cleaning robots, and particularly to a control method for a cleaning robot, a cleaning robot, an apparatus, equipment, and a medium. Background Technology

[0004] With the rapid development of technology, cleaning robots are being used more and more widely. In related technologies, cleaning robots can enhance their cleaning ability by increasing the suction power of their suction structure when cleaning surfaces made of specific materials (such as carpets and dust mats). However, this cleaning method is not flexible enough, and the cleaning effect is usually not good, resulting in low cleaning efficiency and low energy efficiency.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] In view of the above, embodiments of this application provide at least one control method for a cleaning robot, a cleaning robot, an apparatus, a device, and a medium.

[0007] The technical solution of this application embodiment is implemented as follows:

[0008] This application provides a control method for a cleaning robot. The cleaning robot includes a body and a cleaning brush. The cleaning brush is disposed on the side of the body facing the work surface. The cleaning brush cleans by interfering with the work surface. The distance between the body and the work surface is adjustable. The method includes:

[0009] Control the cleaning robot to clean the work surface using cleaning brushes;

[0010] During the cleaning process, operational monitoring indicators of the cleaning robot are acquired; these indicators characterize the degree of interference between the cleaning brush and the work surface.

[0011] If the cleaning robot's operational monitoring indicators do not meet the target conditions, adjust the distance between the robot body and the working surface to make the cleaning robot's operational monitoring indicators meet the target conditions.

[0012] This application provides a cleaning robot, including: a body, a cleaning brush, and a controller;

[0013] The cleaning brush is located on the side of the machine body facing the work surface. The cleaning brush cleans by interfering with the work surface. The distance between the machine body and the work surface is adjustable.

[0014] The controller is used to: control the cleaning robot to clean the work surface using the cleaning brush; acquire the cleaning robot's operation monitoring indicators during the cleaning process; the operation monitoring indicators characterize the degree of interference between the cleaning brush and the work surface; and adjust the distance between the robot body and the work surface so that the cleaning robot's operation monitoring indicators meet the target conditions when the cleaning robot's operation monitoring indicators do not meet the target conditions.

[0015] This application provides a control device for a cleaning robot. The cleaning robot includes a body and a cleaning brush. The cleaning brush is disposed on the side of the body facing the work surface. The cleaning brush cleans by interfering with the work surface. The distance between the body and the work surface is adjustable. The device includes:

[0016] The control module is used to control the cleaning robot to clean the work surface using cleaning brushes;

[0017] The acquisition module is used to acquire the operation monitoring indicators of the cleaning robot during the cleaning process; the operation monitoring indicators characterize the degree of interference between the cleaning brush and the working surface;

[0018] The adjustment module is used to adjust the distance between the robot body and the work surface when the operation monitoring indicators of the cleaning robot do not meet the target conditions, so that the operation monitoring indicators of the cleaning robot meet the target conditions.

[0019] This application provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the program, it implements some or all of the steps in the above-described method.

[0020] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements some or all of the steps in the above-described method.

[0021] This application provides a computer program including computer-readable code. When the computer-readable code is run in a computer device, the processor in the display device executes some or all of the steps in the above-described method.

[0022] This application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method. Attached Figure Description

[0023] Figure 1A is a schematic diagram of the implementation process of a control method for a cleaning robot provided in an embodiment of this application;

[0024] Figure 1B is a schematic diagram of the composition structure of a cleaning robot provided in an embodiment of this application;

[0025] Figure 2 is a schematic diagram of the composition structure of a controller for a cleaning robot provided in an embodiment of this application;

[0026] Figure 3 is a schematic diagram of the composition structure of a cleaning robot provided in an embodiment of this application;

[0027] Figure 4 is a schematic diagram of the composition structure of a control device for a cleaning robot provided in an embodiment of this application;

[0028] Figure 5 is a schematic diagram of the hardware entity of a computer device provided in an embodiment of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] In the following description, references to "some embodiments" refer to a subset of all possible embodiments. It is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined with each other without conflict. The terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application.

[0032] This application provides a control method for a cleaning robot. This method can be executed by a processor of a computer device. The computer device can refer to a robot, server, laptop, tablet, desktop computer, smart TV, set-top box, mobile device (e.g., mobile phone, portable video player, personal digital assistant, dedicated messaging device, portable gaming device), or any other device with data processing capabilities. The cleaning robot can include, but is not limited to, at least one of the following: sweeping robot, floor scrubber, mop, and combined sweeper and mop. In implementation, the composition and structure of the cleaning robot can be determined according to actual conditions, and this application does not limit this aspect.

[0033] Figure 1A is a schematic flowchart of a control method for a cleaning robot provided in an embodiment of this application. As shown in Figure 1A, the method includes the following steps S101 to S103:

[0034] Step S101: Control the cleaning robot to clean the work surface using the cleaning brush;

[0035] Here, the cleaning brush may include at least one of the main brush, side brushes, etc. of the cleaning robot.

[0036] A cleaning brush cleans a work surface by interfering with it. For example, the interference between the cleaning brush and the work surface may include, but is not limited to, at least one of the following: the degree of contact between the cleaning brush and the work surface, and the contact efficiency between the cleaning brush and the work surface.

[0037] In some implementations, the cleaning robot's cleaning brushes can be controlled to rotate to roll away and / or suck up dust, debris, and other contaminants on the work surface, thereby achieving cleaning of the work surface.

[0038] Figure 1B is a schematic diagram of the composition structure of a cleaning robot provided in an embodiment of this application. As shown in Figure 1B, the cleaning robot 10 includes a body 11 and a cleaning brush 12. The cleaning brush 12 is disposed on the side of the body 11 facing the work surface. The cleaning brush 12 cleans by interfering with the work surface. The distance between the body 11 and the work surface is adjustable. The work surface can be any surface to be cleaned, including but not limited to at least one of the following: floor, carpet, dust mat, etc. The work surface can be horizontal, sloped, or stepped; this embodiment of the application does not limit this.

[0039] In some implementations, the working surface can be horizontal, and the distance between the machine body and the working surface is the height of the machine body's chassis from the working surface.

[0040] Step S102: During the cleaning process, the operation monitoring indicators of the cleaning robot are acquired; the operation monitoring indicators characterize the degree of interference between the cleaning brush and the working surface.

[0041] Here, the operation monitoring indicators of the cleaning robot can include any suitable indicators that can characterize the degree of interference between the cleaning brush and the working surface, and this application embodiment is not limited to this.

[0042] For example, the operational monitoring indicators of a cleaning robot may include, but are not limited to, at least one of the following: the driving current of the cleaning brush, the distance between the robot body and the working surface, and the degree to which the cleaning brush sinks into the working surface.

[0043] Understandably, the degree of interference between the cleaning brush and the working surface affects the working load of the cleaning brush, and thus the driving current of the cleaning brush. Therefore, the driving current of the cleaning brush can be used to characterize the degree of interference between the cleaning brush and the working surface. A higher driving current indicates a higher degree of interference, while a lower driving current indicates a lower degree of interference. The distance between the machine body and the working surface also affects the degree of interference. Therefore, the distance between the machine body and the working surface can be used to characterize the degree of interference. A smaller distance indicates a higher degree of interference, while a larger distance indicates a lower degree of interference. A greater depth of the cleaning brush on the working surface indicates a greater degree of interference, while a lesser depth of the cleaning brush on the working surface indicates a lower degree of interference.

[0044] In some implementations, the monitoring indicators can be detected in real time during the process of controlling the cleaning robot to clean the work surface using cleaning brushes. For example, if the monitoring indicator includes the drive current of the cleaning brush, a current detection module in the cleaning robot can be controlled to detect the operating current of the drive motor of the cleaning brush (i.e., the drive current of the cleaning brush) in real time. As another example, if the monitoring indicator includes the distance between the robot body and the work surface, a laser ranging component located on the side of the robot body facing the work surface can be used to detect the distance between the robot body and the work surface in real time. Furthermore, if the monitoring indicator includes the degree of embedment of the cleaning brush on the work surface, the drive current of the side brushes located around the robot body can be detected in real time, and the drive current of these side brushes can be used to assist in determining the degree of embedment of the cleaning brush on the work surface.

[0045] Step S103: If the operation monitoring indicators of the cleaning robot do not meet the target conditions, adjust the distance between the robot body and the working surface so that the operation monitoring indicators of the cleaning robot meet the target conditions.

[0046] Here, the target conditions can be preset by those skilled in the art based on the actual situation, and the embodiments of this application are not limited in this regard.

[0047] In some implementations, the target conditions may include a target value range that the operation monitoring indicators need to meet. For example, when the operation monitoring indicators include the driving current of the cleaning brush, the target conditions may include a target current range. If the driving current of the cleaning brush is within the target current range, then the driving current of the cleaning brush meets the target conditions; if the driving current of the cleaning brush is not within the target current range, then the driving current of the cleaning brush does not meet the target conditions. As another example, when the operation monitoring indicators include the distance between the machine body and the work surface, the target conditions may include a target distance range. If the distance between the machine body and the work surface is within the target distance range, then the distance meets the target conditions; if the distance between the machine body and the work surface is not within the target distance range, then the distance does not meet the target conditions. Yet another example, when the operation monitoring indicators include the degree of penetration of the cleaning brush into the work surface, the target conditions may include a target degree range. If the degree of penetration of the cleaning brush into the work surface is within the target degree range, then the degree of penetration meets the target conditions; if the degree of penetration of the cleaning brush into the work surface is not within the target degree range, then the degree of penetration does not meet the target conditions.

[0048] Understandably, the cleaning brush is positioned on the side of the machine body facing the work surface. By adjusting the distance between the machine body and the work surface, the degree of contact between the cleaning brush and the work surface can be altered, thereby adjusting the degree of interference between them and consequently changing the cleaning robot's performance monitoring indicators. Thus, if the cleaning robot's performance monitoring indicators do not meet the target conditions, adjusting the distance between the machine body and the work surface can bring the indicators to the target level.

[0049] In this embodiment, the cleaning robot includes a body and a cleaning brush. The cleaning brush is positioned on the side of the body facing the work surface. The cleaning brush cleans by interfering with the work surface, and the distance between the body and the work surface is adjustable. During the cleaning process, the robot's operational monitoring indicators are acquired. If these indicators do not meet target conditions, the distance between the body and the work surface is adjusted to ensure they do. The operational monitoring indicators characterize the degree of interference between the cleaning brush and the work surface. Since this interference significantly impacts cleaning effectiveness, adjusting the distance changes the degree of interference. Therefore, by automatically adjusting the distance to meet the target conditions when the robot's operational monitoring indicators do not meet them, the degree of interference can be controlled more flexibly, better meeting the cleaning needs of the current work surface and improving cleaning efficiency. Furthermore, it eliminates the need to increase the robot's suction power, thus reducing energy consumption and improving energy efficiency.

[0050] In some embodiments, the operation monitoring indicator includes the drive current of the cleaning brush, and the target condition includes a target current range. Step S103 above may include the following step S111:

[0051] Step S111: If the driving current of the cleaning brush is not within the target current range, adjust the distance between the machine body and the working surface so that the driving current of the cleaning brush reaches the target current range.

[0052] In implementation, any suitable feedback control method can be used to adjust the distance between the machine body and the working surface so that the driving current of the cleaning brush reaches the target current range. This application embodiment is not limited in this respect.

[0053] In some implementations, when the driving current of the cleaning brush is not within the target current range, a proportional-integral-derivative (PID) control algorithm can be used to adjust the distance between the machine body and the working surface so that the driving current of the cleaning brush reaches the target current range. The PID control algorithm may include, but is not limited to, at least one of the following: proportional control (e.g., adjusting the distance between the machine body and the working surface based on the deviation of the driving current from the target current range), integral control (e.g., accumulating historical deviations of the driving current relative to the target current range and correcting long-term deviations), and derivative control (e.g., predicting the trend of the driving current based on the rate of change of the driving current and adjusting the distance between the machine body and the working surface in advance).

[0054] In some embodiments, the cleaning robot also includes a height adjustment component, which can be used to adjust the distance between the robot body and the working surface. This component can be used to adjust the distance between the robot body and the working surface when the driving current of the cleaning brush is not within the target current range. In practice, the composition of the height adjustment component can be determined according to actual conditions, and this application embodiment does not limit this. For example, the height adjustment component may include a lifting servo motor, which may include a stepper motor and a mechanical lifting mechanism.

[0055] In the above embodiments, when the driving current of the cleaning brush is not within the target current range, the distance between the machine body and the working surface is adjusted so that the driving current of the cleaning brush reaches the target current range. In this way, the degree of interference between the cleaning brush and the working surface can be adjusted by controlling the driving current of the cleaning brush, thereby better meeting the cleaning needs of the current working surface, improving cleaning efficiency, and further reducing energy loss and improving energy efficiency.

[0056] In some embodiments, step S111 may include at least one of steps S121 and S122:

[0057] Step S121: If the driving current of the cleaning brush is greater than the upper limit of the target current range, increase the distance between the machine body and the working surface.

[0058] Here, the target current range has an upper limit. If the driving current of the cleaning brush exceeds this upper limit, it indicates that the working load of the cleaning brush is too high, meaning that the interference between the cleaning brush and the working surface is too great, which may lead to excessive energy consumption. By increasing the distance between the machine body and the working surface, the interference between the cleaning brush and the working surface can be reduced, thereby reducing the working load of the cleaning brush and bringing the driving current of the cleaning brush within the target current range.

[0059] In this way, the cleaning load on the cleaning brush can be reduced while meeting the cleaning needs of the current work surface, thereby further reducing energy consumption and improving energy efficiency.

[0060] Step S122: If the driving current of the cleaning brush is less than the lower limit of the target current range, reduce the distance between the machine body and the working surface.

[0061] Here, the target current range has a lower current limit. If the driving current of the cleaning brush is less than this lower current limit, it indicates that the working load of the cleaning brush is too small, meaning the interference between the cleaning brush and the working surface is too low, which may result in insufficient cleaning ability. By reducing the distance between the machine body and the working surface, the interference between the cleaning brush and the working surface can be increased, thereby increasing the working load of the cleaning brush and bringing the driving current of the cleaning brush within the target current range.

[0062] In this way, the workload of the cleaning brush can be increased without consuming too much energy, thereby improving the cleaning ability of the cleaning brush to better meet the cleaning needs of the current work surface.

[0063] In some embodiments, adjusting the distance between the machine body and the working surface when the driving current of the cleaning brush is not within the target current range in step S111 above may include the following step S131:

[0064] Step S131: If the driving current of the cleaning brush is not within the target current range, adjust the distance between the machine body and the working surface, and the rotation speed of the cleaning brush.

[0065] In some implementations, the rotation speed of the cleaning brush can be adjusted by changing the rotation speed of the drive motor of the cleaning brush.

[0066] In some implementations, when the drive current of the cleaning brush is not within the target current range, a PID control algorithm can be used to adjust the rotational speed of the cleaning brush so that the drive current of the cleaning brush reaches the target current range. The PID control algorithm may include, but is not limited to, at least one of proportional control (e.g., adjusting the rotational speed of the cleaning brush based on the deviation of the drive current from the target current range), integral control (e.g., accumulating historical deviations of the drive current relative to the target current range and correcting long-term deviations), and derivative control (e.g., predicting the trend of the drive current based on the rate of change of the drive current and adjusting the rotational speed of the cleaning brush in advance).

[0067] It's understandable that the cleaning brush's rotation speed is positively correlated with its drive current; that is, the higher the brush's rotation speed, the higher the drive current, and vice versa. Furthermore, the brush's rotation speed affects the contact efficiency between the brush and the work surface, thus influencing the degree of interference between them. Therefore, by adjusting the distance between the machine body and the work surface, as well as the brush's rotation speed, the degree of interference between the brush and the work surface can be controlled more flexibly and efficiently. This ensures the brush's drive current falls within the target current range, better meeting the cleaning needs of the current work surface and further improving cleaning efficiency and energy efficiency.

[0068] In some embodiments, step S131 may include the following steps S141 and S142:

[0069] Step S141: If the driving current of the cleaning brush is greater than the upper limit of the target current range, increase the distance between the machine body and the working surface.

[0070] Step S142: When the distance between the machine body and the working surface reaches the set upper limit and the driving current of the cleaning brush is greater than the upper limit, the rotation speed of the cleaning brush is reduced until the driving current of the cleaning brush reaches the target current range.

[0071] Here, when the driving current of the cleaning brush is greater than the upper limit of the target current range, the workload of the cleaning brush can be reduced by increasing the distance between the machine body and the working surface, thereby reducing the driving current of the cleaning brush and bringing the driving current closer to the target current range.

[0072] The upper limit of the distance is set to the maximum distance that the aircraft can reach between itself and the working surface.

[0073] If the driving current of the cleaning brush has reached the target current range before the distance between the robot body and the working surface reaches the set upper limit, the distance between the robot body and the working surface can be stopped, and the distance between the robot body and the working surface can be kept constant.

[0074] If the driving current of the cleaning brush is still greater than the upper limit of the target current range when the distance between the robot body and the work surface reaches the set upper limit, the distance between the robot body and the work surface can be controlled to maintain the set upper limit, and the rotation speed of the cleaning brush can be reduced until the driving current of the cleaning brush reaches the target current range. In this way, energy efficiency can be further improved while meeting the cleaning needs of the current work surface.

[0075] In some implementations, if the distance between the machine body and the working surface reaches a set upper limit, and the driving current of the cleaning brush remains greater than the upper limit for a first preset time period after reaching the set upper limit, the rotation speed of the cleaning brush can be reduced until the driving current of the cleaning brush reaches the target current range. The first preset time period can be preset by those skilled in the art based on actual conditions, and this application embodiment does not limit it. For example, the first preset time period can be 5 seconds (s), 10 seconds, or 15 seconds, etc.

[0076] In some implementations, while reducing the rotational speed of the cleaning brush, the rotational speed can be maintained at a level not lower than a set first rotational speed threshold, so that the cleaning brush has at least a certain cleaning ability. The first rotational speed threshold can be a suitable value set by those skilled in the art based on actual conditions, and is not limited here.

[0077] In some embodiments, step S131 may include the following steps S151 and S152:

[0078] Step S151: If the driving current of the cleaning brush is less than the lower limit of the target current range, reduce the distance between the machine body and the working surface.

[0079] Step S152: When the distance between the machine body and the working surface reaches the set distance lower limit and the driving current of the cleaning brush is less than the current lower limit, increase the rotation speed of the cleaning brush until the driving current of the cleaning brush reaches the target current range.

[0080] Here, when the driving current of the cleaning brush is less than the lower limit of the target current range, the workload of the cleaning brush can be increased by reducing the distance between the machine body and the working surface, thereby increasing the driving current of the cleaning brush so that the driving current approaches the target current range.

[0081] The lower limit of the distance is set as the minimum distance that the machine can reach between the machine body and the working surface.

[0082] If the driving current of the cleaning brush has reached the target current range before the distance between the robot body and the working surface reaches the lower limit of the set distance, the reduction of the distance between the robot body and the working surface can be stopped, and the distance between the robot body and the working surface can be kept constant.

[0083] If the driving current of the cleaning brush is still less than the lower limit of the target current range when the distance between the robot body and the work surface reaches the set lower limit, the distance between the robot body and the work surface can be controlled to maintain the set lower limit, and the rotation speed of the cleaning brush can be increased until the driving current of the cleaning brush reaches the target current range. In this way, energy efficiency can be improved while better meeting the cleaning needs and efficiency of the current work surface.

[0084] In some embodiments, if the distance between the machine body and the working surface reaches a set lower limit, and the driving current of the cleaning brush remains below the current lower limit for a second preset time period after reaching the set lower limit, the rotational speed of the cleaning brush can be increased until the driving current of the cleaning brush reaches the target current range. The second preset time period can be preset by those skilled in the art based on actual conditions, and this application embodiment does not limit it. For example, the second preset time period can be 5s, 10s, or 15s, etc.

[0085] In some implementations, while increasing the rotational speed of the cleaning brush, the rotational speed can be kept below a set second rotational speed threshold. This second rotational speed threshold can be a suitable value set by those skilled in the art based on actual conditions, and is not limited here.

[0086] In some embodiments, the above method may further include the following steps S161 to S162:

[0087] Step S161: Detect the material type of the working surface.

[0088] Here, any suitable method can be used to detect the material type of the work surface to obtain the material type of the work surface. The material type of the work surface can include, but is not limited to, ceramic tile, wood flooring, carpet, or diatomaceous earth, etc.

[0089] In some embodiments, a material identification component can be installed on the side of the machine body facing the work surface. This component can detect the material type of the work surface. For example, the material identification component may include, but is not limited to, at least one of an ultrasonic sensor, a lidar, and an image sensor. If the material identification component includes an ultrasonic sensor, the ultrasonic sensor can acquire ultrasonic reflection signals, and the material type of the work surface can be identified based on changes in the ultrasonic reflection signals. If the material identification component includes a lidar, the lidar can acquire radar reflection signals, and the material type of the work surface can be identified based on changes in the radar reflection signals. If the material identification component includes an image sensor, the image sensor can acquire image information of the work surface, and the material type of the work surface can be identified based on the image information.

[0090] Step S162: Determine the target current range based on the material type.

[0091] In some implementations, a pre-trained neural network model can be used to predict the range of driving current required to clean the working surface of the material type, thereby obtaining the target current range.

[0092] In some implementations, a correspondence between at least one material type and a driving current range can be predetermined. Based on the detected material type of the working surface, the correspondence can be queried to obtain the driving current range corresponding to that material type, i.e., the target current range.

[0093] In the above embodiments, the material type of the working surface is detected, and a target current range is determined based on the material type. This allows for the determination of a target current range suitable for the current working surface, thereby better meeting the cleaning needs of the current working surface.

[0094] In some embodiments, step S101 may include steps S171 to S172 as follows:

[0095] Step S171: Control the cleaning robot to move to the area where the work surface is located, and detect the material type of the work surface.

[0096] Step S172: If the material type indicates that the work surface is a carpet, the cleaning robot is controlled to clean the work surface using the cleaning brush based on the cleaning strategy corresponding to the carpet.

[0097] Here, any suitable method can be used to determine whether the work surface is carpet based on the material type of the work surface.

[0098] In some implementations, the work surface can be determined to be a carpet if its material type is a target type. Here, the target type refers to the material type corresponding to the carpet. In practice, those skilled in the art can set a suitable target type based on the carpet material in the actual application scenario; this application does not limit this. For example, the target type may include, but is not limited to, at least one of carpet type, cotton / linen type, fabric type, and plush type.

[0099] The cleaning strategy for the carpet can be preset by the user or be the default in the configuration information of the cleaning robot. This application embodiment does not limit this.

[0100] In some implementations, the cleaning strategy for carpets may include avoiding unclean areas, traversing unclean areas, or cleaning the carpet. When the cleaning strategy is to avoid unclean areas, the cleaning robot can be controlled to bypass the area containing the carpet and not clean it. When the cleaning strategy is to traverse unclean areas, the cleaning robot can be controlled to traverse the area containing the carpet but not clean it. When the cleaning strategy is to clean the carpet, the cleaning robot can be controlled to clean the work surface using cleaning brushes.

[0101] In the above embodiments, the cleaning robot is controlled to move to the work surface area and detect the material type of the work surface. If the material type indicates that the work surface is carpet, the cleaning robot is controlled to clean the work surface using a cleaning brush based on the cleaning strategy corresponding to the carpet. In this way, the cleaning needs of carpets can be better met, further improving carpet cleaning efficiency and energy efficiency.

[0102] The following describes the application of the control method for the cleaning robot provided in the embodiments of this application in a real-world scenario, taking the scenario of the cleaning robot cleaning a carpet as an example.

[0103] In related technologies, cleaning robots often fail to automatically adjust their working state based on the thickness and material of the carpet when cleaning carpets, leading to reduced cleaning efficiency or increased energy consumption. Some technologies increase the suction power of the vacuuming mechanism after the robot detects a carpet surface using sensors. This approach is energy inefficient and cannot guarantee cleaning effectiveness. In this solution, the carpet sensor simply increases the cleaning brush speed and / or controls the fan output to a high airflow value after detecting a carpet, without considering the diversity of carpets requiring different cleaning methods, or the significant impact of brush interference on cleaning results. This results in low cleaning efficiency, high suction power but ineffective cleaning, high noise levels, and high energy consumption.

[0104] In some related technologies, although the walking wheels of cleaning robots have servo motors that can adjust the height of the robot body, these servo motors are only used to help the cleaning robot cross obstacles or thresholds when walking.

[0105] This application provides a cleaning robot with intelligent height adjustment function. The cleaning robot can identify carpets through ultrasonic sensors and automatically adjust the height of the robot body (i.e., the distance between the robot body and the carpet) according to the driving current feedback of the cleaning brush, thereby maintaining a better cleaning effect and improving cleaning efficiency and energy efficiency.

[0106] Based on this, the present application provides a control method for a cleaning robot. By utilizing the adjustable height of the cleaning robot, the driving current of the cleaning brush when the cleaning robot is working on a carpet can be optimized to ensure that the cleaning brush and the carpet remain within a certain range of interference during the cleaning process, thereby significantly improving the cleaning effect and energy efficiency.

[0107] The control method for this cleaning robot can be implemented by the robot's controller. Figure 2 is a schematic diagram of the composition structure of a cleaning robot controller provided in an embodiment of this application. As shown in Figure 2, the controller 200 may include: a carpet recognition component 210, a current detection component 220, a cleaning brush speed adjustment component 230, a height adjustment component 240, and a control unit 250.

[0108] In some implementations, the carpet recognition component 210 may include an ultrasonic sensor mounted on the bottom of the cleaning robot to detect the type of material on the ground and identify the presence of a carpet by changes in ultrasonic reflected signals.

[0109] In some implementations, the current detection component 220 includes a main brush current sensor for real-time detection of the operating current of the drive motor of the cleaning brush, i.e. the drive current of the cleaning brush, recording and analyzing the current value of the drive current to determine the current working state of the cleaning brush.

[0110] In some implementations, the brush speed adjustment component 230 is used to adjust the speed of the cleaning brush via a frequency converter or DC motor control module, etc.

[0111] In some embodiments, the height adjustment assembly 240 includes an elevator servo, which includes a stepper motor and a mechanical lifting mechanism. The height adjustment assembly 240 is capable of automatically adjusting the fuselage height based on height control data output by the control unit.

[0112] In some embodiments, the control unit 250 is configured to: receive carpet signals identified by the carpet recognition component 210 and drive current of the cleaning brush detected by the current detection component 220, and output speed control data for adjusting the speed of the cleaning brush and height control data for adjusting the height of the machine body based on the drive current of the cleaning brush.

[0113] In some implementations, the control unit uses a PID control algorithm to ensure that the cleaning robot's lifting and lowering movements on the carpet are smooth and gradual.

[0114] In some embodiments, this application provides a control method for a cleaning robot, including the following steps S201 to S208:

[0115] Step S201: After the cleaning robot is started, the ultrasonic sensor continuously monitors the ground material.

[0116] Step S202: The carpet cleaning strategy of the cleaning robot is set to clean the carpet.

[0117] In step S203, after the cleaning robot confirms that it has entered the carpet area, the current detection component begins to monitor the drive current of the cleaning brush in real time.

[0118] Step S204: When entering the carpeted area, the machine body is kept at its lowest possible height.

[0119] In step S205, the control unit compares the real-time measured drive current value of the cleaning brush with a preset target current range (e.g., 300mA-500mA) based on the drive current of the cleaning brush fed back by the current detection component. If the current exceeds the upper limit of the target current range, it indicates that the machine height is too low, resulting in excessive load on the cleaning brush. In this case, a command is sent to the height adjustment component to raise the machine body and reduce the load on the cleaning brush. If the current is below the lower limit of the target current range, it indicates that the machine height is too high, resulting in reduced cleaning ability. In this case, a command is sent to the height adjustment component to lower the machine body and increase the load on the cleaning brush. Continuous current monitoring and adjustment are performed during carpet cleaning to keep the current within the target current range for optimal cleaning results.

[0120] In some implementations, a PID control algorithm can be used when the control unit controls the fuselage height based on the drive current.

[0121] In some implementations, the driving current of the cleaning brush may still be outside the target current range when the robot body is at its highest or lowest height. Therefore, the rotation speed of the cleaning brush needs to be adjusted to control the driving current. If, when the cleaning robot is operating at its highest height, the driving current of the cleaning brush still exceeds the upper limit of the target current range for more than 10 seconds, the robot will continue to operate at the highest height for the subsequent cleaning process on that carpet. Once the highest height is maintained, the control unit controls the rotation speed of the cleaning brush, reducing it to lower the driving current to the target current range, but ensuring the rotation speed does not fall below a first speed threshold, such as 600 rpm. Similarly, when the robot body is lowered to its lowest height, if the driving current of the cleaning brush is still below the lower limit of the target current range, the load can be increased by increasing the rotation speed of the cleaning brush to lower the driving current to the target current range, thereby improving the cleaning effect.

[0122] In some implementations, a PID control algorithm can be used when the control unit controls the speed of the cleaning brush based on the drive current.

[0123] The control method for the cleaning robot provided in this application takes the degree of interference between the cleaning brush and the carpet as its starting point. By controlling the driving current of the cleaning brush within a target current range, the degree of interference between the cleaning brush and the carpet is controlled within an optimal range, thereby improving the efficiency of debris entrainment. Compared with the solution of simply increasing the suction power on the carpet to improve cleaning ability, this method greatly reduces energy consumption. It is applicable to different types of carpets and can detect and control the cleaning behavior in real time on different carpets to achieve better cleaning results. It does not rely on historical carpet information or user settings and can be used in any environment, reducing user intervention and improving the intelligence and convenience of the cleaning robot.

[0124] In some implementations, in addition to adjusting the height of the robot body and the rotation speed of the cleaning brush, other operating parameters of the cleaning robot can also be adjusted to dynamically adjust the cleaning ability, such as dynamically adjusting the suction power.

[0125] It should be noted that the carpet recognition component described above can correspond to the material recognition component in the foregoing embodiments.

[0126] This application provides a cleaning robot. Figure 3 is a schematic diagram of the composition structure of a cleaning robot provided in this application. As shown in Figure 3, the cleaning robot 300 includes: a body 310, a cleaning brush 320 and a controller 330.

[0127] The cleaning brush 320 is located on the side of the machine body 310 facing the work surface. The cleaning brush 320 cleans by interfering with the work surface. The distance between the machine body 310 and the work surface is adjustable.

[0128] The controller 330 is used to: control the cleaning robot 300 to clean the work surface using the cleaning brush 320; acquire the work monitoring indicators of the cleaning robot 300 during the cleaning process; the work monitoring indicators characterize the degree of interference between the cleaning brush 320 and the work surface; and adjust the distance between the robot body 310 and the work surface when the work monitoring indicators of the cleaning robot 300 do not meet the target conditions, so that the work monitoring indicators of the cleaning robot 300 meet the target conditions.

[0129] In some embodiments, the job monitoring indicator includes the drive current of the cleaning brush, and the target condition includes a target current range. The controller is further configured to: adjust the distance between the machine body and the work surface so that the drive current of the cleaning brush reaches the target current range when the drive current of the cleaning brush is not within the target current range.

[0130] In some embodiments, the controller is also used for at least one of the following:

[0131] If the driving current of the cleaning brush is greater than the upper limit of the target current range, increase the distance between the machine body and the working surface;

[0132] When the driving current of the cleaning brush is less than the lower limit of the target current range, the distance between the machine body and the working surface is reduced.

[0133] In some embodiments, the controller is further configured to adjust the distance between the machine body and the working surface, and the rotational speed of the cleaning brush, when the drive current of the cleaning brush is not within the target current range.

[0134] In some embodiments, the controller is further configured to: increase the distance between the machine body and the working surface when the driving current of the cleaning brush is greater than the upper limit of the target current range; and decrease the rotation speed of the cleaning brush when the distance between the machine body and the working surface reaches a set upper limit and the driving current of the cleaning brush is greater than the upper limit of the current, until the driving current of the cleaning brush reaches the target current range.

[0135] In some embodiments, the controller is further configured to: reduce the distance between the machine body and the working surface when the driving current of the cleaning brush is less than the lower limit of the target current range; and increase the rotation speed of the cleaning brush when the distance between the machine body and the working surface reaches a set lower limit and the driving current of the cleaning brush is less than the lower limit of the current, until the driving current of the cleaning brush reaches the target current range.

[0136] In some embodiments, the controller is further configured to: detect the material type of the working surface; and determine the target current range based on the material type.

[0137] In some embodiments, the controller is further configured to: control the cleaning robot to move to the area where the work surface is located, and detect the material type of the work surface; if the material type indicates that the work surface is a carpet, control the cleaning robot to clean the work surface using the cleaning brush based on a cleaning strategy corresponding to the carpet.

[0138] This application provides a control device for a cleaning robot. Figure 4 is a schematic diagram of the composition structure of a control device for a cleaning robot provided in this application. As shown in Figure 4, the control device 400 for the cleaning robot includes: a control module 410, an acquisition module 420, and an adjustment module 430, wherein:

[0139] Control module 410 is used to control the cleaning robot to clean the work surface using the cleaning brush;

[0140] The acquisition module 420 is used to acquire the operation monitoring indicators of the cleaning robot during the cleaning process; the operation monitoring indicators characterize the degree of interference between the cleaning brush and the working surface;

[0141] The adjustment module 430 is used to adjust the distance between the robot body and the working surface when the operation monitoring indicators of the cleaning robot do not meet the target conditions, so as to make the operation monitoring indicators of the cleaning robot meet the target conditions.

[0142] In some embodiments, the operation monitoring indicators include the drive current of the cleaning brush, and the target conditions include a target current range; the adjustment module is further configured to: adjust the distance between the machine body and the working surface when the drive current of the cleaning brush is not within the target current range, so that the drive current of the cleaning brush reaches the target current range.

[0143] In some embodiments, the adjustment module is further configured to: increase the distance between the machine body and the working surface when the driving current of the cleaning brush is greater than the upper limit of the target current range; and decrease the distance between the machine body and the working surface when the driving current of the cleaning brush is less than the lower limit of the target current range.

[0144] In some embodiments, the adjustment module is further configured to: adjust the distance between the machine body and the working surface, and the rotational speed of the cleaning brush, when the driving current of the cleaning brush is not within the target current range.

[0145] In some embodiments, the adjustment module is further configured to: increase the distance between the machine body and the working surface when the driving current of the cleaning brush is greater than the upper limit of the target current range; and decrease the rotation speed of the cleaning brush when the distance between the machine body and the working surface reaches the set upper limit and the driving current of the cleaning brush is greater than the upper limit of the current, until the driving current of the cleaning brush reaches the target current range.

[0146] In some embodiments, the adjustment module is further configured to: reduce the distance between the machine body and the working surface when the driving current of the cleaning brush is less than the lower limit of the target current range; and increase the rotation speed of the cleaning brush when the distance between the machine body and the working surface reaches a set lower limit and the driving current of the cleaning brush is less than the lower limit of the current, until the driving current of the cleaning brush reaches the target current range.

[0147] In some embodiments, the apparatus further includes: a detection module for detecting the material type of the working surface; and a determination module for determining the target current range based on the material type.

[0148] In some embodiments, the control module is further configured to: control the cleaning robot to move to the area where the work surface is located, and detect the material type of the work surface; if the material type indicates that the work surface is a carpet, control the cleaning robot to clean the work surface using the cleaning brush based on the cleaning strategy corresponding to the carpet.

[0149] The descriptions of the above device and cleaning robot embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the device and cleaning robot embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0150] It should be noted that, in the embodiments of this application, if the control method of the cleaning robot described above is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the related technology, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a magnetic disk, or an optical disk. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0151] This application provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement the steps in the above-described method.

[0152] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the above-described method. The computer-readable storage medium can be transient or non-transient.

[0153] This application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method.

[0154] This application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied as a computer storage medium; in another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0155] It should be noted that the descriptions of the above-described storage media, computer program products, and device embodiments are similar to the descriptions of the above-described method embodiments, and have similar beneficial effects. For technical details not disclosed in the embodiments of the storage media, computer program products, and devices of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0156] It should be noted that Figure 5 is a schematic diagram of the hardware entity of a computer device provided in an embodiment of this application. As shown in Figure 5, the hardware entity of the computer device 500 includes: a processor 501, a communication interface 502, and a memory 503, wherein:

[0157] Processor 501 typically controls the overall operation of computer device 500.

[0158] Communication interface 502 enables computer devices to communicate with other terminals or servers via a network.

[0159] The memory 503 is configured to store instructions and applications executable by the processor 501, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data, and video communication data) of the processor 501 and various modules in the computer device 500. It can be implemented using flash memory or random access memory (RAM). Data transfer between the processor 501, the communication interface 502, and the memory 503 can be performed via bus 504.

[0160] In this embodiment, the cleaning robot includes a body and a cleaning brush. The cleaning brush is positioned on the side of the body facing the work surface. The cleaning brush cleans by interfering with the work surface, and the distance between the body and the work surface is adjustable. During the cleaning process, the robot's operational monitoring indicators are acquired. If these indicators do not meet target conditions, the distance between the body and the work surface is adjusted to ensure they do. The operational monitoring indicators characterize the degree of interference between the cleaning brush and the work surface. Since this interference significantly impacts cleaning effectiveness, adjusting the distance changes the degree of interference. Therefore, by automatically adjusting the distance to meet the target conditions when the robot's operational monitoring indicators do not meet them, the degree of interference can be controlled more flexibly, better meeting the cleaning needs of the current work surface and improving cleaning efficiency. Furthermore, it eliminates the need to increase the robot's suction power, thus reducing energy consumption and improving energy efficiency.

[0161] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential 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. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0162] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0163] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0164] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0165] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0166] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0167] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks.

[0168] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A control method for a cleaning robot, characterized in that, The cleaning robot includes a body and a cleaning brush. The cleaning brush is located on the side of the body facing the work surface. The cleaning brush cleans by interfering with the work surface. The distance between the body and the work surface is adjustable. The method includes: The cleaning robot is controlled to clean the work surface using the cleaning brush; The cleaning robot's operational monitoring indicators are acquired during the cleaning process; these indicators characterize the degree of interference between the cleaning brush and the working surface. If the operation monitoring indicators of the cleaning robot do not meet the target conditions, the distance between the robot body and the working surface is adjusted so that the operation monitoring indicators of the cleaning robot meet the target conditions.

2. The method according to claim 1, characterized in that, The operation monitoring indicators include the driving current of the cleaning brush, and the target conditions include the target current range; When the operational monitoring indicators of the cleaning robot do not meet the target conditions, adjusting the distance between the robot body and the working surface to make the operational monitoring indicators of the cleaning robot meet the target conditions includes: If the driving current of the cleaning brush is not within the target current range, adjust the distance between the machine body and the working surface so that the driving current of the cleaning brush reaches the target current range.

3. The method according to claim 2, characterized in that, When the driving current of the cleaning brush is not within the target current range, adjusting the distance between the machine body and the working surface includes at least one of the following: If the driving current of the cleaning brush is greater than the upper limit of the target current range, increase the distance between the machine body and the working surface; When the driving current of the cleaning brush is less than the lower limit of the target current range, the distance between the machine body and the working surface is reduced.

4. The method according to claim 2, characterized in that, When the driving current of the cleaning brush is not within the target current range, adjusting the distance between the machine body and the working surface includes: If the drive current of the cleaning brush is not within the target current range, adjust the distance between the machine body and the working surface, as well as the rotation speed of the cleaning brush.

5. The method according to claim 4, characterized in that, When the driving current of the cleaning brush is not within the target current range, adjusting the distance between the machine body and the working surface, and the rotational speed of the cleaning brush, includes: If the driving current of the cleaning brush is greater than the upper limit of the target current range, increase the distance between the machine body and the working surface; When the distance between the machine body and the working surface reaches the set upper limit and the driving current of the cleaning brush is greater than the upper limit, the rotation speed of the cleaning brush is reduced until the driving current of the cleaning brush reaches the target current range.

6. The method according to claim 4, characterized in that, When the driving current of the cleaning brush is not within the target current range, adjusting the distance between the machine body and the working surface, and the rotational speed of the cleaning brush, includes: If the driving current of the cleaning brush is less than the lower limit of the target current range, reduce the distance between the machine body and the working surface; When the distance between the machine body and the working surface reaches a set lower limit and the driving current of the cleaning brush is less than the lower limit, the rotation speed of the cleaning brush is increased until the driving current of the cleaning brush reaches the target current range.

7. The method according to claim 2, characterized in that, The method further includes: Detect the material type of the working surface; The target current range is determined based on the material type.

8. The method according to any one of claims 1 to 7, characterized in that, The process of controlling the cleaning robot to clean the work surface using the cleaning brush includes: Control the cleaning robot to move to the area where the work surface is located, and detect the material type of the work surface; When the material type indicates that the work surface is a carpet, the cleaning robot is controlled to clean the work surface using the cleaning brush based on the cleaning strategy corresponding to the carpet.

9. A cleaning robot, characterized in that, include: Body, cleaning brush, and controller; The cleaning brush is located on the side of the machine body facing the work surface. The cleaning brush cleans by interfering with the work surface. The distance between the machine body and the work surface is adjustable. The controller is used to: control the cleaning robot to clean the work surface using the cleaning brush; During the cleaning process, the operation monitoring indicators of the cleaning robot are acquired; the operation monitoring indicators characterize the degree of interference between the cleaning brush and the working surface; if the operation monitoring indicators of the cleaning robot do not meet the target conditions, the distance between the robot body and the working surface is adjusted so that the operation monitoring indicators of the cleaning robot meet the target conditions.

10. A control device for a cleaning robot, characterized in that, The cleaning robot includes a body and a cleaning brush. The cleaning brush is located on the side of the body facing the work surface. The cleaning brush cleans by interfering with the work surface. The distance between the body and the work surface is adjustable. The device includes: The control module is used to control the cleaning robot to clean the work surface using the cleaning brush; The acquisition module is used to acquire the operation monitoring indicators of the cleaning robot during the cleaning process; the operation monitoring indicators characterize the degree of interference between the cleaning brush and the working surface; An adjustment module is used to adjust the distance between the robot body and the work surface when the operation monitoring indicators of the cleaning robot do not meet the target conditions, so as to make the operation monitoring indicators of the cleaning robot meet the target conditions.

11. A computer device, comprising a memory and a processor, characterized in that, The memory stores a computer program that can run on a processor, which, when executing the program, implements the method as described in any one of claims 1 to 8.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 8.

13. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by a processor, they implement the method as described in any one of claims 1 to 8.

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