CN111568307B

CN111568307B - Robot cleaning work execution method, device and computer readable storage medium

Info

Publication number: CN111568307B
Application number: CN201910122333.4A
Authority: CN
Inventors: 潘俊威; 陈鹏旭; 谢晓佳; 栾成志
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2019-02-19
Filing date: 2019-02-19
Publication date: 2023-02-17
Anticipated expiration: 2039-02-19
Also published as: CN111568307A

Abstract

The embodiment of the application provides a method and equipment for executing cleaning work by a robot and a computer readable storage medium, and relates to the field of smart home. The method comprises the following steps: when receiving a prompt message carrying information of a corresponding area of a preset area, a client displays the prompt message, the prompt message is used for prompting a user whether to set the preset area as a forbidden area, the preset area is an area where a falling signal is detected, when detecting an instruction triggered by the user aiming at the prompt message, the client sends the instruction triggered by the user aiming at the prompt message to a sweeping robot, when the sweeping robot receives the instruction triggered by the user aiming at the prompt message, and based on the received instruction triggered by the user aiming at the prompt message, the sweeping robot is controlled to execute sweeping work according to forbidden area logic and/or falling-proof logic. The embodiment of the application can avoid the floor sweeping robot to fall from the high place in the working process, and further can improve user experience.

Description

Robot cleaning execution method, device and computer readable storage medium

Technical Field

The application relates to the technical field of smart home, in particular to a method and equipment for executing cleaning work by a robot and a computer-readable storage medium.

Background

Along with the development of information technology and the continuous improvement of people on the living quality requirement, intelligent house product appears in people's daily life gradually, and wherein, representative robot of sweeping the floor receives people's liking more and more.

However, the existing sweeping robot may fall from a high place in the sweeping process, which causes damage to the intelligent sweeping robot and also seriously affects user experience, and therefore, how to avoid the sweeping robot falling from the high place becomes a key problem in the sweeping process of the sweeping robot.

Disclosure of Invention

The application provides a cleaning work execution method and equipment for a robot and a computer readable storage medium, which are used for solving the problem of how to avoid the robot for sweeping from falling from a high place in the cleaning work execution process of the robot for sweeping.

In a first aspect, a method for performing a cleaning work by a robot is provided, the method being performed by a cleaning robot, and the method including:

receiving an instruction triggered by a user aiming at a prompt message, wherein the prompt message is used for prompting the user whether to set a preset area as a forbidden area;

controlling the sweeping robot to carry out sweeping work according to forbidden zone logic and/or anti-falling logic based on a received instruction triggered by a user aiming at the prompt message;

the preset area is an area where a fall signal is detected.

In a possible implementation manner, receiving an instruction triggered by a user for a prompt message further includes:

in the process that the sweeping robot carries out sweeping work, when a preset area is detected, area information corresponding to the preset area is recorded;

and sending a prompt message carrying the information of the corresponding area of the preset area to the client.

In a possible implementation manner, sending a prompt message carrying information of a region corresponding to a preset region to a client includes:

marking a preset area in the environment map to obtain a marked environment map;

and sending a prompt message carrying the marked environment map to the client.

In a possible implementation manner, marking a preset area in an environment map to obtain a marked environment map includes:

and marking a preset area in the environment map through the specific identification to obtain the marked environment map.

In one possible implementation manner, based on a received instruction triggered by a user for a prompt message, controlling the sweeping robot to perform sweeping work according to forbidden zone logic and/or anti-falling logic includes:

when a confirmation instruction triggered by a user aiming at the prompt message is received, setting a preset area as a forbidden zone, and controlling the sweeping robot to execute sweeping work based on forbidden zone logic;

when a cancel instruction triggered by a user aiming at the prompt message is received, controlling the sweeping robot to execute sweeping work according to the anti-falling logic;

the forbidden zone is an area where the sweeping robot is forbidden to perform sweeping work.

In a possible implementation manner, if the prompt message carries area information corresponding to each of a plurality of preset areas, then,

based on a received instruction triggered by a user aiming at the prompt message, the sweeping robot is controlled to execute sweeping work according to forbidden zone logic and/or anti-falling logic, and the method comprises the following steps:

determining an area to be set as a forbidden zone based on a received instruction triggered by a user aiming at the prompt message, and setting the forbidden zone;

and controlling the sweeping robot to carry out sweeping work according to the logic of the forbidden zone and/or the anti-falling logic according to the set forbidden zone.

In a possible implementation manner, the manner of detecting the preset area includes:

and detecting a falling signal through a preset sensor, and determining the area in which the falling signal is detected as a preset area.

In one possible implementation manner, the method for controlling the sweeping robot to perform the sweeping work according to the forbidden zone logic includes:

when the forbidden area is detected, the sweeping robot is controlled to carry out sweeping work around the forbidden area; and/or the presence of a gas in the gas,

control robot of sweeping the floor and carry out the work of cleaning according to dropproof logic, include:

the falling signal is detected through the preset sensor, and when the falling signal is detected, the sweeping robot is controlled to rotate until two wheels of the sweeping robot are parallel to the ground edge, and the sweeping robot is controlled to perform sweeping work along the direction parallel to the ground edge.

In a possible implementation manner, a manner of sending a prompt message to a client includes:

and sending a prompt message to the client through the background server.

In a second aspect, there is provided a sweeping robot comprising:

the receiving module is used for receiving an instruction triggered by a user aiming at a prompt message, wherein the prompt message is used for prompting the user whether to set a preset area as a forbidden area;

the control working module is used for controlling the sweeping robot to execute sweeping work according to forbidden zone logic and/or anti-falling logic based on a received instruction triggered by a user aiming at the prompt message;

the preset area is an area where a fall signal is detected.

In one possible implementation, the sweeping robot further includes: a recording module and a first sending module, wherein,

the recording module is used for recording area information corresponding to a preset area when the preset area is detected in the process that the sweeping robot carries out sweeping work;

the first sending module is used for sending a prompt message carrying the area information corresponding to the preset area to the client.

In one possible implementation, the first sending module includes: a marking unit and a sending unit, wherein,

the marking unit is used for marking a preset area in the environment map to obtain a marked environment map;

and the sending unit is used for sending a prompt message carrying the marked environment map to the client.

In a possible implementation manner, the labeling unit is specifically configured to label a preset area in the environment map through a specific identifier, so as to obtain a labeled environment map.

In a possible implementation manner, the control work module is specifically configured to set a preset area as a forbidden area when receiving a confirmation instruction triggered by a user for a prompt message, and control the sweeping robot to perform sweeping work based on a forbidden area logic;

the control working module is specifically used for controlling the sweeping robot to execute sweeping work according to the anti-falling logic when a cancel instruction triggered by a user aiming at the prompt message is received;

the forbidden zone is an area where the sweeping robot is forbidden to carry out sweeping work.

In a possible implementation manner, when the prompt message carries area information corresponding to each of the plurality of preset areas, the control work module is specifically configured to determine an area to be set as a forbidden area based on a received instruction triggered by the user for the prompt message, set the forbidden area, and control the sweeping robot to perform sweeping work according to the forbidden area logic and/or the anti-falling logic according to the set forbidden area.

In one possible implementation, the sweeping robot further includes: a detection module and a determination module, wherein,

the detection module is used for detecting a falling signal through a preset sensor;

and the determining module is used for determining the area where the falling signal can be detected by the detecting module as a preset area.

In a possible implementation manner, the cleaning control module is specifically configured to control the sweeping robot to perform cleaning work around a forbidden zone when the forbidden zone is detected; and/or the presence of a gas in the atmosphere,

the control cleaning module is specifically used for detecting a falling signal through a preset sensor, controlling the sweeping robot to rotate when the falling signal is detected until two wheels of the sweeping robot are parallel to the ground edge, and controlling the sweeping robot to perform cleaning work along the direction parallel to the ground edge.

In a possible implementation manner, the first sending module is specifically configured to send a prompt message to the client through the background server.

In a third aspect, a sweeping robot is provided, which includes:

one or more processors;

a memory;

one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the method of performing a cleaning job performed by a robot according to the first aspect as such or according to any of the possible implementations of the first aspect.

In a fourth aspect, a computer-readable storage medium is provided, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by a processor to implement the method for performing a cleaning work by a robot as shown in the first aspect or any possible implementation manner of the first aspect.

In a fifth aspect, a method for a robot to perform cleaning work is provided, where the method is performed by a client and includes:

when a prompt message carrying the information of the area corresponding to the preset area is received, displaying the prompt message, wherein the prompt message is used for prompting a user whether to set the preset area as a forbidden area;

and when detecting an instruction triggered by the user aiming at the prompt message, sending the instruction triggered by the user aiming at the prompt message to the sweeping robot so that the sweeping robot executes sweeping work according to the forbidden zone logic and/or the anti-falling logic.

In one possible implementation, the method further includes:

and when the prompt message is displayed, displaying an environment map, wherein the environment map is marked with the corresponding area information of the preset area.

when detecting the instruction triggered by the user for the prompt message, sending the instruction triggered by the user for the prompt message to the sweeping robot, wherein the instruction triggered by the user for the prompt message comprises:

when an instruction triggered by a user for a prompt message is detected, determining an area to be set as a forbidden area from a plurality of preset areas;

and sending an instruction triggered by the user aiming at the prompt message to the sweeping robot, wherein the instruction carries the area information corresponding to the area to be set as the forbidden area.

In a possible implementation manner, sending an instruction triggered by the user for the prompt message to the sweeping robot, the method further includes:

and identifying the determined area to be set as a forbidden zone in the environment map.

In a sixth aspect, a client is provided, including:

the first display module is used for displaying a prompt message when receiving the prompt message carrying the information of the area corresponding to the preset area, wherein the prompt message is used for prompting a user whether to set the preset area as a forbidden area;

and the second sending module is used for sending the instruction triggered by the user aiming at the prompt message to the sweeping robot when detecting the instruction triggered by the user aiming at the prompt message, so that the sweeping robot executes sweeping work according to the forbidden zone logic and/or the anti-falling logic.

In one possible implementation, the client further includes: a second display module, wherein,

and the second display module is used for displaying the environment map when the first display module displays the prompt message, and the environment map is marked with the corresponding area information of the preset area.

In a possible implementation manner, when the prompt message carries area information corresponding to each of the plurality of preset areas, the second sending module includes: a determining unit and a transmitting unit, wherein,

the device comprises a determining unit, a judging unit and a judging unit, wherein the determining unit is used for determining an area to be set as a forbidden area from a plurality of preset areas when an instruction triggered by a user aiming at a prompt message is detected;

and the sending unit is used for sending an instruction triggered by the user aiming at the prompt message to the sweeping robot, and the instruction carries the area information corresponding to the area to be set as the forbidden zone.

In a possible implementation manner, the client further includes: an identification module, wherein,

and the identification module is used for identifying the area which is determined by the determination unit and is to be set as the forbidden zone in the environment map.

In a seventh aspect, a client is provided, which includes:

one or more processors;

a memory;

one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the method for performing a cleaning work by a robot according to the fifth aspect or any possible implementation manner of the fifth aspect is performed.

In an eighth aspect, a computer-readable storage medium is characterized in that the storage medium stores at least one instruction, at least one program, code set, or instruction set, and the at least one instruction, the at least one program, code set, or instruction set is loaded and executed by a processor to implement the method for performing cleaning work by a robot as shown in the fifth aspect or any possible implementation manner of the fifth aspect.

The beneficial effect that technical scheme that this application provided brought is:

compared with the prior art, the robot cleaning method, the robot cleaner and the computer readable storage medium receive an instruction triggered by a user aiming at a prompt message, the prompt message is used for prompting whether the user sets the preset area to be a forbidden zone, and when the instruction triggered by the user aiming at the prompt message is received, the robot cleaner is controlled to perform cleaning according to forbidden zone logic and/or anti-falling logic. The robot of sweeping floor receives the instruction that the user triggered to the prompt message promptly in this application, can make the robot of sweeping floor carry out forbidden zone logic and/or dropproof logic that the work of cleaning used according to client user's instruction to carry out the work of cleaning, thereby can avoid the robot of sweeping floor to fall from the eminence at the in-process of carrying out the work of cleaning, and then can promote user experience.

Compared with the prior art, when a prompt message carrying information of a corresponding area of a preset area is received, the prompt message is displayed and used for prompting a user whether to set the preset area as a forbidden area, and when an instruction triggered by the user aiming at the prompt message is detected, the instruction triggered by the user aiming at the prompt message is sent to a sweeping robot, so that the sweeping robot executes sweeping work according to forbidden area logic and/or anti-falling logic. The client user can control whether the sweeping robot sets the area detecting the falling signal into a forbidden area or not, so that the sweeping robot can execute sweeping work according to forbidden area logic and/or falling prevention logic, the sweeping robot can be prevented from falling from a high place in the process of executing the sweeping work, and user experience can be improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.

Fig. 1 is a schematic flowchart of a method for a robot to perform a cleaning operation according to an embodiment of the present disclosure;

fig. 2 is a schematic flowchart of another method for a robot to perform cleaning work according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a device of a cleaning robot according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a client apparatus according to an embodiment of the present disclosure;

fig. 5 is a schematic structural view of a cleaning robot provided in the embodiment of the present application;

fig. 6 is a schematic structural diagram of a client according to an embodiment of the present application;

fig. 7 is an interaction flow diagram illustrating a cleaning operation performed by a robot according to an embodiment of the present disclosure;

fig. 8a is an exemplary diagram illustrating a preset area marked in an environment map according to an embodiment of the present application;

fig. 8b is another exemplary diagram illustrating a preset area marked in an environment map according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The following describes the technical solution of the present application and how to solve the above technical problems in detail by specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

The embodiment of the application provides a method for executing cleaning work by a robot, which is executed by a sweeping robot, and as shown in fig. 1, the method comprises the following steps:

and step S101, receiving an instruction triggered by a user aiming at the prompt message.

The prompting message is used for prompting a user whether to set the preset area as a forbidden area.

The preset area is an area where the falling signal is detected.

For the embodiment of the present application, the method for detecting the preset region includes: and detecting a falling signal through a preset sensor, and determining the area in which the falling signal is detected as a preset area.

To this application embodiment, the bottom of sweeping the floor the robot is provided with the sensor of predetermineeing the number, and the bottom both ends symmetry of sweeping the floor the robot is provided with two wheels, and the robot of sweeping the floor detects the drop signal according to the sensor that the bottom set up to detect the region of drop signal, set up to predetermineeing the region.

And S102, controlling the sweeping robot to execute sweeping work according to forbidden zone logic and/or anti-falling logic based on a received instruction triggered by the user aiming at the prompt message.

Compared with the prior art, the method for the robot to execute the cleaning work comprises the steps of receiving an instruction triggered by a user aiming at a prompt message, wherein the prompt message is used for prompting whether the user sets the preset area to a forbidden area, and controlling the cleaning robot to execute the cleaning work according to forbidden area logic and/or anti-falling logic when the instruction triggered by the user aiming at the prompt message is received. The sweeping robot receives the instruction triggered by the user according to the prompt message, the restricted area logic and/or the anti-falling logic used by the sweeping robot for executing the sweeping work according to the instruction of the client user can be realized, the sweeping work is executed, the sweeping robot can be prevented from falling from a high place in the process of executing the sweeping work, and the user experience can be improved.

The embodiment of the present application provides another possible implementation manner, and step S101 may further include: step Sa (not shown in the figure) and step Sb (not shown in the figure), wherein,

and step Sa, in the process that the sweeping robot executes the sweeping work, when the preset area is detected, recording area information corresponding to the preset area.

With the embodiment of the application, when a cleaning operation is performed on a certain area for the first time, the cleaning robot can detect a falling signal (cliff area), determine the position information of the detected falling signal, and record the position information.

In the embodiment of the present application, each time the sweeping robot performs a sweeping operation, when a fall signal (a cliff area) is detected, position information of the detected fall signal (position information of the cliff area) may be specified and recorded.

And Sb, sending a prompt message carrying the information of the corresponding area of the preset area to the client.

For the embodiment of the application, the method for sending the prompt message to the client includes: and sending a prompt message to the client through the background server.

For the embodiment of the application, when the condition that the preset condition is met is detected, a prompt message carrying the area information corresponding to the preset area is sent to the client.

Wherein the preset condition comprises at least one of the following conditions:

cleaning work is performed for the first time on a certain area, and the preset area is detected;

and finishing cleaning work each time and detecting a preset area.

The embodiment of the present application provides another possible implementation manner, and step Sb may specifically include: a step Sb1 (not shown), and a step Sb2 (not shown), wherein,

and Sb1, marking a preset area in the environment map to obtain the marked environment map.

And Sb2, sending a prompt message carrying the marked environment map to the client.

For the embodiment of the application, the preset area is marked on the environment map based on the area information of the preset area recorded in step Sa1 to obtain the environment map marked with the preset area, and then the environment map carrying the marked preset area and the prompt message are sent to the client through the background server.

For the embodiment of the application, the marked environment map is obtained by marking the preset area in the environment map, and the prompt message carrying the marked environment map is sent to the client, so that the client can clearly determine the area with the prompt set as the forbidden area, and determine whether to set the preset area as the forbidden area, thereby improving the accuracy of setting the forbidden area and further improving the user experience.

For the embodiment of the application, there may be a case that the sweeping robot uploads the area information of the preset area to the background server, and the background server performs labeling in the environment map based on the area information of the preset area, and then carries the labeling in the prompt information to send to the client.

The embodiment of the present application provides another possible implementation manner, and step Sb1 may specifically include: step Sb11 (not shown in the figure), in which,

and step Sb11, marking a preset area in the environment map through the specific mark to obtain the marked environment map.

For example, a preset area may be marked in the environment map through a rectangular frame or a line (a line segment, an arc line, etc.), so as to obtain a marked environment map. For example, as shown in fig. 8a, the preset area is marked in the environment map by an arc line, and as shown in fig. 8b, the preset area is marked in the environment map by a rectangular frame. Of course, the preset area may be marked in the environment map by the way as shown in fig. 8a or fig. 8b, and an arc or a rectangular box as shown in fig. 8a or fig. 8b may also be converted into coordinate information to be sent to the client.

Another possible implementation manner is provided in the embodiment of the present application, and step S102 may specifically include: step S1021 (not shown) and step S1022 (not shown), wherein,

and step S1021, when a confirmation instruction triggered by the user aiming at the prompt message is received, setting the preset area as a forbidden zone, and controlling the sweeping robot to execute sweeping work based on forbidden zone logic.

For the embodiment of the application, the confirmation instruction triggered by the user for the prompt message is used to instruct the user to agree (confirm) to set the preset area (the preset area of the area information carried in the prompt message) as the forbidden area. In the embodiment of the application, when a confirmation instruction triggered by a user for a prompt message is received, the sweeping robot sets the preset area as a forbidden area.

A possible implementation manner of the embodiment of the application, the robot that sweeps floor is controlled to execute the cleaning work according to the logic of the forbidden zone, includes: and when the forbidden area is detected, controlling the sweeping robot to carry out sweeping work around the forbidden area.

How to perform cleaning work based on forbidden zone logic is specifically described in detail in the embodiments of the present application.

And step S1022, when a cancel instruction triggered by the user aiming at the prompt message is received, controlling the sweeping robot to execute the sweeping work according to the anti-falling logic.

For the embodiment of the application, the cancel instruction triggered by the prompt message indicates that the client user does not allow setting the preset area (the preset area of the area information carried in the prompt message) as the forbidden area. In the embodiment of the application, since the client user does not allow the preset area to be set as the forbidden area, in order to avoid the sweeping robot falling in the preset area when the sweeping robot executes the sweeping operation again, the sweeping robot is controlled to execute the sweeping operation according to the falling prevention logic.

A possible implementation of the embodiment of the application controls the floor sweeping robot to perform the cleaning work according to the anti-falling logic, and includes: the sweeping robot is controlled to rotate until two wheels of the sweeping robot are parallel to the edge of the ground, and the sweeping robot is controlled to perform sweeping work along the direction parallel to the edge of the ground.

The embodiment of the present application provides another possible implementation manner, where if the prompt message carries area information corresponding to each of the plurality of preset areas, step S102 may specifically include: step S102a (not shown) and step S102b (not shown), wherein,

step S102a, based on a received instruction triggered by a user aiming at the prompt message, determining an area to be set as a forbidden zone, and setting the forbidden zone.

And step S102b, controlling the sweeping robot to carry out sweeping work according to the logic of the forbidden zone and/or the anti-falling logic according to the set forbidden zone.

For the embodiment of the application, if the prompt message carries area information corresponding to a plurality of preset areas respectively or a plurality of marked preset areas exist in the marked environment map carried in the prompt message, the client user may select at least one or more of the preset areas as a forbidden area, so that the sweeping robot determines an area to be set as the forbidden area based on a received instruction triggered by the user for the prompt message, and sets the area as the forbidden area.

For the embodiment of the application, the instruction triggered by the user for the prompt message may be a confirmation instruction triggered by the user for the prompt message, and may also be a cancellation instruction triggered by the user for the prompt message. The embodiments of the present application are not limited.

For the embodiment of the application, a confirmation instruction triggered by a user aiming at a prompt message carries an area to be set as a forbidden area in a plurality of preset areas selected by the user; and a cancellation instruction triggered by the user aiming at the prompt message carries an area which is not set as a forbidden area in a plurality of preset areas selected by the user.

For the embodiment of the application, the sweeping robot can also carry an environment map based on the instruction triggered by the prompt message, and the sweeping robot determines that the client user confirms the area to be set as the forbidden area according to the difference of the identifiers of the plurality of preset areas in the environment map carried in the instruction triggered by the prompt message.

For the embodiment of the application, if the sweeping robot directly receives a confirmation instruction triggered based on the prompt message (the confirmation instruction does not contain the area information of the preset area selected by the user or the marked environment map), all the preset areas indicated by the prompt message are set as forbidden areas; if the sweeping robot directly receives a cancel instruction triggered based on the prompt message (the cancel instruction does not contain the area information of the preset area which is selected by the user and is not set as the forbidden area or the marked environment map), the preset area in the prompt message is determined not to be set as the forbidden area.

The embodiment of the application provides a method for a robot to perform cleaning work, which is performed by a client, and as shown in fig. 2, the method includes:

step S201, when a prompt message carrying the information of the corresponding area of the preset area is received, the prompt message is displayed.

For the embodiment of the Application, an Application (APP) bound with the sweeping robot is installed in the client. And when the client receives a prompt message carrying the information of the corresponding area of the preset area through the APP, popping up the prompt message.

Step S202, when an instruction triggered by the user for the prompt message is detected, the instruction triggered by the user for the prompt message is sent to the sweeping robot, so that the sweeping robot executes sweeping work according to the forbidden zone logic and/or the anti-falling logic.

For the embodiment of the application, when the instruction triggered by the user for the prompt message is detected, the instruction triggered by the user for the prompt message is sent to the sweeping robot through the background server.

Compared with the prior art, the method for executing the cleaning work by the robot comprises the steps of displaying a prompt message when the prompt message carrying the information of the corresponding area of the preset area is received, wherein the prompt message is used for prompting a user whether the preset area is set as a forbidden area, and sending a command triggered by the user aiming at the prompt message to the cleaning robot when the command triggered by the user aiming at the prompt message is detected, so that the cleaning robot executes the cleaning work according to forbidden area logic and/or anti-falling logic. The client user can control whether the sweeping robot sets the area detecting the falling signal as the forbidden area or not, so that the sweeping robot can execute sweeping work according to the forbidden area logic and/or the anti-falling logic, the sweeping robot can be prevented from falling from a high place in the process of executing the sweeping work, and user experience can be improved.

In a possible implementation manner of the embodiment of the present application, the method further includes: step Sc (not shown in the figure), wherein,

and step Sc, displaying the environment map when the prompt message is displayed.

And the environment map is marked with the corresponding area information of the preset area.

For the embodiment of the present application, step Sc may be performed before step S201, may be performed after step S201, and may be performed simultaneously with step S201. The embodiments of the present application are not limited thereto.

In another possible implementation manner of the embodiment of the present application, if the prompt message carries area information corresponding to a plurality of preset areas, when detecting an instruction triggered by the user for the prompt message in step S202, sending the instruction triggered by the user for the prompt message to the sweeping robot, which may specifically include: step S2021 (not shown in the figure) and step S2022 (not shown in the figure), wherein in step S2021, when an instruction triggered by the user for the prompt message is detected, an area to be set as the forbidden area is determined from a plurality of preset areas.

And step S2022, sending an instruction triggered by the user aiming at the prompt message to the sweeping robot.

The instruction carries area information corresponding to an area to be set as a forbidden area.

For the embodiment of the application, if the prompt message carries the area information corresponding to the plurality of preset areas, the client user can select the areas to be set as forbidden areas from the plurality of preset areas, then the user carries the area information corresponding to the areas to be set as forbidden areas, which are selected by the user, in the instruction triggered by the user for the prompt message, and sends the instruction carrying the area information to the sweeper robot through the background server. Of course, step S2022 may also be preceded by: step Sd (not shown in the figure), the determined area to be set as the forbidden zone is identified in the environment map. Namely, the area to be set as the forbidden zone selected by the user is identified in the environment map, and the marked environment map is carried in the instruction triggered by the user aiming at the prompt message and is sent to the sweeping robot.

For the embodiment of the application, if the prompt message carries the area information corresponding to the plurality of preset areas respectively, the client user can select the areas which are not set as forbidden areas from the plurality of preset areas, then the user carries the area information corresponding to the areas which are not set as forbidden areas and selected by the user in the instruction triggered by the user aiming at the prompt message, and then the instruction carrying the area information is sent to the sweeper robot through the background server. Certainly, the client may mark, in the environment map, an area that is not set as a forbidden zone by the user selection, and send the marked environment map to the sweeping robot by carrying the marked environment map in an instruction triggered by the user for the prompt message.

For the embodiment of the application, if the prompt message carries the area information corresponding to the plurality of preset areas respectively, the client user may select an area that is not set as the forbidden area from the plurality of preset areas, and the client user may select an area that is set as the forbidden area or an area that is not set as the forbidden area from the plurality of preset areas, mark the area in the environment map through different identifiers, and send the area to the sweeping robot in the instruction triggered by the user for the prompt message.

In the above embodiment, the method flows of the robot executing the cleaning work are introduced from the perspective of the cleaning robot and the client, respectively, and the following method of the robot executing the cleaning work is introduced from the perspective of interaction between the cleaning robot and the client, as shown in fig. 7, specifically as follows:

step S701, when a prompt message carrying the information of the corresponding area of the preset area is received, the client displays the prompt message.

The prompt message is used for prompting the user whether to set the preset area as a forbidden area.

Step S702, when detecting that the user triggers the prompt message, the client sends the prompt message triggering instruction of the user to the sweeping robot, so that the sweeping robot executes sweeping work according to the forbidden zone logic and/or the anti-falling logic.

And step S703, the sweeping robot receives an instruction triggered by the user aiming at the prompt message.

And step S704, controlling the sweeping robot to execute sweeping work according to restricted area logic and/or anti-falling logic based on a received instruction triggered by the user aiming at the prompt message.

The preset area is an area where the fall signal is detected.

For the implementation manner of each step in the interaction flow, specific details are given in the above embodiment, and details are not described here again.

In the above embodiment, the method for executing cleaning work by the robot is introduced from the perspective of the method flow, and the following apparatus for executing cleaning work by the robot (including the cleaning robot and the client) is introduced from the perspective of the virtual module, specifically as follows:

the embodiment of the present application provides a sweeping robot, as shown in fig. 3, the sweeping robot 30 may include: a receiving module 31, a control working module 32, wherein,

and the receiving module 31 is configured to receive an instruction triggered by the user for the prompt message.

The preset area is an area where the fall signal is detected.

And the control work module 32 is configured to control the floor sweeping robot to perform the cleaning work according to the forbidden zone logic and/or the anti-falling logic based on the received instruction triggered by the user for the prompt message.

In another possible implementation manner of the embodiment of the present application, the sweeping robot 30 further includes: a recording module and a first sending module, wherein,

the recording module is used for recording the area information corresponding to the preset area when the preset area is detected in the process that the sweeping robot executes the sweeping work.

In another possible implementation manner of the embodiment of the present application, the first sending module includes: a marking unit and a sending unit, wherein,

and the marking unit is used for marking a preset area in the environment map to obtain the marked environment map.

Specifically, the labeling unit is specifically configured to label a preset area in the environment map through the specific identifier, so as to obtain a labeled environment map.

In another possible implementation manner of the embodiment of the application, the control work module 32 is specifically configured to set the preset area as a forbidden zone when receiving a confirmation instruction triggered by the user for the prompt message, and control the sweeping robot to perform the sweeping work based on the forbidden zone logic.

The control working module 32 is specifically configured to control the sweeping robot to perform sweeping work according to the anti-falling logic when a cancel instruction triggered by the user for the prompt message is received;

In another possible implementation manner of the embodiment of the application, when the prompt message carries area information corresponding to each of the plurality of preset areas, the control working module 31 is specifically configured to determine an area to be set as a forbidden area based on a received instruction triggered by the user for the prompt message, set the forbidden area, and control the sweeping robot to perform a sweeping operation according to the forbidden area logic and/or the anti-falling logic according to the set forbidden area.

In another possible implementation manner of the embodiment of the present application, the sweeping robot 30 further includes: a detection module and a determination module, wherein,

and the detection module is used for detecting the falling signal through a preset sensor.

In another possible implementation manner of the embodiment of the application, the cleaning module 32 is controlled, and is specifically configured to control the sweeping robot to perform cleaning work around an forbidden area when the forbidden area is detected; and/or the sweeping control module 32 is specifically configured to detect a falling signal through a preset sensor, and when the falling signal is detected, control the sweeping robot to rotate until two wheels of the sweeping robot are parallel to the ground edge, and control the sweeping robot to perform sweeping work in a direction parallel to the ground edge.

In another possible implementation manner of the embodiment of the application, the first sending module is specifically configured to send a prompt message to the client through the background server.

Compared with the prior art, the embodiment of the application provides a sweeping robot, and the sweeping robot receives an instruction triggered by a user aiming at a prompt message, wherein the prompt message is used for prompting the user whether to set a preset area as a forbidden area, and when the instruction triggered by the user aiming at the prompt message is received, the sweeping robot is controlled to execute sweeping work according to forbidden area logic and/or anti-falling logic. The sweeping robot receives the instruction triggered by the user according to the prompt message, can execute forbidden zone logic and/or anti-falling logic used for sweeping according to the instruction of the client user, and executes sweeping, so that the sweeping robot can be prevented from falling from a high place in the process of executing sweeping, and user experience can be improved.

The cleaning robot of this embodiment can execute the method for executing the cleaning work by the robot in the above embodiments provided in this application embodiment, and the implementation principles are similar, and are not described herein again.

An embodiment of the present application provides a client, as shown in fig. 4, the client 40 may include: a first display module 41, a second sending module 42, wherein,

the first display module 41 is configured to display a prompt message when receiving the prompt message carrying the information of the area corresponding to the preset area.

And a second sending module 42, configured to send, when detecting that the user triggers the prompt message, an instruction that the user triggers the prompt message to the sweeping robot, so that the sweeping robot executes a sweeping operation according to the forbidden zone logic and/or the anti-drop logic.

In another possible implementation manner of the embodiment of the present application, the client 40 may further include: a second display module, wherein,

and a second display module, configured to display the environment map when the first display module 41 displays the prompt message.

And the environment map is marked with corresponding area information of the preset area.

For the embodiment of the present application, the first display module 41 and the second display module may be the same display module or different display modules. The embodiments of the present application are not limited thereto.

In another possible implementation manner of the embodiment of the present application, when the prompt message carries area information corresponding to each of the plurality of preset areas, the second sending module 42 includes: a determining unit and a transmitting unit, wherein,

the determining unit is used for determining an area to be set as a forbidden area from a plurality of preset areas when an instruction triggered by a user aiming at the prompt message is detected.

And the sending unit is used for sending an instruction triggered by the user aiming at the prompt message to the sweeping robot.

In another possible implementation manner of the embodiment of the present application, the client 40 further includes: an identification module that identifies, among other things,

and the identification module is used for identifying the area to be set as the forbidden zone determined by the determination unit in the environment map.

Compared with the prior art, the client side provided by the embodiment of the application displays the prompt message when receiving the prompt message carrying the information of the corresponding area of the preset area, wherein the prompt message is used for prompting a user whether to set the preset area as a forbidden area, and when detecting the instruction triggered by the user aiming at the prompt message, the instruction triggered by the user aiming at the prompt message is sent to the sweeping robot, so that the sweeping robot executes sweeping work according to forbidden area logic and/or anti-falling logic. The client user can control whether the sweeping robot sets the area detecting the falling signal into a forbidden area or not, so that the sweeping robot can execute sweeping work according to forbidden area logic and/or falling prevention logic, the sweeping robot can be prevented from falling from a high place in the process of executing the sweeping work, and user experience can be improved.

The client of this embodiment may execute the method for the robot to perform the cleaning operation in the above embodiments provided in this application embodiment, and the implementation principles are similar, which are not described herein again.

The device structures respectively corresponding to the sweeping robot and the client are introduced from the perspective of the virtual module, and the following device structures respectively corresponding to the sweeping robot and the client are introduced from the perspective of the physical device, which are specifically as follows:

an embodiment of the present application provides a sweeping robot, as shown in fig. 5, a sweeping robot 5000 shown in fig. 5 includes: a processor 5001 and a memory 5003. Wherein the processor 5001 is coupled to the memory 5003, such as via bus 5002. Optionally, the sweeping robot 5000 can also include a transceiver 5004. In addition, the transceiver 5004 is not limited to one in practical application, and the structure of the cleaning robot 5000 is not limited to the embodiment of the present application.

The processor 5001 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or execute the various illustrative logical blocks, modules, and circuits described in connection with the disclosure herein. The processor 5001 may also be a combination of processors implementing computing functionality, e.g., a combination comprising one or more microprocessors, a combination of DSPs and microprocessors, or the like.

Bus 5002 can include a path that conveys information between the aforementioned components. The bus 5002 may be a PCI bus or EISA bus, etc. The bus 5002 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.

The memory 5003 may be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an EEPROM, a CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 5003 is used for storing application code that implements aspects of the present application and is controlled in execution by the processor 5001. The processor 5001 is configured to execute application program codes stored in the memory 5003 to implement any of the foregoing embodiments of the method performed by the sweeping robot.

The embodiment of the application provides a robot of sweeping floor, the robot of sweeping floor in the embodiment of the application includes: a memory and a processor; at least one program stored in the memory for execution by the processor to perform, in comparison with the prior art: the method and the device for cleaning the floor receive an instruction triggered by a user aiming at a prompt message, the prompt message is used for prompting the user whether to set a preset area as a forbidden area, and when the instruction triggered by the user aiming at the prompt message is received, the floor cleaning robot is controlled to carry out cleaning work according to forbidden area logic and/or anti-falling logic. The sweeping robot receives the instruction triggered by the user according to the prompt message, the restricted area logic and/or the anti-falling logic used by the sweeping robot for executing the sweeping work according to the instruction of the client user can be realized, the sweeping work is executed, the sweeping robot can be prevented from falling from a high place in the process of executing the sweeping work, and the user experience can be improved.

The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the prior art, the method and the device for controlling the floor sweeping robot have the advantages that the instruction triggered by the user aiming at the prompt message is received, the prompt message is used for prompting the user whether to set the preset area as the forbidden area, and when the instruction triggered by the user aiming at the prompt message is received, the floor sweeping robot is controlled to carry out the cleaning work according to the forbidden area logic and/or the anti-falling logic. The sweeping robot receives the instruction triggered by the user according to the prompt message, the restricted area logic and/or the anti-falling logic used by the sweeping robot for executing the sweeping work according to the instruction of the client user can be realized, the sweeping work is executed, the sweeping robot can be prevented from falling from a high place in the process of executing the sweeping work, and the user experience can be improved.

An embodiment of the present application provides a client, as shown in fig. 6, a client 6000 shown in fig. 6 includes: a processor 6001 and a memory 6003. Processor 6001 and memory 6003 are coupled, such as via bus 6002. Optionally, client 6000 can also include transceiver 6004. It should be noted that the transceiver 6004 is not limited to one in practical applications, and the structure of the client 6000 is not limited to the embodiment of the present application.

The processor 6001 could be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 6001 might also be a combination that performs a computing function, such as a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, or the like.

The bus 6002 may include a path that conveys information between the aforementioned components. The bus 6002 may be a PCI bus, an EISA bus, or the like. The bus 6002 may be divided into an address bus, a data bus, a control bus, and so on. For ease of illustration, only one thick line is shown in FIG. 6, but that does not indicate only one bus or one type of bus.

Memory 6003 can be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 6003 provides storage for application code that implements aspects of the subject application, and execution is controlled by the processor 6001. Processor 6001 is configured to execute application program code stored in memory 6003 to implement the teachings of any of the foregoing method embodiments executed by a client.

The embodiment of the application provides a client, and the robot of sweeping the floor in the embodiment of the application includes: a memory and a processor; at least one program stored in the memory for execution by the processor, which when executed by the processor, implements: according to the embodiment of the application, when the prompt message carrying the information of the corresponding area of the preset area is received, the prompt message is displayed and used for prompting a user whether to set the preset area as the forbidden area, and when the instruction triggered by the user aiming at the prompt message is detected, the instruction triggered by the user aiming at the prompt message is sent to the sweeping robot, so that the sweeping robot executes sweeping work according to forbidden area logic and/or anti-falling logic. The client user can control whether the sweeping robot sets the area detecting the falling signal into a forbidden area or not, so that the sweeping robot can execute sweeping work according to forbidden area logic and/or falling prevention logic, the sweeping robot can be prevented from falling from a high place in the process of executing the sweeping work, and user experience can be improved.

The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the prior art, when the prompting message carrying the information of the corresponding area of the preset area is received, the prompting message is displayed and used for prompting the user whether to set the preset area as the forbidden area, and when the instruction triggered by the user aiming at the prompting message is detected, the instruction triggered by the user aiming at the prompting message is sent to the sweeping robot, so that the sweeping robot executes sweeping work according to forbidden area logic and/or falling-off prevention logic. The client user can control whether the sweeping robot sets the area detecting the falling signal as the forbidden area or not, so that the sweeping robot can execute sweeping work according to the forbidden area logic and/or the anti-falling logic, the sweeping robot can be prevented from falling from a high place in the process of executing the sweeping work, and user experience can be improved.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless otherwise indicated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A method for executing cleaning work by a robot is characterized in that the method is executed by a sweeping robot and comprises the following steps:

receiving an instruction triggered by a user aiming at a prompt message, wherein the prompt message is used for prompting the user whether to set a preset area as a forbidden zone;

controlling the sweeping robot to carry out sweeping work according to forbidden zone logic and/or anti-falling logic based on a received instruction triggered by the user aiming at the prompt message;

the preset area is an area where a falling signal is detected;

wherein, based on the received instruction triggered by the user aiming at the prompt message, the sweeping robot is controlled to execute the sweeping work according to the forbidden zone logic and/or the anti-falling logic, and the method comprises the following steps:

when a confirmation instruction triggered by the user aiming at the prompt message is received, setting the preset area as a forbidden zone, and controlling the sweeping robot to execute sweeping work based on the forbidden zone logic;

when a cancel instruction triggered by the user aiming at the prompt message is received, controlling the sweeping robot to execute sweeping work according to the anti-falling logic;

2. The method of claim 1, wherein receiving an instruction triggered by a user for an alert message further comprises:

in the process of executing cleaning work by the sweeping robot, when a preset area is detected, recording area information corresponding to the preset area;

and sending a prompt message carrying the information of the area corresponding to the preset area to the client.

3. The method of claim 2, wherein sending a prompt message carrying the information about the area corresponding to the preset area to a client comprises:

marking the preset area in the environment map to obtain a marked environment map;

and sending a prompt message carrying the marked environment map to a client.

4. The method of claim 3, wherein the step of marking the preset area in the environment map to obtain a marked environment map comprises:

and marking the preset area in the environment map through the specific identification to obtain the marked environment map.

5. The method according to any one of claims 1-4, wherein if the prompting message carries area information corresponding to a plurality of preset areas respectively,

based on a received instruction triggered by the user aiming at the prompt message, the sweeping robot is controlled to execute sweeping work according to forbidden zone logic and/or anti-falling logic, and the method comprises the following steps:

determining an area to be set as a forbidden area based on a received instruction triggered by the user aiming at the prompt message, and setting the forbidden area;

and controlling the sweeping robot to carry out sweeping work according to the forbidden zone logic and/or the anti-falling logic according to the set forbidden zone.

6. The method according to any one of claims 2 to 4, wherein the means for detecting the predetermined area comprises:

and detecting a falling signal through a preset sensor, and determining the area in which the falling signal is detected as the preset area.

7. The method according to any one of claims 1-4, wherein controlling the sweeping robot to perform sweeping work according to off-limits zone logic comprises:

the robot of sweeping the floor of control carries out the work of cleaning according to dropproof logic, includes:

drop signals are detected through a preset sensor, and when the drop signals are detected, the sweeping robot is controlled to rotate until two wheels of the sweeping robot are parallel to the ground edge, and the sweeping robot is controlled to perform sweeping work along the direction parallel to the ground edge.

8. The method according to any one of claims 2-4, wherein the manner of sending the prompting message to the client comprises:

and sending a prompt message to the client through a background server.

9. A sweeping robot cleaning work execution method is characterized by being executed by a client side and comprising the following steps:

when an instruction triggered by a user aiming at the prompt message is detected, the instruction triggered by the user aiming at the prompt message is sent to the sweeping robot, so that the sweeping robot executes sweeping work according to forbidden zone logic and/or anti-falling logic;

wherein, the robot of sweeping the floor includes according to forbidden zone logic and/or dropproof logic: when a user confirms an instruction triggered by the prompt message, the sweeping robot sets the preset area as a forbidden zone and executes sweeping work based on the forbidden zone logic; when a user cancels the instruction triggered by the prompt message, the sweeping robot executes sweeping work according to the anti-falling logic; the forbidden zone is an area where the sweeping robot is forbidden to carry out sweeping work.

10. The method of claim 9, further comprising:

11. The method according to claim 10, wherein if the prompting message carries area information corresponding to a plurality of preset areas respectively,

when detecting that the user triggers the instruction for the prompt message, sending the instruction triggered by the user for the prompt message to the sweeping robot, including:

when an instruction triggered by a user aiming at the prompt message is detected, determining an area to be set as a forbidden area from the preset areas;

and sending an instruction triggered by the user aiming at the prompt message to the sweeping robot, wherein the instruction carries area information corresponding to an area to be set as a forbidden area.

12. The method of claim 11, wherein sending the instruction triggered by the user for the prompting message to the sweeping robot further comprises:

13. A sweeping robot is characterized by comprising:

the control working module is used for controlling the sweeping robot to execute sweeping work according to forbidden zone logic and/or anti-falling logic based on a received instruction triggered by the user aiming at the prompt message;

the preset area is an area where a falling signal is detected;

the control work module is specifically used for setting the preset area as a forbidden zone and controlling the sweeping robot to execute sweeping work based on the forbidden zone logic when receiving a confirmation instruction triggered by the user aiming at the prompt message;

the control working module is specifically used for controlling the sweeping robot to execute sweeping work according to the anti-falling logic when a cancel instruction triggered by the user aiming at the prompt message is received;

14. The sweeping robot of claim 13, further comprising: a recording module and a first sending module, wherein,

the sweeping robot comprises a recording module, a sweeping module and a judging module, wherein the recording module is used for recording area information corresponding to a preset area when the preset area is detected in the sweeping process of the sweeping robot;

and the first sending module is used for sending a prompt message carrying the area information corresponding to the preset area to the client.

15. The sweeping robot of claim 14, wherein the first transmitting module comprises: a marking unit and a sending unit, wherein,

the marking unit is used for marking the preset area in the environment map to obtain a marked environment map;

and the sending unit is used for sending a prompt message carrying the marked environment map to a client.

16. The sweeping robot of claim 15,

the marking unit is specifically configured to mark the preset area in the environment map through the specific identifier to obtain a marked environment map.

17. A sweeping robot according to any one of claims 13-16,

when the prompt message carries area information corresponding to a plurality of preset areas, the control work module is specifically configured to determine an area to be set as a forbidden zone based on a received instruction triggered by the user for the prompt message, set the forbidden zone, and control the sweeping robot to perform sweeping work according to the forbidden zone logic and/or the anti-falling logic according to the set forbidden zone.

18. A sweeping robot according to any one of claims 14 to 16 further including: a detection module and a determination module, wherein,

the determining module is configured to determine an area where the drop signal is detected by the detecting module as the preset area.

19. The sweeping robot of any one of claims 13-16, further comprising: controlling a cleaning module, wherein,

the cleaning control module is specifically used for controlling the sweeping robot to carry out cleaning work around an forbidden zone when the forbidden zone is detected; and/or the presence of a gas in the atmosphere,

the control cleaning module is specifically used for detecting a falling signal through a preset sensor, and when the falling signal is detected, the sweeping robot is controlled to rotate until two wheels of the sweeping robot are parallel to the ground edge, and the sweeping robot is controlled to execute cleaning work along the direction parallel to the ground edge.

20. A sweeping robot according to any one of claims 14-16,

the first sending module is specifically configured to send a prompt message to the client through a background server.

21. The utility model provides a client, its characterized in that is applied to robot of sweeping the floor, includes:

the first display module is used for displaying a prompt message carrying the information of the area corresponding to the preset area when the prompt message is received, wherein the prompt message is used for prompting a user whether the preset area is set as a forbidden area or not;

the second sending module is used for sending the instruction triggered by the user aiming at the prompt message to the sweeping robot when the instruction triggered by the user aiming at the prompt message is detected, so that the sweeping robot executes sweeping work according to restricted area logic and/or anti-falling logic;

wherein, the robot of sweeping the floor includes according to forbidden zone logic and/or dropproof logic: when a user confirms an instruction triggered by the prompt message, the sweeping robot sets the preset area as a forbidden zone and executes sweeping work based on the forbidden zone logic; when the user aims at a cancel instruction triggered by the prompt message, the sweeping robot executes sweeping work according to the anti-falling logic; the forbidden zone is an area where the sweeping robot is forbidden to carry out sweeping work.

22. The client of claim 21, further comprising: a second display module, wherein,

and the second display module is used for displaying an environment map when the first display module displays the prompt message, wherein the environment map is marked with the region information corresponding to the preset region.

23. The client according to claim 22, wherein when the notification message carries area information corresponding to a plurality of preset areas, the second sending module comprises: a determining unit and a transmitting unit, wherein,

the determining unit is used for determining an area to be set as a forbidden area from the preset areas when an instruction triggered by a user aiming at the prompt message is detected;

the sending unit is configured to send, to the sweeping robot, an instruction triggered by the user for the prompt message, where the instruction carries area information corresponding to an area to be set as a forbidden area.

24. The client of claim 23, further comprising: an identification module, wherein,

the identification module is configured to identify, in the environment map, an area to be set as a forbidden area determined by the determination unit.

25. A robot of sweeping floor, its characterized in that, it includes:

one or more processors;

a memory;

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: carrying out the method of carrying out a cleaning job by a robot according to any one of claims 1 to 8.

26. A client, comprising:

one or more processors;

a memory;

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: carrying out the method of carrying out a cleaning job by a robot according to any one of claims 9 to 12.

27. A computer-readable storage medium, wherein the storage medium stores at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the method for performing cleaning work by a robot according to any one of claims 1 to 8.

28. A computer readable storage medium storing at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement a method for performing a cleaning job by a robot as set forth in any one of claims 9 to 12.