CN113100669B

CN113100669B - Cleaning robot, method of controlling the same, and computer-readable storage medium

Info

Publication number: CN113100669B
Application number: CN202110378094.6A
Authority: CN
Inventors: 夏俊超; 梁康华; 李相根
Original assignee: Yunjing Intelligence Technology Dongguan Co Ltd; Yunjing Intelligent Shenzhen Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2021-04-08
Filing date: 2021-04-08
Publication date: 2023-02-21
Anticipated expiration: 2041-04-08
Also published as: CN113100669A

Abstract

The invention discloses a cleaning robot control method, which comprises the following steps: acquiring a size characteristic parameter of an uncleaned area of the cleaning robot; when the size characteristic parameter is larger than or equal to a set size parameter, controlling the cleaning robot to clean the uncleaned area. The invention also discloses a cleaning robot and a computer readable storage medium. The invention aims to improve the cleaning effect of a cleaning robot.

Description

Cleaning robot, method of controlling the same, and computer-readable storage medium

Technical Field

The present invention relates to the field of cleaning robot technology, and more particularly, to a cleaning robot control method, a cleaning robot, and a computer-readable storage medium.

Background

The cleaning robot can be used for automatically cleaning the ground and can be applied to cleaning places such as families, markets and the like. Under the drive of the driving device, the cleaning robot can cruise according to the planned route and clean the ground.

However, at present, only a partial area of the cleaning robot is generally provided with the cleaning brush, which causes the cleaning robot to easily generate a missed cleaning area in the moving process, and influences the cleaning effect of the cleaning robot.

Disclosure of Invention

The invention mainly aims to provide a cleaning robot control method, aiming at improving the cleaning effect of a cleaning robot.

In order to achieve the above object, the present invention provides a cleaning robot control method including the steps of:

acquiring a size characteristic parameter of an uncleaned area of the cleaning robot;

and when the size characteristic parameter is larger than or equal to a set size parameter, controlling the cleaning robot to clean the uncleaned area.

Optionally, the step of acquiring a dimensional characteristic parameter of an uncleaned area of the cleaning robot comprises:

acquiring a position change parameter of the cleaning robot;

and determining the size characteristic parameter according to the position change parameter.

Optionally, the step of acquiring the position variation parameter of the cleaning robot includes:

the method comprises the steps of obtaining at least two position parameters in the moving process of the cleaning robot in a target time length, wherein each position parameter corresponds to one moment, the position change parameter is a parameter of the cleaning robot changing in position at different moments, and the position parameter is a parameter representing the position of the cleaning robot at the corresponding moment.

Optionally, the cleaning robot includes a body and a cleaning module disposed on the body, and the step of obtaining at least two position parameters of the cleaning robot in the moving process within the target duration includes:

acquiring at least two cleaning module positions reached by the cleaning module in the target duration; and/or

Acquiring at least two identification part positions which are reached by the identification part of the machine body in the target duration in a moving manner;

the position parameters comprise the position of the cleaning module and/or the position of the identification part, and the identification part is a position which is arranged on the machine body and is transversely spaced from the cleaning module.

Optionally, the size characteristic parameter includes an area parameter, and the step of determining the size characteristic parameter according to the position variation parameter includes:

determining at least two time periods in the target time length according to at least two moments corresponding to the at least two position parameters, wherein the ending moment of the previous time period in the at least two time periods is the starting moment of the next time period;

determining a first starting position where the cleaning module is located and a second starting position where the identification part is located at the starting time of each of the at least two time periods, determining a first ending position where the cleaning module is located and a second ending position where the identification part is located at the ending time of each of the at least two time periods, wherein an area formed by the first starting position, the first ending position, the second starting position and the second ending position in a surrounding manner is a target area, and obtaining at least one target area;

calculating the reference area of each target area in the at least one target area to obtain at least one reference area;

determining the area parameter from the at least one reference area.

Optionally, the step of calculating a reference area of each target region in the at least one target region to obtain at least one reference area includes:

determining a connecting line of the first starting position and the second ending position of each target area as a datum line;

dividing the target area according to the datum line to obtain two sub-areas;

calculating the area of each sub-region in the two sub-regions to obtain the areas of the two sub-regions;

and determining the reference area according to the sum of the areas of the two subregions.

Optionally, the step of determining the area parameter according to the at least one reference area comprises:

acquiring a preset size of the cleaning module;

determining a movement parameter of the cleaning module according to at least two cleaning module positions reached by the cleaning module moving within the target time length;

determining an area correction parameter according to the preset size and the movement parameter;

and correcting the at least one reference area according to the area correction parameter to obtain the area parameter.

Optionally, the step of determining the size characteristic parameter according to the position variation parameter includes:

determining a size parameter of a cleaned area of the cleaning robot based on at least two of the cleaning module positions when the at least two of the position parameters include at least two of the cleaning module positions;

determining the size characteristic parameter according to the size parameter and a preset corresponding relation;

the preset corresponding relationship is a preset corresponding relationship between the size of the cleaned area and the size of the uncleaned area.

Optionally, the step of determining a dimension parameter of a cleaned area of the cleaning robot based on at least two of the cleaning module positions comprises:

determining a movement parameter of the cleaning module within the target length of time based on at least two of the cleaning module positions;

the size parameter is determined based on a relationship between a previously set movement parameter and a size of the cleaned area and the movement parameter.

Optionally, the moving parameter is a distance parameter, and the step of determining the size parameter of the cleaned area based on the relationship between the preset moving parameter and the size of the cleaned area and the moving parameter includes:

acquiring the unit cleaning area size of the unit distance moved by the cleaning module;

determining a size parameter of the cleaned area according to the unit cleaning area size, the distance parameter, and a relationship between the preset movement parameter and a cleaned area size.

determining a distance parameter according to the at least two position parameters; determining the size characteristic parameter according to the distance parameter and a preset parameter; alternatively, the first and second electrodes may be,

if the position change parameters comprise more than two position parameters, determining the profile of the characteristic area corresponding to the uncleaned area according to the at least two position parameters; determining profile parameters of the feature region profile; and determining the size characteristic parameter according to the contour parameter of the contour of the characteristic region.

Optionally, the step of controlling the cleaning robot to clean the uncleaned area comprises:

controlling the cleaning robot to retreat for a preset distance;

controlling the cleaning robot to move toward the uncleaned area and clean the uncleaned area.

Further, in order to achieve the above object, the present application also proposes a cleaning robot control device including:

an acquisition module for acquiring a dimensional characteristic parameter of an uncleaned area of the cleaning robot;

an execution module for controlling the cleaning robot to clean the uncleaned area when the size characteristic parameter is greater than or equal to a set size parameter.

Optionally, the obtaining module includes:

a positioning submodule for obtaining a position change parameter of the cleaning robot;

a determination submodule for determining the dimensional characteristic parameter from the position variation parameter.

Optionally, the positioning sub-module comprises:

the cleaning robot comprises a position obtaining unit, wherein the position obtaining unit is used for obtaining at least two position parameters in the moving process of the cleaning robot in a target time length, each position parameter corresponds to one moment, the position change parameters are parameters of the cleaning robot changing in position at different moments, and the position parameters are parameters representing the position of the cleaning robot at the corresponding moments.

Optionally, the cleaning robot includes a body and a cleaning module disposed on the body, and the position acquiring unit includes:

a first position obtaining subunit, configured to obtain at least two cleaning module positions that the cleaning module moves to reach within the target duration; and/or

A second position obtaining subunit, configured to obtain at least two identification part positions to which the identification part of the body moves within the target duration;

the position parameters comprise the position of the cleaning module and/or the position of the identification part, and the identification part is a position on the machine body, which is transversely arranged at intervals with the cleaning module.

Optionally, the size characteristic parameter includes an area parameter, and the determining sub-module includes:

the time identification unit is used for determining at least two time periods in the target time length according to at least two moments corresponding to the at least two position parameters, and the ending moment of the previous time period in the at least two time periods is the starting moment of the next time period;

the area dividing unit is used for determining a first starting position where the cleaning module is located and a second starting position where the identification part is located at the starting time of each time period in the at least two time periods, determining a first ending position where the cleaning module is located and a second ending position where the identification part is located at the ending time of each time period, and obtaining at least one target area, wherein the area formed by the first starting position, the first ending position, the second starting position and the second ending position in a surrounding manner is a target area;

the area calculation unit is used for calculating the reference area of each target area in the at least one target area to obtain at least one reference area;

a summary unit to determine the area parameter from the at least one reference area.

Optionally, the area calculating unit includes:

a reference line extracting subunit, configured to determine, as a reference line, a connection line between the first start position and the second end position of each target region;

the area segmentation subunit is used for dividing the target area according to the datum line to obtain two sub-areas;

the sub-area calculating unit is used for calculating the sub-area of each of the two sub-areas to obtain the areas of the two sub-areas;

and the area counting subunit is used for determining the reference area according to the sum of the areas of the two subregions.

Optionally, the summarizing unit includes:

a parameter extraction subunit for acquiring a preset size of the cleaning module;

the movement analysis subunit is used for determining movement parameters of the cleaning module according to at least two cleaning module positions reached by the cleaning module in the target time length;

the correction subunit is used for determining an area correction parameter according to the preset size and the movement parameter;

and the execution subunit is used for correcting the at least one reference area according to the area correction parameter to obtain the area parameter.

Optionally, the determining submodule includes:

a cleaned area analysis unit for determining a dimension parameter of a cleaned area of the cleaning robot according to at least two of the cleaning module positions when the at least two of the position parameters include at least two of the cleaning module positions;

the area size conversion unit is used for determining the size characteristic parameters according to the size parameters and a preset corresponding relation;

Optionally, the cleaned area analysis unit comprises:

a movement parameter acquisition subunit, configured to determine a movement parameter of the cleaning module within the target duration based on at least two of the cleaning module positions;

a size parameter analyzing unit for determining the size parameter based on a relationship between a previously set movement parameter and a size of the cleaned area and the movement parameter.

Optionally, the size parameter analyzing unit includes:

a unit size analyzing subunit for acquiring a unit cleaning area size of the cleaning module moved by a unit distance;

an area size analyzing subunit for determining a size parameter of the cleaned area according to the unit cleaning area size, the distance parameter, and a relationship between the preset movement parameter and a cleaned area size.

Optionally, the determining sub-module includes:

a first size analysis unit for determining a distance parameter from the at least two position parameters; determining the size characteristic parameter according to the distance parameter and a preset parameter; alternatively, the first and second electrodes may be,

a second size analysis unit, configured to determine, when the position variation parameter includes more than two position parameters, a feature region profile corresponding to an uncleaned region according to the at least two position parameters; determining profile parameters of the profile of the characteristic region; and determining the size characteristic parameter according to the contour parameter of the contour of the characteristic region.

Optionally, the execution module includes:

a moving submodule for controlling the cleaning robot to retreat by a preset distance;

a cleaning submodule to control the cleaning robot to move toward and clean the uncleaned area.

Further, in order to achieve the above object, the present application also proposes a cleaning robot control program which, when executed, performs the steps of the cleaning robot control method described in any one of the above.

Further, in order to achieve the above object, the present application also proposes a cleaning robot comprising: a memory, a processor and a cleaning robot control program stored on the memory and executable on the processor, the cleaning robot control program when executed by the processor implementing the steps of the cleaning robot control method as defined in any one of the above.

Further, in order to achieve the above object, the present application also proposes a computer-readable storage medium having stored thereon a cleaning robot control program which, when executed by a processor, implements the steps of the cleaning robot control method as described in any one of the above.

The invention provides a control method of a cleaning robot, which is characterized in that a size characteristic parameter of an uncleaned area of the cleaning robot is obtained, when the size characteristic parameter is larger than or equal to a set size parameter, the uncleaned area formed in the moving process is larger, and the cleaning robot is controlled to perform cleaning operation on the uncleaned area, so that a large-area missed-sweeping area is not formed in the moving process of the cleaning robot, and the cleaning effect of the cleaning robot is effectively improved.

Drawings

FIG. 1 is a schematic diagram of a hardware configuration involved in the operation of an embodiment of the cleaning robot of the present invention;

FIG. 2 is a schematic flowchart of a control method for a cleaning robot according to an embodiment of the present invention;

FIG. 3 is a schematic flowchart of a cleaning robot control method according to another embodiment of the present invention;

FIG. 4 is a schematic flow chart illustrating a cleaning robot control method according to another embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating a relationship between a cleaned area and an uncleaned area during a robot turning process according to an embodiment of the control method for a cleaning robot of the present invention;

FIG. 6 is a schematic diagram of an uncleaned area formed during a robot turning process according to an embodiment of a control method for a cleaning robot according to the present invention;

FIG. 7 is a schematic view of an uncleaned area formed during a turning process of a robot according to an embodiment of a control method of a cleaning robot according to the present invention;

FIG. 8 is a detailed flowchart of step S214 in FIG. 4 according to the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The main solution of the embodiment of the invention is as follows: acquiring a size characteristic parameter of an uncleaned area of the cleaning robot; and when the size characteristic parameter is larger than or equal to a set size parameter, controlling the cleaning robot to clean the uncleaned area.

Because among the prior art, cleaning robot generally only has the subregion at present to be provided with the cleaning brush, leads to its removal in-process to appear leaking the region of sweeping easily, influences cleaning robot's cleaning performance.

The present invention provides the above solution, and aims to improve the cleaning effect of the cleaning robot.

The embodiment of the invention provides a cleaning robot which can be automatic equipment for cleaning the environment, such as a sweeping robot, a mopping robot and the like.

In an embodiment of the present invention, referring to fig. 1, a cleaning robot includes: a processor 1001 (e.g., CPU), a memory 1002, a cleaning module 1003, and the like. The memory 1002 may be a high-speed RAM memory or a non-volatile memory such as a disk memory. The memory 1002 may alternatively be a storage device separate from the processor 1001.

The memory 1002 and the cleaning module 1003 are both connected to the processor 1001. The cleaning module 1003 is a functional module for cleaning the ground, and may specifically be a cleaning brush, a cleaning cloth, or the like. The cleaning robot further includes a body, and the cleaning module 1003 is specifically installed at one side of the body. Specifically, the side of the body where the cleaning module is installed is the front side of the body when the body is in motion.

Those skilled in the art will appreciate that the configuration of the device shown in fig. 1 is not intended to be limiting of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, a control program of the cleaning robot may be included in the memory 1002 as a readable storage medium. In the apparatus shown in fig. 1, the processor 1001 may be configured to call up a cleaning robot control program stored in the memory 1002 and perform operations of the relevant steps of the cleaning robot control method in the following embodiments.

The embodiment of the invention also provides a cleaning robot control method which is applied to the cleaning robot.

Referring to fig. 2, an embodiment of a control method of a cleaning robot according to the present application is provided. In this embodiment, the cleaning robot control method includes:

step S10, obtaining size characteristic parameters of an uncleaned area of the cleaning robot;

specifically, in the present embodiment, step S10 may be performed in a turning state of the cleaning robot. The turning state here specifically refers to a state when the travel path of the cleaning robot is a curve. In the turning state, a cleaning module in the cleaning robot is in a starting state. In other embodiments, step S10 herein may also be performed in a state where the cleaning robot travels in a straight line.

The uncleaned area specifically refers to a partial area of the area that the cleaning robot passes through during the movement, which is not cleaned by the cleaning module.

The dimensional characteristic parameter is in particular a characteristic parameter which characterizes the size of the uncleaned area of the cleaning robot. The dimensional characteristic parameters may specifically include an area of the uncleaned region, a circumference of the uncleaned region, a diameter of the uncleaned region, a length of the uncleaned region in a specified direction, and/or a maximum length of the uncleaned region, etc., and the present application is not particularly limited.

The size characteristic parameters of the uncleaned area can be obtained by acquiring parameters input by a user, can be obtained by acquiring position parameters of the cleaning robot acquired by a positioning module arranged inside or outside the cleaning robot and analyzing the acquired image in the steering process of the cleaning robot, and can also be obtained by acquiring an image acquisition module arranged outside the cleaning robot and analyzing the acquired image.

Step S20, judging whether the size characteristic parameter is larger than or equal to a set size parameter;

when the size characteristic parameter is larger than or equal to the set size parameter, executing step S30; when the size characteristic parameter is smaller than the set size parameter, executing step S40;

the set size parameter is specifically the preset maximum area size allowed to be missed during the steering process of the cleaning robot. The specific size of the set size parameter can be set according to actual conditions. Specifically, the set size parameter may be a default configuration parameter in the system, or may be obtained by obtaining a set parameter of the user. The set size parameter is adapted to the type change of the size characteristic parameter and changes, and when the size characteristic parameter is an area parameter, the set size parameter is a set area; when the size characteristic parameter is the circumference, the size parameter is set to the set circumference, and so on.

And step S30, controlling the cleaning robot to clean the uncleaned area.

Specifically, the cleaning robot is controlled to stop steering and to re-plan a path, the planned path enables a cleaning module of the cleaning robot to pass through an uncleaned area, and the cleaning robot is controlled to clean the uncleaned area according to the planned path form.

In this embodiment, the cleaning robot is controlled to retreat by a preset distance; controlling the cleaning robot to move toward and clean the uncleaned area. The specific numerical value of the preset distance can be set according to actual conditions, can be a preset fixed numerical value, and can also be acquired according to the radius of the corresponding arc-shaped path of the cleaning robot in the current steering state, and the larger the radius is, the larger the acquired preset distance can be, so that the cleaning robot is ensured to have enough space to adjust the running track to the uncleaned facing area by only once retreating. When the size characteristic parameter is judged to be larger than or equal to the set size parameter, the current first position of the cleaning robot can be recorded, the cleaning robot can retreat along a straight line in the process of retreating for the preset distance, and when the cleaning robot retreats to the second position which is away from the first position for the preset distance, the cleaning robot stops retreating and starts to move towards an uncleaned area. The cleaning robot may move in a straight line or in a curved line while moving toward the non-cleaned area, wherein the curved line has a curvature smaller than that of the arc-shaped path of the cleaning robot in the previous turning state when the cleaning robot moves in the curved line toward the non-cleaned area.

And S40, controlling the cleaning robot to move along a set path.

The set path is specifically a path which is planned in advance and is traveled by the cleaning robot. Specifically, in the turning state of the cleaning robot, the set path is a pre-planned curved path.

According to the control method of the cleaning robot provided by the embodiment of the invention, the size characteristic parameter of the uncleaned area of the cleaning robot is obtained, when the size characteristic parameter is larger than or equal to the set size parameter, the uncleaned area formed in the moving process is larger, and the cleaning robot is controlled to perform cleaning operation on the uncleaned area, so that a large-area missed-scanning area cannot be formed in the steering process of the cleaning robot, and the cleaning effect of the cleaning robot is effectively improved. When the size characteristic parameter is smaller than the set size parameter, the uncleaned area formed in the moving process of the cleaning robot is smaller, a large-area missed cleaning area does not exist, the cleaning effect of the cleaning robot is better at present, the cleaning robot can continue to move, unnecessary missed cleaning operations are reduced, the cleaning effect of the cleaning robot is ensured, and the better overall cleaning efficiency of the robot is ensured.

Further, based on the above embodiments, another embodiment of the control method of the cleaning robot of the present application is provided. In this embodiment, referring to fig. 3, the step S10 includes:

step S11, acquiring position change parameters of the cleaning robot;

the position of the cleaning robot changes with time during the travel of the cleaning robot. The position change parameter is a parameter at which the position of the cleaning robot changes at different times. The position change parameters may include a position change curve, a position change amplitude, a position change rate, and/or positions before and after different times, among others.

Specifically, taking the turning state of the cleaning robot as an example, the position change parameter may be a parameter in which the position of the cleaning robot changes with time during the entire process from the turning start state to the current time, or may be a parameter in which the position changes with time during the process from the set time after the cleaning robot enters the turning state or from the set time when the cleaning robot receives the set command to the current time.

The position change parameters of the cleaning robot can be obtained by acquiring parameters acquired by a positioning module arranged on the cleaning robot, and can also be obtained by acquiring data acquired by a distance measuring module and/or an image acquisition module arranged outside the cleaning robot and analyzing the data.

In this embodiment, step S11 specifically includes: step S111, at least two position parameters in the moving process of the cleaning robot in a target time length are obtained, each position parameter corresponds to a moment, the position change parameter is a parameter of the cleaning robot changing in position at different moments, and the position parameter is a parameter representing the position of the cleaning robot at the corresponding moment.

The specific value of the target duration can be set according to actual requirements. The target duration may be a preset and stored parameter, a randomly set parameter, or a parameter determined based on a user input instruction.

The starting time of the target time length may be a time when the cleaning robot enters a turning state, a time when the previous target time length ends, or a time when a setting instruction is received.

In particular, a location or locations on the cleaning robot may be employed to characterize the location of the cleaning robot. That is, each position parameter herein may include a parameter of a position at which one or more positions on the cleaning robot are located at corresponding times, respectively. For example, if the position of the cleaning robot is characterized by a center point of the cleaning robot, the position of the center point of the cleaning robot can be used as a position parameter of the cleaning robot.

And S12, determining the size characteristic parameter according to the position change parameter.

Different position variation parameters correspond to different size characteristic parameters. Specifically, the correspondence between the position change parameter and the size characteristic parameter may be analyzed in advance based on the position of the cleaning module with respect to the cleaning robot, a motion state parameter during the movement of the cleaning robot (such as a movement rate, a curvature of a movement path, and the like), and the like. The preset corresponding relation can be in the forms of a calculation formula, a mapping relation, an algorithm model and the like. Based on the corresponding relationship, the size characteristic parameter of the uncleaned area corresponding to the current position variation parameter can be determined.

It should be noted that, when the cleaning robot is in a turning state, the dimensional characteristic parameter obtained here is the size of an uncleaned area formed by the turning process of the cleaning robot.

determining a distance parameter according to the at least two position parameters;

and determining the size characteristic parameters according to the distance parameters and preset parameters.

The preset parameter may be a size or a preset width of an area on the cleaning robot where the cleaning module is not located, and the like, which is not limited herein.

When the position change parameter includes two position parameters corresponding to different moments in the moving process of the cleaning robot, a distance parameter (which may be a linear distance or an actual distance of a curved path, etc.) corresponding to the two position parameters may be determined, and a size characteristic parameter may be calculated according to the distance parameter and a preset parameter (which may be determined according to a size of an area on the cleaning robot where no cleaning module is disposed, for example). For example, when the size characteristic parameter is the area of the unclean region, the predetermined parameter may be a predetermined width, a virtual rectangular region with a long distance between the two position parameters and a wide predetermined width may be determined, and the area of the unclean region is represented by the area of the rectangular region, and then the product of the distance between the two position parameters and the predetermined width may be used as the size characteristic parameter of the unclean region.

if the position change parameters comprise more than two position parameters, determining the profile of the characteristic area corresponding to the uncleaned area according to the at least two position parameters;

determining profile parameters of the profile of the characteristic region; and determining the size characteristic parameter according to the contour parameter of the contour of the characteristic region.

The profile parameters may include, but are not limited to, a side length, an angle, and the like of the profile of the feature area.

When the position change parameters include more than two position parameters corresponding to different moments in the moving process of the cleaning robot, the feature region contour corresponding to the uncleaned region may be determined based on the more than two position parameters, for example, the more than two position parameters may be respectively used as contour corner points of the feature region contour, and a region surrounded by the contour corner points may be used as the feature region. And taking the size parameters obtained by calculation based on the side length and the angle of the outline of the characteristic region as the size characteristic parameters of the uncleaned region.

In the present embodiment, the size characteristic parameter of the uncleaned area is determined based on the position variation parameter of the cleaning robot, and the accuracy of the obtained size characteristic parameter can be ensured. The cleaning robot comprises a cleaning robot body, a target time length, a position change parameter analysis module and a position change parameter analysis module, wherein the position change parameter analysis module is used for analyzing the position change parameter analysis module, and the position change parameter analysis module is used for analyzing the position change parameter analysis module.

Further, based on any one of the above embodiments, another embodiment of the control method for the cleaning robot is provided. In this embodiment, the cleaning robot includes a body and a cleaning module disposed on the body, wherein the cleaning module may be disposed on one side of the body. Referring to fig. 4, the step S111 includes:

step S101, at least two cleaning module positions reached by the cleaning module in the target time length are obtained; or acquiring at least two identification part positions which are reached by the identification part of the machine body in the target duration; the position parameter comprises the position of the cleaning module or the position of the identification part, and the identification part is a position on the machine body and the cleaning module which are arranged at intervals along the transverse direction.

In the present embodiment, the lateral direction refers to the horizontal direction. In other embodiments, the lateral direction may also refer to a direction that makes an angle with the horizontal direction smaller than a set threshold.

The at least two cleaning module positions refer to positions of the cleaning modules corresponding to at least two moments in time within the target duration in space.

The cleaning module is positioned on one side of the machine body, the other areas of the machine body except the area where the cleaning module is positioned can not clean the ground area covered by the cleaning module in the moving process, and the area which can not be cleaned forms an uncleaned area.

The cleaning module location at any one time may be characterized by a location or locations on the cleaning module. For example, the location of the center of the cleaning module in space may be characterized as the cleaning module location; the spatial location of a point on the edge of the cleaning module in the direction of the radius of the arcuate path formed during the turning of the cleaning robot can also be used to characterize the cleaning module position, and so on.

The at least two identification part positions refer to positions of the identification parts corresponding to the at least two moments in the target duration in space.

The mark part can be a preset fixed position, and can also be determined according to the moving characteristic parameter of the cleaning robot in the steering process. For example, when the cleaning robot turns to the right, the identification portion is located on the right side of the cleaning robot; when the cleaning robot turns to the left, the identification portion is located on the left side of the cleaning robot. Further, a portion of the body that is laterally spaced apart from the cleaning module and is farthest from the center of the body may be determined as the indicator, and for example, when the cleaning robot turns to the right, a rightmost point of the cleaning robot may be determined as the indicator.

Here, when the at least two position parameters include at least two cleaning module positions, the step of determining the dimensional characteristic parameter based on the position variation parameter includes: determining a size parameter of a cleaned area of the cleaning robot according to at least two of the cleaning module positions when the position variation parameter includes at least two of the cleaning module positions; determining the size characteristic parameters according to the size parameters and a preset corresponding relation; wherein the preset corresponding relationship is a preset corresponding relationship between the size of the cleaned area and the size of the uncleaned area.

Alternatively, the step of determining a size parameter of a cleaned area of the cleaning robot based on at least two of the cleaning module positions may comprise:

determining a movement parameter of the cleaning module within the target length of time based on the at least two cleaning module positions;

the size parameter of the cleaned area is determined based on the relation between the preset movement parameter and the size of the cleaned area and the movement parameter.

In the process of determining the size parameter of the cleaned area, a relationship between a movement parameter corresponding to a cleaning module and the size of the cleaned area, which is established in advance, may be obtained, and after determining the movement parameter (which may be a linear distance or a curved path distance of the movement of the cleaning module, a movement trajectory, a coordinate change, etc.) of the cleaning module within a target time period based on at least two cleaning module positions, the size parameter of the cleaned area may be determined based on the relationship between the movement parameter and the size of the cleaned area, which is set in advance.

Alternatively, the moving parameter is a distance parameter, and the step of determining the size parameter of the cleaned area based on the relationship between the preset moving parameter and the size of the cleaned area and the moving parameter may include:

determining a size parameter of the cleaned area according to the unit cleaning area size, the distance parameter, and a relationship between the preset movement parameter and the cleaned area size.

Wherein, the relationship between the preset moving parameter and the size of the cleaned area can be as follows: the product between the unit cleaning area size and the movement parameter.

Specifically, the moving parameter may be a distance parameter of the cleaning module, a unit cleaning area size corresponding to a unit distance of the cleaning module which is set in advance may be obtained, and the size parameter of the cleaned area may be determined according to the unit cleaning area size and the distance parameter, for example, a product of the unit cleaning area size and the distance parameter determined based on the positions of at least two cleaning modules may be used as the size parameter of the cleaned area.

The preset corresponding relationship may be a pre-established corresponding relationship (such as a size sum, a size ratio, a size deviation amount, etc. of two sizes) between the size of the cleaned area and the size of the uncleaned area in the cleaning process of the cleaning robot, a mapping relationship, an algorithm conversion model, etc.

After the size parameter of the cleaned area of the cleaning robot is determined, the size characteristic parameter of the uncleaned area corresponding to the size parameter of the cleaned area can be determined according to the preset corresponding relationship between the size of the cleaned area and the size of the uncleaned area. For example, when the characteristic dimension parameter is an area, an area proportional relationship between a cleaned area and an uncleaned area in a cleaning process of the cleaning robot is preset in the preset corresponding relationship, a distance parameter of the cleaning module in a target time length is determined according to at least two cleaning module positions, a unit cleaning area (namely one of the sizes of the unit cleaning area) corresponding to a unit distance is obtained, a product of the unit cleaning area and the distance parameter is used as the area of the cleaned area, and the area of the uncleaned area is calculated according to the preset area proportional relationship and the area of the cleaned area in proportion. Referring to fig. 5, a point a represents the position of the cleaning module in the cleaning robot, b point represents the position of the identification part, based on which, after a certain time has elapsed during the turning of the robot, the position of the identification part moves from point b to point c, the cleaning module moves from point a to point d, the distance of the moving path (the curve between bc) (i.e. the distance parameter mentioned above) of the cleaning module can be determined based on the position parameters of points a and d, each dotted circle represents the area of the area that the cleaning module can clean when the cleaning robot moves a unit distance, each dotted rectangle represents the area that the cleaning module cannot clean when the cleaning robot moves a unit distance, it is apparent that the ratio between the area of the area that the cleaning module can clean and the area of the area that cannot be cleaned is fixed, which can be obtained in advance through data acquisition and analysis, based on which the product of the distance between ads and the area of the unit cleaned area can be determined, further, the total area of the cleaned area corresponding to the total area of the cleaned area is determined in combination with the preset correspondence.

In addition, when the at least two position parameters include at least two marker positions, the step of determining the size characteristic parameter from the position variation parameter includes: the dimensional characteristic of the uncleaned area is determined from the at least two marker positions.

Specifically, the movement parameter of the marker within the target time length (which may be a linear distance of the marker moving, a distance of a curved path, a movement trajectory, a coordinate change, etc.) may be determined based on at least two marker positions, and then the size characteristic parameter of the unclean area may be determined based on a relationship between the movement parameter and the size of the unclean area.

The moving parameter may be a moving distance of the marker, a unit unclean area size of the cleaning robot corresponding to the preset unit distance of the marker may be acquired, and a size characteristic parameter of the unclean area may be determined according to the unit unclean area size and the moving distance, for example, a product of the unit unclean area size and the moving distance determined based on at least two marker positions may be used as the size characteristic parameter of the unclean area.

Referring to fig. 6, m is a cleaning module of the robot, and point b is a position of the marker, based on which the position of the marker is moved from point b to point c after a certain time has passed during the turning of the robot, a distance of a moving path of the marker (a curve between bc) is determined based on position parameters of the points b and c, each dotted rectangle represents an area of a region that the cleaning module cannot clean when the cleaning robot moves a unit distance, and based on which a product of the distance between bc and the area of the unit uncleaned region is determined to obtain a total area of the uncleaned region of the cleaning robot within the target duration.

In addition, in other embodiments, the at least two position parameters may also include at least two cleaning module positions and identification part positions respectively corresponding to at least two moments, each of the moments corresponds to one of the cleaning module positions and the identification part positions, based on which, the size characteristic parameters of the uncleaned area may be determined by combining the obtained at least two cleaning module positions and the obtained identification part positions, so as to ensure the accuracy of the obtained size characteristic parameters of the uncleaned area.

In this embodiment, at least two positions of the cleaning module or the identification part of the body of the cleaning robot in the target duration moving process are combined, and the positions of the areas which can be covered by the cleaning module and cannot be covered by the cleaning module on the ground in the moving process of the cleaning robot can be accurately reflected, so that the accuracy of the size characteristic parameters of the subsequently uncleaned area determined based on the position parameters is further improved, and the effective and timely improvement of the cleaning effect of the cleaning robot is ensured.

Further, in this embodiment, based on the step S101, the size characteristic parameter includes an area parameter, and referring to fig. 4, the step S12 includes:

step S121, determining at least two time periods in the target time length according to at least two moments corresponding to the at least two position parameters, wherein the ending moment of the previous time period in the at least two time periods is the starting moment of the next time period;

step S122, determining a first starting position where the cleaning module is located and a second starting position where the identification part is located at the starting time of each of the at least two time periods, determining a first ending position where the cleaning module is located and a second ending position where the identification part is located at the ending time of each of the at least two time periods, wherein an area formed by the first starting position, the first ending position, the second starting position and the second ending position in a surrounding manner is a target area, and obtaining at least one target area;

specifically, the positions of the cleaning modules and the positions of the identification parts are respectively detected at least two moments within the target duration to obtain at least two positions of the cleaning modules and at least two positions of the identification parts, and the positions of the cleaning modules and the positions of the identification parts detected at the same moment are in one-to-one correspondence. Based on this, two adjacent time instants are defined as a first time instant and a second time instant in at least two time instants, and the first time instant is earlier than the second time instant, so that all time sets between the first time instant and the second time instant can be regarded as one time period here. For example, if the cleaning module position and the identification part position of the cleaning robot are detected at time T1, time T2, and time T3 in sequence within the target period of time, T1 to T2 may be regarded as one period of time, and T2 to T3 may be regarded as another period of time.

The position of the cleaning module detected at the first moment corresponding to each time period is a first starting position, the position of the identification part detected at the first moment corresponding to each time period is a second starting position, the position of the cleaning module detected at the second moment corresponding to each time period is a first ending position, and the position of the identification part detected at the second moment corresponding to each time period is a second ending position. Based on this, each time period has a corresponding first start position, second start position, first end position and second end position, and the first end position of the previous time period can be used as the first start position of the next time period, and the second end position of the previous time period can be used as the second start position of the next time period.

The number of the time periods correspondingly divided in the target time length can be set according to actual requirements, and can be two, three, four, ten or more. Specifically, in this embodiment, the duration corresponding to each time period in the target duration may be less than or equal to the set duration threshold, which is beneficial to ensuring the accuracy of the subsequently obtained area parameter.

Specifically, a first start position, a second start position, a first end position, and a second end position corresponding to each time period may be used as corner points of a target region corresponding to the time period, and the target region is a closed quadrilateral region surrounded by the first start position, the second start position, the first end position, and the second end position corresponding to the target region. Each time period has a corresponding target area, and the number of the divided time periods in the target time length is the same as the number of the target areas.

Step S123, calculating the reference area of each target area in the at least one target area to obtain at least one reference area;

the reference area of each target region can be calculated by using the side length information, the angle information and the like of the target region.

Specifically, the reference area of the target region may be calculated by a quantitative relationship among the first start position, the first arrival position, the second start position, and the second arrival position. The distance between every two of the first starting position, the first arriving position, the second starting position and the second arriving position can be determined, the side lengths of four sides of the target area are obtained, and the reference area of the quadrilateral area is calculated based on the side lengths.

In this embodiment, in order to ensure that the calculation efficiency and the accuracy of the area parameter of the target region are effectively considered, the target region may be divided into a plurality of sub-regions, and then the sum of the areas of the plurality of sub-regions is used as the reference area of the target region. Specifically, a connecting line of the first starting position and the second ending position of each target area is determined as a reference line; dividing the target area according to the datum line to obtain two sub-areas; calculating the area of each sub-region in the two sub-regions to obtain the areas of the two sub-regions; and determining the reference area according to the sum of the areas of the two subregions.

The distance between every two of the first starting position, the first arriving position, the second starting position and the second arriving position can be determined, the side length of each side of each triangular region is obtained, and the area of the sub-region of each triangular region is calculated on the basis of the three side lengths corresponding to each triangular region. The sum of the sub-region areas of all the triangular regions is taken as a reference area. The reference area of each target region can be calculated by analogy with the reference method, which is not described herein.

For example, referring to fig. 7, the robot has a cleaning module at the front right, within a certain radius of the cleaning module, i.e., a cleaning area. The robot current center point o, the right front point a (the length position of the robot side brush), and the right side point b (the rightmost point of the robot). During turning along the obstacle, after a certain time, the center point of the robot reaches o1, a right side point c (moving from a point b to a point c), and a right front point d (moving from a point a to a point d), wherein a curve connecting ad represents the moving path of the right front point of the robot during turning. Based on this, what can be characterized by the quadrilateral area formed by connecting the adcbs is the target area, the area of the quadrilateral adcb can be used as a reference area, and the area of the quadrilateral adcb can be determined by the sum of the triangle formed by the points a, b and c and the triangle formed by the points a, c and d.

Step S124, determining the area parameter according to the at least one reference area.

When the obtained reference area is more than one, the sum of all the reference areas can be used as the area parameter, the sum of all the obtained reference areas can be corrected according to a preset rule to be used as the area parameter, and even the result of weighted average of all the obtained reference areas can be used as the area parameter.

Here, through the above steps S121 to S124, the area parameter of the uncleaned area in the target time duration is divided into the reference areas of the target areas corresponding to at least two time periods, and the reference areas are calculated, which is beneficial to the accuracy of the area parameter of the uncleaned area obtained based on the reference areas, and the effective improvement of the cleaning effect of the cleaning robot is realized.

Specifically, in this embodiment, in order to obtain more accurate area parameters of the uncleaned region and reduce the operation of the cleaning robot to repair the missed cleaning region, such as unnecessarily moving back, referring to fig. 8, step S214 includes:

step S214a, acquiring a preset size of the cleaning module;

the preset size here is specifically a parameter that characterizes the size of the cleaning module that is stored in advance. The preset size may be a preset value such as an area, a diameter, and/or a side length of the cleaning module.

Step S214b, determining the movement parameters of the cleaning module according to at least two cleaning module positions reached by the movement of the cleaning module in the target duration;

the movement parameters may include at least one of: a movement distance, a movement trajectory, a coordinate change, and the like.

Specifically, a first position where the detection time is earliest and a second position where the detection time is latest among the at least two cleaning module positions may be determined, and a straight distance or a path length between the first position and the second position may be used as the movement parameter herein. When the cleaning robot is in a steering state, the length of the curve path between the first position and the second position can be used as the moving parameter, and the linear distance between the first position and the second position can also be used as the moving parameter.

In addition, the linear distance or the path length between any two adjacent positions of the detection moments in the at least two cleaning module positions can be determined as the sub-movement parameters, at least two sub-movement parameters are obtained, and the sum of the at least two sub-movement parameters can be used as the movement parameter.

Step S214c, determining an area correction parameter according to the preset size and the movement parameter;

the area correction parameter is in particular a parameter which characterizes the area of the cleaning region covered by the cleaning module during the movement. The area correction parameter may be an area correction amplitude, an area correction ratio, or the like.

Different area correction parameters are corresponding to different preset sizes and moving parameters. The corresponding relation among the preset size, the movement parameter and the area correction parameter can be preset and can be a calculation formula, a mapping relation, an algorithm model and the like. Based on the corresponding relation, the area correction parameter corresponding to the current preset size and the movement parameter can be determined.

Specifically, the length of the projection of the cleaning module onto the floor surface along a predetermined direction, which is a radial direction of a circle on which the arc-shaped path is located during the turning of the cleaning robot, may be determined based on a predetermined size. The area of the region that can be cleaned by the cleaning robot during the turning process can be determined as the area correction parameter based on the product of the length and the moving distance determined here. And determining the area of the cleaning area covered by the cleaning module in the moving process according to the moving parameters and the preset size, and taking the area of the cleaning area as an area correction parameter.

Step S214d, correcting the at least one reference area according to the area correction parameter, and obtaining the area parameter.

The area correction parameter may be a correction parameter corresponding to each reference area, and after each reference area is corrected according to the area correction parameter, the area parameter of the uncleaned area is calculated according to at least one corrected reference area.

In addition, the area correction parameter may also be a correction parameter obtained by calculating an area characterization parameter based on at least one reference area and a preset rule, that is, after the area characterization parameter is obtained by calculating the at least one reference area and the preset rule, a result obtained by correcting the area characterization parameter according to the area correction parameter is used as the area parameter of the uncleaned area. For example, the sum of the areas of at least one reference area can be calculated, and the area parameter of the uncleaned area can be obtained by correcting the sum of the areas according to the area correction parameter. Specifically, when the area correction parameter is the area correction amplitude, the difference between the area sum and the area correction parameter may be used as the area parameter; when the area correction parameter is the area correction ratio, the product of the sum of the areas and the area correction parameter may be used as the area parameter here.

For example, referring to fig. 7, the circle in fig. 7 is a projection example of the cleaning module on the ground at a certain moment, the length of the projection of the cleaning module on the ground along a preset direction is the diameter D of the circle formed by the side brush, the area of the cleaning region covered by the cleaning module during the movement can be determined according to the diameter D of the circle formed by the side brush and the path length ad, and then the area parameter of the uncleaned region can be determined as the difference between the total area of at least one reference area and the area of the cleaning region covered by the cleaning module during the movement.

In this embodiment, the result of determining the corresponding area correction parameter based on the size and the movement parameter of the cleaning module and correcting the area based on the at least one reference area is used as the area parameter of the uncleaned area, which is beneficial to ensuring that the obtained area parameter of the uncleaned area is more suitable for the actual uncleaned condition of the cleaning robot, and is beneficial to ensuring the effective improvement of the cleaning effect.

It should be noted that, in other embodiments, the projection of the cleaning module on the floor may have other shapes (such as rectangle, ellipse, etc.) according to actual situations, and the preset size is the length of the projection of the cleaning module on the floor along the radial direction of the circle on which the arc-shaped path is located during the steering process of the cleaning robot. The corresponding area correction parameter can be similar to the determination process of the area correction parameter referring to the circular cleaning module, which is not described herein again.

Further, based on any of the above embodiments, when the size characteristic parameter is smaller than the set size parameter, in addition to executing step S40, the current size characteristic parameter may be recorded, then timing is started, and step S10 is executed again, and in step S10, the size characteristic parameter of the corresponding uncleaned area when the cleaning robot reaches the target duration from the start of timing to the time of timing is obtained, where the size characteristic parameter may be specifically determined according to the above-mentioned manner of step S10 and the refinement steps thereof. Accumulating the obtained size characteristic parameters and the previously recorded size characteristic parameters, comparing the accumulated result with the set size parameters, and executing the step S30 if the accumulated size characteristic parameters are greater than or equal to the set size parameters; if the accumulated size characteristic parameter is smaller than the set size parameter, step S40 may be executed, and after recording the current size characteristic parameter, timing may be started and step S10 may be executed again. Wherein, the target duration may be less than or equal to the set threshold.

In this embodiment, when the cleaning robot is in the mobile cleaning state for a long time, the size characteristic parameters corresponding to the uncleaned areas formed in a plurality of shorter target durations are accumulated to obtain the total size of all the uncleaned areas in the long-time steering process of the cleaning robot, so that on one hand, the accuracy of the obtained size characteristic parameters can be ensured, and on the other hand, the uncleaned areas of the cleaning robot can be continuously monitored to ensure that an overlarge missing sweeping area cannot occur, and the cleaning effect of the cleaning robot is ensured.

In addition, an embodiment of the present invention further provides a cleaning robot control device, including:

an acquisition module for acquiring dimensional characteristic parameters of an uncleaned area of the cleaning robot;

Optionally, the obtaining module includes:

Optionally, the positioning sub-module comprises:

a first position obtaining subunit, configured to obtain at least two cleaning module positions to which the cleaning module moves within the target duration; and/or

Optionally, the area calculating unit includes:

Optionally, the summarizing unit includes:

Optionally, the determining sub-module includes:

Optionally, the cleaned area analysis unit comprises:

Optionally, the size parameter analyzing unit includes:

Optionally, the determining sub-module includes:

a first size analysis unit for determining a distance parameter from the at least two position parameters; determining the size characteristic parameters according to the distance parameters and preset parameters; alternatively, the first and second liquid crystal display panels may be,

Optionally, the execution module includes:

In this embodiment, the detailed schemes and technical effects of the steps executed by each hardware module of the cleaning robot control device can be referred to the detailed schemes and technical effects of the corresponding steps in the cleaning robot control method, which are not described herein again.

In addition, an embodiment of the present invention further provides a cleaning robot control program, which is executed to perform the steps related to any of the above cleaning robot control methods.

Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a cleaning robot control program is stored, and when the cleaning robot control program is executed by a processor, the cleaning robot control program implements the relevant steps of any of the above cleaning robot control methods.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or the portions contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, a cleaning robot, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A cleaning robot control method, characterized by comprising the steps of:

acquiring a size characteristic parameter of an uncleaned area of the cleaning robot in a steering state of the cleaning robot; the uncleaned area is an area which is not cleaned in the area which the cleaning robot passes through in the moving process;

when the size characteristic parameter is larger than or equal to a set size parameter, controlling the cleaning robot to clean the uncleaned area;

the step of acquiring a dimensional characteristic parameter of an uncleaned area of the cleaning robot includes:

acquiring a position change parameter of the cleaning robot;

2. The cleaning robot control method of claim 1, wherein the step of acquiring the position variation parameter of the cleaning robot comprises:

at least two position parameters in the moving process of the cleaning robot in a target time length are obtained, each position parameter corresponds to one moment, the position change parameter is a parameter of the cleaning robot changing in position at different moments, and the position parameter is a parameter representing the position of the cleaning robot at the corresponding moment.

3. A cleaning robot controlling method according to claim 2, wherein the cleaning robot includes a body and a cleaning module provided to the body, and the step of acquiring at least two position parameters during the movement of the cleaning robot within the target period of time includes:

Acquiring at least two identification part positions which are reached by the identification part of the machine body in the target duration;

4. A cleaning robot control method according to claim 3, wherein the size characteristic parameter includes an area parameter, and the step of determining the size characteristic parameter based on the position variation parameter includes:

determining a first starting position where the cleaning module is located and a second starting position where the identification part is located at the starting time of each of the at least two time periods, determining a first ending position where the cleaning module is located and a second ending position where the identification part is located at the ending time of each of the at least two time periods, and obtaining at least one target area, wherein the target area is an area formed by the first starting position, the first ending position, the second starting position and the second ending position in a surrounding manner;

determining the area parameter from the at least one reference area.

5. The cleaning robot control method of claim 4, wherein the step of calculating a reference area for each of the at least one target area to obtain at least one reference area comprises:

determining a connecting line of the first starting position and the second ending position of each target area as a reference line;

dividing the target area according to the datum line to obtain two sub-areas;

6. The cleaning robot control method of claim 4, wherein the step of determining the area parameter based on the at least one reference area comprises:

acquiring a preset size of the cleaning module;

7. A cleaning robot control method according to claim 3, wherein the step of determining the size characteristic parameter based on the position variation parameter includes:

8. The cleaning robot control method of claim 7, wherein the step of determining a size parameter of a cleaned area of the cleaning robot based on at least two of the cleaning module positions comprises:

9. A cleaning robot control method according to claim 8, wherein the movement parameter is a distance parameter, and the step of determining the size parameter based on the movement parameter and a relationship between the movement parameter and a size of the cleaned area which are set in advance comprises:

determining the size parameter according to the unit cleaning area size, the distance parameter, and a relationship between the preset movement parameter and the cleaned area size.

10. The cleaning robot control method of claim 2, wherein the step of determining the size characteristic parameter based on the position variation parameter comprises:

determining a distance parameter according to the at least two position parameters; determining the size characteristic parameter according to the distance parameter and a preset parameter; alternatively, the first and second liquid crystal display panels may be,

11. The cleaning robot control method of any one of claims 1 to 10, wherein the step of controlling the cleaning robot to clean the uncleaned area comprises:

controlling the cleaning robot to retreat for a preset distance;

12. A cleaning robot, characterized in that the cleaning robot comprises: a processor, a memory and a cleaning robot control program stored on the memory and executable on the processor, the cleaning robot control program, when executed by the processor, implementing the steps of the cleaning robot control method of any one of claims 1 to 11.

13. A computer-readable storage medium, characterized in that a cleaning robot control program is stored thereon, which when executed by a processor implements the steps of the cleaning robot control method according to any one of claims 1 to 11.