CN115844285A

CN115844285A - Cleaning robot control method, cleaning robot control device, electronic device, and medium

Info

Publication number: CN115844285A
Application number: CN202211467888.0A
Authority: CN
Inventors: 张卫芳; 李旭; 支涛
Original assignee: Beijing Yunji Technology Co Ltd
Current assignee: Beijing Yunji Technology Co Ltd
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2023-03-28

Abstract

The disclosure relates to the technical field of robot cleaning, and provides a cleaning robot control method, a cleaning robot control device, electronic equipment and a medium. The method comprises the following steps: acquiring the surface water accumulation information of an area to be cleaned; determining a ponding depth value of the area to be cleaned based on the surface ponding information; determining a cleaning strategy of the area to be cleaned according to the accumulated water depth value; and controlling the cleaning robot to clean the area to be cleaned based on the cleaning strategy. According to the cleaning method and the cleaning device, the accumulated water depth value of the area to be cleaned can be determined according to the accumulated water information of the area to be cleaned, the cleaning strategy of the area to be cleaned is determined according to the accumulated water depth value, the area to be cleaned is cleaned according to the determined cleaning strategy, short-circuit faults caused by too deep water in a wading road section of the cleaning robot are avoided, and the cleaning efficiency of the cleaning robot is improved.

Description

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

Technical Field

The present disclosure relates to the field of cleaning robot technologies, and in particular, to a cleaning robot control method and apparatus, an electronic device, and a medium.

Background

At present, the Internet of things and smart home are key development directions of many scientific and technological industries all over the world, and along with the development of artificial intelligence technology and the improvement of requirements of people on living level, the smart home is increasingly demanded. As a daily household appliance, the cleaning robot is more and more accepted by Chinese people, the cleaning robot can become a necessary electrical appliance product for household households like an air conditioner and a refrigerator in the future, the market prospect is wide, and meanwhile, the functional requirements of consumers on the cleaning robot are higher and higher.

At present, in the process of traveling in operation, a wading area may appear in an area to be cleaned, which needs to be cleaned, if the water is too deep, the cleaning robot is easy to be short-circuited and breaks down, the cleaning effect is difficult to achieve, and the cleaning efficiency of the cleaning robot is influenced.

Disclosure of Invention

In view of this, the embodiments of the present disclosure provide a method and an apparatus for controlling a cleaning robot, an electronic device, and a medium, so as to solve the problem that in the prior art, the cleaning robot quickly cleans a wading ground surface area.

In a first aspect of the disclosed embodiments, there is provided a cleaning robot control method including: acquiring the surface water accumulation information of an area to be cleaned; determining a ponding depth value of the area to be cleaned based on the ground ponding information; determining a cleaning strategy of the area to be cleaned according to the accumulated water depth value; and controlling the cleaning robot to clean the area to be cleaned based on the cleaning strategy.

In a second aspect of the disclosed embodiments, there is provided a cleaning robot control device including: a water accumulation information acquisition unit configured to acquire surface water accumulation information of an area to be cleaned; a water accumulation depth value determination unit configured to determine a water accumulation depth value of the area to be cleaned based on the surface water accumulation information; a cleaning strategy determining unit configured to determine a cleaning strategy of the area to be cleaned according to the accumulated water depth value; and the control unit is configured to control the cleaning robot to perform cleaning work on the area to be cleaned based on the cleaning strategy.

In a third aspect of the disclosed embodiments, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.

Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: firstly, acquiring ground water accumulation information of the whole area to be cleaned, and determining a water accumulation depth value of the area to be cleaned according to the ground water accumulation information; then, determining a cleaning strategy of the area to be cleaned according to the depth value of the accumulated water; and finally, controlling the cleaning robot to clean the area to be cleaned according to the cleaning strategy. The method provided by the disclosure can determine the cleaning strategy of the area to be cleaned according to the depth condition of the accumulated water in the area to be cleaned so as to control the cleaning robot to complete the cleaning work of the ground wading area according to the determined cleaning strategy, and simultaneously determine the cleaning strategy of the area to be cleaned according to different depth values of the accumulated water, so that the cleaning robot can be prevented from short-circuit fault due to too deep accumulated water depth, the wading area can be treated by adopting different cleaning strategies, and the cleaning efficiency of the cleaning robot can be improved.

Drawings

To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.

Fig. 1 is a schematic diagram of one application scenario of a cleaning robot control method according to some embodiments of the present disclosure;

FIG. 2 is a flow chart of some embodiments of a cleaning robot control method according to the present disclosure;

FIG. 3 is a schematic structural diagram of some embodiments of a cleaning robot control apparatus according to the present disclosure;

FIG. 4 is a schematic block diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

Fig. 1 is a schematic diagram of one application scenario of a cleaning robot control method according to some embodiments of the present disclosure.

In the application scenario of fig. 1, a computing device 101 may obtain surface water information 102 for an area to be cleaned. The computing device 101 may then determine a water depth value 103 for the area to be cleaned based on the surface water information 102 described above. Thereafter, the computing device 101 may determine a cleaning strategy 104 for the area to be cleaned based on the water depth value 103. Finally, the computing device 101 may control the cleaning robot to perform a cleaning operation on the cleaning region based on the cleaning strategy 104, as indicated by reference numeral 105.

When the cleaning robot travels in the operation process, the cleaning robot may pass through a wading road section, and the road section fault of the cleaning robot is easily caused by too deep water. Based on this, in the method for controlling the cleaning robot according to the embodiment of the present disclosure, it is determined whether the cleaning robot needs to perform the normal washing and mopping work by determining the depth value of the accumulated water in the area to be cleaned, if the depth value of the accumulated water on the ground is lower than the preset depth value, the cleaning robot is controlled to perform the cleaning work normally, and if the depth value of the accumulated water on the ground is higher than the preset depth value, the cleaning robot is controlled to re-plan the work route or send help-seeking information to the management platform. Like this, to the region of treating of different ponding depths, cleaning machines people can select suitable clean mode, accomplishes the cleaning work to wading region, not only can satisfy the consumer to cleaning machines people's demand of work, can also accomplish the cleaning work of the scene in complicated cleaning region fast.

The computing device 101 may be hardware or software. When the computing device 101 is hardware, it may be implemented as a distributed cluster composed of a plurality of servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device 101 is embodied as software (e.g., a program or system that controls a cleaning robot), it may be installed in the hardware devices listed above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein.

It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.

Fig. 2 is a flow chart of some embodiments of a cleaning robot control method according to the present disclosure. The cleaning robot control method of fig. 2 may be performed by the computing device 101 of fig. 1. As shown in fig. 2, the cleaning robot control method includes:

step S201, acquiring surface water information of an area to be cleaned.

In some embodiments, the acquiring the surface water information of the area to be cleaned includes: acquiring image information of an area to be cleaned, which is sent by an image sensor; and determining the surface water accumulation information of the area to be cleaned based on the image information.

In some embodiments, an execution body (e.g., the computing device 101 shown in fig. 1) of the cleaning robot control method may acquire image information of the above-described region to be cleaned using an image sensor mounted to the cleaning robot. And then determining the surface water information of the area to be cleaned based on the image information. By way of example, the area to be cleaned may be understood as an area in the environment of the cleaning robot work that needs to be cleaned, such as an area in a living room, a bedroom, etc. of a home. Here, the surface water information may be information of surface water of the area to be cleaned. The above-mentioned image information may be image frames of a plurality of ground surfaces photographed by the cleaner person according to the image sensor.

As an example, after the cleaning robot reaches the area to be cleaned, the cleaning robot may scan the surrounding environment through a visual sensor and/or a laser sensor on the robot to obtain environment scanning information, and perform positioning according to the environment scanning information to obtain positioning information; determining the area identification of the current area according to the positioning information; and comparing the pre-recorded areas according to the area identifications to determine whether the cleaning work can be started normally. Furthermore, after the cleaning robot determines to start the work, the control server of the cleaning robot firstly acquires the ground water accumulation information of the area to be cleaned, so that the cleaning strategy which should be adopted by the cleaning robot for the water accumulation area is determined according to the ground water accumulation information in the follow-up process.

In some embodiments, the control server may acquire image information of each angle of the area to be cleaned through an image sensor disposed in the cleaning robot to accurately identify the surface water accumulation information of the ground surface, and the cleaning robot needs to collect multiple surface image frames in a short time to comprehensively determine the surface water accumulation information of the area to be cleaned. The present embodiment does not set any limit to the specific manner of acquiring the surface image frame.

According to the control method of the cleaning robot, the accumulated water depth value of the area to be cleaned can be conveniently determined subsequently by acquiring the information of the accumulated water on the ground of the area to be cleaned.

It should be noted that, in order to accurately determine the surface water information of the area to be cleaned by the cleaning robot, the surface water information may be determined by image analysis, image comparison, and the like, which is not specifically limited in this embodiment.

And S202, determining the depth value of the ponding water in the area to be cleaned based on the information of the ponding water on the ground.

In some embodiments, the execution body may determine the water depth value of the area to be cleaned based on the ground water information by:

firstly, controlling a liquid detection assembly of the cleaning robot to carry out accumulated water depth detection based on the ground accumulated water information; for example, the execution body controls the liquid detection assembly configured in the cleaning robot to detect the depth of the accumulated water according to the information of the accumulated water on the floor, and the information of the area of the accumulated water region, the light reflection degree of the accumulated water region, and the like may be included in the information of the accumulated water on the floor.

And secondly, determining the depth value of the accumulated water in the area to be cleaned according to the detection result. The liquid detection component in the cleaning robot can calculate according to the received various information parameters to determine the depth value of the accumulated water; the calculation method of the depth value of the accumulated water in this embodiment is not specifically limited herein.

And step S203, determining a cleaning strategy of the area to be cleaned according to the accumulated water depth value.

In practical application, after the execution main body determines the depth value of the accumulated water in the current area to be cleaned, the wading depth of the area to be cleaned can be determined according to the depth value of the accumulated water, so that whether the cleaning robot can normally execute cleaning work or not is determined, if the wading depth is too deep, the cleaning robot cannot be controlled to normally perform the cleaning work, and if the wading depth is not deep, the cleaning robot can be controlled to normally perform the cleaning work.

In some embodiments, the determining, by the execution main body according to the water accumulation depth value, a cleaning strategy of the area to be cleaned includes: under the condition that the depth value of the accumulated water is determined to be larger than a preset depth threshold value, acquiring road section information of the area to be cleaned; and determining a cleaning strategy of the area to be cleaned based on the road section information. Specifically, the execution main body may acquire the road section information of the area to be cleaned when it is determined that the depth value of the accumulated water is greater than the preset depth threshold value, and determine the cleaning strategy for the current area to be cleaned according to the road section information.

It should be noted that, in the embodiment provided by the present application, different cleaning strategies are adopted for different road sections to be cleaned, and the cleaning robot may be controlled to execute the first cleaning strategy when the road section information of the current area to be cleaned is a waypoint; under the condition that the road section information of the current area to be cleaned is the target operation place, the cleaning robot can be controlled to execute a second cleaning strategy; these two cases will be described below.

In some embodiments, the determining, by the executing entity, the cleaning strategy of the area to be cleaned based on the road section information includes: and under the condition that the road section information is determined to be a midway road section, determining the cleaning strategy of the area to be cleaned to be a first cleaning strategy, wherein the first cleaning strategy is used for controlling the cleaning robot to re-plan a cleaning route and then executing cleaning work according to the re-planned cleaning route. As an example, when the execution subject determines that the current link information is the halfway link, a new cleaning route is planned for the cleaning robot again to control the cleaning robot to reach the target operation point according to the planned route, and then normal cleaning work is completed.

In some embodiments, the determining, by the executing entity, the cleaning strategy of the area to be cleaned based on the road section information includes: and determining the cleaning strategy of the area to be cleaned as a second cleaning strategy when the section information is determined as the target operation point, wherein the second cleaning strategy is to control the cleaning robot to stop cleaning work and control the cleaning robot to execute an alarm strategy. As an example, when the execution main body determines that the current area to be cleaned is the target operation point and the wading depth is too deep, the cleaning strategy for controlling the cleaning robot to execute is to stop the current cleaning work, prevent the cleaning robot from short circuit when meeting water, simultaneously send alarm information to the management platform, and also send parameter information such as the wading position where the current cleaning robot is located and the depth value of the accumulated water, so that a user can judge the subsequent ground accumulated water processing mode in time; this embodiment is not particularly limited thereto.

In addition, in some embodiments, the determining, by the execution main body according to the water accumulation depth value, a cleaning strategy of the area to be cleaned includes: and under the condition that the accumulated water depth value is determined to be smaller than or equal to a preset depth threshold value, determining the cleaning strategy of the area to be cleaned to be a third cleaning strategy, wherein the third cleaning strategy is used for controlling the cleaning robot to normally execute cleaning work. In practical application, when the execution main body determines that the depth value of the accumulated water in the current to-be-cleaned area is smaller than or equal to the preset depth threshold, the cleaning robot can normally process the current wading area, and the condition that the robot is in short circuit and fails is avoided; then, the executing body in this case may determine that the cleaning strategy for the area to be cleaned is the third cleaning strategy, i.e., the cleaning robot normally performs the cleaning work for the surface water.

According to the cleaning robot control method provided by the embodiment of the disclosure, the appropriate cleaning strategy is determined for the areas to be cleaned with different wading depths, and after the dust collection cleaning strategy is determined, the cleaning robot is conveniently controlled to complete the ground surface cleaning work, so that the short-circuit fault of the cleaning robot can be avoided, and a certain cleaning effect can be achieved.

And 204, controlling the cleaning robot to clean the area to be cleaned based on the cleaning strategy.

In some embodiments, the executing body controls the cleaning robot to perform a cleaning operation on the cleaning region based on the cleaning strategy, and includes: and controlling the cleaning robot to perform cleaning work on an area to be cleaned based on the cleaning route re-planned by the cleaning robot. As an example, when the cleaning strategy determined by the executing body is the first cleaning strategy, a cleaning route to the target working point may be re-planned for the cleaning robot, and the cleaning robot may be controlled to reach the target working point according to the cleaning route, thereby completing the cleaning work of the area to be cleaned.

In practical applications, after the execution main body determines the cleaning strategy corresponding to each region to be cleaned, the cleaning operation can be performed on the region to be cleaned according to the cleaning strategy. It should be noted that, in order to avoid the fault of the cleaning robot caused by the ground wading, when the cleaning robot identifies the wading area, the current processing strategy needs to be determined, and the processing of the wading area is completed according to the corresponding cleaning strategy.

Furthermore, in some embodiments, the executing body may further complete the cleaning operation of the area to be cleaned according to the determined second cleaning strategy and the determined third cleaning strategy, which is not described and limited herein.

It should be noted that, the cleaning robot may cooperate with the water suction pump and the sweeping component of the cleaning robot to clean the wading ground, on one hand, the water suction pump of the cleaning robot is controlled to directly suck the surface water, and on the other hand, the cleaning cloth is controlled to sweep the residual surface water to complete the cleaning process of the area to be cleaned.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.

Fig. 3 is a schematic structural view of some embodiments of a cleaning robot control device according to the present disclosure. As shown in fig. 3, the cleaning robot control device includes: a water accumulation information acquisition unit 301, a water accumulation depth value determination unit 302, a cleaning strategy determination unit 303, and a control unit 304. The ponding information acquiring unit 301 is configured to acquire the surface ponding information of the area to be cleaned; a water accumulation depth value determination unit 302 configured to determine a water accumulation depth value of the area to be cleaned based on the surface water accumulation information; a cleaning strategy determining unit 303 configured to determine a cleaning strategy of the region to be cleaned according to the accumulated water depth value; a control unit 304 configured to control the cleaning robot to perform a cleaning operation on the cleaning region based on the cleaning strategy.

In some optional implementations of some embodiments, the cleaning strategy determination unit 303 of the cleaning robot control device is further configured to: under the condition that the depth value of the accumulated water is determined to be larger than a preset depth threshold value, acquiring road section information of the area to be cleaned; and determining a cleaning strategy of the area to be cleaned based on the road section information.

In some optional implementations of some embodiments, the cleaning strategy determination unit 303 of the cleaning robot control device is further configured to: and determining the cleaning strategy of the area to be cleaned as a first cleaning strategy when the road section information is determined to be a midway road section, wherein the first cleaning strategy is to control the cleaning robot to re-plan a cleaning route and then execute cleaning work.

In some optional implementations of some embodiments, the control unit 304 of the cleaning robot control device is further configured to: and controlling the cleaning robot to perform cleaning work on an area to be cleaned based on the cleaning route re-planned by the cleaning robot.

In some optional implementations of some embodiments, the cleaning strategy determination unit 303 of the cleaning robot control device is further configured to: and under the condition that the road section information is determined to be the target operation point, determining the cleaning strategy of the area to be cleaned to be a second cleaning strategy, wherein the second cleaning strategy is used for controlling the cleaning robot to stop cleaning work and controlling the cleaning robot to execute an alarm strategy.

In some optional implementations of some embodiments, the cleaning strategy determining unit 303 of the cleaning robot control device is further configured to: and under the condition that the accumulated water depth value is determined to be smaller than or equal to a preset depth threshold value, determining that the cleaning strategy of the area to be cleaned is a third cleaning strategy, wherein the third cleaning strategy is used for controlling the cleaning robot to normally execute cleaning work.

In some optional implementations of some embodiments, the water accumulation information acquiring unit 301 of the cleaning robot control device is further configured to: acquiring image information of an area to be cleaned, which is sent by an image sensor; and determining the surface water accumulation information of the area to be cleaned based on the image information.

In some optional implementations of some embodiments, the water depth value determination unit 302 of the cleaning robot control device is further configured to: controlling a liquid detection assembly of the cleaning robot to carry out accumulated water depth detection based on the ground accumulated water information; and determining the accumulated water depth value of the area to be cleaned according to the detection result.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

Referring now to FIG. 4, a block diagram of an electronic device (e.g., computing device 101 of FIG. 1) 400 suitable for use in implementing some embodiments of the present disclosure is shown. The server shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 4, electronic device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage device 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic apparatus 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, tape, hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device 400 to communicate with other devices, either wirelessly or by wire, to exchange data. While fig. 4 illustrates an electronic device 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 4 may represent one device or may represent multiple devices, as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 409, or from the storage device 408, or from the ROM 402. The computer program, when executed by the processing apparatus 401, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the apparatus; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring surface water accumulation information of an area to be cleaned; determining a ponding depth value of the area to be cleaned based on the ground ponding information; determining a cleaning strategy of the area to be cleaned according to the depth value of the accumulated water; and controlling the cleaning robot to clean the area to be cleaned based on the cleaning strategy.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a water information acquisition unit, a water depth value determination unit, a cleaning strategy determination unit, and a control unit. The names of these units do not in some cases constitute a limitation on the unit itself, and for example, the water accumulation information acquiring unit may also be described as a "unit that acquires surface water accumulation information of an area to be cleaned".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combinations of the above-mentioned features, and other embodiments in which the above-mentioned features or their equivalents are combined arbitrarily without departing from the spirit of the invention are also encompassed. For example, the above features and (but not limited to) the features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims

1. A cleaning robot control method characterized by comprising:

acquiring the surface water accumulation information of an area to be cleaned;

determining a ponding depth value of the area to be cleaned based on the surface ponding information;

determining a cleaning strategy of the area to be cleaned according to the accumulated water depth value;

and controlling the cleaning robot to clean the area to be cleaned based on the cleaning strategy.

2. The cleaning robot control method of claim 1, wherein the determining a cleaning strategy for the area to be cleaned according to the water depth value comprises:

acquiring road section information of the area to be cleaned under the condition that the accumulated water depth value is determined to be larger than a preset depth threshold value;

and determining a cleaning strategy of the area to be cleaned based on the road section information.

3. The cleaning robot control method according to claim 2, wherein the determining of the cleaning strategy of the area to be cleaned based on the section information includes:

determining that the cleaning strategy of the area to be cleaned is a first cleaning strategy under the condition that the road section information is determined to be a midway road section, wherein the first cleaning strategy is to control the cleaning robot to re-plan a cleaning route and execute cleaning work according to the re-planned cleaning route;

the controlling the cleaning robot to perform cleaning work on the area to be cleaned based on the cleaning strategy includes:

and controlling the cleaning robot to perform cleaning work on the area to be cleaned based on the cleaning route re-planned by the cleaning robot.

4. The cleaning robot control method according to claim 2, wherein the determining of the cleaning strategy of the area to be cleaned based on the section information includes:

and under the condition that the road section information is determined to be the target operation point, determining that the cleaning strategy of the area to be cleaned is a second cleaning strategy, wherein the second cleaning strategy is used for controlling the cleaning robot to stop cleaning work and controlling the cleaning robot to execute an alarm strategy.

5. The method of claim 1, wherein determining a cleaning strategy for the area to be cleaned based on the water depth value comprises:

and under the condition that the accumulated water depth value is determined to be smaller than or equal to a preset depth threshold value, determining that the cleaning strategy of the area to be cleaned is a third cleaning strategy, wherein the third cleaning strategy is used for controlling the cleaning robot to normally execute cleaning work.

6. The method of claim 1, wherein the obtaining surface water information for an area to be cleaned comprises:

acquiring image information of an area to be cleaned, which is sent by an image sensor;

determining, based on the image information, surface water information for the area to be cleaned.

7. The method of claim 6, wherein determining a water depth value for the area to be cleaned based on the surface water information comprises:

controlling a liquid detection assembly of the cleaning robot to carry out accumulated water depth detection based on the ground accumulated water information;

and determining the depth value of the accumulated water in the area to be cleaned according to the detection result.

8. A cleaning robot control apparatus, characterized by comprising:

a water accumulation information acquisition unit configured to acquire surface water accumulation information of an area to be cleaned;

a water accumulation depth value determination unit configured to determine a water accumulation depth value of the area to be cleaned based on the ground water accumulation information;

a cleaning strategy determination unit configured to determine a cleaning strategy for the area to be cleaned according to the accumulated water depth value;

a control unit configured to control the cleaning robot to perform a cleaning work on the area to be cleaned based on the cleaning strategy.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.