WO2021190083A1 - 清洁机器人控制方法、装置及存储介质、清洁机器人 - Google Patents

清洁机器人控制方法、装置及存储介质、清洁机器人 Download PDF

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Publication number
WO2021190083A1
WO2021190083A1 PCT/CN2021/070789 CN2021070789W WO2021190083A1 WO 2021190083 A1 WO2021190083 A1 WO 2021190083A1 CN 2021070789 W CN2021070789 W CN 2021070789W WO 2021190083 A1 WO2021190083 A1 WO 2021190083A1
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WIPO (PCT)
Prior art keywords
cleaning robot
network
preset
cleaning
action
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PCT/CN2021/070789
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English (en)
French (fr)
Inventor
彭松
Original Assignee
北京石头世纪科技股份有限公司
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Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to EP21775754.1A priority Critical patent/EP4129143A4/en
Priority to US17/907,198 priority patent/US20230123326A1/en
Publication of WO2021190083A1 publication Critical patent/WO2021190083A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present disclosure relates to the technical field of cleaning robot control, and in particular to a cleaning robot control method, device, storage medium, and cleaning robot.
  • robots can replace humans to complete part of the indoor work.
  • automatic cleaning equipment such as sweeping robots
  • sweeping robots is gradually applied and popularized.
  • the automatic cleaning equipment After the automatic cleaning equipment is connected to the network, it can perform cleaning work under the control of a mobile terminal (such as a mobile phone). As the network status is not stable in the working environment, there are often situations where the network signal strength is low in some places. When the automatic cleaning device enters this area, it will stop working because it loses connection with the mobile terminal. If the location it goes to is hidden, users cannot find the device smoothly by using the positioning function on the mobile terminal because of the disconnection. User experience not good.
  • a mobile terminal such as a mobile phone
  • the present disclosure is proposed to provide a cleaning robot control method, device, storage medium, and cleaning robot that overcome the above-mentioned problems or at least partially solve the above-mentioned problems.
  • One aspect of the present disclosure provides a cleaning robot control method, which is applied to the cleaning robot, and the method includes:
  • a preset action is performed.
  • the method before the acquiring the network status of the cleaning robot, the method further includes:
  • the operation of acquiring the network status of the cleaning robot is performed.
  • the networked control operation mode includes a remote control operation mode or a "point to where" operation mode.
  • the performing a preset action includes:
  • the preset action is executed.
  • the performing a preset action specifically includes:
  • the preset action is executed.
  • the execution of a preset action includes:
  • the first obtaining module is used to obtain the network status of the cleaning robot
  • the execution module is configured to execute a preset action when the network state is a disconnected state or the network signal strength is lower than a preset signal threshold.
  • the device further includes:
  • the second acquiring module is configured to acquire the current operating mode of the cleaning robot before the first acquiring module acquires the network status of the cleaning robot;
  • the first obtaining module is specifically configured to perform the operation of obtaining the network status of the cleaning robot when the cleaning robot is currently in a networked control operation mode.
  • the device further includes:
  • the timing module is used for timing the duration of the network disconnection state when the network status is the network disconnection state
  • the execution module is further configured to execute a preset action when the duration of the network disconnection state counted by the timing module is greater than a preset time threshold.
  • the device further includes:
  • Timing module for timing the duration of low signal strength when the network signal strength is lower than the preset signal threshold
  • the execution module is further configured to execute a preset action when the duration of low signal strength counted by the timing module is greater than a preset time threshold.
  • the execution module is also used to switch to the automatic cleaning mode and perform a corresponding cleaning action, or maintain the current operating mode and continue to perform the cleaning action, or return to the pile to charge.
  • the present disclosure also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are realized.
  • the present disclosure also provides a cleaning robot including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the steps of the above method when the program is executed.
  • the cleaning robot control method, device and storage medium, and the cleaning robot provided by the embodiments of the present disclosure can cause the cleaning robot to execute the Preset actions to avoid affecting the user's use due to the inability of the robot to locate or stop working directly, and improve the experience.
  • FIG. 1 is a flowchart of a method for controlling a cleaning robot according to an embodiment of the disclosure
  • FIG. 2 is a flowchart of another cleaning robot control method according to an embodiment of the disclosure.
  • FIG. 3 is a structural block diagram of a cleaning robot control device according to an embodiment of the disclosure.
  • FIG. 4 is a structural block diagram of another cleaning robot control device according to an embodiment of the disclosure.
  • FIG. 5 is a schematic diagram of a cleaning robot according to an embodiment of the disclosure.
  • the cleaning robot to which the technical solution of the present disclosure is applicable may (but is not limited to) automatic cleaning equipment such as a sweeping robot, a mopping robot, or a sweeping and dragging integrated robot.
  • the robot may include a machine main body, a sensing system, a control system, a driving system, and cleaning System, energy system and human-computer interaction system.
  • Fig. 1 schematically shows a flowchart of a cleaning robot control method according to an embodiment of the present disclosure.
  • the cleaning robot control method of the embodiment of the present disclosure is applied to the cleaning robot side, and specifically includes the following steps:
  • Step S11 Obtain the network status of the cleaning robot.
  • the cleaning robot When in use, the cleaning robot realizes the connection with the user terminal through common wireless communication methods such as 3G network, 4G network, 5G network, NB-IoT, and carries out network mutual control.
  • the cleaning robot can specifically monitor the current network connection through a general network monitoring method to obtain its own network status.
  • the cleaning robot can obtain the current network connection status in real time, or periodically obtain the network connection status corresponding to each monitoring moment according to a preset monitoring cycle.
  • Step S12 Perform a preset action when the network state is a disconnected state or the network signal strength is lower than a preset signal threshold.
  • the preset signal threshold is the lowest signal value that guarantees the normal realization of the network control function of the cleaning robot, which can be pre-configured or configured by the user according to actual application scenarios.
  • the network status of the cleaning robot will affect the cleaning control of the cleaning robot, and the network status in the actual working environment is not stable, and the network signal strength is often low or even the network is disconnected. For this reason, in this embodiment, after entering the network, the cleaning robot monitors the current network status in real time while working under the control of the user terminal, such as disconnecting from the network or the network signal strength being lower than the preset signal threshold. , The cleaning robot performs preset actions to avoid affecting the user's use due to the inability of the robot to locate or stop working directly, and to improve the experience.
  • Fig. 2 schematically shows a flowchart of a cleaning robot control method according to another embodiment of the present disclosure.
  • the cleaning robot control method of the embodiment of the present disclosure specifically includes the following steps:
  • Step S00 Obtain the current operating mode of the cleaning robot.
  • Step S10 Determine whether the current operation mode of the cleaning robot is a networked control operation mode, and when the cleaning robot is currently a networked control operation mode, perform step S11;
  • Step S11 Obtain the network status of the cleaning robot itself.
  • the cleaning robot can obtain the current network connection status in real time, or periodically obtain the network connection status corresponding to each monitoring moment according to a preset monitoring period.
  • Step S12 Perform a preset action when the network state is a disconnected state or the network signal strength is lower than a preset signal threshold.
  • the operation mode of the cleaning robot includes a networked control operation mode that requires real-time networked control and other operation modes that do not require real-time networked control, such as an automatic cleaning mode.
  • the cleaning robot works in the networked control operation mode, the real-time network status is of great significance to the cleaning control of the cleaning robot. Therefore, in this embodiment, before the cleaning robot obtains its own network status, it needs to obtain its current operating mode in advance.
  • the corresponding control will be executed according to the obtained network status to avoid the influence of the network on the normal operation of the networked control operation mode, causing the user to be unable to locate the cleaning robot through the user terminal or the cleaning robot directly stops working. Affect user experience.
  • the networked control operation mode that requires real-time networked control includes, but is not limited to, a remote control operation mode or a "point to where” operation mode.
  • “where to go” refers to the working mode in which the cleaning robot walks to the location after the user specifies a location.
  • remote control working mode or the “where to point” working mode is only used to illustrate the specific working mode of the networked control operation mode, and is not a specific limitation on the networked control operation mode.
  • the duration of the disconnected state is timed, specifically, when the duration of the disconnected state is greater than the preset first time
  • the cleaning robot performs a preset action.
  • the time that the network signal strength continues to be lower than the preset signal threshold is counted, specifically, when the network signal strength continues When the time below the preset signal threshold is greater than the preset second time threshold, the cleaning robot performs a preset action.
  • the specific values of the first time threshold and the second time threshold may be pre-configured or configured by the user.
  • the first time threshold is equal to the second time threshold.
  • the execution of the preset action specifically includes but is not limited to the following specific implementation manners:
  • the cleaning robot control method provided by the embodiments of the present disclosure can switch the cleaning robot to the automatic cleaning mode and perform the corresponding cleaning action when the cleaning robot is in a disconnected state or the network signal strength is lower than the preset signal threshold and the connection with the mobile terminal is lost. , Or keep the current operating mode and continue to perform the cleaning action, or return to the pile to charge, to avoid the use of the robot cannot be positioned or stop working directly, and improve the experience.
  • Fig. 3 schematically shows a structural diagram of a cleaning robot control device according to an embodiment of the present disclosure.
  • the cleaning robot control device of the embodiment of the present disclosure specifically includes a first acquisition module 201 and an execution module 202, wherein:
  • the first obtaining module 201 is used to obtain the network status of the cleaning robot itself
  • the execution module 202 is configured to execute a preset action when the network state is a disconnected state or the network signal strength is lower than a preset signal threshold.
  • the device further includes a second acquiring module 200, and the second acquiring module is configured to acquire the network status of the cleaning robot before the first acquiring module 201 acquires The current operating mode of the cleaning robot;
  • the first obtaining module 201 is specifically configured to perform the operation of obtaining the network status of the cleaning robot when the cleaning robot is currently in a networked control operation mode.
  • the networked control operation mode that requires real-time networked control includes, but is not limited to, a remote control operation mode or a "point to where" operation mode.
  • remote control working mode or the “where to point” working mode is only used to illustrate the specific working mode of the networked control operation mode, and is not a specific limitation on the networked control operation mode.
  • the device further includes a timing module not shown in the drawings, and the timing module is used to time the duration of the network disconnection state when the network status is the disconnection state
  • the execution module 202 is specifically configured to execute a preset action when the duration of the network disconnection state counted by the timing module is greater than a preset time threshold.
  • the timing module can also be used to count the time that the network signal strength is continuously lower than the preset signal threshold when the network signal strength is lower than the preset signal threshold; the execution The module 202 is specifically configured to execute a preset action when the duration of the low signal strength counted by the timing module is greater than a preset time threshold.
  • the execution module 202 is specifically configured to switch to the automatic cleaning mode and perform corresponding cleaning actions, or maintain the current operating mode and continue to perform the cleaning actions, or return to the pile for charging.
  • the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units.
  • Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.
  • the cleaning robot control method and device provided by the embodiments of the present disclosure can cause the cleaning robot to perform a preset action when the cleaning robot is in a disconnected state or the network signal strength is lower than the preset signal threshold, which causes the The inability of the robot to locate or stop working directly affects the user's use and enhances the experience.
  • embodiments of the present disclosure also provide a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method described above are implemented.
  • the integrated module/unit of the cleaning robot control device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the present disclosure implements all or part of the processes in the above-mentioned embodiments and methods, and can also be completed by instructing relevant hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, it can implement the steps of the foregoing method embodiments.
  • the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate forms.
  • the computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunications signal, and software distribution media, etc.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electrical carrier signal telecommunications signal
  • software distribution media etc.
  • the content contained in the computer-readable medium can be appropriately added or deleted according to the requirements of the legislation and patent practice in the jurisdiction.
  • the computer-readable medium Does not include electrical carrier signals and telecommunication signals.
  • FIG. 5 is a schematic diagram of a cleaning robot provided by an embodiment of the disclosure.
  • the cleaning robot provided by the embodiments of the present disclosure includes a memory 301, a processor 302, and a computer program stored in the memory 301 and running on the processor 302.
  • the processor 302 implements the above-mentioned cleaning robots when the computer program is executed.
  • the steps in the embodiment of the control method are, for example, the steps shown in FIG. 1 or FIG. 2.
  • the processor 302 executes the computer program
  • the functions of the modules/units in the above embodiments of the cleaning robot control device are realized, for example, the first acquisition module 201 and the execution module 202 shown in FIG. 3.
  • the computer program may be divided into one or more modules/units, and the one or more modules/units are stored in the memory and executed by the processor to complete the present disclosure.
  • the one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the cleaning robot control device.
  • the computer program can be divided into a first acquisition module 201 and an execution module 202.
  • the cleaning robot may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server.
  • the cleaning robot may include, but is not limited to, a processor and a memory.
  • a processor and a memory may be included in the cleaning robot.
  • the schematic diagram 5 is only an example of a cleaning robot, and does not constitute a limitation on the cleaning robot. It may include more or less components than those shown in the figure, or a combination of certain components, or different components.
  • the cleaning robot may also include input and output devices, network access devices, buses, and the like.
  • the processor may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ASIC), off-the-shelf Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the processor is the control center of the cleaning robot, and various interfaces and lines are used to connect various parts of the entire cleaning robot.
  • the memory may be used to store the computer program and/or module, and the processor realizes the cleaning by running or executing the computer program and/or module stored in the memory and calling data stored in the memory.
  • the memory may mainly include a storage program area and a storage data area.
  • the storage program area may store an operating system, an application program required by at least one function (such as a sound playback function, an image playback function, etc.), etc.; the storage data area may store Data created based on the use of mobile phones (such as audio data, phone book, etc.), etc.
  • the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, memory, plug-in hard disks, smart media cards (SMC), and secure digital (SD) cards.
  • non-volatile memory such as hard disks, memory, plug-in hard disks, smart media cards (SMC), and secure digital (SD) cards.
  • Flash Card at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种清洁机器人控制方法、装置及存储介质、清洁机器人。其中，控制方法包括：获取清洁机器人自身的网络状态（S11）；在所述网络状态为断网状态或网络信号强度低于预设信号阈值时，执行预设动作（S12）。控制方法能够在清洁机器人处于断网状态或网络信号强度低于预设信号阈值导致与移动终端失去连接时，使得清洁机器人通过执行预设动作，避免由于无法机器人定位或直接停止工作而影响用户使用，提升用于体验。

Description

清洁机器人控制方法、装置及存储介质、清洁机器人
相关申请的交叉引用
本申请要求于2020年3月26日递交的中国专利申请第202010225559.X号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及清洁机器人控制技术领域，尤其涉及一种清洁机器人控制方法、装置及存储介质、清洁机器人。
背景技术
随着机器人技术的发展，机器人已经可以取代人类完成一部分室内的工作，例如，自动清洁设备(如扫地机器人)逐渐应用和普及。
目前，自动清洁设备在入网后，可以在移动终端(如手机)的控制下执行清扫工作。由于工作环境中，网络状态并不稳定，经常会出现某些地方网络信号强度低的情况。当自动清洁设备进入此区域后，会由于与移动终端失去连接而停止工作，如果其所去的位置隐蔽，由于断网用户也无法通过在移动终端上使用定位功能而顺利找到该设备，用户体验不好。
发明内容
鉴于上述问题，提出了本公开以便提供一种克服上述问题或者至少部分地解决上述问题的清洁机器人控制方法、装置及存储介质、清洁机器人。
本公开的一个方面，提供了一种清洁机器人控制方法，应用于清洁机器人，所述方法包括：
获取所述清洁机器人的网络状态；
在所述网络状态为断网状态或网络信号强度低于预设信号阈值时，执行预设动作。
可选地，在所述获取清洁机器人的网络状态之前，所述方法还包括：
获取所述清洁机器人的当前运行模式；
在所述清洁机器人当前为联网控制运行模式时，执行所述获取清洁机器人的网络状态的操作。
可选地，所述联网控制运行模式包括遥控工作模式或“指哪到哪”工作模式。
可选地，在所述网络状态为断网状态时，所述执行预设动作，包括：
对所述断网状态的持续时间进行计时；
当所述断网状态的持续时间大于预设的时间阈值时，执行所述预设动作。
可选地，在网络信号强度低于预设信号阈值时，所述执行预设动作，具体包括：
在所述网络信号强度低于预设信号阈值时，开始计时；
在网络信号强度低于预设信号阈值的时长大于预设的时间阈值时，执行所述预设动作。
可选地，所述执行预设动作，包括：
切换到自动清洁模式并执行相应的清洁动作，或
保持当前运行模式并继续执行清洁动作，或
回桩充电。
本公开的另一个方面，提供了一种清洁机器人控制装置，所述装置包括：
第一获取模块，用于获取清洁机器人的网络状态；
执行模块，用于在所述网络状态为断网状态或网络信号强度低于预设信号阈值时，执行预设动作。
可选地，所述装置还包括：
第二获取模块，用于在所述第一获取模块获取清洁机器人的网络状态之前，获取所述清洁机器人的当前运行模式；
所述第一获取模块，具体用于在所述清洁机器人当前为联网控制运行模式时，执行所述获取清洁机器人的网络状态的操作。
可选地，所述装置还包括：
计时模块，用于在所述网络状态为断网状态时，对所述断网状态的持续时间进行计时；
所述执行模块，还用于当所述计时模块统计的断网状态的持续时间大于预设的时间阈值时，执行预设动作。
可选地，所述装置还包括：
计时模块，用于在网络信号强度低于预设信号阈值时，对信号强度低的持续时间进行计时；
所述执行模块，还用于当所述计时模块统计的信号强度低的持续时间大于预设的时间阈值时，执行预设动作。
可选地，所述执行模块，还用于切换到自动清洁模式并执行相应的清洁动作，或保持当前运行模式并继续执行清洁动作，或回桩充电。
此外，本公开还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上所述方法的步骤。
此外，本公开还提供了一种清洁机器人，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上所述方法的步骤。
本公开实施例提供的清洁机器人控制方法、装置及存储介质、清洁机器人，能够在清洁机器人处于断网状态或网络信号强度低于预设信号阈值导致与移动终端失去连接时，使得清洁机器人通过执行预设动作，避免由于无法机器人定位或直接停止工作而影响用户使用，提升用于体验。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本公开的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1为本公开实施例的一种清洁机器人控制方法的流程图；
图2为本公开实施例的另一种清洁机器人控制方法的流程图；
图3为本公开实施例的一种清洁机器人控制装置的结构框图；
图4为本公开实施例的另一种清洁机器人控制装置的结构框图；
图5为本公开实施例的清洁机器人的示意图。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)，具有与本公开所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语，应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非被特定定义，否则不会用理想化或过于正式的含义来解释。
本公开技术方案所适用的清洁机器人可以(但不限于)为扫地机器人、拖地机器人或扫拖一体式机器人等自动清洁设备，该机器人可以包含机器主体、感知系统、控制系统、驱动系统、清洁系统、能源系统和人机交互系统。
图1示意性示出了本公开一个实施例的清洁机器人控制方法的流程图。参照图1，本公开实施例的清洁机器人控制方法，应用于清洁机器人端，具体包括以下步骤：
步骤S11、获取清洁机器人的网络状态。
在使用时，清洁机器人通过3G网络、4G网络、5G网络、NB-IoT等常见的无线通信方式实现与用户终端的连接，进行联网互控制。本实施例中，清洁机器人具体可通过通用网络监测方式实现对当前网络连接的监测，以获取自身的网络状态。
本实施例中，清洁机器人可实时获取当前的网络连接状态，或按照预设监测周期周期性的获取每一监测时刻对应的网络连接状态。
步骤S12、在所述网络状态为断网状态或网络信号强度低于预设信号阈值时，执行预 设动作。
其中，预设信号阈值为保证对清洁机器人正常实现网络控制功能的最低信号值，可预先配置，或由用户根据实际应用场景进行配置。
清洁机器人的网络状态会影响清洁机器人的清洁控制，而且实际工作环境中的网络状态并不稳定，经常会出现网络信号强度低甚至断网的情况。为此，本实施例中，在入网后，清洁机器人在用户终端的控制下工作时，实时对当前网络状态进行监测，如监测到与网络断开连接，或网络信号强度低于预设信号阈值，则清洁机器人执行预设动作，避免由于无法机器人定位或直接停止工作而影响用户使用，提升用于体验。
图2示意性示出了本公开另一个实施例的清洁机器人控制方法的流程图。参照图2，本公开实施例的清洁机器人控制方法具体包括以下步骤：
步骤S00、获取所述清洁机器人的当前运行模式。
步骤S10、判断所述清洁机器人当前运行模式是否为联网控制运行模式，在所述清洁机器人当前为联网控制运行模式时，执行步骤S11；
步骤S11、获取清洁机器人自身的网络状态。在本实施例中，清洁机器人可实时获取当前的网络连接状态，或按照预设监测周期周期性的获取每一监测时刻对应的网络连接状态。
步骤S12、在所述网络状态为断网状态或网络信号强度低于预设信号阈值时，执行预设动作。
本公开实施例中，清洁机器人的运行模式包括需要实时联网控制的联网控制运行模式和无需实时联网控制的其他运行模式，如自动清洁模式等。清洁机器人工作在联网控制运行模式时，实时的网络状态对清洁机器人的清洁控制具有重要意义，因此，本实施例在清洁机器人获取自身网络状态之前，需要预先获取自身的当前运行模式，如果清洁机器人当前工作在联网控制运行模式，则根据获取的网络状态执行相应的控制，避免由于网络原因影响联网控制运行模式的正常运行，导致用户无法通过用户终端对清洁机器人进行定位或清洁机器人直接停止工作而影响用户使用体验。
本实施例中，需要实时联网控制的联网控制运行模式包括但不限于遥控工作模式或“指哪到哪”工作模式。其中，“指哪到哪”是指由用户指定一个位置后，清洁机器人自行走到该位置的工作方式。
需要说明的是，遥控工作模式或“指哪到哪”工作模式仅用于对联网控制运行模式的具体工作模式进行举例说明，并非对联网控制运行模式的具体限定。
在本公开实施例中，若所述清洁机器人当前并非联网控制运行模式时，由于实时网络状态对清洁机器人的控制实现影响较小，则无需对清洁机器人的网络状态进行监测，按照常规程序运行即可。
在本公开一个实施例中，在所述网络状态为断网状态时，对所述断网状态的持续时间进行计时，具体的，当所述断网状态的持续时间大于预设的第一时间阈值时，所述清洁机 器人执行预设动作。
在本公开另一个实施例中，在所述网络状态为网络信号强度低于预设信号阈值时，对网络信号强度持续低于预设信号阈值的时间进行计时，具体的，当网络信号强度持续低于预设信号阈值的时间大于预设的第二时间阈值时，所述清洁机器人执行预设动作。
其中，第一时间阈值和第二时间阈值的具体取值可预先配置，或由用户进行配置。优先的，第一时间阈值等于第二时间阈值。
本公开实施例中，所述执行预设动作，具体包括但不限于以下具体实现方式：
切换到自动清洁模式并执行相应的清洁动作，或，保持当前运行模式并继续执行清洁动作，或，回桩充电。
本公开实施例提供的清洁机器人控制方法，能够在清洁机器人处于断网状态或网络信号强度低于预设信号阈值导致与移动终端失去连接时，清洁机器人切换到自动清洁模式并执行相应的清洁动作，或保持当前运行模式并继续执行清洁动作，或回桩充电，避免由于无法机器人定位或直接停止工作而影响使用，提升用于体验。
对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本公开实施例并不受所描述的动作顺序的限制，因为依据本公开实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本公开实施例所必须的。
图3示意性示出了本公开一个实施例的清洁机器人控制装置的结构示意图。参照图3，本公开实施例的清洁机器人控制装置具体包括第一获取模块201和执行模块202，其中：
第一获取模块201，用于获取清洁机器人自身的网络状态；
执行模块202，用于在所述网络状态为断网状态或网络信号强度低于预设信号阈值时，执行预设动作。
本公开实施例中，如图4所示，所述装置还包括第二获取模块200，所述的第二获取模块，用于在所述第一获取模块201获取清洁机器人的网络状态之前，获取所述清洁机器人的当前运行模式；
所述第一获取模块201，具体用于在所述清洁机器人当前为联网控制运行模式时，执行所述获取清洁机器人的网络状态的操作。
其中，需要实时联网控制的联网控制运行模式包括但不限于遥控工作模式或“指哪到哪”工作模式。
需要说明的是，遥控工作模式或“指哪到哪”工作模式仅用于对联网控制运行模式的具体工作模式进行举例说明，并非对联网控制运行模式的具体限定。
本实施例中，所述装置还包括附图中未示出的计时模块，所述的计时模块，用于在所述网络状态为断网状态时，对所述断网状态的持续时间进行计时；所述执行模块202，具体用于当所述计时模块统计的断网状态的持续时间大于预设的时间阈值时，执行预设动作。
在本公开另一个实施例中，所述的计时模块，还可以用于在网络信号强度低于预设信号阈值时，对网络信号强度持续低于预设信号阈值的时间进行计时；所述执行模块202，具体用于当所述计时模块统计的信号强度低的持续时间大于预设的时间阈值时，执行预设动作。
本实施例中，所述执行模块202，具体用于切换到自动清洁模式并执行相应的清洁动作，或保持当前运行模式并继续执行清洁动作，或回桩充电。
对于装置实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
本公开实施例提供的清洁机器人控制方法、装置，能够在清洁机器人处于断网状态或网络信号强度低于预设信号阈值导致与移动终端失去连接时，使得清洁机器人通过执行预设动作，避免由于无法机器人定位或直接停止工作而影响用户使用，提升用于体验。
此外，本公开实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上所述方法的步骤。
本实施例中，所述清洁机器人控制装置集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。
图5为本公开实施例提供的清洁机器人的示意图。本公开实施例提供的清洁机器人，包括存储器301、处理器302及存储在存储器301上并可在处理器302上运行的计算机程序，所述处理器302执行所述计算机程序时实现上述各个清洁机器人控制方法实施例中的步骤，例如图1或图2所示的步骤。或者，所述处理器302执行所述计算机程序时实现上述各清洁机器人控制装置实施例中各模块/单元的功能，例如图3所示的第一获取模块201 和执行模块202。
示例性的，所述计算机程序可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器中，并由所述处理器执行，以完成本公开。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序在所述清洁机器人控制装置中的执行过程。例如，所述计算机程序可以被分割成第一获取模块201和执行模块202。
所述清洁机器人可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。所述清洁机器人可包括，但不仅限于，处理器、存储器。本领域技术人员可以理解，所述示意图5仅仅是清洁机器人的示例，并不构成对清洁机器人的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述清洁机器人还可以包括输入输出设备、网络接入设备、总线等。
所述处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，所述处理器是所述清洁机器人的控制中心，利用各种接口和线路连接整个清洁机器人的各个部分。
所述存储器可用于存储所述计算机程序和/或模块，所述处理器通过运行或执行存储在所述存储器内的计算机程序和/或模块，以及调用存储在存储器内的数据，实现所述清洁机器人的各种功能。所述存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据手机的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
本领域的技术人员能够理解，尽管在此的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本公开的范围之内并且形成不同的实施例。例如，在所附的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
最后应说明的是：以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (13)

  1. 一种清洁机器人控制方法，应用于清洁机器人，其特征在于，所述方法包括：
    获取所述清洁机器人的网络状态；
    在所述网络状态为断网状态或网络信号强度低于预设信号阈值时，执行预设动作。
  2. 根据权利要求1所述的方法，其特征在于，在所述获取清洁机器人的网络状态之前，所述方法还包括：
    获取所述清洁机器人的当前运行模式；
    在所述清洁机器人当前为联网控制运行模式时，执行所述获取清洁机器人的网络状态的操作。
  3. 根据权利要求2所述的方法，其特征在于，所述联网控制运行模式包括遥控工作模式或“指哪到哪”工作模式。
  4. 根据权利要求1所述的方法，其特征在于，在所述网络状态为断网状态时，所述执行预设动作，包括：
    对所述断网状态的持续时间进行计时；
    当所述断网状态的持续时间大于预设的时间阈值时，执行所述预设动作。
  5. 根据权利要求1所述的方法，其特征在于，
    在网络信号强度低于预设信号阈值时，所述执行预设动作，包括：
    在所述网络信号强度低于预设信号阈值时，开始计时；
    在网络信号强度低于预设信号阈值的时长大于预设的时间阈值时，执行所述预设动作。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述执行预设动作，包括：
    切换到自动清洁模式并执行相应的清洁动作，或
    保持当前运行模式并继续执行清洁动作，或
    回桩充电。
  7. 一种清洁机器人控制装置，其特征在于，所述装置包括:
    第一获取模块，用于获取所述清洁机器人的网络状态；
    执行模块，用于在所述网络状态为断网状态或网络信号强度低于预设信号阈值时，执行预设动作。
  8. 根据权利要求7所述的装置，其特征在于，所述装置还包括：
    第二获取模块，用于在所述第一获取模块获取清洁机器人的网络状态之前，获取所述清洁机器人的当前运行模式；
    所述第一获取模块，用于在所述清洁机器人当前为联网控制运行模式时，执行所述获取清洁机器人的网络状态的操作。
  9. 根据权利要求7所述的装置，其特征在于，所述装置还包括：
    计时模块，用于在所述网络状态为断网状态时，对所述断网状态的持续时间进行计时；
    其中，所述执行模块还用于当所述计时模块统计的断网状态的持续时间大于预设的时间阈值时，执行预设动作。
  10. 根据权利要求7所述的装置，其特征在于，所述装置还包括：
    计时模块，用于在网络信号强度低于预设信号阈值时，对信号强度低的持续时间进行计时；
    其中，所述执行模块还用于当所述计时模块统计的信号强度低的持续时间大于预设的时间阈值时，执行预设动作。
  11. 根据权利要求7-10任一项所述的方法，其特征在于，所述执行模块还用于切换到自动清洁模式并执行相应的清洁动作，保持当前运行模式并继续执行清洁动作，或回桩充电。
  12. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-6任一项所述方法的步骤。
  13. 一种清洁机器人，包括存储器、处理器及存储在存储器上并在处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现如权利要求1-6任一项所述方法的步骤。
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