CN-116172447-B - Cleaning method and device for mobile robot, storage medium and electronic device

CN116172447BCN 116172447 BCN116172447 BCN 116172447BCN-116172447-B

Abstract

The invention provides a method and a device for cleaning a mobile robot, a storage medium and an electronic device, wherein the method comprises the steps of controlling the mobile robot to identify an obstacle in a target area to obtain an identification result; and when the identification result indicates that the parameter information of the obstacle meets the preset condition, transmitting the obstacle information of the obstacle to a mobile terminal corresponding to the mobile robot so as to prompt a target object to sort the obstacle, and controlling the mobile robot to clean the target area when the obstacle is sorted. According to the technical scheme provided by the invention, the problem that the area corresponding to the obstacle cannot be thoroughly cleaned after the mobile robot avoids the obstacle is solved, the cleaning effect of the mobile robot on the target area is improved, and the working efficiency of the mobile robot is improved.

Inventors

SUN JIAJIA
LUO SHAOHAN
ZHOU YING

Assignees

追觅创新科技(苏州)有限公司

Dates

Publication Date: 20260505
Application Date: 20210823

Claims (7)

1. A method of cleaning a mobile robot, the method comprising: Controlling a mobile robot to identify an obstacle in a target area to obtain an identification result, wherein the obstacle is garbage which cannot be cleaned by the mobile robot or an object which prevents the mobile robot from performing cleaning work; Transmitting the obstacle information of the obstacle to a mobile terminal corresponding to the mobile robot to prompt a target object to sort the obstacle when the identification result indicates that the parameter information of the obstacle meets a preset condition; the parameter information includes at least one of a type of the obstacle, a state of the obstacle, a number of the obstacle, and a coverage area of the obstacle; controlling the mobile robot to clean the target area in the condition that the obstacle is finished, The method further includes determining that the parameter information of the obstacle satisfies a preset condition by at least one of: determining the type of the obstacle as a target type in the case that the parameter information includes the type of the obstacle; determining that the state of the obstacle is a target state in the case where the parameter information includes the state of the obstacle; determining that the number of obstacles exceeds a first preset threshold value in the case that the parameter information includes the number of obstacles; In the case where the parameter information includes a coverage area of the obstacle, determining that an area ratio of the coverage area of the obstacle to the target area is greater than a second preset threshold, Determining that the obstacle is finished by at least: Receiving a finishing completion instruction sent by the mobile terminal; Or determining that the identification result for identifying the obstacle after the preset time indicates that the parameter information of the obstacle does not meet a preset condition.
2. The method according to claim 1, wherein transmitting the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot to prompt the target object to sort the obstacle, comprises: controlling the mobile robot to exit the target area and transmitting the obstacle information to the mobile terminal, or And controlling the mobile robot to continue to execute the currently executing cleaning mode, and sending the obstacle information to the mobile terminal.
3. The cleaning method of a mobile robot according to claim 2, wherein controlling the mobile robot to clean the target area comprises: determining whether the target object has finished arranging the obstacle under the condition that the mobile robot is controlled to exit the target area and the obstacle information is sent to the mobile terminal; And when the obstacle is finished in arrangement, controlling the mobile robot to travel to the target area so as to continue cleaning the target area.
4. The cleaning method of a mobile robot according to claim 2, wherein controlling the mobile robot to clean the target area comprises: Determining whether the target object has finished the obstacle in a case where the mobile robot has been controlled to continue to perform a currently executing cleaning mode and the obstacle information is transmitted to the mobile terminal; And under the condition that the arrangement of the obstacle is completed, controlling the mobile robot to travel to the target area so as to carry out supplementary cleaning on the area where the obstacle is located.
5. A cleaning device for a mobile robot, comprising: The first control module is used for controlling the mobile robot to identify obstacles in the target area to obtain an identification result, wherein the obstacles are garbage which cannot be cleaned by the mobile robot or objects which obstruct the mobile robot from performing cleaning work; The sending module is used for sending the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot so as to prompt a target object to sort the obstacle when the identification result indicates that the parameter information of the obstacle meets the preset condition; A second control module for controlling the mobile robot to clean the target area in the case that the arrangement of the obstacle is completed, The device further comprises a determining module, wherein the determining module is used for determining that the parameter information of the obstacle meets the preset condition at least by one of the following modes when the parameter information at least comprises one of the following types of obstacles, states of the obstacles, the number of the obstacles and coverage areas of the obstacles: determining the type of the obstacle as a target type in the case that the parameter information includes the type of the obstacle; determining that the state of the obstacle is a target state in the case where the parameter information includes the state of the obstacle; determining that the number of obstacles exceeds a first preset threshold value in the case that the parameter information includes the number of obstacles; In the case where the parameter information includes a coverage area of the obstacle, determining that an area ratio of the coverage area of the obstacle to the target area is greater than a second preset threshold, The second control module is further configured to determine that the obstacle is finished by at least: Receiving a finishing completion instruction sent by the mobile terminal; Or determining that the identification result for identifying the obstacle after the preset time indicates that the parameter information of the obstacle does not meet a preset condition.
6. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program, wherein the computer program is arranged to execute the method of any of the claims 1 to 4 when run.
7. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of the claims 1 to 4.

Description

Cleaning method and device for mobile robot, storage medium and electronic device The application relates to a method and a device for cleaning a mobile robot, a storage medium and an electronic device, which are classified under the application number 202110971057.6 and the application date 2021, 08 and 23. Technical Field The invention relates to the field of intelligent home, in particular to a cleaning method and device of a mobile robot, a storage medium and an electronic device. Background Along with the rapid development of technology, more and more intelligent devices are also born, and the mobile robot is widely used as a device capable of cleaning. Since the mobile robot generally encounters some obstacle during the cleaning work. When encountering an obstacle, the current mobile robot bypasses the area where the obstacle is located, and then carries out cleaning operation. However, in some application scenarios, since there are too many obstacles in a region, the mobile robot may bypass the obstacles, but the cleaning work of the region may be incomplete, which affects the cleaning effect. Aiming at the problems that the area corresponding to the obstacle is not thoroughly cleaned after the mobile robot avoids the obstacle in the related art, no effective solution is proposed at present. Accordingly, there is a need for improvements in the related art to overcome the drawbacks of the related art. Disclosure of Invention The invention aims to provide a cleaning method and device for a mobile robot, a storage medium and an electronic device, which at least solve the problems that after the mobile robot avoids an obstacle, the area corresponding to the obstacle is not cleaned thoroughly and the like. The invention aims at realizing the following technical scheme: According to one aspect of the embodiment of the invention, a method for cleaning a mobile robot is provided, and the method comprises the steps of controlling the mobile robot to identify an obstacle in a target area to obtain an identification result, sending obstacle information of the obstacle to a mobile terminal corresponding to the mobile robot when the identification result indicates that parameter information of the obstacle meets a preset condition, so as to prompt a target object to clean the obstacle, and controlling the mobile robot to clean the target area when the obstacle is cleaned. Further, in the case where the parameter information includes at least one of a type of the obstacle, a state of the obstacle, a number of the obstacles, and a coverage area of the obstacle, the method further includes determining that the parameter information of the obstacle satisfies a preset condition by at least one of determining that the type of the obstacle is a target type in the case where the parameter information includes the type of the obstacle, determining that the state of the obstacle is a target state in the case where the parameter information includes the state of the obstacle, determining that the number of the obstacles exceeds a first preset threshold in the case where the parameter information includes the number of the obstacles, and determining that an area ratio of the area of the obstacle to the target area is greater than a second preset threshold in the case where the parameter information includes the coverage area of the obstacle. Further, the obstacle information of the obstacle is sent to a mobile terminal corresponding to the mobile robot to prompt a target object to sort the obstacle, wherein the method comprises the steps of controlling the mobile robot to exit the target area and send the obstacle information to the mobile terminal, or controlling the mobile robot to continue to execute a currently executing cleaning mode and send the obstacle information to the mobile terminal. Further, controlling the mobile robot to clean the target area comprises determining whether the target object has finished arranging the obstacle under the condition that the mobile robot is controlled to exit the target area and the obstacle information is sent to the mobile terminal, and controlling the mobile robot to travel to the target area under the condition that the obstacle is arranged to continue cleaning the target area. Further, the method for controlling the mobile robot to clean the target area further comprises the steps of determining whether the target object has finished arranging the obstacle or not under the condition that the mobile robot is controlled to continue to execute a cleaning mode which is currently executed and the obstacle information is sent to the mobile terminal, and controlling the mobile robot to travel to the target area under the condition that the obstacle is arranged completely so as to conduct supplementary cleaning on the area where the obstacle is located. Further, the method further comprises the step of determining that the obstacle is finished at least by receiving a finishing instruc