Cleaning robot escape method and apparatus, medium, and electronic device
AssigneeBeijing Roborock Innovation Technology Co., Ltd.
InventorZhengtao HOU
Life of this patent
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Abstract
A cleaning robot escape method, a cleaning robot escape apparatus, a computer readable storage medium, and an electronic device. The method comprises: when a cleaning robot cleans in a first surface medium region, recording a cleaned path and generating a region map; when the cleaning robot encounters an obstacle and turns the direction, in response to a surface medium change signal triggered by a surface medium sensor, upon detecting a second surface medium region, detecting whether the cleaned path of the cleaning robot is a path along a wall; and if the cleaned path of the cleaning robot is the path along the wall, controlling the cleaning robot to enter a special escape mode.
Claims21
A cleaning robot escape method, performed by a cleaning robot comprising a surface medium sensor, and comprising:
- recording a cleaned path and generating a region map in response to determining that the cleaning robot cleans within a first surface medium region;
- detecting whether the cleaned path of the cleaning robot is a wall-following path in a case that a second surface medium region is detected in response to a surface medium change signal triggered by the surface medium sensor when the cleaning robot encounters an obstacle and turns a direction;
- and
- controlling the cleaning robot to enter a special escape mode in response to determining that the cleaned path of the cleaning robot is the wall-following path.
A cleaning robot escape device arranged on a cleaning robot comprising a surface medium sensor, comprising:
- at least one hardware processor;
- and
- a memory configured to store an executable instruction of the at least one hardware processor
- that, when executed, direct the at least one hardware processor to:
- record a cleaned path and generate a region map in response to determining that the cleaning robot cleans within a first surface medium region;
- detect whether the cleaned path of the cleaning robot is a wall-following path in a case that a second surface medium region is detected in response to a surface medium change signal triggered by the surface medium sensor when the cleaning robot encounters an obstacle and turns a direction;
- and
- control the cleaning robot to enter a special escape mode in response to determining that the cleaned path of the cleaning robot is the wall-following path.
A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program implements a cleaning robot escape method in association with a cleaning robot comprising a surface medium sensor, the cleaning robot escape method comprising:
- recording a cleaned path and generating a region map in response to determining that the cleaning robot cleans within a first surface medium region;
- detecting whether the cleaned path of the cleaning robot is a wall-following path in a case that a second surface medium region is detected in response to a surface medium change signal triggered by the surface medium sensor when the cleaning robot encounters an obstacle and turns a direction;
- and
- controlling the cleaning robot to enter a special escape mode in response to determining that the cleaned path of the cleaning robot is the wall-following path.
(canceled)
Dependencies are inferred from the claim text.