Method for controlling robot cleaner, electronic device and robot cleaner

1 . A method for controlling a robot cleaner, comprising:

acquiring detection information or state information of the robot cleaner in a case that the robot cleaner performs a mopping task; and

controlling a mopping component of the robot cleaner to stop working or to ascend upwardly into the robot cleaner or to stop working and to ascend upwardly into the robot cleaner in response that the detection information or the state information satisfies a non-mopping condition;

wherein the detection information of the robot cleaner comprises obstacle information detected by the robot cleaner, the obstacle information further comprises a size of the obstacle; and the obstacle is a stain or a particle;

after controlling the mopping component of the robot cleaner to stop working or to ascend upwardly into the robot cleaner or to stop working and to ascend upwardly into the robot cleaner, the method further comprises:

determining whether the size of the obstacle is less than or equal to a preset size;

in response that the size of the obstacle is less than or equal to the preset size, controlling a sweeping component of the robot cleaner to descend to a surface of a region to be cleaned and work for removing the obstacle; and

in response that the size of the obstacle is greater than the preset size, controlling the robot cleaner to bypass the obstacle;

wherein in a case that the sweeping component of the robot cleaner is in an ascending state, the sweeping component is not in contact with the surface of the region to be cleaned; and

in a case that the sweeping component of the robot cleaner is in a descending state, the sweeping component is in contact with the surface of the region to be cleaned.

2 . The method according to claim 1 , wherein the detection information of the robot cleaner comprises a pitch angle of the robot cleaner relative to the surface of the region to be cleaned; and

controlling the mopping component of the robot cleaner to stop working or to ascend upwardly into the robot cleaner or to stop working and to ascend upwardly into the robot cleaner in response that the detection information satisfies the non-mopping condition comprises:

in response that the pitch angle is not zero, controlling the mopping component to stop working or controlling the mopping component to stop working and to ascend upwardly into the robot cleaner.

3 . The method according to claim 1 , wherein the obstacle information comprises a distance between the robot cleaner and the obstacle; and

controlling the mopping component of the robot cleaner to stop working or to ascend upwardly into the robot cleaner or to stop working and to ascend upwardly into the robot cleaner in response that the detection information satisfies the non-mopping condition comprises:

controlling the mopping component of the robot cleaner to ascend upwardly into the robot cleaner in response that the distance between the robot cleaner and the obstacle is less than or equal to a first preset distance.

4 . The method according to claim 1 , wherein after controlling the sweeping component of the robot cleaner to descend to the surface of the region to be cleaned and work for removing the obstacle, the method further comprises:

controlling the robot cleaner to return to a position at which the mopping component ascends upwardly into the robot cleaner; and

controlling the sweeping component to ascend upwardly into the robot cleaner and controlling the mopping component to descend to the surface of the region to be cleaned, to mop the region to be cleaned.

5 . The method according to claim 1 , wherein after controlling the robot cleaner to bypass the obstacle, the method further comprises:

controlling the mopping component to descend to the surface of the region to be cleaned to mop the region to be cleaned.

6 . The method according to claim 1 , wherein the detection information of the robot cleaner comprises travel path information of the robot cleaner; and

controlling the mopping component of the robot cleaner to stop working or to ascend upwardly into the robot cleaner or to stop working and to ascend upwardly into the robot cleaner in response that the detection information satisfies the non-mopping condition comprises:

controlling the mopping component of the robot cleaner to ascend upwardly into the robot cleaner in response that the travel path information indicates that the robot cleaner moves from a sub-region to be cleaned into another sub-region to be cleaned.

7 . The method according to claim 1 , wherein the mopping component comprises a mopping roller brush, and the detection information of the robot cleaner comprises floor medium information detected by the robot cleaner; and

controlling the mopping component of the robot cleaner to stop working or to ascend upwardly into the robot cleaner or to stop working and to ascend upwardly into the robot cleaner in response that the detection information satisfies the non-mopping condition comprises:

acquiring a first electric current value of the mopping roller brush in response that the floor medium information does not match non-mopping object medium information; and

controlling the mopping roller brush to ascend upwardly into the robot cleaner in response that the first electric current value is greater than or equal to a preset electric current value and a duration for which the first electric current value is greater than or equal to the preset electric current value is greater than or equal to a first preset duration.

8 . The method according to claim 1 , wherein the state information of the robot cleaner comprises a traveling mode of the robot cleaner; and

controlling the mopping component of the robot cleaner to stop working or to ascend upwardly into the robot cleaner or to stop working and to ascend upwardly into the robot cleaner in response that the detection information satisfies the non-mopping condition comprises:

controlling the mopping component to ascend upwardly into the robot cleaner in response that the traveling mode is a de-trapping mode.

9 . The method according to claim 7 , wherein after controlling the mopping component of the robot cleaner to ascend upwardly into the robot cleaner, the method further comprises:

acquiring a second electric current value of the mopping roller brush after the mopping roller brush ascends upwardly into the robot cleaner;

controlling an alarm apparatus of the robot cleaner to raise an alarm in response that the second electric current value is greater than or equal to the preset electric current value and a duration for which the second electric current value is greater than or equal to the preset electric current value is greater than or equal to a second preset duration;

in response that the second electric current value is less than the preset electric current value, after a third preset duration, controlling the mopping roller brush to descend to the surface of the region to be cleaned and acquiring a third electric current value of the mopping roller brush after the mopping roller brush descends to the surface of the region to be cleaned; and

in response that the third electric current value is greater than or equal to the preset electric current value, controlling the mopping roller brush to repeat said ascending and descending steps until the third electric current value is less than the preset electric current value.

10 . The method according to claim 8 , wherein after controlling the mopping component of the robot cleaner to ascend upwardly into the robot cleaner, the method further comprises:

acquiring a real-time position of the robot cleaner in response that a de-trapping motion of the robot cleaner ends;

determining a distance between the real-time position of the robot cleaner and a position of the robot cleaner at which the mopping component ascends upwardly into the robot cleaner; and

controlling the mopping component to descend to the surface of the region to be cleaned in response that the distance is greater than or equal to a preset distance.