State determination method and apparatus for cleaning robot

1 . A state determination method for a cleaning robot, comprising:

acquiring a working mode of the cleaning robot in real time;

based on the working mode, acquiring a target accumulation threshold corresponding to the working mode;

based on the target accumulation threshold, performing selection and accumulation of respective angle change values detected within a preset duration to obtain an accumulated change value; and

determining a state of the cleaning robot based on the accumulated change value;

wherein before acquiring the working mode of the cleaning robot in real time, the method further comprises: establishing a mapping relationship between working modes and accumulation thresholds based on respective working modes and respective accumulation thresholds; and

wherein acquiring the target accumulation threshold corresponding to the working mode based on the working mode comprises:

acquiring the target accumulation threshold corresponding to the working mode by looking up the mapping relationship based on the working mode.

2 . The method according to claim 1 , wherein the working mode comprises any: a first working mode or a second working mode;

wherein in response to the working mode being the first working mode, a first accumulation threshold corresponding to the first working mode is acquired to obtain the target accumulation threshold; or

wherein response to the working mode being the second working mode, a second accumulation threshold corresponding to the second working mode is acquired to obtain the target accumulation threshold,

wherein the first accumulation threshold is less than the second accumulation threshold.

3 . The method according to claim 2 , wherein:

an angle range of the first accumulation threshold is 0.0001° to 0.003°; and

an angle range of the second accumulation threshold is 0.01° to 0.3°.

4 . The method according to claim 1 , wherein based on the target accumulation threshold, performing selection and accumulation of the respective angle change values detected within the preset duration to obtain the accumulated change value comprises:

comparing the respective angle change values detected in real time within the preset duration with the target accumulation threshold, and selecting at least one angle change value which is greater than or equal to the target accumulation threshold as at least one target angle change value; and

performing accumulation of the at least one target angle change value within the preset duration to obtain the accumulated change value.

5 . The method according to claim 1 , wherein determining the state of the cleaning robot based on the accumulated change value comprises:

comparing the accumulated change value with a preset state threshold;

determining that the state of the cleaning robot is a deviation state when it is determined that the accumulated change value is greater than the state threshold; and

determining that the state of the cleaning robot is a non-deviation state when it is determined that the accumulated change value is less than or equal to the state threshold.

6 . The method according to claim 5 , wherein in response to determining that the state of the cleaning robot is the deviation state, the method further comprises: outputting prompt information in a predetermined manner to provide a deviation state prompt.

7 . A non-transitory storage medium storing a computer program, wherein when the computer program is executed by a processor of an electronic device, the electronic device is caused to:

acquire a working mode of a cleaning robot in real time;

based on the working mode, acquire a target accumulation threshold corresponding to the working mode;

based on the target accumulation threshold, perform selection and accumulation of respective angle change values detected within a preset duration to obtain an accumulated change value; and

determine a state of the cleaning robot based on the accumulated change value;

wherein when the computer program is executed by the processor, the electronic device is caused to

before the working mode of the cleaning robot is acquired in real time, establish a mapping relationship between working modes and accumulation thresholds based on respective working modes and respective accumulation thresholds; and

wherein acquiring the target accumulation threshold corresponding to the working mode based on the working mode comprises:

acquiring the target accumulation threshold corresponding to the working mode by looking up the mapping relationship based on the working mode.

8 . An electronic device comprising a memory and a processor, wherein the memory stores a computer program thereon, and when the computer program is executed by the processor, the electronic device is caused to:

acquire a working mode of the cleaning robot in real time;

based on the working mode, acquire a target accumulation threshold corresponding to the working mode;

based on the target accumulation threshold, perform selection and accumulation of respective angle change values detected within a preset duration to obtain an accumulated change value; and

determine a state of the cleaning robot based on the accumulated change value;

wherein when the computer program is executed by the processor, the electronic device is caused to

before the working mode of the cleaning robot is acquired in real time, establish a mapping relationship between working modes and accumulation thresholds based on respective working modes and respective accumulation thresholds; and

wherein acquiring the target accumulation threshold corresponding to the working mode based on the working mode comprises:

acquiring the target accumulation threshold corresponding to the working mode by looking up the mapping relationship based on the working mode.

9 . The electronic device according to claim 8 , wherein the working mode comprises: a first working mode or a second working mode; and

wherein in response to the working mode being the first working mode, a first accumulation threshold corresponding to the first working mode is acquired to obtain the target accumulation threshold; or

wherein in response to the working mode being the second working mode, a second accumulation threshold corresponding to the second working mode is acquired to obtain the target accumulation threshold,

wherein the first accumulation threshold is less than the second accumulation threshold.

10 . The electronic device according to claim 9 , wherein:

an angle range of the first accumulation threshold is 0.0001° to 0.003°; and

an angle range of the second accumulation threshold is 0.01° to 0.3°.

11 . The electronic device according to claim 8 , wherein when the computer program is executed by the processor, the electronic device is caused to:

compare the respective angle change values detected in real time within the preset duration with the target accumulation threshold, and select at least one angle change value which is greater than or equal to the target accumulation threshold as at least one target angle change value; and

perform accumulation of the at least one target angle change value within the preset duration to obtain the accumulated change value.

12 . The electronic device according to claim 8 , wherein when the computer program is executed by the processor, the electronic device is caused to:

compare the accumulated change value with a preset state threshold;

determine that the state of the cleaning robot is a deviation state when it is determined that the accumulated change value is greater than the state threshold; and

determine that the state of the cleaning robot is a non-deviation state when it is determined that the accumulated change value is less than or equal to the state threshold.

13 . The electronic device according to claim 12 , wherein when the computer program is executed by the processor, the electronic device is caused to

in response to determining that the state of the cleaning robot is the deviation state, output prompt information in a predetermined manner to provide a deviation state prompt.