Escaping method and apparatus of cleaning robot, medium and electronic device
An escaping method of a cleaning robot includes: when the cleaning robot encounters an obstacle and turns around while performing cleaning along an edge of a first surface medium area, in response to a surface medium change signal from the surface medium sensor indicates that a second surface medium area is detected, searching an established room map to determine whether the second surface medium area exists in the room map; if the second surface medium area exists, determining whether a route bypassing the second surface medium area exists based on the room map and a boundary of the second surface medium area in the room map; if the route exists, controlling the cleaning robot to travel along the route to bypass the second surface medium area; and if the route does not exist, controlling the cleaning robot to return along a cleaned route to bypass the second surface medium area.
1. An escaping method of a cleaning robot applied to a cleaning robot comprising a surface medium sensor, the escaping method comprising:
when the cleaning robot encounters an obstacle and turns around while performing cleaning along an edge of a first surface medium area, in response to a surface medium change signal from the surface medium sensor indicates that a second surface medium area is detected, searching an established room map to determine whether the second surface medium area exists in the room map;
if the second surface medium area exists in the room map, determining whether a route bypassing the second surface medium area exists based on the room map and a boundary of the second surface medium area in the room map;
if the route exists, controlling the cleaning robot to travel along the route to bypass the second surface medium area; and
if the route does not exist, controlling the cleaning robot to return along a cleaned route to bypass the second surface medium area.
2. The escaping method of the cleaning robot according to claim 1 , further comprising: if the second surface medium area does not exist in the room map, scanning an edge of the second surface medium area, and storing a scanning result in the room map.
3. The escaping method of the cleaning robot according to claim 1 , wherein, when the cleaning robot encounters the obstacle and turns around while performing cleaning along the edge of the first surface medium area, in response to the surface medium change signal from the surface medium sensor that indicates that the second surface medium area is detected, the method further comprises:
detecting whether at least a part of the cleaning robot has entered the second surface medium area; and
if at least a part of the cleaning robot has entered the second surface medium area, controlling the cleaning robot to travel in an opposite direction to leave the second surface medium area.
4. The escaping method of the cleaning robot according to claim 3 , wherein detecting whether at least a part of the cleaning robot has entered the second surface medium area comprises:
detecting whether a position at which the surface medium sensor of the cleaning robot is located is within the second surface medium area; and
if the position at which the surface medium sensor is located is within the second surface medium area, determining that the cleaning robot has entered the second surface medium area.
5. The escaping method of the cleaning robot according to claim 4 , wherein detecting whether the position at which the surface medium sensor of the cleaning robot is located is within the second surface medium area comprises:
controlling the surface medium sensor to transmit an ultrasonic signal vertically to a current surface, and receiving an actual echo signal reflected by the current surface, wherein the surface medium sensor is an ultrasonic sensor; and
determining whether the actual echo signal is different from an echo signal of the first surface medium area, and if it is different, determining that the position at which the surface medium sensor is located is within the second surface medium area.
6. The escaping method of the cleaning robot according to claim 3 , wherein controlling the cleaning robot to return along the cleaned route comprises:
when it is determined that the cleaning robot leaves the second surface medium area, controlling the cleaning robot to rotate in situ, so that a traveling direction of the cleaning robot is parallel to an edge of the first surface medium area; and
controlling the cleaning robot to return along the traveling direction.
7. The escaping method of the cleaning robot according to claim 1 , wherein, after the second surface medium area is detected, the method further comprises:
detecting whether the cleaned route of the cleaning robot is a wall-following route; and
if the cleaned route of the cleaning robot is the wall-following route, controlling the cleaning robot to return along the wall-following route.
8. The escaping method of the cleaning robot according to claim 7 , further comprising:
determining, based on the room map, whether the second surface medium area is located behind the cleaning robot; and
if the second surface medium area is located behind the cleaning robot, controlling the cleaning robot to return along the cleaned route.
9. The escaping method of the cleaning robot according to claim 8 , wherein controlling the cleaning robot to return along the wall-following route or the cleaned route comprises:
controlling the cleaning robot to travel backward along the wall-following route or the cleaned route;
enabling in-situ rotation when a backward traveling distance reaches a preset distance; and
if the second surface medium area is detected in response to the surface medium change signal from the surface medium sensor, controlling the cleaning robot to continue to travel backward, until the surface medium sensor cannot detect the surface medium change signal.
10. The escaping method of the cleaning robot according to claim 1 , wherein, if the route does not exist, the method further comprises: ignoring the surface medium change signal from the surface medium sensor, and continuing controlling the cleaning robot to turn around and return along the cleaned route.
11. The escaping method of the cleaning robot according to claim 10 , wherein, in a process of ignoring the surface medium change signal from the surface medium sensor and controlling the cleaning robot to turn around and return along the cleaned route, the method further comprises:
detecting whether the surface medium change signal from the surface medium sensor disappears; and
if the surface medium change signal from the surface medium sensor disappears, controlling the cleaning robot to travel forward by a preset distance and then to stop traveling and rotate in a circle, and detecting whether the cleaning robot leaves the second surface medium area.
12. The escaping method of the cleaning robot according to claim 11 , wherein detecting whether the cleaning robot leaves the second surface medium area comprises:
if the surface medium sensor triggers the surface medium change signal, controlling the cleaning robot to continue to return along the cleaned route; and
if the surface medium sensor does not trigger the surface medium change signal, entering a normal cleaning mode.
13. The escaping method of the cleaning robot according to claim 1 , wherein the method is configured for use when the cleaning robot is in a mode in which only the first surface medium area is to be cleaned.
14. A non-transitory computer-readable storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements an escaping method of a cleaning robot, applied to a cleaning robot comprising a surface medium sensor, the escaping method comprising:
when the cleaning robot encounters an obstacle and turns around while performing cleaning along an edge of a first surface medium area, in response to a surface medium change signal from the surface medium sensor indicates that a second surface medium area is detected, searching an established room map to determine whether the second surface medium area exists in the room map;
if the second surface medium area exists in the room map, determining whether a route bypassing the second surface medium area exists based on the room map and a boundary of the second surface medium area in the room map;
if the route exists, controlling the cleaning robot to travel along the route to bypass the second surface medium area; and
if the route does not exist, controlling the cleaning robot to return along a cleaned route to bypass the second surface medium area.
15. An electronic device comprising:
a processor; and
a memory, for storing processor-executable instructions,
wherein the processor is configured to execute the processor-executable instructions to perform an escaping method of a cleaning robot, applied to a cleaning robot comprising a surface medium sensor, the escaping method comprising:
when the cleaning robot encounters an obstacle and turns around while performing cleaning along an edge of a first surface medium area, in response to a surface medium change signal from the surface medium sensor indicates that a second surface medium area is detected, searching an established room map to determine whether the second surface medium area exists in the room map;
if the second surface medium area exists in the room map, determining whether a route bypassing the second surface medium area exists based on the room map and a boundary of the second surface medium area in the room map;
if the route exists, controlling the cleaning robot to travel along the route to bypass the second surface medium area; and
if the route does not exist, controlling the cleaning robot to return along a cleaned route to bypass the second surface medium area.
16. The electronic device according to claim 15 , wherein the method further comprises: if the second surface medium area does not exist in the room map, scanning an edge of the second surface medium area, and storing a scanning result in the room map.
17. The electronic device according to claim 15 , wherein, when the cleaning robot encounters the obstacle and turns around while performing cleaning along the edge of the first surface medium area, in response to the surface medium change signal from the surface medium sensor indicates that the second surface medium area is detected, the method further comprises:
detecting whether at least a part of the cleaning robot has entered the second surface medium area; and
if at least a part of the cleaning robot has entered the second surface medium area, controlling the cleaning robot to travel in an opposite direction to leave the second surface medium area.
18. The electronic device according to claim 15 , wherein, after the second surface medium area is detected, the method further comprises:
detecting whether the cleaned route of the cleaning robot is a wall-following route; and
if the cleaned route of the cleaning robot is the wall-following route, controlling the cleaning robot to return along the wall-following route.
19. The electronic device according to claim 15 , wherein, if the route does not exist, the method further comprises: ignoring the surface medium change signal from the surface medium sensor, and continuing controlling the cleaning robot to turn around and return along the cleaned route.
20. The electronic device according to claim 15 , wherein the method is configured for use when the cleaning robot is in a mode in which only the first surface medium area is to be cleaned.