Beijing Roborock Innovation Technology Co., Ltd.

An embodiment of the present application discloses a cleaning robot, a cleaning robot control method, a storage medium, and a cleaning system. According to the cleaning robot control method, when the cleaning robot is in the charging pose, but a first charging end of the cleaning robot is not powered, first obtaining the docking state between the first charging end and a second charging end; if the first charging end is docked with the second charging end, further obtaining the power state information of a cleaning base station, and determining the operation mode of the cleaning robot on the basis of the power state information of the cleaning base station.

A method for displaying a color three-dimensional map, includes: acquiring initial color three-dimensional map information of a space where a robot is located, where the space where the robot is located represents a space corresponding to a region detectable by a robot sensor; completing the color three-dimensional map based on the initial color three-dimensional map information to perform inference-based completion on structural and color information of a region undetected by the robot sensor; and displaying the completed color three-dimensional map obtained after the completing.

A floor stain recognition method and apparatus and an automatic cleaning device are disclosed. The method includes: acquiring an RGB image of a field of view; acquiring a depth image of the field of view; acquiring an image common area of view based on the RGB image and the depth image; and acquiring spatial coordinates of a stain area based on the image common area of view. The method can detect the type and position of a stain accurately.

The present application provides a method and apparatus for controlling an autonomous moving device, a medium and the autonomous moving device, wherein the method includes: receiving a setting instruction, provided by a user, for a cleaning and obstacle avoidance mode and/or cleaning and obstacle avoidance parameter; determining a corresponding collision probability and/or missed cleaning probability based on the setting instruction; and executing cleaning on a target region based on the collision probability and/or missed cleaning probability.

A method for detecting an obstacle, applied to a self-moving robot, including: transforming obstacle information into depth information; converting the depth information into a point cloud map, and determining coordinate data of a reference point on the obstacle; determining a valid analysis range in a height direction in the point cloud map; and determining, based on the coordinate data of the reference point, whether an obstacle is present within the valid analysis range.

The invention discloses a control method of an automatic cleaning device, a medium, and an automatic cleaning device. The method includes: during operation of the automatic cleaning device, continuously obtaining an action position for triggering a telescopic mopping module of the automatic cleaning equipment to execute a telescopic action; on the basis of the obtained plurality of action positions, determining whether the automatic cleaning device meets a telescopic action restricting condition; and, when the automatic cleaning device meets the telescopic action limiting condition, restricting the use of the telescopic mopping module in order to suspend the ability of the telescopic mopping module to execute a telescopic action.

A method for identifying an obstacle, including: acquiring current identification feature information of the obstacle; bypassing to a position around the obstacle in response to determining that the current identification feature information does not satisfy an identification condition, and acquiring identification feature information of the obstacle at the position correspondingly; and determining a target type of the obstacle based on all identification feature information of the obstacle.

Provided are a map drawing method, a map drawing device, a computer-readable storage medium and an electronic apparatus. The map drawing method comprises scanning a boundary of a surface medium region to generate an initialized region; merging boundary coordinates of the initialized region to obtain a merged region; dividing the merged region into a plurality of sub-regions according to a preset shape; and drawing the boundary of the surface medium region based on the sub-regions and the merged region to obtain a map of the surface medium region. The method can improve the detailedness of the drawn map of the surface medium region.

Disclosed are a cleaning device, a control method for the cleaning device, and a related device. The control method includes: in response to a map correction instruction, acquiring a current operation state of the cleaning device; and in a case where the cleaning device is in a stationary state, correcting map information to acquire corrected map information.

Provided are an obstacle avoidance control method and apparatus for an automatic cleaning device, and a storage medium and a device. The method comprises: acquiring operating data of at least one cleaning assembly that is collected during an operating process of an automatic cleaning device; on the basis of the operating data of the cleaning assembly, determining a current operating face material corresponding to the current position of the automatic cleaning device; and according to an obstacle avoidance strategy corresponding to the current operating face material, performing obstacle avoidance control on the automatic cleaning device.