CN115429161B

CN115429161B - Control method, device and system of cleaning robot and storage medium

Info

Publication number: CN115429161B
Application number: CN202210912388.7A
Authority: CN
Inventors: 龚鼎; 王宇谦
Original assignee: Yunjing Intelligence Technology Dongguan Co Ltd; Yunjing Intelligent Shenzhen Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2023-09-29
Anticipated expiration: 2042-07-29
Also published as: CN115429161A; WO2024022360A1

Abstract

The embodiment of the application provides a control method, a device, a system and a storage medium of a cleaning robot, wherein the method comprises the following steps: acquiring a cleaning task map; judging whether the cleaning task map comprises a carpet area or not, and controlling the cleaning robot to clean a carpet of the carpet area through a brushing part when the cleaning task map comprises the carpet area; controlling the cleaning robot to clean at least part of non-carpet areas in the cleaning task map at least through a wiping element; through the carpet area according to in the cleaning task map, brush automatically to the carpet to and drag the area of wiping to non-carpet at least, and need not the user to set up different cleaning methods to different areas, improved the clean intelligent of cleaning robot.

Description

Control method, device and system of cleaning robot and storage medium

Technical Field

The present application relates to the field of cleaning technologies, and in particular, to a method, an apparatus, a system, and a storage medium for controlling a cleaning robot.

Background

The cleaning robot can be used for automatically cleaning the ground, and the application scene can be household indoor cleaning, large-scale place cleaning and the like. In the field of sweeping and mopping integrated robots, basic cleaning modes are generally provided, such as modes of executing full house sweeping, full house mopping and the like; however, it is difficult for the user to meet the user's requirement in a single cleaning mode, and in order to ensure the cleaning effect to the greatest extent, the user often needs to manually set at least one of the following for different rooms: different cleaning modes, cleaning parameters of each room to be cleaned, cleaning frequency and the like to achieve the cleaning effect according to expectations, such cleaning robots are not intelligent enough.

Disclosure of Invention

The application provides a control method, a device, a system and a storage medium of a cleaning robot, and aims to solve the technical problems that a single cleaning mode of the cleaning robot is difficult to meet user requirements, intelligent performance is not enough and the like.

In a first aspect, an embodiment of the present application provides a control method of a cleaning robot, including:

acquiring a cleaning task map;

judging whether the cleaning task map comprises a carpet area or not, and controlling the cleaning robot to clean a carpet of the carpet area through a brushing part when the cleaning task map comprises the carpet area;

controlling the cleaning robot to clean at least part of the non-carpet area in the cleaning task map at least through a wiping element.

In a second aspect, an embodiment of the present application provides a control device of a cleaning robot, the control device including a memory and a processor;

wherein the memory is used for storing a computer program;

the processor is configured to execute the computer program and implement, when the computer program is executed:

the control method of the cleaning robot comprises the steps.

In a third aspect, an embodiment of the present application provides a cleaning robot system, including:

The cleaning robot comprises a walking unit, a mopping piece and a brushing piece, wherein the walking unit is used for driving the cleaning robot to move, and the mopping piece and the brushing piece are used for cleaning the ground;

the base station is at least used for cleaning the mopping piece of the cleaning robot; and

the control device.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the method described above.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of embodiments of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a control method of a cleaning robot according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a cleaning system in one embodiment;

FIG. 3 is a schematic block diagram of a cleaning robot in one embodiment;

FIG. 4 is a schematic view of a structure of a cleaning robot in one embodiment;

FIG. 5 is a schematic diagram of a base station in one embodiment;

FIG. 6 is a schematic block diagram of a base station in one embodiment;

FIG. 7 is a schematic view of a scenario for inner edge exploration according to an embodiment of the present application;

FIG. 8 is a schematic view of a scenario for edge exploration according to an embodiment of the present application;

Fig. 9 is a schematic block diagram of a control device of a cleaning robot according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a flow chart of a control method of a cleaning robot according to an embodiment of the application. The control method of the cleaning robot can be applied to a cleaning system and used for controlling the cleaning robot in the system so that the cleaning robot can execute cleaning tasks and clean the corresponding area of the cleaning task map.

The area corresponding to the cleaning task map may be any one of an area to be cleaned, such as a home space, one room unit of the home space, a partial area of one room unit, a large-sized place, or a partial area of the large-sized place. From another perspective, the region corresponding to the cleaning task map may refer to a larger region that is cleaned for the first time, such as an entire room unit; but also to areas where a clean-up is required after the first cleaning of a larger area, such as a wall-against area in a room unit, or an obstacle area.

Alternatively, the cleaning task map may be established by exploring the current space in response to a mapping instruction, or may be updated according to obstacles, carpets, etc. identified by the cleaning robot during cleaning; alternatively, the cleaning task map may be a map of a cleaning area designated by the user, such as, but not limited to, determining the one or more rooms as a cleaning task map in response to a cleaning area selected by the user on the map, such as one or more rooms, or determining a partial area of the one or more rooms as a cleaning task map in response to a cleaning area circled by the user on the map, such as a partial area of the one or more rooms.

As shown in fig. 2, the cleaning system includes one or more cleaning robots 100, and one or more base stations 200. The base station 200 is for use with the cleaning robot 100, for example, the base station 200 may charge the cleaning robot 100, the base station 200 may provide a docking position for the cleaning robot 100, and the like. The base station 200 may also clean the mop 110 of the cleaning robot 100, wherein the mop 110 is used to mop the floor.

The cleaning system further comprises a control device 300, which control device 300 may be used for implementing the steps of the control method of the cleaning robot according to the embodiment of the application. Alternatively, the robot controller 104 of the cleaning robot 100 and/or the base station controller 206 of the base station 200 may be used alone or in combination as the control device 300 for implementing the steps of the control method of the cleaning robot according to the embodiment of the present application; in other embodiments, the cleaning system includes a separate control device 300 for implementing the steps of the control method of the cleaning robot of the embodiment of the present application, and the control device 300 may be provided on the cleaning robot 100 or may be provided on the base station 200; of course, the control apparatus 300 is not limited thereto, and may be, for example, an apparatus other than the cleaning robot 100 and the base station 200, such as a home intelligent terminal, a general control device, and the like.

The cleaning robot 100 may be used to automatically drag and wipe the floor, and the application scenario of the cleaning robot 100 may be household indoor cleaning, large-scale place cleaning, and the like.

Fig. 3 is a schematic block diagram of a cleaning robot 100 in an embodiment. The cleaning robot 100 includes a robot main body, a driving motor 102, a sensor unit 103, a robot controller 104, a battery 105, a walking unit 106, a robot memory 107, a robot communication unit 108, a robot interaction unit 109, a mop 110, a charging member, and the like.

The mop 110 is used for mopping the floor, and the number of the mop 110 may be one or more. The mop element 110 is, for example, a mop. The mop 110 is disposed at the bottom of the robot body, specifically, at a position rearward of the bottom of the robot body. A driving motor 102 is arranged in the robot body, two rotating shafts extend out of the bottom of the robot body, and a mopping piece 110 is sleeved on the rotating shafts. The driving motor 102 can drive the rotating shaft to rotate, so that the rotating shaft drives the mop 110 to rotate.

In some embodiments, as shown in fig. 4, the cleaning robot 100 further includes a brush 120, the brush 120 including an edge brush 121 and/or a middle brush 122. The cleaning robot 100 is a cleaning robot with sweeping and mopping functions, and the sweeping member 120 and the mopping member 110 may work together, for example, the sweeping member 120 and the mopping member 110 work simultaneously, the sweeping member 120 and the mopping member 110 work continuously and alternately, and the like; of course, the brush 120 and the mop 110 may be operated separately, i.e., the brush 120 alone may be operated to clean or the mop 110 alone may be operated to wipe.

When the cleaning robot scans the floor surface using the brush 120, the side brush 121 scans dirt such as dust to the middle area on the outside, and the middle brush 122 continues to scan dirt in the middle area to the dust suction device. The number of the side brushes 121 is not limited, and as shown in fig. 4, the cleaning robot 100 has two side brushes 121 disposed on both left and right sides, and alternatively, only one side brush 121 disposed on either left or right side.

Generally, the brushing member 120 may be disposed at the front side of the mopping member 110, so that when the brushing member 120 and the mopping member 110 work together, the cleaning robot 100 can perform front-to-back cleaning, and compared with the brushing member 120 disposed at the rear of the mopping member 110, the brushing member 120 can be prevented from being wetted by the wet area towed by the mopping member 110, and the dirty brushing member 120 can be prevented from polluting the front mopped area.

The traveling unit 106 is a component related to the movement of the cleaning robot 100, and is used to drive the cleaning robot 100 to move so that the mopping member 110 and/or the brushing member 120 mops the floor.

A robot controller 104 is provided inside the robot main body, and the robot controller 104 is used to control the cleaning robot 100 to perform specific operations. The robot controller 104 may be, for example, a central processing unit (Central Processing Unit, CPU), a Microprocessor (Microprocessor), or the like. As shown in fig. 3, the robot controller 104 is electrically connected to components such as the battery 105, the robot memory 107, the driving motor 102, the walking unit 106, the sensor unit 103, and the robot interaction unit 109, to control these components.

A battery 105 is provided inside the robot body, the battery 105 being used to supply power to the cleaning robot 100. The robot body is further provided with a charging means for acquiring power from an external device to charge the battery 105 of the cleaning robot 100.

The robot memory 107 is provided on the robot main body, and a program is stored on the robot memory 107, which when executed by the robot controller 104, realizes a corresponding operation. The robot communication unit 108 is provided on the robot main body, and the robot communication unit 108 is used to allow the cleaning robot 100 to communicate with external devices, and the cleaning robot 100 may communicate with a terminal and/or communicate with the base station 200 through the robot communication unit 108. Wherein the base station 200 is a cleaning device used in conjunction with the cleaning robot 100.

The sensor unit 103 provided on the robot body includes various types of sensors such as a laser radar, a collision sensor, a distance sensor, a drop sensor, a counter, a gyroscope, and the like. The laser radar is arranged on the top of the robot main body, and when the robot is in operation, surrounding environment information such as the distance and angle of an obstacle relative to the laser radar can be obtained. In addition, the camera can be used for replacing a laser radar, and the distance, angle and the like of the obstacle relative to the camera can be obtained by analyzing the obstacle in the image shot by the camera. The crash sensor includes a crash housing and a trigger sensor. When the cleaning robot 100 collides with an obstacle through the collision housing, the collision housing moves toward the inside of the cleaning robot 100, and compresses the elastic buffer. After the collision housing has moved a certain distance into the cleaning robot 100, the collision housing is brought into contact with a trigger sensor, which is triggered to generate a signal, which can be sent to a robot controller 104 in the robot body for processing. After hitting the obstacle, the cleaning robot 100 moves away from the obstacle, and the collision housing moves back to the home position under the action of the elastic buffer. It can be seen that the collision sensor detects an obstacle and, when it collides against the obstacle, it acts as a buffer. The distance sensor may specifically be an infrared detection sensor, and may be used to detect the distance of an obstacle to the distance sensor. The distance sensor is provided at a side of the robot body so that a distance value of an obstacle located near the side of the cleaning robot 100 to the distance sensor can be measured by the distance sensor. The distance sensor may be an ultrasonic distance sensor, a laser distance sensor, a depth sensor, or the like. The drop sensor is provided at the bottom edge of the robot main body, and when the cleaning robot 100 moves to an edge position of the floor, the drop sensor can detect that the cleaning robot 100 is at risk of falling from a high place, thereby performing a corresponding anti-falling reaction, such as stopping movement of the cleaning robot 100, or moving in a direction away from the falling position, etc. The inside of the robot main body is also provided with a counter and a gyroscope. The counter is used to detect the distance length that the cleaning robot 100 moves. The gyroscope is used to detect the angle at which the cleaning robot 100 rotates, so that the orientation of the cleaning robot 100 can be determined.

The robot interaction unit 109 is provided on the robot main body, and a user can interact with the cleaning robot 100 through the robot interaction unit 109. The robot interaction unit 109 includes, for example, a switch button, a speaker, a microphone, a touch switch/screen, and the like. The user can control the cleaning robot 100 to start or stop the operation by pressing a switch button or a touch switch/screen, and can display the operation state information of the cleaning robot through the touch screen. The cleaning robot 100 may play a prompt tone to a user through a speaker, acquire a control instruction of the user through a microphone, or locate a place where the user is located by acquiring voice of the user.

It should be understood that the cleaning robot 100 described in the embodiment of the present application is only a specific example, and is not limited to the specific configuration of the cleaning robot 100 in the embodiment of the present application, and the cleaning robot 100 in the embodiment of the present application may be implemented in other specific manners. For example, in other implementations, the cleaning robot may have more or fewer components than the cleaning robot 100 shown in fig. 1.

Fig. 5 is a schematic perspective view of a base station 200 according to the present embodiment, and fig. 6 is a schematic block diagram of the base station 200 according to the present embodiment. The base station 200 is for use with the cleaning robot 100, for example, the base station 200 may charge the cleaning robot 100, the base station 200 may provide a docking position for the cleaning robot 100, and the like. The base station 200 may also wash the mop 110 of the cleaning robot 100. Wherein the mop 110 is used for mopping the floor.

As shown in fig. 5 and 6, the base station 200 of the embodiment of the present application includes a base station main body 202, a cleaning tank 203, and a water tank (not shown). A cleaning tank 203 is provided on the base station main body 202, the cleaning tank 203 being for cleaning the mop 110 of the cleaning robot. The cleaning ribs 2031 provided on the cleaning tank 203 may scrape and clean the mop 110.

An entry slot 205 is provided in the base station main body 202, and the entry slot 205 opens into the cleaning tank 203. The cleaning robot 100 may travel into the base station 200 through the entrance slot 205 such that the cleaning robot 100 is docked at a preset docking position on the base station 200. A water tank is provided in the base station body 202, and the water tank specifically includes a clear water tank and a sewage tank. The clean water tank is used for storing clean water. After the cleaning robot 100 rests on the base station 200, the mop 110 of the cleaning robot 100 is accommodated on the cleaning tank 203. The clean water tank supplies cleaning water to the cleaning tank 203, which is used to clean the mop 110. The dirty water after cleaning the mop 110 is then collected in a sewage tank. Alternatively, a top cover (not shown) is provided on the base station body 202, and the user can take out the water tank from the base station body 202 by opening the top cover. In other embodiments, the tank can be connected to a water inlet pipe (e.g., to a tap water pipe) and a drain pipe (e.g., to a drain pipe), where the tank can be fixed within the base station body 202; in other embodiments, the base station 200 may not be provided with one or both of the clean water tank and the sewage tank, for example, the cleaning water may be directly supplied to the cleaning tank 203 through the water inlet pipe, and the dirty sewage after cleaning the mop 110 may be directly discharged through the sewage drain pipe.

In some embodiments, as shown in fig. 6, the base station 200 further includes a smudge detection device 210, where the smudge detection device 210 is configured to detect a smudge level of the mop 110. Illustratively, the soil detection device 210 includes at least one of: the visual sensor and the sewage detection sensor may, for example, acquire the image or color information of the mop 110 according to the visual sensor, and determine the degree of the mop dirt of the mop 110 according to the image or color information of the mop 110, for example, the deeper the gray scale of the surface of the mop 110, the greater the degree of the mop dirt. For example, the sewage detection sensor may obtain detection information of sewage obtained by cleaning the mop 110, and determine the degree of dirt of the mop 110 according to the obtained detection information; optionally, the sewage detection sensor includes at least one of: a visible light detection sensor, an infrared detection sensor, and a total soluble solid matter detection sensor; for example, an infrared detection sensor collects turbidity information of sewage, a visible light detection sensor collects chromaticity information of sewage, and a total-solubility solid matter detection sensor collects water conductivity information of sewage; the dirt degree of the mopping piece can be determined according to one or more of turbidity information, chromaticity information and water conductivity information; for example, the greater the turbidity of the wastewater, the greater the conductivity of the water and the greater the degree of soiling of the mop.

Referring to fig. 6, the base station 200 may further include a base station controller 206, a base station communication unit 207, a base station memory 208, a water pump 209, a base station interaction unit 220, and the like.

A base station controller 206 is provided inside the base station main body 202, and the base station controller 206 is configured to control the base station 200 to perform specific operations. The base station controller 206 may be, for example, a central processing unit (Central Processing Unit, CPU), a Microprocessor (Microprocessor), or the like. The base station controller 206 is electrically connected to a base station communication unit 207, a base station memory 208, a water pump 209, and a base station interaction unit 220.

A base station memory 208 is provided on the base station main body 202, and a program is stored on the base station memory 208, which when executed by the base station controller 206, realizes a corresponding operation. The base station memory 208 is also used to store parameters for use by the base station 200. Wherein the base station memory 208 includes, but is not limited to, disk storage, CD-ROM, optical storage, and the like.

The water pumps 209 are provided inside the base station main body 202, for example, two water pumps 209, one water pump 209 for controlling the clean water tank to supply the cleaning water to the cleaning tank 203, and the other water pump 209 for collecting the dirty water after cleaning the mop 110 into the dirty water tank. Of course, the present invention is not limited thereto, and for example, the cleaning water may be directly supplied from the water inlet pipe to the cleaning tank 203, and the cleaning water may be supplied to the cleaning tank 203 by controlling the solenoid valve on the water inlet pipe.

A base station communication unit 207 is provided on the base station main body 202, and the base station communication unit 207 is used to communicate with external devices, for example, connect WI-FI routers to communicate with terminals, or communicate with the cleaning robot 100.

The base station interaction unit 220 is used for interaction with a user. The base station interaction unit 220 includes, for example, a display screen for displaying information to a user and control buttons for a user to perform a pressing operation to control the start-up or stop of the base station 200, and the like, which are provided on the base station body 202.

The base station main body 202 is further provided with a power supply part, and the cleaning robot is provided with a charging part, and when the cleaning robot 100 is parked at a preset parking position on the base station 200, the charging part of the cleaning robot 100 is in contact with the power supply part of the base station 200, so that the base station 200 charges the cleaning robot 100. Wherein, the electric energy of the base station 200 can be derived from the commercial power.

Illustratively, the cleaning robot 100 cleans the floor of a room, and when the power of the battery 105 on the cleaning robot 100 is less than a preset power threshold, the cleaning robot 100 automatically travels toward the base station 200. The cleaning robot 100 enters the base station 200 through the entrance slot 205 on the base station 200 and stops at a preset stop position on the base station 200. At this time, the charging means on the cleaning robot 100 is electrically connected to the power supply means on the base station 200, and the base station 200 obtains electric power from the commercial power and charges the battery 105 of the cleaning robot 100 through the power supply means and the charging means. After the cleaning robot 100 finishes charging as needed, it drives away from the base station 200 and continues cleaning the floor of the room.

Illustratively, the cleaning robot 100 may be used to mop a floor. The cleaning robot 100 drags the floor of the room for a while, and after the drag piece 110 becomes dirty, the cleaning robot 100 moves toward the base station 200. The cleaning robot 100 enters the base station 200 through the entrance slot 205 on the base station 200 and stops at a preset stop position on the base station 200. At this time, the cleaning robot 100 has the cleaning elements 110 placed on the cleaning tank 203, and the cleaning water in the cleaning tank in the base station 200 flows to the cleaning tank 203 under the action of the water pump 209, and the cleaning elements 110 are wetted on the cleaning elements 110 by the liquid inlet structure on the cleaning tank 203, and simultaneously the cleaning elements 110 are scraped with the raised cleaning ribs 2031 in the cleaning tank, so as to clean the cleaning elements 110. The dirty water after cleaning the mop 110 flows out of the cleaning tank 203 from the liquid discharge structure on the cleaning tank, and is collected into a sewage tank by the water pump 209.

It should be understood that the foregoing base station 200 is merely a specific example, and the base station according to the embodiment of the present application is not limited to the specific example, and the base station according to the embodiment of the present application may be other specific implementation manners, for example, the base station according to the embodiment of the present application may not include a water tank, and the base station main body may be connected to a tap water pipe and a drain pipe, so that tap water of the tap water pipe is used to clean the cleaning robot 100 of the cleaning member 110, and the dirty sewage after cleaning the cleaning member 110 flows out of the base station 200 through the drain pipe by the cleaning tank 203. Alternatively, in other implementations, the base station may have more or fewer components than the base station 200 shown in FIG. 5.

As shown in fig. 1, the control method of the cleaning robot according to an embodiment of the present application includes steps S110 to S130.

S110, acquiring a cleaning task map.

The cleaning task map is used for representing a region to be cleaned or a region to be cleaned in the region to be cleaned, and the region to be cleaned is an unclean region in the region to be cleaned. The area to be cleaned may be any one of a home space, one room unit of the home space, a partial area of one room unit, a large-sized place, or a partial area of a large-sized place, etc. The sub-area to be cleaned may be an area of the cleaning robot after performing the edge cleaning within the area to be cleaned.

Alternatively, a pre-stored cleaning task map may be acquired, for example, pre-stored at the cleaning robot, base station, user terminal, or server; or the cleaning task map can be obtained after the cleaning robot detects the area to be cleaned, for example, the cleaning task map is used for detecting the area to be cleaned through one or more sensors of a laser radar, a vision sensor, an inertial measurement unit and a collision sensor; or a cleaning task map can be obtained when the area to be cleaned is cleaned, for example, the area to be cleaned is cleaned along edges, the cleaning task map is obtained, for example, the edge of the area to be cleaned is cleaned, and the cleaning task map is obtained according to the cleaning track of the edge part, wherein when the area to be cleaned is a household space and the household space comprises a plurality of room units, the cleaning robot cleans the edge of each room unit in the space to be cleaned; or a map input by the user through the terminal may be acquired from the user terminal. It should be noted that the cleaning task map may be obtained by any one or more of the above manners, for example, the obtained cleaning task map may be integrated and corrected by any one of the manners.

Illustratively, the cleaning robot normally completes a plurality of (at least one) room cleaning tasks, during which the cleaning robot can complete the creation of a map, can also complete the division and processing of rooms, and can also acquire floor material information of each room, for example, a user can set the material information of each room through the APP.

For example, when the cleaning robot completes cleaning of a whole room, the information of the current map, such as the sum area of the number of current carpets, can be complemented in the cleaning process, and the carpet area corresponding to the carpet can be marked on the map.

In some embodiments, the step of map data analysis may be performed. For example, the cleaning region divided based on the cleaning task map may be referred to as a preset cleaning region. For example, one room may be one preset cleaning area, or one room may have a plurality of preset cleaning areas; of course, also not limited thereto, for example, one preset cleaning zone includes one room and at least a partial area of another room. Alternatively, the preset cleaning area may be determined by dividing according to a user operation on the cleaning task map, or by dividing according to a preset area dividing rule.

The present method includes the steps of analyzing the graphic features of all rooms, such as length, width and area, the number and area of carpets in the rooms, the occupied area of the obstacles and the distribution condition according to the previous cleaning result, merging, splitting and sorting the areas according to the graphic features of the rooms, and defining the area to be cleaned or may be called as a preset cleaning area.

For example, which room/area is dirty may be analyzed according to the cleaning result of the historical cleaning task, and the subsequent cleaning task may be arranged according to the analysis result, which is not limited to this, for example, the easy dirtying degree of a specific area may be specified according to the map data set by the user, for example, a kitchen, a restaurant, and a vestibule may be specified with a higher easy dirtying degree, so that the subsequent task may be arranged conveniently.

For example, the redrawing action may be performed on a dirty room or area, for example; another example is: the cleaner room can be cleaned firstly, and then the cleaner room is cleaned, so that the cleaned floor is prevented from being dragged by the dirty mop; or the dirty room can be cleaned first and then cleaned, so that the room can be seen to be cleaned quickly, for example, friends or guests visit, the cleaning time is urgent, and the robot can be enabled to clean the dirty room seen by naked eyes first, so that the room can be seen to be cleaned quickly.

In some embodiments, statistical analysis of historical cleaning parameters may be performed. For example, counting recent time recordings of room cleaning in order to adjust cleaning parameters including, but not limited to, mop pressure to ground, humidity, type and amount of cleaning fluid, etc., according to the frequency of cleaning; or the cleaning parameter setting of the recent room cleaning can be counted, the current room dirt degree can be estimated, and the subsequent dynamic adjustment of the cleaning parameter is facilitated.

In some embodiments, the hosting mode may be started according to a user operation, for example, the user may trigger the hosting mode to be started through a human-computer interaction unit of a base station, a cleaning robot, a user terminal, a smart speaker, etc., including but not limited to triggering by means of a key, a voice, etc.

Illustratively, upon initiation of the escrow mode, the user may be notified via the human-machine interaction unit.

For example, the escrow mode may be initiated when the user needs to swipe while and carpet is clean.

In some embodiments, activating the escrow mode in accordance with a user operation may also be referred to as a user-push-button cleaning mode, in which the cleaning robot may at least automatically clean carpeting of the carpeted area by a swipe and at least a portion of non-carpeted area in the cleaning task map by a swipe; without the need for manually repeating the cleaning mode based on the room situation. For example, by acquiring the daily cleaning habit of the user, the best cleaning strategy that should be executed by the current cleaning robot is given to achieve better cleaning effect, achieve higher cleaning efficiency, or can achieve both cleaning efficiency and cleaning effect; the cleaning scheduling logic of the robot is more in line with the user expectations, and the overall cleaning effect is better.

Optionally, in the escrow mode, the cleaning robot may autonomously determine a decision of carpet cleaning (including whether to clean the carpet, when to clean, etc.) and its execution strategy; the cleaning robot can determine a cleaning robot control strategy based on historical cleaning data during the sweeping and dragging period, and a strategy of residue supplementing and sweeping is performed; the cleaning robot can determine a path planning strategy, and can determine a dirty re-dragging region selection strategy, such as a pollution prevention path selection strategy and dirty re-dragging sequence processing thereof, for example, region selection based on a real-time dirty map, region selection based on room setting information and re-dragging region selection based on historical cleaning frequency; the cleaning robot can also process a cleaning report after the completion of the dirt double pull.

For example, the cleaning robot may determine whether to perform carpet cleaning for one time according to whether the carpet is present in the area to be cleaned; according to the time length from the last edge leakage repairing, the situation that the edge leakage repairing is not needed for the cleaning is judged, and the edge leakage repairing is not needed for the cleaning can be calculated according to time; the dirty area of the ground can be determined, and the need of independently repairing the ground is judged according to the fact that dirt is not generated when the ground is cleaned; the cleaning device can judge which actuating mechanisms of the cleaning piece, the side brush piece, the middle cleaning piece and the like do not move according to the cleaning track, and can better control the actuating mechanisms; the floor mopping humidity and the pressure to the ground can be judged according to the material of the room or the ground material, so that the cleaning task can be completed better and more safely.

In some embodiments, when the escrow mode is started, the user may be informed through the human-computer interaction unit that the cleaning robot will perform the carpet cleaning task first, then the sweeping and mopping simultaneous task; alternatively, the sweeping and mopping simultaneous task may be performed first, followed by the carpet cleaning task.

S120, judging whether the cleaning task map comprises a carpet area, and controlling the cleaning robot to clean the carpet of the carpet area through the brushing part when the cleaning task map comprises the carpet area.

The carpet area is not limited to an area including a carpet, and may include an area including a floor mat, a mat, or the like, or other areas unsuitable or not allowed to be wet-towed by a user. In some embodiments, the carpet area may be referred to as a carpet area, and the carpet includes a carpet, a foot pad, a climbing mat for children, a mat for being laid on the ground, and the like, and of course, the carpet may be a medium to be laid on the ground that needs to be specially treated when encountered by other cleaning robots, which is not limited thereto. For ease of illustration, the carpet area is primarily the area where the carpet/mat is laid.

By controlling the cleaning robot to clean the carpet/floor mat of the carpet area through the brushing member, it is possible to prevent the mopping member from wetting the carpet, and the wet carpet from being stained with dirt and bacteria. Through whether automatically judging the cleaning task map includes the carpet region to and only clean through brushing the piece when the cleaning task map includes the carpet region the carpet of carpet region, cleaning robot's intelligent degree is higher, and the user need not set up cleaning robot's mode to the carpet region alone.

In some embodiments, the controlling the cleaning robot to clean the carpet of the carpet area by the brush comprises: controlling the cleaning robot to move to the carpet area; and cleaning the carpet of the carpet area after moving to the carpet area.

Illustratively, said controlling said cleaning robot to move to said carpet area comprises; controlling the mop to be in a raised position when the cleaning robot reaches the edge of the carpet area; and controlling the cleaning robot to run a walking unit so that the robot moves above the carpet under the driving of the walking unit. When the cleaning robot reaches the edge of the carpet area, the cleaning robot is controlled to be located at the lifting position, so that the cleaning robot moves above the carpet in the state that the cleaning robot is lifted by the cleaning robot, and the cleaning robot can be prevented from wetting the carpet by the cleaning robot.

For example, when a cleaning robot detects a carpet by a sensor unit, it may be determined that the cleaning robot reaches an edge of the carpet area; determining that the cleaning robot reaches the edge of the carpet area, for example, based on the detection data of the current collision sensor and/or ultrasonic sensor, etc., including preset features; the predetermined characteristic may be determined according to detection data of a sensor such as a collision sensor and/or an ultrasonic sensor when the cleaning robot is at the edge of the carpet area. The cleaning robot is determined to reach the edge of the carpet area, for example, based on the visual sensor detecting that the distance from the edge of the carpet area is less than or equal to a predetermined distance.

For example, it may be determined whether the cleaning robot reaches the edge of the carpet area according to the current position of the cleaning robot and the boundary of the carpet area in the cleaning task map. Of course, the present invention is not limited thereto, and it may be determined whether the edge of the carpet area is reached or not based on the detection data of the sensor unit when the robot is judged to be approaching the carpet area based on the cleaning task map, for example.

Illustratively, as shown in fig. 4, the brush member 120 includes an edge brush member 121, the edge brush member 121 including one or more bundles of bristles, the bristles sweeping dirt such as dust from the outside of the cleaning robot 100 to the middle area when the edge brush member 121 rotates. As shown in fig. 4, the side brush 121 includes two bundles of bristles, and an angle between the two bundles of bristles is greater than 0 degrees and less than 180 degrees, and when the side brush 121 is rotated to a preset angle, the bristles of the side brush 121 all extend toward the inside of the cleaning robot 100, in other words, the bristles of the side brush 121 extend toward the inside of the cleaning robot 100.

Optionally, the controlling the cleaning robot to move to the carpet area includes: the side brush is controlled to be in a retracted position when the cleaning robot reaches the edge of the carpet area, so that bristles of the side brush extend into the cleaning robot. When the cleaning robot reaches the edge of the carpet area, the side brush piece is controlled to be located at the retracted position, the bristles of the side brush piece extend to the inside of the cleaning robot, when the cleaning robot moves above the carpet, the bristles extend to the inside of the cleaning robot, no bristles extend to the direction of the carpet, and the bristles can be prevented from being deformed and forked due to the abutting of the bristles and the edge of the carpet when moving above the carpet, so that the service life of the side brush piece is prolonged.

Optionally, the controlling the cleaning robot to move to the carpet area includes: the side brush is controlled to be in a free rotating state when the cleaning robot reaches the edge of the carpet area. The side brush piece is in a free rotation state, for example, the driving motor of the side brush piece can be powered off or decoupled, and the side brush piece can freely rotate along with resistance; when the cleaning robot is in a free rotation state and moves above the carpet, even if the bristles of the side brush extend to the direction of the carpet, the bristles can freely rotate to be separated from the contact with the carpet when deformed to a certain extent, and the original shape is restored, so that the bristles can be prevented from being deformed and forked due to the contact between the bristles and the edge of the carpet when moving above the carpet, and the service life of the side brush is prolonged.

Optionally, the controlling the cleaning robot to move to the carpet area includes: the side brush is controlled to be in a raised position when the cleaning robot reaches the edge of the carpet area. The cleaning robot moves above the carpet when the side brush piece is positioned at the lifting position, so that the bristles of the side brush piece can be prevented from being propped against the edge of the carpet to deform and diverge, and the service life of the side brush piece is prolonged.

Optionally, when the cleaning robot reaches the edge of the carpet area, controlling the cleaning robot to stop moving, and after controlling the mopping piece to be located at the lifting position, controlling the side brush piece to be located at the collecting position, in a free rotation state or in the lifting position, controlling the cleaning robot to move above the carpet; the carpet can be prevented from being put on when the mop and the side brush are not switched to the corresponding states.

In some embodiments, the controlling the cleaning robot to clean the carpet of the carpet area by the brush comprises: when the cleaning robot reaches the edge of the carpet area, controlling the cleaning robot to search the carpet along edges so as to acquire the outline of the carpet; controlling the cleaning robot to clean the carpet in a first arcuate path through the brush according to the contour of the carpet; and controlling the cleaning robot to clean the carpet through the brushing part in a second arched path according to the outline of the carpet, wherein the second arched path is orthogonal to the first arched path.

In some embodiments, the edge-based exploration is an inner edge-based exploration or an outer edge-based exploration.

Optionally, the controlling the cleaning robot to perform edge-seeking on the carpet includes: and controlling the cleaning robot to search the inner edge of the carpet. That is, the carpet is edgewise explored using an inner edgewise explore mode.

Optionally, the controlling the cleaning robot to perform edge-seeking on the carpet includes: and controlling the cleaning robot to search the outer edge of the carpet. That is, the carpet is edgewise explored using an outer edgewise explore mode.

In some embodiments, the outer edge finding mode refers to that the cleaning robot performs edge finding on the carpet outside the carpet, and in the process that the cleaning robot performs edge finding on the outside, the orthographic projection of the geometric center of the cleaning robot does not fall into the orthographic projection of the carpet, so that the activity range of the cleaning robot in the process of outer edge finding is controlled to reduce the degree of wetting or soiling of a carpet area by a mopping piece; the inner edge searching mode means that the cleaning robot searches the carpet along the inner side of the carpet, and in the process that the cleaning robot searches the carpet along the inner side, at least a part of a track formed by the orthographic projection of the geometric center of the cleaning robot coincides with the orthographic projection of the carpet.

In some embodiments, the cleaning robot is in an outer edge-seeking mode, and when edge-seeking is performed outside the carpet, the overlapping portion of the front projection of the robot and the front projection of the carpet is less than fifty percent of the front projection of the robot, thereby reducing the extent to which the mop wets or fouls the carpet area; the cleaning robot is in an inner edge searching mode, and when edge searching is performed on the inner side of the carpet, the overlapping part of the front projection of the cleaning robot and the front projection of the carpet is more than or equal to fifty percent of the front projection of the robot.

Wherein the cleaning robot adopts the inner edge exploration mode to explore the carpet, and the integrity of the determined outline of the carpet is higher than that of the outer edge exploration mode. For example, when the cleaning robot searches for the carpet in the rim searching mode, the obstacle may obstruct the searching behavior of the cleaning robot, and thus the entire carpet contour may not be obtained.

In addition, if the edge-seeking mode is an outer edge-seeking mode, the cleaning robot seeking at the outer edge of the carpet may reduce the extent to which the mop wets or soil the carpet. For example, the cleaning robot is in a mopping mode, and if the cleaning robot adopts an inner edge finding mode when detecting a carpet, the carpet may be wetted or even contaminated over a large area.

Referring to fig. 7, fig. 7 is a schematic view of a scene of a cleaning robot 100 according to an embodiment of the application for performing an inner edge exploration mode on a carpet 2.

As shown in fig. 7, in the process of the cleaning robot 100 entering the carpet area from the non-carpet area, when the cleaning robot 100 detects the carpet 2 for the first time, the cleaning robot 100 is controlled to perform an inner edge exploration task to acquire contour points of the carpet 2 until the cleaning robot 100 reaches the first contour point 20 again, and the first contour point 20 is the position where the cleaning robot 100 acquires the first contour point. It will be appreciated that when the cleaning robot 100 reaches the first contour point position again, it is illustrated that the cleaning robot has returned to the position where the first contour point 20 was detected, the exploratory path for the carpet has formed a closed loop, i.e. the cleaning robot has completed exploring the carpet. It will be appreciated that the cleaning robot 100 reaches the first contour point 20 again, and is not limited to the cleaning robot 100 having to return to the position overlapping with the first contour point 20, and when the distance between the cleaning robot 100 and the first contour point 20 is smaller than the preset distance threshold, it may be determined that the cleaning robot 100 reaches the first contour point 20 again. In some embodiments, the coordinates of the cleaning robot may be determined by the coordinates of a sensor detecting the carpet.

Referring to fig. 8, fig. 8 is a schematic view of a scene of the cleaning robot 100 performing an outer edge exploration mode on the carpet 2 according to an embodiment of the present application.

The cleaning robot 100 detects a carpet for the first time, and records the current position of the cleaning robot 100 as the first contour point 20. If there is no obstacle on the edge of the carpet 2 area, the cleaning robot 100 may move around the edge of the carpet area back to the first contour point 20, or the exploratory task execution is completed when the distance of the cleaning robot 100 from the first contour point 20 is less than a preset distance threshold.

In some embodiments, after the escrow mode is initiated, a determination is made as to whether the cleaning task map includes a carpet area, such as whether a room currently in need of cleaning has carpeting; if a carpet exists, the cleaning robot can be controlled to clean a plurality of carpets according to the rule that the distance between the carpet and the cleaning robot is from near to far; if there is no carpet, no carpet cleaning is done.

For example, when no carpet is detected in a carpet area, such as a carpet being removed, the cleaning robot may be controlled to detect a carpet within a preset range (e.g., 1 square meter) of the carpet area; when a carpet is detected in the preset range, the cleaning robot can be controlled to search the carpet along edges so as to acquire the outline of the carpet, the carpet can be cleaned according to the outline of the carpet, and the carpet area in the cleaning task map can be updated according to the outline of the carpet; when a carpet is not detected within the preset range, the carpet area may be removed from the cleaning task map.

Illustratively, while moving toward a carpet area, a cleaning robot detects a carpet, such as a newly added carpet or a transferred carpet, can search the detected carpet along edges to obtain the contour of the carpet, clean the carpet according to the contour of the carpet, and update the carpet area in the cleaning task map according to the contour of the carpet.

In some embodiments, the controlling the cleaning robot to clean the carpet of the carpet area by the brush comprises: and controlling the cleaning robot to operate the side brush and operate a traveling unit to move on the carpet under the driving of the traveling unit. When the cleaning robot cleans the carpet, the cleaning robot moves on the carpet under the drive of the walking unit, for example, moves on the carpet in an arc-shaped path, and simultaneously operates the side brush to sweep dirt such as dust on the carpet from the outer side of the cleaning robot to the middle area.

In some embodiments, the brushing element comprises a middle brushing element, the controlling the cleaning robot to clean the carpet of the carpet area by the brushing element comprises: and controlling the cleaning robot to operate the middle sweeping part and the traveling unit to move on the carpet under the driving of the traveling unit.

For example, when the side brush is controlled to sweep dirt on a carpet from the outside of the cleaning robot to the middle area, the middle brush may be controlled to sweep dirt of the middle area to a dust suction device of the cleaning robot or the middle brush may be controlled to lift dirt of the middle area, and the dust suction device may be controlled to collect the dirt by negative pressure.

Illustratively, when cleaning a carpet, the fan of the dust collection device is rotated and lifted to a strong gear, such as a maximum gear, so as to improve the cleaning effect of the carpet.

For example, the running speed of the cleaning robot when moving on the carpet to clean the carpet is smaller than the running speed of the cleaning robot when moving on the carpet, so as to improve the cleaning effect of the carpet.

Illustratively, when the side brush triggers over-current protection, the cleaning robot is controlled to switch the side brush to a free-turning state. For example, the driving motor of the side brush rotates according to a preset rotation speed, and when the side brush is blocked due to the winding of fluff or hair on the carpet in the carpet cleaning process, the current of the driving motor of the side brush exceeds a preset current threshold value, so that overcurrent protection is triggered; by switching the side brush to the free rotation state, it is possible to prevent an adverse effect of an overcurrent on the cleaning robot, such as deformation of bristles of the side brush due to winding.

Optionally, when the middle sweeping member or the walking unit is entangled with the nap or the hair on the carpet, or the overcurrent protection is triggered due to other reasons, the middle sweeping member or the walking unit may be controlled to stop running, and the running is started after a preset time period.

For example, when the number of times the middle wiper or the traveling unit triggers the overcurrent protection exceeds a first time threshold or the number of times the traveling unit slips exceeds a second time threshold, the cleaning robot is controlled to perform at least one of the following operations: stopping cleaning the carpet, marking the carpet area as a forbidden area and prompting abnormality. For example, when the number of times the middle sweeping member or the walking unit triggers the over-current protection exceeds a first number threshold, or the number of times the walking unit slips exceeds a second number threshold, it may be determined that the cleaning robot is not suitable for cleaning the carpet, such as too long pile of the carpet or more hair; cleaning of the carpet may be stopped and the carpet area marked as a forbidden area; when the carpet area is marked as a forbidden area, the carpet area may not be cleaned in a later cleaning task; an abnormality prompt may also be made, according to which the user may check the carpet, and may also release the marking of the carpet area as a forbidden area by manual setting, for example, after removing hairs on the carpet, so that the cleaning robot cleans the carpet of the carpet area.

And S130, controlling the cleaning robot to clean at least part of non-carpet areas in the cleaning task map at least through a wiping piece.

It should be noted that, the embodiment of the present application may not limit the sequence of the step of cleaning the carpet in step S120 and the step of cleaning the non-carpet area in step S130, for example, the carpet may be cleaned first and then the non-carpet area may be cleaned, the non-carpet area may be cleaned first and then the carpet may be cleaned, or after cleaning a plurality of carpets, the non-carpet area may be cleaned, and then the other carpets may be cleaned continuously.

In some embodiments, in the custody mode, the non-carpet area is cleaned prior to cleaning the carpet. For example, after the user activates the escrow mode by one key, firstly brushing and sweeping the non-carpet area simultaneously according to the cleaning sequence of the non-carpet area, namely, sweeping and dragging simultaneously, and during the period, when the carpet is touched, the carpet can be edgewise explored on the outer side of the carpet to determine the outline of the carpet, and then the non-carpet area is continuously cleaned; after all non-carpet areas have been cleaned, maintenance is performed on the mop, such as cleaning the mop and spin-drying, followed by cleaning the carpet in the sequence of cleaning the carpet areas. After the mop is dried, the carpet is cleaned to prevent the carpet from being wetted.

For example, when the non-carpet area is a major area that the cleaning robot needs to clean, the non-carpet area is a major area, or a dirty area is easily identified by naked eyes, if the carpet is cleaned first, because the cleaning of the carpet needs to increase the power of the blower, the power consumption is relatively high, and the cleaning of the non-carpet area is affected due to the endurance of the cleaning robot; for example, the non-carpet area may not be cleaned after the carpet is cleaned, and even the non-carpet area is not cleaned, the cleaning robot needs to be charged and maintained, so that the user can feel that the main work of the cleaning robot is stopped when the main work is not completed, the user expectation is not met, and the user experience is bad.

In other embodiments, when the cleaning task map includes a plurality of carpets, cleaning is performed on all carpets before cleaning the non-carpeted areas; compared with cleaning the non-carpet area first and then maintaining the mop and then cleaning the carpet, the workload of maintaining the mop in the cleaning process, such as drying the mop, can be reduced. For example, the carpet is cleaned while the mop is in a dry state, preventing wetting of the carpet.

In some embodiments, turning carpet cleaning off or turning carpet cleaning on may be provided in the carpet cleaning option. If set to shut down carpet cleaning, then the cleaning robot is not allowed to carpet during the cleaning task; for example, when the cleaning robot reaches the edge of a carpet area, the carpet is edgewise explored outside the carpet to obtain the contour of the carpet, after which the area outside the carpet is cleaned. If set to turn on carpet cleaning, after cleaning the carpet of the carpet area, a carpet evading action, such as bypassing the carpet, may be performed while cleaning at least a portion of the non-carpet area in the cleaning task map.

In some embodiments, the controlling the cleaning robot to clean a non-carpet area in the cleaning task map at least by a mop includes: wetting the mop; controlling the cleaning robot to move to the non-carpet area; and controlling the cleaning robot to clean the non-carpet area through the brushing part and the mopping part.

Illustratively, after cleaning the carpet, controlling the cleaning robot to move to the base station, and controlling the base station to wet the mop, and optionally cleaning the mop to wet the mop; of course, the cleaning robot is not limited to this, and for example, a water tank may be provided on the cleaning robot, and water in the water tank may be supplied to the mop to wet the mop.

After the cleaning piece is wetted, the non-carpet area is cleaned through the cleaning piece and the cleaning piece, namely the non-carpet area is simultaneously cleaned by brushing and cleaning, namely the cleaning robot is controlled to execute the cleaning and cleaning tasks. Through sweeping the carpet, but sweep simultaneously to non-carpet area and drag, can reduce the pollution to the carpet to a greater extent than sweeping simultaneously to the region of whole cleaning task map, can prevent to adsorb the wet piece of dragging of dirt and drag the pollution to the carpet when cleaning on the carpet for example.

In some embodiments, the parameters of mopping when cleaning the non-carpeted area can be determined according to the floor material of the non-carpeted area; according to the mopping parameters, when the mopping piece is wetted or cleaned, the humidity of the mopping piece is adjusted; and/or controlling the cleaning robot to adjust the ground pressure of the mopping piece when the non-carpet area is cleaned according to the mopping parameters.

For example, the ground pressure of the mop may be adjusted by adjusting the height at which the mop is lowered relative to the robot body.

For example, for a tile floor, the ground pressure is 12 newtons (N), the mop humidity is normal or wet; the ground pressure is 5N for the wood floor, and the humidity of the mopping piece is drier. For the ground which is not provided with ground materials or other materials except for the ceramic tile ground and the wood floor, the ground pressure is 12 newtons, and the humidity of the mopping piece is normal.

Illustratively, the cleaning task map includes floor material information for at least one area, such as a wood floor, a tile floor, and the like. For example, the ground material information input by the user, such as the ground material of each room, may be obtained through the map management interface; or the ground material information can be obtained when the cleaning robot searches and draws the map on the ground; for example, a ground image is shot by a vision sensor, and the ground material is identified according to the characteristics of the ground image.

Optionally, the mopping parameters corresponding to different ground materials can be preset or set by a user; for example, when the user clicks on an area of a certain floor material, the drag parameter corresponding to the floor material is displayed, and the user can modify the displayed drag parameter.

Alternatively, when the difference between the mopping parameter determined according to the floor material and the mopping parameter set by the cleaning task is large, the mopping parameter set by the cleaning task may be used as the reference.

In some embodiments, the controlling the cleaning robot to clean the non-carpet area in the cleaning task map at least by a mop further comprises: when the non-carpet area comprises a target area, after the cleaning piece is cleaned, the cleaning robot is controlled to move to the target area, and the target area is cleaned by the cleaning piece, wherein the target area is an area needing repeated cleaning.

For example, the base station cleans the mop or the cleaning robot cleans the mop autonomously.

After the floor is cleaned by sweeping, if at least part of the floor is still in the area, namely the target area is not cleaned yet and needs repeated mopping, the target area can be mopped by the mopping piece; because the dirt with larger volume is cleaned during the sweeping and mopping cleaning, only the target area can be mopped at the moment, and the energy consumption is reduced.

In some embodiments, the brushing element comprises a middle brushing element, and when the cleaning robot is controlled to move to the target area, the middle brushing element and the dragging element are controlled to be positioned at the lifting position; preventing the clean mop from being contaminated when passing over the untraped floor or the untraped floor, and/or preventing the loss of water on the wet mop to reduce the cleaning effect on the target area.

In an exemplary embodiment, when the cleaning robot is controlled to move to the target area, the movement locus of the cleaning robot is identical to the movement locus previously leaving the target area, and the movement locus is rubbed by the rubbing member. The same includes the same or substantially the same. For example, after the cleaning robot leaves the target area after repeatedly mopping the target area, dirt on the mopping member has a chance to contaminate the floor that has been mopped clean on the path of motion; by wiping the floor of the movement path after cleaning the wiping member, the floor which has been wiped clean can be kept clean.

In some embodiments, the controlling the cleaning robot to clean a non-carpet area in the cleaning task map at least by a mop includes: the non-carpeted areas are cleaned in an arcuate trajectory. Optionally, during cleaning of the arcuate track, controlling the side brush close to one side of the towed area to retract so as to prevent the side brush from polluting the towed area; and controlling the side brush at the side far away from the towed area to sweep dirt in the non-towed area to the middle area, and continuing to sweep dirt in the middle area to the dust collection device.

For example, in a scenario where a carpet is newly added to the room, or where a carpet is transferred, the carpet may be detected while cleaning the non-carpet area, e.g. by a sensor unit. When a carpet is newly found, the carpet is searched along edges, a carpet area corresponding to the carpet is determined, and the carpet area is updated into a cleaning task map. Optionally, after determining the carpet area, the cleaning robot may be controlled to clean the carpet of the carpet area through the brushing member; or can also control after cleaning the non-carpet area, cleaning robot cleans the carpet of carpet area through brushing the piece, can be the non-carpet area of preferential cleaning, guarantees user's experience sense. The step of cleaning the carpet in the carpet area may refer to the description of step S120, which is not described herein.

In some embodiments, the control method further comprises: controlling the cleaning robot to lift the mopping piece when a first preset condition is met; controlling the cleaning robot to lift the brushing part when a second preset condition is met; after the cleaning robot is controlled to lift the brushing part and/or the mopping part, the cleaning robot is controlled to clean the brushing part and/or the mopping part at the lifting position. When the brushing member and/or the mopping member is lifted, dirt on the brushing member and/or the mopping member has a chance to fall to the floor surface, and the contamination of the position when the brushing member and/or the mopping member is lifted can be reduced or eliminated by cleaning the position.

Illustratively, the first preset condition includes at least one of: determining that the cleaning robot is performing a navigation task, determining that the robot is performing a spanning action, determining that the cleaning robot is carpeting, and determining that the cleaning robot enters a base station; the second preset condition includes at least one of: determining that the cleaning robot is executing a navigation task, and determining that the cleaning robot enters a base station. For example, the cleaning robot is controlled to lift the mopping member when the cleaning robot ends cleaning a non-carpet area by the mopping member and begins to move toward the base station, when the cleaning robot ends cleaning a non-carpet area by the mopping member and begins to move toward another non-carpet area, when the cleaning robot begins to span a carpet, and/or when the cleaning robot enters the base station. For example, the cleaning robot is controlled to lift the brush when the cleaning robot ends cleaning a non-carpet area by the brush and the mop and begins to move toward the base station, when the cleaning robot ends cleaning a non-carpet area by the brush and the mop and begins to move toward another non-carpet area, and/or when the cleaning robot enters the base station. It can be understood that, according to the information of the current cleaning object, the motion track and the like of the cleaning robot, the action states of the executing mechanisms such as the brushing member and/or the wiping member can be judged, for example, which actions are not the same, and at least one of the following effects can be achieved by controlling the corresponding executing mechanisms: the cleaning robot has the advantages of improving the cleaning intelligence of the cleaning robot, improving the cleaning efficiency, preventing the ground from being polluted, preventing the cleaned mopping piece from being polluted, and prolonging the service life of the mopping piece, and is not limited to the cleaning robot.

Illustratively, the controlling the cleaning robot to clean the position of the brush and/or the mop when lifted includes: and controlling the cleaning robot to retreat for a preset distance, rotate and improve the power or the rotating speed of a fan in the dust collection device so as to absorb dirt falling off when the brushing part and/or the mopping part are lifted. For example, when the robot is returned to the base station after sweeping and dragging, a small part of residues fall onto the ground from the brushing part and/or the dragging part, and the cleaning robot can be controlled to retreat by half steps and rotate automatically, and the blower is continuously turned on to clean up dirt falling onto the ground.

The control method of the cleaning robot provided by the embodiment of the application comprises the following steps: acquiring a cleaning task map; judging whether the cleaning task map comprises a carpet area or not, and controlling the cleaning robot to clean a carpet of the carpet area through a brushing part when the cleaning task map comprises the carpet area; controlling the cleaning robot to clean at least part of non-carpet areas in the cleaning task map at least through a wiping element; through the carpet area according to in the cleaning task map, brush automatically to the carpet to and drag the area of wiping to non-carpet at least, and need not the user to set up different cleaning methods to different areas, improved the clean intelligent of cleaning robot.

In some embodiments, in the escrow mode, it may be determined whether there is a carpet in the cleaning task map; the carpet is cleaned by the brush when the carpet is present, and the floor is cleaned by the brush and the mop when the carpet is not present or after the cleaning of the carpet is completed. When cleaning a room, judging whether the room is not subjected to edge leakage repairing cleaning for more than a preset time period (such as one week), if so, performing leakage repairing action when the room is subjected to edge cleaning, otherwise, performing edge cleaning on the room alone without performing leakage repairing action; after the room is cleaned along the edges, the floor of the room is cleaned, and the ground pressure and the mopping humidity can be set according to the floor material. The cleaning robot can be controlled to clean the position of the brushing piece and/or the mopping piece when being lifted after the cleaning robot lifts the brushing piece and/or the mopping piece so as to prevent the ground from being polluted repeatedly. After cleaning the room, determining whether the preset cleaning area comprises a target area which needs repeated mopping according to the dirt degree of the preset cleaning area; and repeatedly wiping at least part of the target area. It is also possible to output an image (which may be referred to as a soil thermodynamic diagram) indicating a change in the soil level of each area while the cleaning task is being performed and/or upon completion of the cleaning task, and/or to output a visual interface such as an animation or a short video indicating the cleaning trajectory and the execution event.

In some embodiments, in the escrow mode, firstly judging whether a carpet exists, and when the carpet exists, lifting the executing mechanism such as the brushing part, the mopping part and the like, and then driving out of the base station; the brush piece works after the floor is driven out, the middle sweeping piece and the dragging piece are kept to be lifted, and the floor is navigated to a carpet; after reaching the edge of the carpet, the brush hair of the side brush is positioned below the robot body or the side brush can freely rotate, the middle sweeping piece is put down to control the middle sweeping piece to start working and then is put on the carpet, and the side brush can freely rotate when the middle sweeping piece is put on the carpet; after the current carpet is cleaned, navigating to another carpet and cleaning the next carpet until all carpets are cleaned, navigating back to the base station, and maintaining the working of the side brush, the middle sweeping part and the dragging part in the navigation process; and when the cleaning execution mechanisms reach the base station, after the cleaning execution mechanisms reach the cleaning tank of the mop, the side brush and the middle sweeping member are maintained in a retracted/lifted state, and the mop is lowered to clean the mop. After the cleaning of the cleaning piece is completed, the cleaning piece is maintained to be lifted up, the cleaning piece is lifted up, and the cleaning piece is driven out of the base station; the brushing piece works after the base station is driven out, the middle sweeping piece and the dragging piece maintain a lifting state, the base station is navigated to a task point, and at least the dragging piece is put down after the base station reaches the task point so as to clean at least the ground of a non-carpet area.

For example, cleaning of the floor may include cleaning of areas in the floor, such as block cleaning, and may also include edge cleaning or edge leak repairing cleaning. When the floor is cleaned, when the cleaning condition of the mopping piece is met, such as the cleaning floor area or time reaches a preset value, navigating back to the base station; or when the electric quantity of the cleaning robot is insufficient or the cleaning task is completed, navigating back to the base station; the cleaning robot can be charged as well as the cleaning of the mopping member can be performed at the base station. When the cleaning piece is cleaned, the dirt degree of the ground which is cleaned by the cleaning piece can be determined according to the dirt degree of the cleaning piece, the cleaning piece can be navigated to the ground for repeated cleaning when the dirt degree of the ground which is cleaned by the cleaning piece is large, and the cleaning piece can be navigated to another area for cleaning when the dirt degree of the ground which is cleaned by the cleaning piece is small; when all the cleaning tasks on the ground are completed, the base station cleans the mopping piece, the mopping piece can be dried and charged after the cleaning is completed, and all the execution mechanisms can be retracted.

Referring to fig. 9 in combination with the above embodiments, fig. 9 is a schematic block diagram of a control device 300 according to an embodiment of the present application. The control device 300 comprises a processor 301 and a memory 302.

The processor 301 and the memory 302 are illustratively connected by a bus 303, such as an I2C (Inter-integrated Circuit) bus, for example.

Specifically, the processor 301 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the Memory 302 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

Wherein the processor 301 is adapted to run a computer program stored in the memory 302 and to implement the steps of the method of any of the previous embodiments when said computer program is executed.

The processor 301 is for example configured to run a computer program stored in the memory 302 and to implement the following steps when executing the computer program:

acquiring a cleaning task map;

Referring to fig. 2 to 6, alternatively, the robot controller 104 of the cleaning robot 100 and/or the base station controller 206 of the base station 200 may be used alone or in combination as the control device 300 for implementing the steps of the method according to the embodiment of the present application; in other embodiments, the cleaning system comprises a separate control device 300 for carrying out the steps of the method of the embodiments of the application, which control device 300 may be provided on the cleaning robot 100 or may be provided on the base station 200; of course, the control apparatus 300 is not limited thereto, and may be, for example, an apparatus other than the cleaning robot 100 and the base station 200, such as a home intelligent terminal, a general control device, and the like.

In some embodiments, the control device 300 on the base station 200, such as the base station controller 206, is configured to implement the steps of any of the methods of the embodiments of the present application, as well as implement the steps of the cleaning method of the mop; a control device 300 on the cleaning robot 100, such as the robot controller 104, is configured to implement the steps of any of the methods of the embodiments of the present application, as well as the steps of the control method of the cleaning robot; of course, not limited thereto, for example, the control device 300 on the base station 200 may be used to implement the steps of the control method of the cleaning robot of the embodiment of the present application.

It will be appreciated that embodiments of the present application also provide a base station for cleaning at least a cleaning robot mop, the base station further comprising a control device 300, such as a base station controller 206, for implementing the steps of the method of embodiments of the present application.

It will be appreciated that embodiments of the present application also provide a cleaning robot comprising a control device 300, such as a robot controller 104, for implementing the steps of the method of embodiments of the present application.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the method of any of the embodiments described above.

The computer readable storage medium may be an internal storage unit of the control device according to any one of the foregoing embodiments, for example, a hard disk or a memory of the control device. The computer readable storage medium may also be an external storage device of the control apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the control apparatus.

Referring to fig. 2 in combination with the above embodiments, fig. 2 is a schematic diagram of a cleaning system according to an embodiment of the application.

As shown in fig. 2 to 6, the cleaning system includes:

the cleaning robot 100, the cleaning robot 100 includes a walking unit 106 and a mopping member 110, and may further include a brushing member 120, where the walking unit 106 is used to drive the cleaning robot 100 to move, so that the mopping member 110 mops the floor; the brush piece 120 includes an edge brush piece 121 and/or a middle brush piece 122;

a base station 200, the base station 200 being at least used for cleaning or replacing the cleaning robot 100 with the cleaning member 110; and/or the base station 200 includes a contamination detection means to detect a contamination level of the cleaning robot 100 in the cleaning member 110; and

and a control device 300.

The specific principle and implementation manner of the cleaning system provided in the embodiment of the present application are similar to those of the foregoing embodiment, and are not repeated here.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should also be understood that the term "and/or" as used in the present application and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A control method of a cleaning robot is characterized in that,

comprising the following steps:

acquiring a cleaning task map;

judging whether the time length of the current cleaning task from the last executed edge leakage repairing cleaning task exceeds a preset time length;

if yes, controlling the cleaning robot to perform leak repairing cleaning during edge cleaning;

if not, edge cleaning is independently carried out without leakage repairing cleaning.

2. The control method according to claim 1, wherein,

the control of the cleaning robot to clean a carpet of the carpet area by a brush, includes: controlling the cleaning robot to move to the carpet area, the controlling the cleaning robot to move to the carpet area comprising;

Controlling the cleaning robot to be located at a lifting position when the cleaning robot reaches the edge of the carpet area;

and controlling the cleaning robot to run a walking unit so as to move above the carpet under the driving of the walking unit.

3. The control method according to claim 1, wherein,

the brush comprises an edge brush, the control of the cleaning robot cleans a carpet in the carpet area through the brush, comprising: controlling the cleaning robot to move to the carpet area, the controlling the cleaning robot to move to the carpet area comprising:

controlling the side brush to be positioned in a retracted position when the cleaning robot reaches the edge of the carpet area, so that bristles of the side brush extend into the cleaning robot; or (b)

Controlling the side brush to be in a free rotation state when the cleaning robot reaches the edge of the carpet area; or (b)

The side brush is controlled to be in a raised position when the cleaning robot reaches the edge of the carpet area.

4. The control method according to claim 1, wherein,

the control of the cleaning robot to clean a carpet of the carpet area by a brush, includes:

When the cleaning robot reaches the edge of the carpet area, controlling the cleaning robot to search the carpet along edges so as to acquire the outline of the carpet;

controlling the cleaning robot to clean the carpet in a first arcuate path through the brush according to the contour of the carpet;

and controlling the cleaning robot to clean the carpet through the brushing part in a second arched path according to the outline of the carpet, wherein the second arched path is orthogonal to the first arched path.

5. The control method according to claim 4, wherein,

the edge-based exploration is an inner edge-based exploration or an outer edge-based exploration.

6. The control method according to claim 1, wherein,

the brush comprises an edge brush, the control of the cleaning robot cleans a carpet in the carpet area through the brush, comprising:

controlling the cleaning robot to operate the side brush and to operate a traveling unit to move on the carpet under the driving of the traveling unit;

and when the side brush triggers over-current protection, controlling the cleaning robot to switch the side brush to a free rotation state.

7. The control method according to claim 1, wherein,

the brush sweep includes a middle sweep, the control cleaning robot cleans the carpet of the carpet area through the brush sweep, including:

controlling the cleaning robot to operate the middle sweeping part and a traveling unit to move on the carpet under the driving of the traveling unit;

when the number of times of triggering the overcurrent protection by the middle sweeping part or the walking unit exceeds a first time threshold value or the number of times of skidding by the walking unit exceeds a second time threshold value, controlling the cleaning robot to execute at least one of the following operations: stopping cleaning the carpet, marking the carpet area as a forbidden area and prompting abnormality.

8. The control method according to claim 1, wherein,

the controlling the cleaning robot to clean the non-carpet area in the cleaning task map at least through a mopping piece further comprises:

when cleaning the non-carpet area, detecting a carpet, and controlling the cleaning robot to search the carpet along edges so as to acquire the outline of the carpet;

controlling the cleaning robot to clean the carpet through the brushing part according to the outline of the carpet; and/or

And adding a carpet area corresponding to the carpet in the cleaning task map according to the outline of the carpet.

9. The control method according to claim 1, wherein,

the controlling the cleaning robot to clean the non-carpet area in the cleaning task map at least through a mopping piece comprises the following steps:

wetting the mop;

controlling the cleaning robot to move to the non-carpet area;

and controlling the cleaning robot to clean the non-carpet area through the brushing part and the mopping part.

10. The control method according to claim 9, wherein,

when the non-carpet area comprises a target area, after the cleaning piece is cleaned, the cleaning robot is controlled to move to the target area, and the target area is cleaned by the cleaning piece, wherein the target area is an area needing repeated cleaning.

11. The control method according to claim 10, characterized in that,

the brushing part comprises a middle brushing part, the cleaning robot is controlled to move to the target area, and the method comprises the following steps:

Controlling the middle sweeping piece and the dragging piece to be positioned at a lifting position; or alternatively

The motion track of the cleaning robot is the same as the motion track which leaves the target area before, and the motion track is dragged and wiped by the dragging and wiping piece.

12. The control method according to claim 1, wherein,

the control method further includes:

controlling the cleaning robot to lift the mopping piece when a first preset condition is met; controlling the cleaning robot to lift the brushing part when a second preset condition is met;

after the cleaning robot is controlled to lift the brushing part and/or the mopping part, the cleaning robot is controlled to clean the brushing part and/or the mopping part at the lifting position.

13. The control method according to claim 12, characterized in that,

the control of the cleaning robot to clean the position of the brushing part and/or the mopping part when lifted comprises the following steps:

and controlling the cleaning robot to retreat for a preset distance and rotate, and increasing the power or the rotating speed of the fan so as to absorb dirt falling off when the brushing part and/or the mopping part are lifted.

14. The control method according to claim 12, characterized in that,

The first preset condition includes at least one of: determining that the cleaning robot is performing a navigation task, determining that the robot is performing a spanning action, determining that the cleaning robot is carpeting, and determining that the cleaning robot enters a base station;

the second preset condition includes at least one of: determining that the cleaning robot is executing a navigation task, and determining that the cleaning robot enters a base station.

15. The control method according to claim 1, wherein,

determining a mopping parameter when cleaning the non-carpet area according to the floor material of the non-carpet area;

according to the mopping parameters, when the mopping piece is wetted or cleaned, the humidity of the mopping piece is adjusted; and/or

And controlling the cleaning robot to adjust the ground pressure of the mopping piece when the non-carpet area is cleaned according to the mopping parameters.

16. A control device of a cleaning robot is characterized in that,

the control device comprises a memory and a processor;

Wherein the memory is used for storing a computer program;

a step of a control method of a cleaning robot according to any one of claims 1 to 15.

17. A cleaning robot system, characterized in that,

comprising the following steps:

the base station is at least used for cleaning the mopping piece of the cleaning robot;

and

the control device of claim 16.

18. A computer-readable storage medium comprising,

the computer readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement: