CN115429172B - Floor mopping method of cleaning robot, cleaning robot and storage medium - Google Patents
Floor mopping method of cleaning robot, cleaning robot and storage medium Download PDFInfo
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- CN115429172B CN115429172B CN202211048809.2A CN202211048809A CN115429172B CN 115429172 B CN115429172 B CN 115429172B CN 202211048809 A CN202211048809 A CN 202211048809A CN 115429172 B CN115429172 B CN 115429172B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses a cleaning robot mopping method, a cleaning robot and a storage medium, wherein the method comprises the following steps: controlling the cleaning robot to drag the target area to the ground by using the cleaning behaviors in the first cleaning behavior set; and controlling the cleaning robot to repeatedly drag the target area by using cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behavior in the first cleaning behavior set. In this way, the application can improve the cleaning effect of the floor.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a cleaning robot, and a storage medium.
Background
Currently, when a cleaning robot is used for cleaning a floor, a target area (such as a single room) is cleaned, and the room cannot be cleaned at one time, for example: some places are clean to mop, some places can leave mopping stains, some places can leak mopping, and the like. There is currently no solution to these problems.
Disclosure of Invention
In view of the above, the present application provides a cleaning robot mopping method, a cleaning robot, and a storage medium, which can improve the cleaning effect of the floor.
In a first aspect, the present application provides a method of mopping a cleaning robot, the method comprising:
controlling the cleaning robot to drag the target area to the ground by using the cleaning behaviors in the first cleaning behavior set;
and controlling the cleaning robot to repeatedly drag the target area by using cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behavior in the first cleaning behavior set.
In a second aspect, the present application provides a cleaning robot including: a processor and a memory for storing a computer program; the processor is used for executing the computer program and realizing the mopping method of the cleaning robot when executing the computer program.
In a third aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the mopping method of a cleaning robot as described above.
The embodiment of the application provides a cleaning robot mopping method, a cleaning robot and a storage medium, wherein the cleaning robot is controlled to mop a target area by cleaning behaviors in a first cleaning behavior set; and controlling the cleaning robot to repeatedly drag the target area by using cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behavior in the first cleaning behavior set. Because the cleaning robot has at least one cleaning action different from the cleaning action when the cleaning robot repeatedly mopping the floor of the target area, the cleaning effect of the floor can be improved by the mode. If different cleaning actions can clean the stains and missing areas left by the last mopping when the mopping is repeated, the cleaning effect of the ground can be improved by the repeated mopping.
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 application as claimed.
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 flow chart of an embodiment of a method for mopping a floor of a cleaning robot according to the present application;
fig. 2 is a schematic view of a cleaning robot in a first cleaning order according to a first cleaning path (a vertically arcuate path) in a cleaning method of the cleaning robot of the present application;
FIG. 3 is a schematic view of a cleaning robot repeatedly mopping a floor in a second cleaning sequence according to the same first mopping path in the mopping method of the cleaning robot of the present application;
fig. 4 is a schematic view of a cleaning robot repeatedly mopping according to a second mopping path (a bow-shaped path in the left-right direction) in the mopping method of the cleaning robot of the present application;
FIG. 5 is a schematic view of a first mopping path of a last mopping and a second mopping path of a repeated mopping in the mopping method of the cleaning robot of the present application;
FIG. 6 is a schematic view showing an embodiment in which a target area is divided into a plurality of sub-areas in a mopping method of a cleaning robot according to the present application;
FIG. 7 is a schematic view of another embodiment of the cleaning robot of the present application in which a target area is divided into a plurality of sub-areas;
FIG. 8 is a schematic view of a conventional mopping and swinging mopping process when a cleaning robot is edgewise in the mopping method of the cleaning robot of the present application;
FIG. 9 is a schematic view of swing mopping and repeated swing mopping with the cleaning robot along the edge in the mopping method of the cleaning robot of the present application;
fig. 10 is a schematic structural view of an embodiment of the cleaning robot 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.
Currently, when a cleaning robot is used for cleaning a floor, a target area (such as a single room) is cleaned, and the room cannot be cleaned at one time, for example: some places are clean to mop, some places can leave mopping stains, some places can leak mopping, and the like.
The application aims to improve the defects, and provides a floor mopping method of a cleaning robot, which specifically ensures that at least one cleaning action is different from the cleaning action when the cleaning robot mops the target area repeatedly, and can improve the cleaning effect of the floor. If different cleaning actions can clean the stains and missing areas left by the last mopping when the mopping is repeated, the cleaning effect of the ground can be improved by the repeated mopping. The following describes in detail the mopping method of the cleaning robot provided by the embodiment of the application.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a mopping method of a cleaning robot according to the present application, the method includes: step S101 and step S102.
Step S101: and controlling the cleaning robot to drag the target area to the floor by using the cleaning behaviors in the first cleaning behavior set.
Step S102: and controlling the cleaning robot to repeatedly drag the target area by using cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behavior in the first cleaning behavior set.
The first cleaning behavior set comprises more than one cleaning behavior, the second cleaning behavior set comprises more than one cleaning behavior, and the number of the cleaning behaviors in the first cleaning behavior set and the number of the cleaning behaviors in the second cleaning behavior set can be the same or different. Cleaning activities may include, but are not limited to: mopping paths, mopping directions, mopping sequences, etc.
After the cleaning robot mops the target area with the cleaning behaviors in the first cleaning behavior set, repeatedly mopping the target area, wherein at least one cleaning behavior is different from the cleaning behaviors in the first cleaning behavior set when the cleaning robot mops repeatedly, for example, one cleaning behavior is different from the cleaning behaviors in the first cleaning behavior set when the cleaning robot mops repeatedly, or two cleaning behaviors are different from the cleaning behaviors in the first cleaning behavior set when the cleaning robot mops repeatedly, and the like.
For example: the mopping path in the repeated mopping is different from the mopping path in the last mopping, or the mopping path and the mopping direction in the repeated mopping are different from the mopping path and the mopping direction in the last mopping, and the mop rotates in the repeated mopping, and the mop does not rotate in the last mopping, and the like.
Therefore, the repeated mopping action of the cleaning robot is different from the previous mopping action, and the repeated mopping action of the cleaning robot is not a simple repetition of the previous mopping action, so that technical support is provided for improving the cleaning effect of the ground. If different cleaning actions can clean the stains and missing areas left by the last mopping when the mopping is repeated, the cleaning effect of the ground can be improved by the repeated mopping.
In an embodiment, the cleaning actions in the first cleaning action set and the cleaning actions in the second cleaning action set may respectively include at least one of a mopping path of the cleaning robot, a mopping sequence, a rotation mop rotation or not, and a track of the cleaning robot for mopping along the edge.
In an embodiment, step S101, the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set may include: and controlling the cleaning robot to mop the target area in a mode of rotating the mop. At this time, in step S102, the controlling the cleaning robot to repeatedly drag the target area with the cleaning behaviors in the second cleaning behavior set may include: and controlling the cleaning robot to repeatedly mop the target area in a mode that the rotary mop does not rotate.
In the embodiment of the application, the rotary mop can rotate or not, when the rotary mop rotates, water on the rotary mop can be quickly dispersed to moisten the ground around the mop, and the rotary mop can wipe stains and remove the stains, especially the stains attached to the ground can be removed, but meanwhile, the stains which are not removed can be left, and some stains with strong adhesive force can still remain on the ground. When repeatedly mopping, the rotary mop does not rotate, namely, a flat mopping mode is adopted, and as the wet mop is wet when mopping the floor last time (namely, mopping the target area with the cleaning action in the first cleaning action set), the dirt with strong adhesion is wet, and the dirt can be carried away by repeatedly mopping the floor in a flat mopping mode, so that the rotary mop can not rotate and wipe, and the dirt left before is also removed. In this way, the cleaning effect can be improved.
In an embodiment, step S101, the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set may include: the control of the cleaning robot mops the target area in a first cleaning sequence. At this time, in step S102, the controlling the cleaning robot to repeatedly drag the target area with the cleaning behaviors in the second cleaning behavior set may include: the control unit controls the cleaning robot to repeatedly drag the target area in a reverse direction opposite to the first cleaning order from a position where the last mopping was ended.
When the cleaning robot drags the floor, along with the progress of mopping the floor task, clean ability can decline gradually, clean place cleaning effect relatively better, relatively clean earlier, clean place cleaning effect relatively poorer, can remain the spot afterwards. Therefore, in the embodiment of the application, when the cleaning robot repeatedly drags the floor, the cleaning sequence is changed, and the cleaning robot repeatedly drags the floor of the target area from the position where the last floor is ended in the opposite direction to the first cleaning sequence, in this way, the dirty area can be cleaned preferentially, so that the cleaning efficiency and the cleaning effect of the whole target area are improved.
Referring to fig. 2 and 3, fig. 2 is a schematic view of a cleaning robot performing a cleaning operation in a first cleaning order according to a first cleaning path, fig. 3 is a schematic view of a cleaning robot performing a repeated cleaning operation in a second cleaning order according to the same first cleaning path, and in fig. 2 and 3, the cleaning robot is the same in the cleaning path except for the cleaning order, and at the time of the repeated cleaning, the cleaning robot repeatedly performs the cleaning operation on a target area in a reverse direction (i.e., in the second cleaning order) opposite to the first cleaning order from the position (i.e., single work end point) where the last cleaning operation was completed.
In an embodiment, step S101, the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set may include: and controlling the cleaning robot to drag the floor of the target area through the first floor-dragging path. At this time, in step S102, the controlling the cleaning robot to repeatedly drag the target area with the cleaning behaviors in the second cleaning behavior set may include: and controlling the cleaning robot to repeatedly floor the target area through a second floor mopping path, wherein the second floor mopping path is different from the first floor mopping path.
In the embodiment of the application, the mopping path (i.e. the first mopping path) in the last mopping process is different from the mopping path (i.e. the second mopping path) in the repeated mopping process, that is, the original mopping path is changed in the repeated mopping process, so that the cleaning robot can clean the area which is not cleaned in the last cleaning process (i.e. the missing area), thereby improving the cleaning effect of the whole target area.
In an embodiment, the second mopping path intersects the first mopping path. The mopping path (namely the first mopping path) in the last mopping process is crossed with the mopping path (namely the second mopping path) in the repeated mopping process, so that the area which is not cleaned in the last cleaning process can be cleaned better, and the cleaning efficiency of the whole target area is improved better. The mopping path (i.e., the first mopping path) in the last mopping and the mopping path (i.e., the second mopping path) in the repeated mopping may be perpendicular or oblique.
Illustratively, as shown in fig. 2, 4 and 5, the second mopping path intersects the first mopping path in a zig-zag fashion.
Referring to fig. 2, 4 and 5, fig. 2 is a schematic view of a cleaning robot performing a mopping operation according to a first mopping path (a vertically arched path), fig. 4 is a schematic view of a cleaning robot performing a repeated mopping operation according to a second mopping path (a horizontally arched path), and fig. 5 is a schematic view of a first mopping path (shown by a solid line) of the cleaning robot last mopping operation crossing a second mopping path (shown by a broken line) of the cleaning robot. In fig. 2, 4 and 5, the mopping start points of the cleaning robots are the same, except for the mopping paths, and when the mopping is repeated, the cleaning robots repeatedly mopping the target area from the second mopping paths crossing the first mopping paths in a well shape.
Of course, in some embodiments, for example, the last mopping start point and mopping path of the cleaning robot may be different from the next mopping start point and mopping path.
In an embodiment, step S101, the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set may include: and controlling the cleaning robot to mop the target area along a first track of the edge rotation mopping. At this time, in step S102, the controlling the cleaning robot to repeatedly drag the target area with the cleaning behaviors in the second cleaning behavior set may include: and controlling the cleaning robot to repeatedly drag the floor of the target area along a second track rotating along the edge, wherein the second track is intersected with the first track.
The cleaning robot rotates along the edge to drag the floor, which is also called cleaning robot swinging (i.e., the cleaning robot intermittently twists around) to drag the floor. When the cleaning robot drags the floor in a common mode (namely without swinging), uncleaned areas (namely cleaning-missing areas) can be missed at the edge positions of the wall surfaces or the barriers, and the cleaning robot drags the floor in a swinging posture, so that the uncleaned areas which are not cleaned in the common floor mopping process can be cleaned. When the cleaning robot adopts the edge rotation to drag the floor, the first track generated by the edge rotation to drag the floor can not completely cover the cleaning leakage area, and partial areas can be omitted, so that the cleaning robot also adopts the edge rotation to drag the floor when the cleaning robot repeatedly drags the floor, but the second track generated by the edge rotation to drag the floor when the cleaning robot repeatedly drags the floor is crossed with the first track, namely, the second track is different from the first track and is crossed with the first track, and the second track can cover partial areas in the cleaning leakage area which are not covered by the first track. In this way, the cleaning efficiency and the cleaning effect can be improved.
In an embodiment, in step S102, the controlling the cleaning robot to repeatedly drag the target area along the second track of the edge rotation drag may further include: and controlling the cleaning robot to repeatedly drag the target area by taking the area of the first track, which is not dragged, as a starting point and a second track which rotates along the edge to drag the floor.
In the embodiment of the present application, the direction of the swing of the cleaning robot during the previous mopping is the same as the direction of the swing of the cleaning robot during the current repeated mopping, except that the starting point of the swing of the cleaning robot is different (as shown in fig. 9, the starting point of the swing during the repeated mopping is the area of the first mopping during the previous mopping), that is, the cleaning robot takes the area of the first track, which is not mopped, as the starting point, and the second track, which is the second track, of the mopping during the previous mopping, performs the repeated mopping (the swing of the repeated mopping may also be referred to as the repeated swing). In this way, the second track when repeatedly mopping can cover a portion of the area of the missed cleaning region that was uncovered by the first track when the mopping was last time.
When the cleaning robot performs mopping in a swinging manner, if the mop of the cleaning robot is a rotary mop, the rotary mop may or may not rotate at this time.
Of course, the cleaning robot may also adopt a direction different from the direction in which the cleaning robot swings when the cleaning robot repeatedly drags the floor, so long as the second track when the cleaning robot repeatedly drags the floor can cover a part of the area of the missed cleaning area which is uncovered by the first track when the cleaning robot repeatedly drags the floor.
Referring to fig. 8, when the cleaning robot mops the floor in a normal manner (i.e., normal mopping), the cleanable area is a cleaning area, and uncleaned areas (i.e., cleaning-missing areas) are omitted at the edge positions of the wall surface or the obstacle; when the cleaning robot adopts a swinging posture to mop (mopping along the edge to generate a first track), the cleaning region which is not cleaned during ordinary mopping can be cleaned; when the cleaning robot adopts the swinging posture to repeatedly drag the floor (the edge rotation drags the floor and generates a second track), partial areas in the cleaning-leaking area which are not cleaned in the last edge rotation drags the floor can be cleaned.
In an embodiment, before the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set in step S101, the method may further include: the target area is divided into a plurality of sub-areas according to the cleaning capability of the cleaning robot.
The division of the target area into a plurality of sub-areas according to the cleaning capability of the cleaning robot may refer to the area of the area that the cleaning robot can drag to when it drags floor once continuously without interruption. The cleaning capacity of the cleaning robot can be determined by a set backwash area, wherein the backwash area refers to the maximum area that the cleaning robot is allowed to clean after the base station washes the mop. For example, the back washing area of the cleaning robot can be set to 8 square meters according to preset requirements, and the cleaning robot needs to return to the base station to wash the mop once after dragging the 8 square meters of the cleaning robot. Then the room can be divided into three sub-areas when the area of the room is 20 square meters. Of course, in some embodiments, the user may set the backwash area of the cleaning robot, that is to say the cleaning robot drags N square meters and then returns to the base station to wash the mop once, for example, the user may set the backwash area of the cleaning robot to select different cleaning modes, for example, the backwash area is 8 square meters, 10 square meters, 12 square meters, etc. Taking the cleaning of the whole room as an example, the smaller the backwash area, the higher the frequency of the cleaning robot returning to the base station in the process of completing the cleaning of the whole room, and the better the cleaning effect on the room, but the lower the cleaning efficiency. By way of example, the user may choose to set the backwash area according to his own needs, 8 square meters when he wishes to clean the room deeply, and 12 square meters when he wishes to clean the room lightly.
It will be appreciated that the smaller the backwash area is set, the more sub-areas the room is divided into.
At this time, step S101, controlling the cleaning robot to drag the target area with the cleaning behaviors in the first cleaning behavior set may include: controlling the cleaning robot to respectively drag the plurality of subareas with the cleaning behaviors in the first cleaning behavior set;
step S102, the controlling the cleaning robot to repeatedly drag the target area with the cleaning behaviors in the second cleaning behavior set may include: and controlling the cleaning robot to repeatedly drag the subareas with the cleaning degree which does not meet the requirement in the plurality of subareas with the cleaning behaviors in the second cleaning behavior set.
There are many methods for judging a subarea of which the degree of cleanliness does not satisfy the requirement among a plurality of subareas. For example: after mopping each subarea once, the cleaning robot returns to the base station to wash the mop once, the dirt quantity of the subarea can be obtained by detecting the sewage of the mop washing, if the dirt quantity is larger than a preset threshold value, the subarea is dirty, and the subarea is required to be mopped repeatedly; alternatively, in some embodiments, the cleaning robot may be provided with a visual sensor, through which the soiling of each sub-area within the room may be directly detected, thereby determining which sub-areas need to be repeatedly mopped; or, the cleaning robot can detect the dirt degree change of the cleaning member in real time in the cleaning process, for example, after the cleaning of the subarea A, the dirt amount of the cleaning member is increased by a1, and if a1 is greater than a preset threshold value, the subarea A also needs to be repeatedly cleaned.
It should be noted that, the repeated mopping of the subareas whose cleanliness does not meet the requirement can be performed in two ways: firstly, repeatedly mopping all the subareas which are marked before and need to be repeatedly mopped after mopping all the subareas once is finished; secondly, after the first mopping of one subarea is finished, the subarea is found to need to be repeatedly mopped, and then the subarea is repeatedly mopped until the repeated mopping is finished, and then the other subareas are mopped.
In the embodiment of the application, if the target area is relatively large, the target area can be divided into a plurality of subareas according to the cleaning capability of the cleaning robot, namely, the number of the subareas after division is greater than or equal to 2. And then the cleaning robot respectively mops the plurality of subareas, namely mopping each individual subarea once, and mopping the other subarea after mopping one subarea is finished until the plurality of subareas are all mopped.
When the embodiment of the application is used for repeatedly mopping the floor, only the heavy-point area is repeatedly mopped, namely, the subareas which are not satisfied with the cleaning degree in the plurality of subareas are repeatedly mopped. By the mode, the cleaning robot can repeatedly drag the floor in a targeted manner, and the working efficiency of the cleaning robot can be greatly improved while the cleaning effect can be improved.
Referring to fig. 6, the target area in fig. 6 is divided into 6 sub-areas: the cleaning robot drags the floor of each sub-area once, and the target area is completely dragged for 6 times, and the mopping sequence of the sub-areas is as follows: lower left subregion, upper left subregion, middle upper subregion, middle lower subregion, lower right subregion, upper right subregion. If the cleaning degree of the upper and lower sub-areas (namely the upper right sub-area and the lower right sub-area) on the right side of the target area does not meet the requirement, the cleaning robot can repeatedly drag the floor of the upper right sub-area and the lower right sub-area only.
In an embodiment, as shown in fig. 7, the method further comprises: if a smaller subarea with the area smaller than the preset area exists in the subareas, combining the smaller subarea with at least one other subarea, and enabling the area of the combined subarea to be smaller than or equal to the maximum area of single cleaning of the cleaning robot. At this time, in step S101, the controlling the cleaning robot to mop the plurality of sub-areas respectively may include: and controlling the cleaning robot to respectively floor the non-combined subareas and the combined subareas.
In the embodiment of the application, after the target area is divided into a plurality of subareas according to the cleaning capability of the cleaning robot, if the area of the subarea is too small and is smaller than the preset area, the smaller subarea with the area smaller than the preset area can be combined with at least one other subarea, and the area of the combined subarea is smaller than or equal to the maximum area of single cleaning of the cleaning robot. When merging, two or more adjacent smaller subregions can be merged into a merged subregion, or the smaller subregion and the adjacent subregion with the area larger than or equal to the preset area can be merged into the merged subregion. And then the cleaning robot drags the floor to each uncombined subarea and each combined subarea respectively. The area of subregion is too little, and inconvenient cleaning robot drags the ground on the one hand, and on the other hand is more easy to leave over the region of not dragging the ground when mopping, through this kind of mode of merging the less subregion of area, can improve cleaning robot's work efficiency, also can improve cleaning performance.
Referring to fig. 7, the target area in fig. 7 is divided into 8 sub-areas: the device comprises an upper left sub-region, a lower left sub-region, an upper middle sub-region, a lower middle sub-region, an upper right sub-region and a lower right sub-region, wherein the upper left sub-region and the upper middle sub-region are smaller sub-regions with areas smaller than a preset area, so that the upper left sub-region and the upper middle sub-region which are adjacent left and right are combined into a combined sub-region. The cleaning robot respectively mops the 6 unmixed subareas and the 1 merged subarea once, and mops the target area for 7 times, wherein the mopping sequence of the subareas is as follows: lower left subregion, left neutron region, merge subregion, middle neutron region, middle lower subregion, lower right subregion, upper right subregion. If the cleaning degree of the three sub-areas of the middle lower sub-area, the right lower sub-area and the right upper sub-area in the target area does not meet the requirement, the cleaning robot can repeatedly drag the floor of the three sub-areas of the middle lower sub-area, the right lower sub-area and the right upper sub-area when repeatedly dragging the floor.
The cleaning robot respectively drags the plurality of subareas by using the cleaning behaviors in the first cleaning behavior set; when the cleaning robot repeatedly mops the subareas with the cleaning degree not meeting the requirement by using the cleaning behaviors in the second cleaning behavior set, the cleaning behaviors in the first cleaning behavior set and the cleaning behaviors in the second cleaning behavior set can respectively comprise at least one of a mopping path, a mopping sequence, rotation mop rotation or not of the cleaning robot and a track of the cleaning robot mopping along the edge rotation, and the cleaning robot can mopping and repeatedly mopping in the mode so as to improve the cleaning effect.
In some embodiments, the controlling the cleaning robot to repeatedly drag the cleaning robot to the sub-area of the plurality of sub-areas with the cleaning behaviors in the second cleaning behavior set, the sub-area having the cleaning degree that is not satisfied with the cleaning behaviors includes: determining the number of subareas of the plurality of subareas, the cleanliness of which does not meet the requirement; if the number of the subareas which do not meet the requirements in the plurality of subareas is at least two, merging the subareas which do not meet the requirements in the at least two subareas; and controlling the cleaning robot to repeatedly floor the combined sub-areas with at least two cleaning degrees which do not meet the requirement.
That is, when repeated mopping is performed, if the subareas needing repeated mopping are determined to be greater than or equal to 2, the at least two subareas can be combined, so that at least two subareas needing repeated mopping can be mopped at one time.
Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of the cleaning robot of the present application, and it should be noted that, the cleaning robot of the embodiment of the present application can implement the above-mentioned method for cleaning the floor of the cleaning robot, and detailed descriptions of related contents are omitted herein.
The cleaning robot includes: a processor 1 and a memory 2, said memory 2 for storing a computer program; the processor 1 is adapted to execute the computer program and to implement the mopping method of a cleaning robot as described in any one of the above, when the computer program is executed. The memory 2 is connected to the processor 1 via a bus.
The processor 1 may be a micro control unit, a central processing unit or a digital signal processor, among others. The memory 2 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, a removable hard disk, or the like.
The present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the mopping method of a cleaning robot as described in any one of the above.
The computer readable storage medium may be an internal storage unit of the cleaning robot, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device of the above-mentioned cleaning robot, such as a equipped plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc.
It is to be understood that the terminology used in the description of the application 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 specification 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 may be made therein without departing from the spirit and scope of the application as defined by the appended claims. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (12)
1. A method of mopping a cleaning robot, the method comprising:
controlling the cleaning robot to drag the target area to the ground by using the cleaning behaviors in the first cleaning behavior set;
controlling the cleaning robot to repeatedly drag the target area by using cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behavior in the first cleaning behavior set;
the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set includes:
controlling the cleaning robot to mop the floor of the target area in a mode of rotating a mop;
the control of the cleaning robot to repeatedly drag the target area with cleaning behaviors in a second cleaning behavior set includes:
and controlling the cleaning robot to repeatedly mop the target area in a mode that the rotary mop does not rotate.
2. The method of claim 1, wherein the cleaning activities in the first set of cleaning activities and the cleaning activities in the second set of cleaning activities each comprise at least one of a mopping path of the cleaning robot, a mopping sequence, a rotation mop rotation or not, a trajectory of the cleaning robot mopping along an edge rotation.
3. The method of claim 2, wherein the controlling the cleaning robot to mop the target area with cleaning activities of the first set of cleaning activities comprises:
controlling the cleaning robot to mop the target area in a first cleaning sequence;
the control of the cleaning robot to repeatedly drag the target area with cleaning behaviors in a second cleaning behavior set includes:
the control unit controls the cleaning robot to repeatedly drag the target area in a reverse direction opposite to the first cleaning order from a position where the last mopping was ended.
4. The method of claim 2, wherein the controlling the cleaning robot to mop the target area with cleaning activities of the first set of cleaning activities comprises:
controlling the cleaning robot to drag the floor of the target area through a first floor-dragging path;
the control of the cleaning robot to repeatedly drag the target area with cleaning behaviors in a second cleaning behavior set includes:
and controlling the cleaning robot to repeatedly floor the target area through a second floor mopping path, wherein the second floor mopping path is different from the first floor mopping path.
5. The method of claim 4, wherein the second mopping path intersects the first mopping path.
6. The method of claim 2, wherein the controlling the cleaning robot to mop the target area with cleaning activities of the first set of cleaning activities comprises:
controlling the cleaning robot to mop the target area along a first track of the edge rotation mopping;
the control of the cleaning robot to repeatedly drag the target area with cleaning behaviors in a second cleaning behavior set includes:
and controlling the cleaning robot to repeatedly drag the floor of the target area along a second track rotating along the edge, wherein the second track is intersected with the first track.
7. The method of claim 6, wherein the controlling the cleaning robot to repeatedly mop the target area with a second trajectory that rotationally mops along an edge comprises:
and controlling the cleaning robot to repeatedly drag the target area by taking the area of the first track, which is not dragged, as a starting point and a second track which rotates along the edge to drag the floor.
8. The method of any of claims 1-7, wherein the controlling the cleaning robot prior to mopping the target area with cleaning activities in the first set of cleaning activities comprises:
dividing the target area into a plurality of sub-areas according to the cleaning capability of the cleaning robot;
controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set, including:
controlling the cleaning robot to respectively drag the plurality of subareas with the cleaning behaviors in the first cleaning behavior set;
the control of the cleaning robot to repeatedly drag the target area with cleaning behaviors in a second cleaning behavior set includes:
and controlling the cleaning robot to repeatedly drag the subareas with the cleaning degree which does not meet the requirement in the plurality of subareas with the cleaning behaviors in the second cleaning behavior set.
9. The method of claim 8, wherein the method further comprises:
if a smaller subarea with the area smaller than the preset area exists in the plurality of subareas, combining the smaller subarea with at least one other subarea, and enabling the area of the combined subarea to be smaller than or equal to the maximum area of single cleaning of the cleaning robot;
the controlling the cleaning robot to respectively drag the plurality of subareas with the cleaning behaviors in the first cleaning behavior set includes:
and controlling the cleaning robot to respectively drag the non-combined subareas and the combined subareas by using the cleaning behaviors in the first cleaning behavior set.
10. The method of claim 8, wherein the controlling the cleaning robot repeatedly drags the sub-areas of the plurality of sub-areas that do not meet the cleaning level with the cleaning behaviors in the second set of cleaning behaviors; comprising the following steps:
determining the number of subareas of the plurality of subareas, the cleanliness of which does not meet the requirement;
if the number of the subareas which do not meet the requirements in the plurality of subareas is at least two, merging the subareas which do not meet the requirements in the at least two subareas;
and controlling the cleaning robot to repeatedly floor the combined sub-areas with at least two cleaning degrees which do not meet the requirement.
11. A cleaning robot, characterized in that the cleaning robot comprises: a processor and a memory for storing a computer program; the processor is configured to execute the computer program and to implement the mopping method of a cleaning robot according to any one of claims 1-10 when the computer program is executed.
12. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement a mopping method of a cleaning robot according to any one of claims 1-10.
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