CN116784724A

CN116784724A - Control method of self-moving cleaning device, cleaning device and readable storage medium

Info

Publication number: CN116784724A
Application number: CN202210248556.7A
Authority: CN
Inventors: 阮祥进; 丁民权; 毕金廷
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2022-03-14
Filing date: 2022-03-14
Publication date: 2023-09-22
Also published as: WO2023173922A1

Abstract

The application discloses a control method of self-moving cleaning equipment, cleaning equipment and a readable storage medium, wherein whether a preset condition is met or not is detected in real time in the process of executing a cleaning task by the self-moving cleaning equipment, when the preset condition is met, a liquid supply system of the self-moving cleaning equipment is closed, and the self-moving cleaning equipment continuously works in a state that the liquid supply system is closed, so that the liquid supply system does not spray water to a roller any more, and the self-moving cleaning equipment works for a period of time in a state that the liquid supply system is closed, thereby avoiding water stains on the ground and improving the cleaning quality. Meanwhile, complex structural design is avoided, the product cost is effectively reduced, and meanwhile, a user has better product experience.

Description

Control method of self-moving cleaning device, cleaning device and readable storage medium

Technical Field

The present application relates to the field of artificial intelligence, and in particular, to a control method for a self-moving cleaning device, a cleaning device, and a readable storage medium.

Background

With the development of artificial intelligence (Artificial Intelligence, AI) technology, various intelligent devices are increasingly entering people's lives, such as logistics robots, cleaning devices, mowing robots, welcome robots, and the like.

In the autonomous movement process of the cleaning equipment, an indoor navigation planning technology such as instant positioning and map construction (Simultaneous Localization and Mapping, SLAM) is combined to construct a navigation map, and a walking path is automatically planned by utilizing the navigation map. In the walking process, the water tank of the cleaning device sprays water to soak the mop on the roller, and the motor drives the roller to roll on the ground to scrub the ground. Meanwhile, a closed cavity is formed by the ground, the roller of the cleaning equipment, the air duct and the like, and the fan provides negative pressure to suck sewage, garbage and the like through the air duct, so that the purpose of cleaning the ground is achieved.

In the cleaning process, a pool of water is sometimes left on the floor due to lifting, staying and the like of the cleaning equipment.

Disclosure of Invention

The application provides a control method of a self-moving cleaning device, the cleaning device and a readable storage medium, when the self-moving cleaning device meets preset conditions at the current position, the self-moving cleaning device closes a liquid supply system, so that the liquid supply system does not spray water to a roller any more, and works for a period of time in a state that the liquid supply system is closed, thereby avoiding water stains on the ground and improving the cleaning quality.

In a first aspect, an embodiment of the present application provides a method for controlling a self-moving cleaning apparatus, which is applied to the self-moving cleaning apparatus, the method including:

Opening the liquid supply system and the liquid recovery system to perform a cleaning task;

detecting whether the self-moving cleaning device meets a preset condition in the process of executing a task, wherein the preset condition causes the negative pressure in a liquid recovery channel of the self-moving cleaning device to be weakened at the current moment or in the future;

if the self-moving cleaning device meets the preset condition, closing the liquid supply system;

operating in the closed state of the liquid supply system.

In a second aspect, an embodiment of the present application provides a method for controlling a self-moving cleaning apparatus, which is characterized in that the method is applied to the self-moving cleaning apparatus, and includes:

shutting down the liquid supply system before an obstacle crossing event occurs;

traveling in a target area in the liquid supply system off state;

after the target area travels, performing an obstacle crossing event;

after the obstacle crossing event is performed, the liquid supply system is started.

In a third aspect, an embodiment of the present application provides a control apparatus, including:

a control module for turning on the liquid supply system and the liquid recovery system to perform a cleaning task;

The processing module is used for detecting whether the self-moving cleaning device meets preset conditions or not in the process of executing tasks, wherein the preset conditions lead to the weakening of negative pressure in a liquid recovery channel of the self-moving cleaning device at the current moment or in the future;

the control module is further used for closing the liquid supply system if the self-moving cleaning equipment meets the preset condition;

and the working module is used for working in the closing state of the liquid supply system.

In a fourth aspect, an embodiment of the present application provides a control apparatus for a self-moving cleaning device, including:

a control module for turning on the liquid supply system and the liquid recovery system to perform a cleaning task, the liquid supply system being turned off before an obstacle crossing event occurs;

a travel module for traveling in a target area in a state where the liquid supply system is turned off;

the obstacle crossing module is used for executing an obstacle crossing event after the target area travels;

and the control module is also used for starting the liquid supply system after the obstacle crossing event is executed.

In a fifth aspect, embodiments of the present application provide a self-moving cleaning apparatus comprising:

the roller is used for contacting with the ground and rolling to clean the ground;

A liquid supply device for spraying cleaning water to the drum;

a liquid recovery device for recovering sewage;

a memory coupled to the processor for storing a computer program executable on the processor; wherein the processor is configured to execute the computer program to perform the steps of:

operating in the closed state of the liquid supply system.

In a fifth aspect, embodiments of the present application provide a computer readable storage medium having stored therein computer instructions which, when executed by a processor, are adapted to carry out the method according to the first aspect or the various possible implementations of the first aspect; alternatively, the computer instructions, when executed by a processor, are for implementing a method as described above in the second aspect or in various possible implementations of the second aspect.

In a sixth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements a method as described above in the first aspect or in the various possible implementations of the first aspect; alternatively, the computer program, when executed by a processor, implements the method as described above in the second aspect or in various possible implementations of the second aspect.

According to the control method of the self-moving cleaning device, the cleaning device and the readable storage medium, whether the preset condition is met or not is detected in real time in the process of executing the cleaning task of the self-moving cleaning device, when the preset condition is met, the liquid supply system of the self-moving cleaning device is closed, and the self-moving cleaning device continues to work in the closing state of the liquid supply system, so that the liquid supply system does not spray water to the roller any more, the self-moving cleaning device works for a period of time in the closing state of the liquid supply system, water stains on the ground are avoided, and the cleaning quality is improved. Meanwhile, complex structural design is avoided, the product cost is effectively reduced, and meanwhile, a user has better product experience.

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 apparent that the drawings in the following description are only 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 view of a self-moving cleaning apparatus according to an embodiment of the present application;

FIG. 2 is a flow chart of a method of controlling a self-moving cleaning apparatus according to an embodiment of the present application;

FIG. 3A is a schematic view of a target area in a control method of a self-moving cleaning apparatus according to an embodiment of the present application;

FIG. 3B is a schematic view of another target area in the control method of the self-moving cleaning apparatus according to the embodiment of the present application;

FIG. 4 is a schematic view of a further target area in a control method of a self-moving cleaning apparatus according to an embodiment of the present application;

FIG. 5 is a schematic illustration of a self-moving cleaning apparatus provided by an embodiment of the present application operating in an "arcuate" manner;

FIG. 6 is another flow chart of a method of controlling a self-moving cleaning apparatus provided by an embodiment of the present application;

FIG. 7 is a schematic view of drum humidity in a control method of a self-moving cleaning apparatus according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a self-moving cleaning apparatus provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of a control device according to an embodiment of the present application;

fig. 10 is a schematic diagram of another control device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

In the normal case, in the working process of the self-moving cleaning equipment, the water tank sprays water to soak the mop on the roller, the motor drives the roller to roll on the ground to scrub the ground, and the humidity of the mop is relatively high. When the self-moving cleaning device is lifted, the drum is separated from the ground, so that a closed cavity cannot be formed, and at this time, water between the drum and the scraping strip overflows due to lifting of the machine, so that water stains remain on the ground. Or when the self-moving cleaning equipment is shut down or is suspended, the negative pressure provided by the fan can not instantly suck the sewage in the closed cavity, and the phenomenon of water seepage can be generated due to the fact that the humidity of the mop is relatively high, so that water stains remain on the ground.

If the problem of residual water stain on the ground is solved through structural improvement, the cost is very high. Therefore, how to solve the problem of water stain on the ground becomes a urgent problem to be solved.

Based on the above, the embodiment of the application provides a control method of a self-moving cleaning device, the cleaning device and a readable storage medium, when the self-moving cleaning device meets a preset condition in the process of executing a cleaning task, the self-moving cleaning device closes a liquid supply system, so that the liquid supply system does not spray water to a roller any more, and works for a period of time in a state that the liquid supply system is closed, thereby avoiding water stains on the ground and improving the cleaning quality.

Fig. 1 is a schematic structural view of a self-moving cleaning apparatus according to an embodiment of the present application. Referring to fig. 1, a self-moving cleaning apparatus 100 according to an embodiment of the present application includes: a cabinet 11, a drum 12, a liquid supply system 13, a liquid recovery system, and the like. Optionally, the liquid recovery system comprises a wiper blade 14, a wiper strip 15, a liquid recovery channel 16, etc. In addition, the liquid recovery system further includes a blower, and the self-moving cleaning apparatus further includes a memory, a processor, various sensors, etc., which are not shown in the drawing.

The housing 11 of the self-moving cleaning apparatus 100 has an assembly chamber in which the drum 12 is rollably positioned for scrubbing the floor during cleaning, the drum 12 rolling over the floor, and water jets of the liquid supply system 13 spraying water onto the drum 12 to wet the drum work surface. A scraping strip 15 contacted with the ground is arranged behind the roller 12 to scrape superfluous cleaning water on the ground passing by the roller, a wiper plate 14 contacted with the working surface of the roller 12 is arranged above the scraping strip 15 and below a water spray opening of the liquid supply system 13 to scrape dirty water on the roller 12, a liquid recovery channel 16 is formed between the wiper plate 14 and the scraping strip, a closed cavity is formed by the roller 12, the ground and the liquid recovery channel 16, and a fan provides negative pressure through the liquid recovery channel 16 to suck sewage.

Typically, during movement of the self-moving cleaning device, the drum 12 breaks away from the floor when an obstacle is encountered or the user moves off the floor, resulting in the cavity no longer being closed. At this time, the water cannot be sucked away by the blower through the liquid recovery passage 16, but is pushed together by the scraping strip 15, causing a phenomenon of residual water stains on the ground. In addition, when the self-moving cleaning equipment is shut down or is suspended, the negative pressure provided by the fan can not instantly suck water in the closed cavity, so that the problem of residual water stains on the ground is caused.

It should be noted that, in fig. 1, the liquid recovery system includes the scraping strip 15, however, embodiments of the present application are not limited thereto, and in other possible implementations, some dual-disc brush type and flat mop type cleaning devices also have the functions of automatically spraying water to the mop and sucking sewage by using a fan, but do not have the scraping strip.

In the embodiment of the application, the processor executes the modified control logic by modifying the control logic stored in the memory, and when the self-moving cleaning equipment meets the preset condition in the task execution process, the liquid supply system is closed, so that the liquid supply system does not spray water to the roller any more, and the self-moving cleaning equipment works for a period of time in the state that the liquid supply system is closed, thereby avoiding water stains on the ground and improving the cleaning quality.

In the embodiment of the application, the self-moving cleaning device can be applied to scenes such as families, office buildings, markets and the like, and the basic service function of the self-moving cleaning device is to clean the floor in the scenes. The self-mobile cleaning device can walk autonomously, is used for executing the floor cleaning function, can also have the functions of calculation, communication, surfing the internet and the like, and is also configured with corresponding hardware such as a communication module, a calculation module and the like for realizing the functions. The self-moving cleaning device performs autonomous walking in the scene where the self-moving cleaning device is located, so that the map building and navigation are required, the current mainstream scheme adopts a laser direct structuring technology (Laser Direct Structuring, LDS) or a direct Time-of-Flight (DTOF) sensor, and the map building and navigation are performed by rotating 360 degrees and emitting laser to scan the surrounding environment, so that the person skilled in the art can select according to the application scene and other related conditions.

Fig. 2 is a flowchart of a control method of a self-moving cleaning apparatus according to an embodiment of the present application. The execution body of the present embodiment is a self-moving cleaning apparatus, the present embodiment including:

201. the liquid supply system and the liquid recovery system are turned on to perform the cleaning task.

The user issues a working instruction to the self-mobile cleaning device through voice mode, key touch mode, application (APP) operation mode of a terminal device such as a mobile phone and the like. After receiving the opening command from the mobile cleaning device, the liquid supply system and the liquid recovery system are started to execute the cleaning task. In the process of executing the task, the driving wheel drives the self-moving cleaning equipment to move.

202. Detecting whether the self-moving cleaning device meets a preset condition or not in the task execution process, and executing step 203 if the self-moving cleaning device meets the preset condition; if the self-moving cleaning apparatus does not meet the preset condition, step 204 is performed. Wherein the preset condition causes a weakening of the negative pressure in the liquid recovery channel of the self-moving cleaning apparatus at the present moment or in the future.

In the embodiments of the present application, any condition that causes the negative pressure in the liquid recovery passage of the self-moving cleaning apparatus to be reduced is referred to as a preset condition. For example, under normal conditions, in the working process of the self-moving cleaning device, the cavity formed by the liquid recovery channel is a closed cavity, if the cavity is not closed, the fan cannot suck the sewage in the cavity, so that the current or future condition that the cavity is not closed is a preset condition. For another example, even if the cavity is a closed cavity, if the self-moving cleaning device is turned off or is suspended, the negative pressure provided by the liquid recovery system cannot instantly suck the sewage in the closed cavity, and the condition that the liquid recovery system cannot quickly suck the sewage is also a preset condition. Such preset conditions include a current receipt of a stop command from the mobile cleaning device, a timed cleaning entry count down, etc.

Optionally, the self-moving cleaning device locally stores a plurality of preset conditions, the preset conditions including at least one of: the self-moving cleaning device is provided with an obstacle area around, the self-moving cleaning device recognizes a stop command, the self-moving cleaning device is moved away from the ground, and a threshold exists at the boundary of the room where the self-moving cleaning device is located. Wherein, there is the barrier area around the self-moving cleaning device, the boundary of the room that the self-moving cleaning device is located exists the threshold, can lead to the cavity that liquid recovery passageway and ground formed after a period of time not airtight. The removal of the self-moving cleaning device from the floor may cause the liquid recovery channel and the cavity formed by the floor to be unsealed at the present time. The liquid recovery system of the self-moving cleaning device can not instantly suck the sewage in the closed cavity after receiving the stop working instruction from the self-moving cleaning device. Assuming that the self-moving cleaning device cleans for half an hour at regular time, when the countdown time is 3 minutes, the self-moving cleaning device determines that the negative pressure in the liquid recovery channel is weakened after the self-moving cleaning device receives the stop working instruction after 3 minutes. Therefore, when the self-moving cleaning device meets the preset condition at the current position, the self-moving cleaning device automatically closes the liquid supply system and works in the closing state of the liquid supply system to remove the water on the roller, so that the water stain on the ground is avoided, and the cleaning quality is improved.

Detecting the surrounding environment and the self state in real time during the working process of the self-moving cleaning equipment, and executing step 202 by the self-moving cleaning equipment when the preset condition is met; when the preset condition is not met, the self-moving cleaning device keeps the liquid supply system and the liquid recovery system in an opened state to continue to work.

In the embodiment of the application, the working process of the self-moving cleaning equipment can be a process that the self-moving cleaning equipment establishes a navigation map by using an LDS sensor or a DTOF sensor, or can be a process that the self-moving cleaning equipment establishes the navigation map and then moves and cleans according to the established navigation map. For clarity, the operation mode of creating the navigation map will be referred to as a no-map mode or a map-creation mode, and the operation mode of operating according to the navigation map will be referred to as a map-with mode. By adopting the scheme, whether the self-moving cleaning equipment locally stores the established navigation map or not, the self-moving cleaning equipment detects whether preset conditions are met or not in real time, and further determines whether to close the liquid supply system or not, so that the aim of ensuring the cleaning quality in a non-image mode and an image mode is fulfilled.

203. And if the self-moving cleaning device meets the preset condition, closing the liquid supply system.

After the liquid supply system is turned off, no water is sprayed to the drum of the self-moving cleaning apparatus.

204. Operating in the closed state of the liquid supply system.

Illustratively, after the liquid supply system is shut down, the self-moving cleaning apparatus continues to perform cleaning tasks. The drum is maintained in a continuously rotating state since the liquid supply system does not spray water to the drum. After a period of time, the moisture on the drum is sucked away by the floor and the humidity of the mop on the drum is reduced. Thus, no matter the self-moving cleaning device is lifted up or stopped due to obstacle surmounting and lifting, the mop on the roller can not permeate out water, and water stains can not be remained on the wet ground.

The self-moving cleaning device performs a subsequent action after a working period time, a traveling preset length or cleaning of the target area in a state that the liquid supply system is closed. The subsequent actions include obstacle surmounting, opening the liquid supply system to work normally, and the like, and embodiments of the present application are not limited.

205. And keeping the current state to continue working.

Illustratively, when the self-moving cleaning device is in the no-view mode, the navigational map continues to be established. When the self-moving cleaning device is in the pictured mode, floor cleaning is continued according to the navigation map. And, the self-moving cleaning apparatus maintains a state in which the liquid supply system and the liquid recovery system are turned on.

According to the control method for the self-moving cleaning equipment, whether the preset condition is met or not is detected in real time in the process of executing the cleaning task by the self-moving cleaning equipment, when the preset condition is met, the liquid supply system of the self-moving cleaning equipment is closed, and the self-moving cleaning equipment continues to work in the closing state of the liquid supply system, so that the liquid supply system does not spray water to the roller any more, the self-moving cleaning equipment works for a period of time in the closing state of the liquid supply system, water stains on the ground are avoided, and cleaning quality is improved. Meanwhile, complex structural design is avoided, the product cost is effectively reduced, and meanwhile, a user has better product experience.

Optionally, in the above embodiment, the operation in the off state of the liquid supply system includes one or more of: maintaining the liquid recovery system on in the liquid supply system off state, maintaining the drum rotation of the self-moving cleaning apparatus in the liquid supply system off state, and traveling within a target area in the liquid supply system off state.

Wherein the self-moving cleaning apparatus may be located in-situ or continuously traveling within a target area when the liquid supply system is off and the liquid recovery system is on, the target area may be an area near the location where the self-moving cleaning apparatus is off. Assuming that the position where the self-moving cleaning device is located when the preset condition is satisfied is the current position, the target area may or may not include the current position.

The self-moving cleaning apparatus is sufficient to ensure that the drum rotates while maintaining the drum rotation of the self-moving cleaning apparatus in a state where the liquid supply system is turned off. At this time, the liquid recovery system may or may not be turned on.

When the self-moving cleaning apparatus travels in the target area in the state where the liquid supply system is turned off, if the liquid recovery system is turned on, the drum humidity can be rapidly reduced. If the liquid recovery system is not turned on, the drum humidity is slowly reduced.

Optionally, in the above embodiment, the self-moving cleaning device determines the humidity of the drum of the self-moving cleaning device when the self-moving cleaning device satisfies a preset condition. When the humidity is greater than the preset humidity, the liquid supply system is operated in the target area in a closed state.

For example, when the humidity of the drum exceeds a preset humidity, water stains occur on the ground due to water seepage of the drum. When the humidity of the roller is less than the preset humidity, the roller is drier and can not permeate water. In the embodiment of the application, when the self-moving cleaning equipment meets the preset condition, the self-moving cleaning equipment collects the humidity of the roller by using a humidity sensor and the like. When the humidity of the roller exceeds the preset humidity, the self-moving cleaning device adopts the scheme provided by the embodiment of the application, namely, the self-moving cleaning device works for a preset time period or a preset distance in a state that the liquid supply system is closed. When the humidity of the roller is smaller than the preset humidity, the self-moving cleaning device can not cause the phenomenon of residual water stains on the ground when being lifted, shut down or suspended. At this time, the self-moving cleaning device does not need to execute the scheme of the embodiment of the application, but directly surmount obstacles, shut down or pause, and the like.

By adopting the scheme, the self-moving cleaning device works for a preset time length or a preset distance under the state that the liquid supply system is closed only when the humidity of the roller exceeds the preset humidity, and has strong pertinence, so that the aim of improving the cleaning quality is fulfilled.

Optionally, in the above embodiment, when the self-moving cleaning apparatus is in the off state of the liquid supply system, a target area where no obstacle exists is determined according to the current position (i.e., the position where the self-moving cleaning apparatus is located when the self-moving cleaning apparatus meets the preset condition). Then, in the target area, the liquid supply system is operated in the off state. The target area may be an area including the current position, or may be an area near the current position.

When the target area is an area containing the current position, the self-moving cleaning device determines the target area according to the current position. For example, please refer to fig. 3A and 3B.

Fig. 3A is a schematic view of a target area in a control method of a self-moving cleaning apparatus according to an embodiment of the present application. Referring to fig. 3A, the black dots in fig. 3A represent the self-moving cleaning apparatus, and the thick black solid rectangular box represents the target area. The self-moving cleaning device takes the current position as the center of the target area, the preset distance as the side length, a square or rectangle is calculated, and the square or rectangle is taken as the target area.

Fig. 3B is a schematic view of another target area in the control method of the self-moving cleaning apparatus according to the embodiment of the present application. Referring to fig. 3B, a black circle in fig. 3B represents the self-moving cleaning apparatus, a thick black solid rectangular frame represents the target area, and a cylinder represents the obstacle. The self-moving cleaning device takes the current position as one vertex of the target area, the preset distance is taken as the side length, a square or rectangle is calculated, and the square or rectangle is taken as the target area.

It should be noted that, although fig. 3A and 3B illustrate the target area determined by the self-moving cleaning apparatus in the pictured mode, embodiments of the present application are not limited thereto. The same manner may be used to determine the target area when the self-moving cleaning apparatus is operating in the no-view mode.

When the target area is an area near the current position, the self-moving cleaning device determines an area to be cleaned, which is near the current position, through a pre-established navigation map, and takes the area to be cleaned as the target area.

Fig. 4 is a schematic view of another target area in the control method of the self-moving cleaning apparatus according to the embodiment of the present application. Referring to fig. 4, the navigation map includes two areas, one is a living room and one is a bedroom. The self-moving cleaning device cleans in the living room. When the self-moving cleaning device meets the preset condition, the self-moving cleaning device determines a target area which does not contain the current position from the living room, the black dots in fig. 4 represent the self-moving cleaning device, the thick black solid line rectangular box represents the target area, and the thick black dotted line represents the navigation path. The self-moving cleaning device travels along the navigation path to the target area, and after operating in the target area for a period of time with the liquid supply system off, returns to the current position along the navigation path.

It should be noted that, although in fig. 4, the current area and the current location are both located in the same area of the navigation map, such as a living room. However, the embodiment of the present application is not limited thereto, and in other possible implementations, the current location and the target area may be located in different areas of the navigation map. For example, when the self-moving cleaning device passes through the door, the self or current environment satisfies a preset condition. At this time, the current location is located in the bedroom, and the target area is located in the living room.

By adopting the scheme, when the target area contains the current position, the self-moving cleaning equipment does not need to move to other areas to scatter water on the roller, so that the efficiency of the self-moving cleaning equipment is improved; when the target area is an area to be cleaned which does not contain the current position, the working efficiency of the cleaning device is improved by cleaning the area to be cleaned to remove moisture on the drum.

Alternatively, in the above embodiment, the self-moving cleaning apparatus operates in an "arcuate" manner within the target area; or, working edgewise in the target zone.

Fig. 5 is a schematic diagram of a self-moving cleaning apparatus provided by an embodiment of the present application operating in an "arcuate" manner. Referring to fig. 5, after the self-moving cleaning apparatus advances a distance at a certain speed, the self-moving cleaning apparatus turns around and advances a distance at a certain speed in the opposite direction. The distance of travel is typically 0.5 meters to 1.5 meters, etc., and the number of round trips is for example 2 to 6, etc., and embodiments of the present application are not limited.

When the target area is an area to be cleaned, the self-moving cleaning device operates in an arc-shaped mode in the target area, namely, after the self-moving cleaning device advances for a certain distance at a certain speed, the self-moving cleaning device turns around and advances in the opposite direction. In addition, the self-moving cleaning apparatus can also work sideways within the area to be cleaned. For example, the current position is returned according to the navigation path after one week of the edge work.

It should be noted that, although the above description is given by taking the "bow" operation mode or the edge operation mode as an example, the embodiments of the present application are described in detail. However, embodiments of the present application are not limited to other possible implementations, and the self-moving cleaning apparatus may also travel in a "zig-zag," work around, etc. The radius may be gradually increased or decreased as the cleaning device is self-moved around.

By adopting the scheme, the self-moving cleaning device works in an arc shape or works along edges, so that the roller of the self-moving cleaning device passes through different positions, and the water on the roller is accelerated to be dispersed.

Optionally, in the above embodiment, during operation of the self-moving cleaning apparatus in a state where the liquid supply system is turned off, the self-moving cleaning apparatus further increases a rotational speed of a fan in the liquid recovery system to increase a suction force of the liquid recovery system.

Illustratively, under normal operating conditions, the suction provided by the blower is capable of sucking away the contaminated water within the enclosed cavity. When the self-moving cleaning equipment meets the preset condition, the liquid supply system of the self-moving cleaning equipment is closed, and meanwhile, the rotating speed of a fan of the liquid recovery system is increased, so that the suction force provided by the fan is increased, and the large suction force can quickly suck away water. By adopting the scheme, the sewage is quickly sucked away by increasing the suction force of the fan, so that water stains are prevented from being left on the ground, and the cleaning quality of the self-moving cleaning equipment is improved.

Alternatively, a heating device can be provided on the self-moving cleaning apparatus, in which heating device a heating wire, such as a heating wire of negative temperature coefficient (Negative Temperature Coefficient, NTC), is provided for generating heat. The suction air flow generated by the fan is heated by the heating device, and the heated air flow is guided to the roller and the closed cavity, so that the purpose of rapidly taking away the moisture on the roller and the moisture in the closed cavity is realized.

Optionally, in the foregoing embodiment, when the preset condition is that an obstacle area is around the self-moving cleaning device, after the self-moving cleaning device works in the closed state of the liquid supply system, the self-moving cleaning device travels to the obstacle area and surmounts an obstacle, and the liquid supply system is turned on after surmounting the obstacle.

Illustratively, the cavity formed by the liquid recovery channel and the floor of the mobile cleaning device is no longer closed, as the obstacle surmounting would lift the mobile cleaning device. Thus, prior to lifting, the self-moving cleaning apparatus is operated in the liquid supply system off state for a period of time during which the liquid supply system of the self-moving cleaning apparatus is turned off and the liquid recovery system and the drum continue to operate. For example, the wiper strip scrapes off water stains on the ground that the roller passes by, the wiper blade scrapes off sewage on the roller, and the roller continues to rotate to continuously wipe the ground, so that moisture on the roller is transferred to the ground and is quickly dried by the fan. The longer the drum rotates, the drier the drum. When the humidity of the roller is reduced to a certain degree, water seepage is avoided, and water stains on the ground are avoided.

The obstacle surmounting is started after the mobile cleaning device works for a preset time period or a preset distance in a state that the liquid supply system is closed. In the obstacle crossing process, the liquid supply system and the liquid recovery system stop working, the driving wheels work, and the self-moving cleaning equipment is lifted to cross the obstacle. After the obstacle surmounting is finished, the liquid supply system is restarted, so that the liquid supply system sprays water to the roller, and the soaked roller continuously rolls on the ground to wipe the ground, thereby cleaning the ground. At the same time, the liquid recovery system continues to operate. By adopting the scheme, when the self-moving cleaning equipment detects an obstacle, the obstacle is not immediately surmounted, but the obstacle is surmounted after the liquid supply system is stopped in situ or nearby areas for a certain frequency, the residual water of the roller is used cleanly, the obstacle is surmounted, the water stain is prevented from overflowing when the obstacle is surmounted and lifted, and the cleaning quality is improved.

Optionally, in the foregoing embodiment, when the preset condition is that the operation stopping instruction is received from the mobile cleaning device, in one implementation manner, the mobile cleaning device is operated in the liquid supply system off state after receiving the operation stopping instruction.

In the embodiment of the application, the stop instruction comprises a pause instruction and a shutdown instruction. The self-moving cleaning device may be suspended or shut down at any time during operation. For example, self-moving cleaning devices are cleaning in living rooms where toys for children are located. When the self-moving cleaning device is about to encounter a toy, a user sends a pause instruction to the self-moving cleaning device through a voice mode, a client APP and the like. For another example, the self-moving cleaning device is cleaning and the user presses the shutdown key.

And after receiving the stop operation instruction from the mobile cleaning equipment, immediately closing the liquid supply system, and operating in the working state of the liquid recovery system and the roller. During operation, the self-moving cleaning device determines the target area and operates within the target area. The description of the target area can be found in the above embodiments, and will not be repeated here. After a period of operation, or after a predetermined distance, the self-moving cleaning device shuts down or pauses in response to a stop-operation command.

In another implementation, the liquid supply system is operated in a closed state when an activation instruction is received after the stop operation instruction is received from the mobile cleaning device.

In this manner, upon receiving the stop operation instruction, the self-moving cleaning apparatus immediately turns off the liquid supply system, stops the supply of the driving force to the drum, stops the supply of the driving force to the driving wheel, and the liquid recovery system is no longer operated, thereby responding to the stop operation instruction. After a user issues a starting instruction in a voice mode, an APP mode and the like, the liquid supply system is kept in a closed state, the driving wheel starts to rotate, the roller starts to rotate, and meanwhile the liquid recovery system starts to work, so that the self-moving cleaning equipment works in the closed state of the liquid supply system.

The self-moving cleaning device is operated for a period of time in a state that the liquid supply system is closed, and after a preset length of travel or the target area is cleaned, the liquid supply system is started to work normally. Or after the self-moving cleaning device detects the starting instruction, the liquid supply system is started, the driving wheel starts to rotate, and the roller starts to rotate, so that the self-moving cleaning device works normally.

By adopting the scheme, the self-moving cleaning device can close the liquid supply system and work immediately after the stop instruction is identified, or work in the state that the liquid supply system is closed after the start instruction is identified, so that the flexibility is high.

Optionally, in the foregoing embodiment, when the preset condition is that a threshold exists at a boundary of a room where the self-moving cleaning apparatus is located, and the self-moving cleaning apparatus is operated in the liquid supply system off state to travel in a target area, the target area is an area to be cleaned remaining in a current room when the self-moving cleaning apparatus turns off the liquid supply system, and an area of the target area is determined according to a water spray amount of the liquid supply system.

For example, when the self-moving cleaning device is operated in a pictured mode, i.e., in a mode in which a navigation map is established, a room to be cleaned, such as a study, bedroom, living room, balcony, etc., can be determined from the navigation map. After each cleaning of one room, the next room is entered for cleaning. When there is a threshold between the current room and the next room, for example, there is a track of sliding doors between balcony living rooms, which is also considered a threshold. After the living room is cleaned by the self-moving cleaning equipment, the self-moving cleaning equipment enters a balcony through a threshold, and the balcony is cleaned. In order to ensure that no water stain remains when the self-moving cleaning device passes over the threshold, the self-moving cleaning device continuously detects the residual area to be cleaned of the living room according to the navigation map, and when the area to be cleaned is smaller than or equal to a preset area, the liquid supply system is closed, so that the self-moving cleaning device moves in the residual area to work in the closed state of the liquid supply system. This remaining area is also referred to as the target area. The size of the target area is related to weather, the amount of water sprayed from the liquid supply system, etc. Therefore, the self-moving cleaning device closes the liquid supply system in advance, so that water stains cannot remain when the self-moving cleaning device passes over the threshold, and the living room is cleaned.

By adopting the scheme, the liquid supply system is closed in the current room in advance, and after the residual area is cleaned in the closed state of the liquid supply system, the liquid supply system passes over the threshold and cleans the next room, so that the cleaning quality and the cleaning efficiency are ensured.

Optionally, in the foregoing embodiment, the target area is an area between the current position and the threshold, that is, the target area is located between the current position and the threshold. That is, when a threshold exists at the boundary of the current room, the self-moving cleaning apparatus finally cleans an area near the threshold, thereby minimizing a path traveled by the self-moving cleaning apparatus when entering the next room from the current room.

Alternatively, in the above embodiment, when the preset condition is that the self-moving cleaning apparatus is moved away from the floor, the landing position and the current position may be the same or different when the self-moving cleaning apparatus is placed on the floor. At this time, the self-moving cleaning apparatus can take different measures according to different situations. For example, please refer to fig. 6.

Fig. 6 is another flowchart of a control method of the self-moving cleaning apparatus according to an embodiment of the present application.

The embodiment comprises the following steps:

601. the self-moving cleaning apparatus determines that it is moved off the floor at the current location.

The self-moving cleaning device detects that the vehicle is lifted off the ground at the current position by detecting a fall, cliff, or the like using a sensor.

For example, a look-down sensor is mounted from the bottom edge of the mobile cleaning device, and infrared emissions and infrared receptions are made through the look-down sensor. If the self-moving cleaning device is on the floor and is not being moved off the floor, the infrared signal emitted by the look-down sensor can be returned and received by the floor. When the self-moving cleaning apparatus is moved away from the floor, the distance is too great and the down-looking sensor cannot receive the infrared signal returned from the floor. Based on this, it can be determined whether the self-moving cleaning apparatus is lifted off the floor. The number of the down-looking sensors may be 4-6 or other, and embodiments of the present application are not limited.

For another example, a gyroscope is mounted on the self-moving cleaning device, and when the self-moving cleaning device is moved away from the ground, the gyroscope can detect that the acceleration in the vertical direction changes. Thus, based on the gyroscope, it can be determined whether the self-moving cleaning apparatus is lifted off the floor.

As another example, when the self-moving cleaning apparatus is moved off the floor, the drive wheel idles, the resistance at the time of idling is small, and the current supplied from the motor also becomes small. Thus, it is possible to determine whether the self-moving cleaning apparatus is being carried off the floor by detecting whether the drive wheel is idling.

602. The self-moving cleaning apparatus shuts off the liquid supply system, stops driving the drum, and stops the driving wheel from rotating.

At the same time, the liquid recovery system of the self-moving cleaning apparatus is stopped.

603. Detecting whether the humidity of the roller exceeds a preset humidity by the self-moving cleaning device, and executing step 604 if the humidity of the roller exceeds the preset humidity; if the humidity of the drum does not exceed the preset humidity, step 611 is performed.

604. The self-moving cleaning device determines a landing position of the self-moving cleaning device after being re-landed.

605. Determining whether the current position and the landing position are coincident or not by the self-moving cleaning device, and if the current position and the landing position are not coincident, executing step 606; if the current location and the home location coincide, step 609 is performed.

606. Determining whether the length of the navigation path between the current position and the ground position exceeds a preset length by the self-moving cleaning device, and if the length of the navigation path exceeds the preset length, executing step 607; if the length of the navigation path does not exceed the preset length, step 609 is performed.

607. Determining whether the area where the floor location is located is clean or not by the self-moving cleaning device, and executing step 608 by the self-moving cleaning device when the area where the floor location is located is not clean; when the area where the landing position is located is cleaned, step 610 is performed.

608. And after the area where the falling position is located is cleaned by the self-moving cleaning device, the self-moving cleaning device moves to the current position according to the navigation path.

Alternatively, in this step, the self-moving cleaning apparatus may turn on the liquid supply system.

609. The self-moving cleaning apparatus operates in a target area including the current position in a state where the liquid supply system is turned off.

When the length of the navigation path does not exceed the preset length, or when the current position and the floor position overlap, the self-moving cleaning apparatus may also take one area to be cleaned near the current position as a target area.

610. Step 609 is performed after moving to the current position according to the navigation path.

611. And keeping the current state to continue working.

The self-moving cleaning device starts the liquid supply system, drives the roller to rotate and the like to work normally.

By adopting the scheme, after the self-moving cleaning equipment is moved away from the ground and falls to the ground again, the current position moved away from the ground is continuously cleaned to eliminate water stains, so that the aim of improving the cleaning quality is fulfilled.

Alternatively, in the above embodiment, steps 605, 606, 607 are not strictly sequential.

Alternatively, in the above embodiment, when the self-moving cleaning device is moved away from the ground in the mapping mode, the landing position may be located in the already-established navigation map after landing again, and at this time, the self-moving cleaning device cleans the water spot at the current position using the scheme of fig. 6. When the floor location is outside of the already established navigational map, the self-moving cleaning device continues to build the map. And after the map is built, moving to the current position according to the navigation path between the landing position and the current position.

Illustratively, the self-moving cleaning apparatus is being constructed with a high probability of being lifted off the floor by the user. When the self-moving cleaning device is moved away, the current position can be determined. If the user brings the self-moving cleaning device back to the home position, the self-moving cleaning device determines a target area according to the current position, and works in the target area in a state that the liquid supply system is closed.

If the user moves the self-moving cleaning device to another location, the self-moving cleaning device proceeds to the next step using the scheme of fig. 6 when the other location is within the already established navigational map. When other positions are located outside the established navigation map, the self-moving cleaning device continues to build the map, and the navigation map which is continuously established and the navigation map which is established before moving away from the ground are spliced to obtain the complete navigation map. The scheme shown in fig. 6 is performed based on the complete navigation map.

By adopting the scheme, in the drawing construction process of the self-moving cleaning equipment, after the self-moving cleaning equipment is moved away from the ground and put down, the water stain cleaning is continuously carried out on the moved-away position, so that the aim of improving the cleaning quality is fulfilled.

Alternatively, in the above embodiment, when the self-moving cleaning apparatus is about to surmount an obstacle, for example, about to surmount an obstacle such as a stick, or about to surmount a threshold between two adjacent rooms, the self-moving cleaning apparatus operates as follows:

First, the self-moving cleaning apparatus turns on the liquid supply system and the liquid recovery system to perform a cleaning task.

Second, the liquid supply system is shut down before an obstacle crossing event occurs.

The liquid supply system is shut off in advance when the self-moving cleaning device finds that an obstacle will be surmounted. For example, the obstacle is a stick of fine wood, and the self-moving cleaning apparatus is in the current position for 10 seconds to continue to travel. Thus, the liquid supply system is shut down for the first 10 seconds of obstacle surmounting by the automatic cleaning device.

For another example, the obstacle is a threshold, and the self-moving cleaning device is ready to surmount the obstacle after continuing to clean 1 square meter. Accordingly, the automatic cleaning apparatus turns off the liquid supply system when the area of the remaining area to be cleaned of the current room is less than or equal to 1 square meter.

Again, in the liquid supply system off state, travel in the target area.

Optionally, the rotation speed of the fan can be increased, the heating device can be started, and the like.

Again, after the target area travels, an obstacle crossing event is performed.

Finally, after the obstacle crossing event is performed, the liquid supply system is started.

In the embodiment of the application, the working environments of the self-moving cleaning equipment are various, such as marble floor, cement floor, carpet and the like, and the water quantity required for wiping is different according to the different cleaning surfaces. However, when the liquid supply system is turned off, the humidity of the drum decreases with the lapse of time. For example, please refer to fig. 7.

Fig. 7 is a schematic diagram of drum humidity in a control method of a self-moving cleaning apparatus according to an embodiment of the present application. Referring to fig. 7, after the liquid supply system is turned off, the humidity of the drum is lower and lower as time passes. When the humidity is lower than the preset humidity, the roller is not permeated. Wherein, the preset humidity is related to weather, the material of the rag on the roller, and the like. The mops on the roller comprise vibrating mops, common mops, single-roller mops, double-roller mops and the like. Wipes are also known as cleaning cloths and the like.

Fig. 8 is a schematic view of a self-moving cleaning apparatus according to an embodiment of the present application. Referring to fig. 8, the front end of the self-moving cleaning apparatus is provided with a striking plate 81, and the rear side of the striking plate 81 is provided with an upper cover 82. The upper cover 82 is provided with a first sensor 83, the first sensor 83 is used for establishing a navigation map, positioning and the like, and the first sensor 83 can be an LDS sensor, a DTOF sensor and the like. A second sensor 84 is provided on the striking plate 81 of the self-moving cleaning apparatus for identifying steps, obstacles, etc., and the second sensor 84 may be a structured light sensor, a depth camera, an area array radar, an infrared sensor, etc. A gyroscope, a drop sensor and the like are mounted in the self-moving cleaning device. The lower part of the self-moving cleaning equipment is provided with a base, a driving wheel is arranged on the base and is responsible for the walking of the whole machine, and a roller, a scraping bar and the like are arranged on the base. The liquid supply system, the suction device, the processor, the memory and the like are further arranged in the self-moving cleaning device, and the processor executes computer instructions stored in the memory, so that the liquid supply system, the suction device, the driving wheel and the like can be controlled, meanwhile, data can be acquired from the first sensor 83 and the second sensor 84, whether the self-moving cleaning device meets preset conditions or not in the state or the surrounding environment when the self-moving cleaning device is at the current position is analyzed according to the data, and then the self-moving cleaning device is controlled.

For example, when the self-moving cleaning apparatus is operated in the map-build mode, the first sensor 83 rotates to scan the surrounding environment, and the processor builds a navigation map according to the scanned data. In the process of establishing the navigation map, if the second sensor 84 recognizes an obstacle, the liquid supply system is turned off from the mobile cleaning apparatus, and the liquid supply system is operated for a period of time in a turned-off state, so that the obstacle is surmounted after the water on the drum is consumed. And continuing to build the graph after the obstacle surmounting is successful.

Similarly, when the self-moving cleaning apparatus cleans according to the established navigation map, if the second sensor 84 recognizes an obstacle, the self-moving cleaning apparatus turns off the liquid supply system, operates for a period of time in the off state of the liquid supply system, and then passes the obstacle after water on the drum is consumed. And after the obstacle surmounting is successful, the cleaning task is continuously executed according to the navigation map.

In addition, when the processor detects that the self-moving cleaning device is suspended according to the data of the drop sensor, or after the processor recognizes the stop working instruction, the method of the embodiment of the application is executed. See the above description, and will not be repeated here.

Although the embodiment of the present application has been described above by taking the example in which the first sensor 83 is provided on the upper cover 82 and the second sensor 84 is provided on the striker 81. However, embodiments of the present application are not limited, and in other possible implementations, the following conditions are satisfied: the first sensor 83 is installed on the upper part of the whole machine, such as the upper part of the upper cover or the upper part of the base, no structural shielding exists in the angle of view, and the strength of the fixed position is reliable. The second sensor 84 is arranged in front of the whole machine, no structural shielding exists in the view angle of the lens, and the strength of the fixed position is reliable.

The control method of the self-moving cleaning apparatus described above will be described in detail with several specific scenarios.

Scene one:

the self-moving cleaning device locally stores the already established navigation map. The self-moving cleaning device is cleaning in the living room according to the navigation of the navigation map. During cleaning, the self-moving cleaning device detects 10 cm in front of the current position through a structured light sensor or AI identification, and the like, and an obstacle area comprising a fine stick is formed. At this time, the processor of the self-moving cleaning apparatus controls the drum to rotate in an area other than the obstacle area, and the wiper blade scrapes off the sewage on the drum. That is, the self-moving cleaning apparatus shuts off the liquid supply system, the drum, and the liquid recovery system continue to operate, and at the same time, the rotational speed of the blower is increased to increase the suction force.

The self-moving cleaning device determines a target area based on the current location, the target area containing the current location. Then, the self-moving cleaning equipment turns around in the target area, and continuously turns around after advancing for 0.8 m at a certain speed, and then advances for 0.8 m … … to reciprocate in this way, so that an arc-shaped movement mode is formed. After the self-moving cleaning apparatus is operated for a preset period of time in the closed state of the liquid supply system, for example, after 2-6 times of reciprocation, 1 minute of reciprocation or more than 2 meters of travel, the cleaning apparatus travels to an obstacle to start obstacle crossing, i.e., to cross a stick-shaped object such as a stick. In the obstacle surmounting process, the self-moving robot keeps the liquid supply system closed, and controls the liquid recovery system to stop working. Thereafter, the self-moving cleaning apparatus travels to the obstacle area and surmounts the obstacle. And after the obstacle surmounting is finished, controlling the liquid supply system and the liquid recovery system to continuously work, so that the floor of the living room is continuously cleaned.

The first scenario is described by taking the self-moving cleaning device as an example in the pictured mode. However, the embodiment of the present application is not limited thereto, and in this scenario, if the self-moving cleaning apparatus is in the mapping mode, the same manner may be adopted before obstacle crossing, so as to avoid residual water stain on the ground caused by obstacle crossing.

In addition, in the first scene, a heating device is arranged on the liquid recovery system, and a heating wire is arranged in the heating device and used for generating heat, so that moisture in the roller and the closed cavity is evaporated as soon as possible.

Scene II:

the present scene differs from the first scene described above in that: when the target area is determined by the self-moving cleaning device, one area to be cleaned near the current position is taken as the target area according to the established navigation map and the current position. For example, the self-moving cleaning apparatus takes an area beside an obstacle as a target area.

Scene III:

the self-moving cleaning device locally stores the already established navigation map. The self-moving cleaning device is cleaning in the living room according to the navigation of the navigation map. During cleaning, the user suddenly moves the self-moving cleaning device. The self-moving cleaning device detects self-suspension through falling detection, cliff detection and the like by the sensor. At this time, the self-moving cleaning apparatus immediately turns off the liquid supply system, stops driving the rotation of the drum, stops driving the rotation of the wheel, stops the operation of the liquid recovery system, and alarms. Meanwhile, the humidity sensor is used for detecting the humidity of the roller, and when the humidity is more than 20, the current position is recorded. When the self-moving cleaning equipment falls to the ground again, if the falling position coincides with the current position, the self-moving cleaning equipment cleans the current position by water stains. And if the landing position is not coincident with the current position, returning the current position from the mobile cleaning equipment, and cleaning the current position by water stains.

Similarly, when the self-moving cleaning device is in the pattern building mode, the scheme can be adopted to remove water stains when the self-moving cleaning device is moved away from the ground.

Scene four:

the self-moving cleaning device locally stores the already established navigation map. The self-moving cleaning device is cleaning in the living room according to the navigation of the navigation map. In the cleaning process, a user issues a pause instruction or a shutdown instruction in a voice mode or APP and the like. Immediately after the power-off instruction or the pause instruction is recognized from the mobile cleaning apparatus, the liquid supply system is turned off, the driving drum is stopped, the driving wheel is stopped from rotating, and the liquid recovery system is stopped from operating. Meanwhile, the self-moving cleaning device detects the humidity of the drum, and when the humidity of the drum exceeds a preset humidity, a target area is determined according to the current position, and the self-moving cleaning device works in a state that the liquid supply system is closed in the target area. After a period of time, the self-moving cleaning device is paused or shut down.

When the humidity of the roller is less than the preset humidity, the self-moving cleaning device is directly shut down or paused.

Scene five:

the present scene differs from the fourth scene described above in that: in the fourth scenario, after the mobile cleaning device recognizes the pause or shutdown command, the water pump is turned off immediately and operated for a period of time, and then the mobile cleaning device is paused in response to the pause command or is shut down in response to the shutdown command. In this scenario, the self-moving cleaning device immediately pauses in response to the pause instruction or shuts down in response to the shutdown instruction after recognizing the pause or shutdown instruction. And when the user starts up, the self-moving cleaning device continues to work after water stain cleaning is performed at the position where the self-moving cleaning device is shut down or paused last time.

Scene six:

the self-moving cleaning device locally stores the already established navigation map. The self-moving cleaning device is cleaning in the living room according to the navigation of the navigation map. The self-moving cleaning device found: after the clients are cleaned, the next room to be cleaned is a balcony, and a rail of a sliding door is arranged between the balcony and the living room, and forms a threshold. The self-moving cleaning apparatus starts cleaning from a place far from the threshold, and the area of the remaining area is continuously monitored during cleaning. When the area of the remaining area is less than or equal to the preset area, the liquid supply system is turned off and travels within the target area to operate in the liquid supply system off state. The target area is the remaining area. When the self-moving cleaning device moves to the front of the threshold in the target area, the target area is just cleaned, the humidity of the roller of the self-moving cleaning device is reduced by a preset humidity, and the roller is not permeated. After the balcony is crossed over the threshold and enters the balcony, the self-moving cleaning equipment starts the liquid supply system, and the balcony is cleaned in a normal working state.

The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.

Fig. 9 is a schematic diagram of a control device according to an embodiment of the present application. The control device 900 includes: a control module 91, a processing module 92 and a working module 93.

A control module 91 for turning on the liquid supply system and the liquid recovery system to perform a cleaning task;

a processing module 92 for detecting, during execution of a task, whether the self-moving cleaning apparatus satisfies a preset condition that causes a decrease in negative pressure in a liquid recovery channel of the self-moving cleaning apparatus at a current time or in the future;

the control module 91 is further configured to shut down the liquid supply system if the self-moving cleaning apparatus satisfies the preset condition;

a working module 93 for working in the closed state of the liquid supply system.

In a possible implementation, the operation of the operation module 93 in the off state of the liquid supply system includes one or more of the following: maintaining the liquid recovery system on in the liquid supply system off state; maintaining the drum of the self-moving cleaning apparatus in rotation in the liquid supply system off state; travel within a target area in the liquid supply system off state.

In a possible implementation, the processing module 92 is further configured to increase the rotational speed of the fan in the liquid recovery system to increase the suction force of the liquid recovery system before the working module 93 works in the liquid supply system off state.

In a possible implementation, the control module 91 is further configured to turn on a heating device in the liquid recovery system to generate heat before the working module 93 works in the liquid supply system off state.

In a possible implementation, the working module 93 is configured to work in the liquid supply system off state when the humidity of the drum of the self-moving cleaning apparatus is greater than a preset humidity.

In a possible implementation manner, the preset condition includes at least one of the following conditions: the self-moving cleaning device is provided with an obstacle area around, the self-moving cleaning device recognizes a stop working instruction, the self-moving cleaning device is moved away from the ground, and a threshold exists at the boundary of a room where the self-moving cleaning device is located.

In a possible implementation manner, when the preset condition is that an obstacle area is around the self-moving cleaning device, the processing module 92 is further configured to control the self-moving cleaning device to travel to the obstacle area and surmount an obstacle after the working module 93 works in the closed state of the liquid supply system, and turn on the liquid supply system after surmounting the obstacle.

In a possible implementation manner, when the preset condition is that a threshold exists at a boundary of a room where the self-moving cleaning device is located, and the self-moving cleaning device is operated to travel in a target area in the closed state of the liquid supply system, the target area is an area to be cleaned remaining in the current room when the self-moving cleaning device closes the liquid supply system, and the area of the target area is determined according to the water spraying amount of the liquid supply system.

In a possible implementation, the target area is located between the location of the self-moving cleaning apparatus and the threshold when the liquid supply system is shut down.

In a possible implementation manner, when the preset condition is that the self-moving cleaning device identifies a stop operation instruction, the operation module 93 is configured to operate in the liquid supply system off state from receiving the stop operation instruction; or when receiving the start command after receiving the stop command to stop working, working in the closing state of the liquid supply system.

In a possible implementation manner, when the preset condition is that the self-moving cleaning device is moved away from the floor, before the working module 93 works in the closed state of the liquid supply system, the processing module 92 is further configured to clean an area where the landing position is located when a moving away position of the self-moving cleaning device from the floor and a landing position of the self-moving cleaning device after re-landing are not coincident and the area where the landing position is located is not cleaned; and after the area where the ground position is located is cleaned, moving to the moving-away position according to the navigation path between the moving-away position and the ground position.

In a possible implementation, the processing module 92 is further configured to continue mapping when the self-moving cleaning apparatus is in a mapping mode and when the landing position is outside an already established navigation map before moving to the landing position according to the navigation path between the carry-away position and the landing position; and after the drawing is finished, moving to the moving-away position according to the navigation path between the landing position and the moving-away position.

The control device provided by the embodiment of the application can execute the action of the self-moving cleaning device in the embodiment, and the implementation principle and the technical effect are similar, and are not repeated here.

Fig. 10 is a schematic diagram of another control device according to an embodiment of the present application. The control device 1000 includes: a control module 101, a travel module 102, and an obstacle surmounting module 103.

A control module 101 for turning on the liquid supply system and the liquid recovery system to perform a cleaning task, turning off the liquid supply system before an obstacle surmounting event occurs;

a traveling module 102 for traveling in a target area in a state where the liquid supply system is turned off;

an obstacle surmounting module 103, configured to perform an obstacle surmounting event after the target area travels;

The control module 101 is further configured to turn on the liquid supply system after the obstacle crossing event is performed.

In a possible implementation, when the obstacle is a threshold, the target area is an area to be cleaned remaining in the current room when the self-moving cleaning device turns off the liquid supply system.

In a possible implementation, the target area is located between the threshold and a position where the self-moving cleaning apparatus is shut down from the liquid supply system.

The control device provided by the embodiment of the application can control the action of the self-moving cleaning equipment when crossing the obstacle, and has similar implementation principle and technical effect, and is not repeated here.

Embodiments of the present application also provide a computer readable storage medium having stored therein computer instructions which, when executed by a processor, are adapted to carry out the method of controlling a self-moving cleaning apparatus as described above.

Embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, implements a method of controlling a self-moving cleaning apparatus as described above.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A control method of a self-moving cleaning apparatus, characterized by being applied to the self-moving cleaning apparatus, the method comprising:

operating in the closed state of the liquid supply system.

2. The method of claim 1, wherein said operating in said liquid supply system off state comprises one or more of:

maintaining the liquid recovery system on in the liquid supply system off state;

maintaining the drum of the self-moving cleaning apparatus in rotation in the liquid supply system off state;

Travel within a target area in the liquid supply system off state.

3. The method of claim 1, wherein prior to operating in the liquid supply system off state, further comprising:

and increasing the rotating speed of a fan in the liquid recovery system to increase the suction force of the liquid recovery system.

4. The method of claim 1, wherein prior to operating in the liquid supply system off state, further comprising:

a heating device in the liquid recovery system is turned on to generate heat.

5. The method of any one of claims 1-4, wherein said operating in said liquid supply system off state comprises:

when the humidity of the drum of the self-moving cleaning apparatus is greater than a preset humidity, the self-moving cleaning apparatus is operated in a state that the liquid supply system is turned off.

6. The method according to any one of claims 1-4, wherein the preset conditions include at least one of the following conditions: the self-moving cleaning device is provided with an obstacle area around, the self-moving cleaning device recognizes a stop working instruction, the self-moving cleaning device is moved away from the ground, and a threshold exists at the boundary of a room where the self-moving cleaning device is located.

7. The method of claim 6, wherein when the preset condition is that there is an obstacle region around the self-moving cleaning apparatus, the method further comprises, after operating in the liquid supply system off state:

travel to the obstacle region and surmount the obstacle;

and starting the liquid supply system after obstacle surmounting is finished.

8. The method according to claim 6, wherein when the preset condition is that a threshold exists at a boundary of a room where the self-moving cleaning apparatus is located, the self-moving cleaning apparatus is operated in the liquid supply system off state to travel in a target area, the target area being an area to be cleaned remaining in a current room when the self-moving cleaning apparatus turns off the liquid supply system, the area of the target area being determined according to the water spray amount of the liquid supply system.

9. The method of claim 8, wherein the step of determining the position of the first electrode is performed,

the target area is located between the location of the self-moving cleaning apparatus and the threshold when the liquid supply system is shut down.

10. The method of claim 6, wherein when the preset condition is that the self-moving cleaning apparatus recognizes a stop operation instruction, the operating in the liquid supply system off state includes:

Working in a state that the liquid supply system is closed from the time of receiving the stop working instruction;

or,

and when receiving the start command after receiving the stop command to stop working, working in a closing state of the liquid supply system.

11. The method of claim 6, wherein when the predetermined condition is that the self-moving cleaning apparatus is moved off the floor, the method further comprises, prior to operating in the liquid supply system off state:

when the moving position of the self-moving cleaning equipment, which is moved away from the ground, is not coincident with the landing position of the self-moving cleaning equipment after landing again, and the area where the landing position is located is not cleaned, cleaning the area where the landing position is located;

and after the area where the ground position is located is cleaned, moving to the moving-away position according to the navigation path between the moving-away position and the ground position.

12. The method of claim 11, wherein the moving to the landed position in accordance with the navigation path between the carry-away position and the landed position is preceded by:

continuing to build a map when the self-moving cleaning device is in a map building mode and when the landing position is located outside an established navigation map;

And after the drawing is finished, moving to the moving-away position according to the navigation path between the landing position and the moving-away position.

13. A control method of a self-moving cleaning apparatus, characterized by being applied to the self-moving cleaning apparatus, the method comprising:

traveling in a target area in the liquid supply system off state;

after the target area travels, performing an obstacle crossing event;

14. The method of claim 13, wherein the step of determining the position of the probe is performed,

when the obstacle is a threshold, the target area is an area to be cleaned remaining in the current room when the self-moving cleaning apparatus turns off the liquid supply system.

15. The method of claim 14, wherein the step of providing the first information comprises,

the target area is located between the threshold and a location where the self-moving cleaning apparatus is shut down from the liquid supply system.

16. A self-moving cleaning apparatus comprising:

A liquid supply device for spraying cleaning water to the drum;

a liquid recovery device for recovering sewage;

operating in the closed state of the liquid supply system.

17. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method according to any one of claims 1 to 15.