CN118236009A - Control method of floor washing robot, floor washing robot and readable storage medium - Google Patents

Abstract

The application relates to the technical field of intelligent household appliances, and discloses a control method of a floor washing robot, the floor washing robot and a computer-readable storage medium. The control method comprises the following steps: acquiring the dirt grade and the garbage type of the ground to be cleaned; based on the dirt grade being greater than or equal to a preset grade, in the constructed cleaning map, carrying out deep cleaning marking on the area to be cleaned; according to the dirt grade and the garbage type, controlling the floor cleaning robot to clean the cleaning map according to a preset cleaning path; and after the cleaning work aiming at the cleaning map is finished, controlling the floor cleaning robot to clean the floor to be cleaned with the depth cleaning mark in the cleaning map again. The control method is used for carrying out deep cleaning marking on a ground area with the dirt grade of the ground to be cleaned being greater than or equal to a preset grade in the cleaning process of the floor cleaning robot so as to carry out deep cleaning on the area, and further improving the cleaning effect on the ground.

Description

Control method of floor washing robot, floor washing robot and readable storage medium

Technical Field

The application relates to the technical field of intelligent household appliances, in particular to a control method of a floor washing robot, the floor washing robot and a computer-readable storage medium.

Background

In the related art, the type of household cleaning apparatus includes a cleaner that cleans dry garbage or a floor scrubber. The floor washing machine carries out wet mopping on the floor.

With the cleaning apparatus of the above embodiment, there are the following problems in the implementation:

The dust collector and the floor cleaner are single in garbage type. And, the control logic for the floor cleaning mode is relatively single. For the situation that local area is seriously polluted, the cleaning effect is poor, and a user is required to manually clean the local area, so that the use experience of the user is affected.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the application and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.

The control method of the floor washing robot, the floor washing robot and the computer-readable storage medium provided by the embodiment of the disclosure improve the cleaning effect.

In some embodiments, the floor scrubbing robot includes a housing, a dust extraction, a first roller, and a second roller, the first roller being liftable relative to the housing; the shell comprises a dust collection opening, and the dust collection opening is positioned between the first rolling mop and the second rolling mop; the first rolling mop is positioned in front of the second rolling mop along the advancing direction of the floor washing robot; the control method comprises the following steps: acquiring the dirt grade and the garbage type of the ground to be cleaned; based on the dirt grade being greater than or equal to a preset grade, in the constructed cleaning map, carrying out deep cleaning marking on the area of the ground to be cleaned; according to the dirt level and the garbage type, controlling the floor cleaning robot to clean the cleaning map according to a preset cleaning path; and after the cleaning work aiming at the cleaning map is completed, controlling the floor cleaning robot to perform cleaning work again on the floor to be cleaned with the depth cleaning mark in the cleaning map.

Optionally, based on the garbage type including granular garbage, the step of controlling the floor cleaning robot to perform cleaning operation on the cleaning map according to a preset cleaning path according to the dirt level and the garbage type includes: based on the dirt level being smaller than the preset level, controlling the first rolling mop to be lifted to a preset position, controlling the dust collection piece to work according to a first preset suction force, and controlling the second rolling mop to work according to a first preset rotating speed; controlling the first rolling mop to be lifted to a preset position based on the dirt level being greater than or equal to the preset level, controlling the dust collection piece to work according to a second preset suction force, and controlling the second rolling mop to work according to a second preset rotating speed; the first preset suction force is smaller than the second preset suction force, and the first preset rotating speed is smaller than the second preset rotating speed.

Optionally, the step of controlling the floor cleaning robot to perform cleaning operation on the cleaning map according to a preset cleaning path according to the dirt level and the dirt type comprises: based on the dirt level being smaller than the preset level, controlling the first rolling mop and the second rolling mop to work according to a third preset rotating speed, and controlling the dust collection piece to work according to a third preset suction force; based on the dirt grade being greater than or equal to the preset grade, controlling the first rolling mop and the second rolling mop to work according to a fourth preset rotating speed, and controlling the dust collection piece to work according to a fourth preset suction force; the third preset suction force is smaller than the fourth preset suction force, and the third preset rotating speed is smaller than the fourth preset rotating speed.

Optionally, the step of controlling the floor scrubbing robot to perform cleaning again on the floor to be cleaned with the depth cleaning mark in the cleaning map includes: acquiring position information of the ground to be cleaned with the depth cleaning mark in the cleaning map; generating a deep cleaning path according to the position information; and controlling the floor cleaning robot to perform cleaning again according to the deep cleaning path.

Optionally, the step of generating the deep cleaning path according to the position information includes: determining the shortest distance among the distances between any two areas of the ground to be cleaned according to the cleaning map; generating a plurality of paths to be selected according to the shortest distances and the current positions of the floor washing robots; and selecting the path to be selected with the shortest path from the plurality of paths to be selected as the deep cleaning path.

Optionally, the second roller is capable of lifting relative to the housing; the step of controlling the floor cleaning robot to perform cleaning again according to the deep cleaning path comprises the following steps: and in the process of moving along the deep cleaning path, controlling the first rolling mop and the second rolling mop to keep a lifting state between two adjacent areas of the ground to be cleaned and between the starting point of the deep cleaning path and the area of the ground to be cleaned.

Optionally, the step of acquiring the dirt level and the garbage type of the floor to be cleaned includes: acquiring ground information of the ground to be cleaned; and determining the dirt grade and the garbage type of the ground to be cleaned according to the ground information.

Optionally, before the step of obtaining the dirt level and the garbage type of the floor to be cleaned, the control method further includes: obtaining the type of the material of the ground; based on the carpet type, controlling the first rolling mop to keep a lifting state and controlling the second rolling mop and the dust collection piece to work in the cleaning process; and based on the material type being floor or tile type, entering the step of acquiring the dirt grade and the garbage type of the floor to be cleaned.

In some embodiments, a floor scrubbing robot is provided comprising a processor and a memory storing program instructions, the processor being configured to perform a control method as described previously when executing the program instructions.

In some embodiments, a computer-readable storage medium is provided, the computer-readable storage medium comprising a stored program, wherein the program when run performs a control method as described above.

The control method of the floor washing robot, the floor washing robot and the computer-readable storage medium provided by the embodiment of the disclosure can realize the following technical effects:

The present disclosure provides a floor washing robot including: the dust collector comprises a shell, a dust collection piece, a first rolling mop and a second rolling mop. The shell comprises a dust collection port, a first mounting port and a second mounting port. The dust collection opening is arranged corresponding to the dust collection piece, and the dust collection piece cleans dust and particulate matters on the ground through the dust collection opening. The first mounting opening and the second mounting opening are used for mounting the first rolling mop and the second rolling mop respectively. And the first rolling mop and the second rolling mop are positioned at two sides of the dust collection piece and are used for wet mopping the ground. Through the robot that washes ground that this disclosure provided, realize combining together dry treatment and wet treatment to ground, clear up subaerial dry rubbish earlier the back, the rethread first rolls and drags and roll with the second and drag to clear up ground, has promoted the cleaning effect to ground.

The control method for the floor washing robot provided by the disclosure comprises the following steps: the floor to be cleaned is scanned firstly to determine the dirt grade and the garbage type of the floor to be cleaned. And determining the operation parameters of the floor cleaning robot according to the dirt grade and the garbage type. And controlling the floor cleaning robot to clean the cleaning map along a preset cleaning path according to the operation parameters. In the cleaning process of the floor cleaning robot, the floor area with the dirt grade larger than or equal to the preset grade is subjected to deep cleaning marking in the cleaning map, and after the floor corresponding to the cleaning map is cleaned according to the preset cleaning path, the floor area with the deep cleaning marking is subjected to deep cleaning.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:

FIG. 1 is a schematic view of a construction of a floor scrubbing robot provided by one embodiment of the present disclosure;

FIG. 2 is a schematic view of another angle of the floor scrubbing robot provided by the embodiment of FIG. 1;

FIG. 3 is a schematic view of the construction of one operational state of the floor scrubbing robot provided by the embodiment of FIG. 1;

FIG. 4 is a schematic view of another operational state of the floor scrubbing robot provided by the embodiment of FIG. 1;

FIG. 5 is a flow diagram of a method of controlling a floor scrubbing robot provided in one embodiment of the present disclosure;

FIG. 6 is a flow diagram of a control method of a floor scrubbing robot provided in yet another embodiment of the present disclosure;

FIG. 7 is a flow diagram of a method of controlling a floor scrubbing robot provided in accordance with yet another embodiment of the present disclosure;

Fig. 8 is a schematic structural view of a floor scrubbing robot provided in one embodiment of the present disclosure.

Reference numerals:

1: a floor washing robot;

10: a housing; 102: a dust collection port; 104: a first mounting port; 106: a second mounting port;

20: a first roller; 30: a second roller; 40: side brushing; 50: a detection mechanism;

800: a floor washing robot; 802: a processor; 804: a memory; 806: a communication interface; 808: a bus.

Detailed Description

So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.

In some embodiments, as shown in connection with fig. 1 and 2, there is provided a floor scrubbing robot 1 comprising a housing 10, a dust collection member, a first roller mop 20 and a second roller mop 30, the first roller mop 20 being capable of being lifted with respect to the housing 10; the housing 10 includes a dust suction opening 102, the dust suction opening 102 being located between the first roller 20 and the second roller 30; the first roller blade 20 is positioned in front of the second roller blade 30 in the advancing direction of the floor scrubbing robot 1.

The floor washing robot 1 provided by the present disclosure includes: the dust collector comprises a shell 10, a dust collection piece, a first roller 20 and a second roller 30. The housing 10 includes a dust collection port 102, a first mounting port 104, and a second mounting port 106. The dust collection opening 102 is provided corresponding to a dust collection member, and the dust collection member cleans dust and particulate matters on the ground through the dust collection opening 102. The first and second mounting apertures 104, 106 are for mounting the first and second roller drags 20, 30. And, the first roller 20 and the second roller 30 are positioned at two sides of the dust collection piece for wet-dragging the ground. Through the floor cleaning robot 1 provided by the disclosure, the dry treatment and wet treatment of the ground are combined, and the ground is cleaned through the first rolling mop 20 and the second rolling mop 30 after the dry garbage on the ground is cleaned, so that the cleaning effect on the ground is improved.

Optionally, the floor scrubbing robot 1 further comprises a driving mechanism, which is arranged in the housing 10. The drive mechanism is coupled to the first roller 20. The drive mechanism is used to drive the first roller 20 in motion relative to the housing 10 to effect lifting or lowering. Referring to fig. 4, when the floor cleaning robot 1 performs a dust suction operation, the first roller mop 20 is driven to be lifted to a preset position by the driving mechanism, dust is sucked by the dust suction member, and the second roller mop 30 positioned behind the dust suction member wet-mopping the area treated by the dust suction member. Thus, the dry garbage on the ground is treated firstly, and then wet dragging is carried out, so that the cleaning effect and the cleaning efficiency on the ground are improved.

Referring to fig. 3, when there is no dry garbage on the floor, the first roller 20 is driven to be in a lowered state by the driving mechanism, and the floor is cleaned by the first roller 20 and the second roller 30.

Through the robot 1 washes ground that this disclosure provided, can select dust absorption piece and roll the cooperation mode of dragging according to the rubbish type on ground, realize the cleanness to ground, promoted the intellectuality of robot 1 washes ground to and clean effect and clean efficiency to ground.

Alternatively, the number of driving mechanisms is two, and one of the two driving mechanisms is used to drive the first roller 20 to raise or lower. The other of the two drive mechanisms is connected to the second roller 30 for driving the second roller 30 to raise or lower relative to the housing 10.

Optionally, the drive mechanism comprises a motor and a transmission mechanism. The motor is disposed within the housing 10. The transmission mechanism is connected with the first roller 20 or the second roller 30. The motor is started to drive the transmission mechanism to move, so that the first rolling mop 20 or the second rolling mop 30 is driven to lift and lower relative to the shell 10.

Optionally, the transmission comprises a gear and a rack. The gear is sleeved on the output shaft of the motor. The rack is slidably connected to the housing 10 and the pinion is engaged with the rack. The first roller 20 or the second roller 30 is connected with one end of the rack facing the first mounting opening 104 or the second mounting opening 106. The motor drives the gear to rotate. The rack is driven by the gear to slide along the shell 10 so as to drive the first roller 20 or the second roller 30 to lift and lower relative to the shell 10.

Optionally, as shown in fig. 1 and 2, the floor cleaning robot 1 further includes side brushes 40, the side brushes 40 are disposed on two sides of the dust collection opening 102, and the cleaning effect is improved by sweeping dry garbage on the floor through the side brushes 40 and working in cooperation with the dust collection member.

Optionally, as shown in fig. 1 and 2, the floor scrubbing robot 1 further includes a detection mechanism 50, where the detection mechanism 50 is disposed on the housing 10 and located on the front side of the housing 10. Detection of the ground to be cleaned is achieved through the detection mechanism 50, so that ground information and junk information are obtained.

Optionally, the detection mechanism 50 includes an infrared sensor by which ground conditions are detected to determine the soil level of the ground.

Optionally, the detection mechanism 50 includes an ultrasonic sensor by which the type of floor material is detected. Determining whether the floor material type is carpet or non-carpet. Non-carpet materials include floors or tiles.

Optionally, the detection mechanism 50 comprises an image acquisition device. And acquiring a picture of the area to be cleaned through an image acquisition device. And analyzing and processing the pictures to determine the garbage type. The waste types include dry waste or liquid waste.

Optionally, the floor scrubbing robot 1 further comprises a water injection assembly. A water injection assembly is disposed within the housing 10, the water injection assembly including a water tank and a water pipe. The water pipe is communicated with the water tank. The water outlet end of the water pipe is arranged corresponding to the first rolling mop 20 and the second rolling mop 30. The water injection assembly is used for injecting water to the first rolling mop 20 and the second rolling mop 30 so as to improve the wettability of the first rolling mop 20 and the second rolling mop 30 and further improve the cleaning effect on the ground.

Optionally, a flow valve is provided on the water pipe. The opening degree of the flow valve is controlled to regulate the output water quantity, so that the accuracy of the water injection flow is improved.

In some embodiments, the floor scrubbing robot 1 further comprises a processor and a memory storing program instructions, the processor being configured to execute the control method of the floor scrubbing robot 1 when executing the program instructions.

In some embodiments, in conjunction with the floor scrubbing robot shown in fig. 1 and 2, a control method of the floor scrubbing robot is provided, and in conjunction with fig. 5, the control method includes:

s502, the processor acquires the dirt grade and the garbage type of the floor to be cleaned.

S504, based on the dirt level being greater than or equal to a preset level, in the constructed cleaning map, the processor carries out deep cleaning marking on the area of the ground to be cleaned.

S506, the processor controls the floor cleaning robot to clean the cleaning map according to the preset cleaning path according to the dirt grade and the garbage type.

And S508, after the cleaning work aiming at the cleaning map is completed, the processor controls the floor cleaning robot to clean the ground to be cleaned with the depth cleaning mark in the cleaning map again.

The control method for the floor washing robot provided by the disclosure comprises the following steps: the floor to be cleaned is scanned firstly to determine the dirt grade and the garbage type of the floor to be cleaned. And determining the operation parameters of the floor cleaning robot according to the dirt grade and the garbage type. And controlling the floor cleaning robot to clean the cleaning map along a preset cleaning path according to the operation parameters. In the cleaning process of the floor cleaning robot, the floor area with the dirt grade larger than or equal to the preset grade on the floor to be cleaned is subjected to deep cleaning marking in the cleaning map, and after the floor corresponding to the cleaning map is cleaned according to the preset cleaning path, the floor area with the deep cleaning marking is subjected to deep cleaning. Compared with the related art, the control method of the floor cleaning robot can mark the area with serious dirt in the cleaning process along the preset cleaning path so as to realize the cleaning treatment of the area with serious dirt, further improve the cleaning effect on the ground, avoid the cleaning treatment by manpower and improve the use experience of a user.

When the floor cleaning robot is used for the first time, the floor cleaning robot moves along the indoor ground, and the indoor ground is subjected to map construction to obtain a cleaning map. And generating a preset cleaning path which accords with the indoor pattern characteristics according to the cleaning map. And each time indoor cleaning treatment is carried out, working is carried out according to a preset cleaning path and a constructed cleaning map.

Optionally, the step of controlling the floor cleaning robot to perform cleaning work on the cleaning map according to the preset cleaning path according to the dirt level and the dirt type comprises:

based on the dirt level being less than the preset level, the first roller tractor is controlled to be lifted to a preset position, the dust collection piece is controlled to work according to the first preset suction force, and the second roller tractor is controlled to work according to the first preset rotating speed.

And controlling the first rolling mop to be lifted to a preset position based on the dirt level being greater than or equal to a preset level, controlling the dust collection piece to work according to a second preset suction force, and controlling the second rolling mop to work according to a second preset rotating speed.

The first preset suction force is smaller than the second preset suction force, and the first preset rotating speed is smaller than the second preset rotating speed.

In this embodiment, for the case where the type of the garbage on the floor to be cleaned is the granular garbage, the dirt level corresponding to the floor to be cleaned is compared with the preset level.

Based on the dirt level being smaller than the preset level, the floor to be cleaned is low in dirt level, deep cleaning is not needed, and cleaning operation parameters are determined according to the current dirt level. For this case, the first roller is controlled to be lifted to a preset position according to the cleaning operation parameters, and the suction member is controlled to operate according to the first preset suction force, and the second roller is controlled to operate according to the first preset rotation speed. The first roller is lifted, particle type garbage on the ground is cleaned through the dust collection piece, and wet cleaning is carried out on the ground through the second roller at the rear side of the dust collection opening, so that double cleaning on the ground is realized, and cleaning effect and cleaning efficiency are improved.

Based on the dirt level being greater than or equal to the preset level, the dirt level of the floor to be cleaned is higher, the reinforced cleaning is needed, and the cleaning operation parameters are increased relative to the dirt level lower than the preset level, namely the first preset suction force is smaller than the second preset suction force, and the first preset rotating speed is smaller than the second preset rotating speed. According to the cleaning operation parameters, the first rolling and dragging device is controlled to be lifted to a preset position, the dust collection piece is controlled to work according to a second preset suction force, the second rolling and dragging device is controlled to work according to a second preset rotating speed, and the cleaning effect and the cleaning efficiency on the ground are improved.

Optionally, the value of the first preset suction force ranges from 3000 pa to 4000 pa. The specific value of the first preset suction force is 3000 Pa, 3500 Pa or 4000 Pa.

The second preset suction force has a value ranging from 4500 Pa to 5500 Pa. The specific value of the second preset suction force is 4500 Pa, 5000 Pa or 5500 Pa.

The first preset rotational speed is in the range of 250rpm to 350rpm. Specific values of the first preset rotational speed include 250rpm, 300rpm or 350rpm.

The second preset rotational speed is in the range of 400rpm to 500rpm. Specific values of the second preset rotational speed include 400rpm, 450rpm, or 500rpm.

Optionally, the step of controlling the floor cleaning robot to perform cleaning work on the cleaning map according to the preset cleaning path according to the dirt level and the type of the dust type garbage or the liquid garbage comprises:

based on the dirt level being less than the preset level, controlling the first roller and the second roller to work at a third preset rotating speed and controlling the dust collection piece to work at a third preset suction force.

Based on the dirt level being greater than or equal to the preset level, controlling the first roller and the second roller to operate at a fourth preset rotational speed, and controlling the dust collection member to operate at a fourth preset suction force.

The third preset suction force is smaller than the fourth preset suction force, and the third preset rotating speed is smaller than the fourth preset rotating speed.

In this embodiment, in the case where the type of garbage on the floor to be cleaned is dust-type garbage or liquid garbage, the floor is cleaned using the first roller and the second roller. Firstly, comparing a dirt grade corresponding to a ground to be cleaned with a preset grade; secondly, determining cleaning operation parameters of the floor cleaning robot according to the comparison result; and controlling the floor cleaning robot to perform cleaning work according to the cleaning operation parameters.

Based on the dirt level being smaller than the preset level, the floor to be cleaned is low in dirt level, deep cleaning is not needed, and cleaning operation parameters are determined according to the current dirt level. According to the cleaning operation parameters, the first rolling mop and the second rolling mop are controlled to work according to a third preset rotating speed, and the dust collection piece is controlled to work according to a third preset suction force.

Based on the dirt level being greater than or equal to the preset level, it is indicated that the dirt level of the floor to be cleaned is relatively high, enhanced cleaning is required, and the cleaning operation parameters are increased relative to the dirt level being lower than the preset level, i.e. the third preset suction force is smaller than the fourth preset suction force, and the third preset rotating speed is smaller than the fourth preset rotating speed. According to the cleaning operation parameters, the first rolling mop and the second rolling mop are controlled to work according to a fourth preset rotating speed, and the dust collection piece is controlled to work according to a fourth preset suction force.

According to the control method provided by the disclosure, the cleaning mode and the cleaning operation parameters are selected in a targeted manner according to the garbage type and the dirt grade, so that the cleaning effect and the cleaning efficiency on the ground can be improved.

Optionally, the third preset suction force has a value ranging from 3000 pa to 4000 pa. The specific value of the third preset suction force is 3000 Pa, 3500 Pa or 4000 Pa.

The fourth preset suction force has a value ranging from 4500 Pa to 5500 Pa. The specific value of the fourth preset suction force is 4500 Pa, 5000 Pa or 5500 Pa.

The third preset rotational speed is in the range of 250rpm to 350rpm. Specific values of the third preset rotational speed include 250rpm, 300rpm or 350rpm.

The fourth preset rotational speed is in the range of 400rpm to 500rpm. Specific values of the fourth preset rotational speed include 400rpm, 450rpm or 500rpm.

Optionally, the water injection assembly is controlled to inject water according to a first preset flow rate based on the dirt level being less than a preset level. And controlling the water injection assembly to inject water according to the second preset flow based on the dirt grade being greater than or equal to the preset grade. The first preset flow is smaller than the second preset flow.

In this embodiment, the water injection flow rate of the water injection assembly is controlled according to the soil level of the ground such that the water injection flow rate corresponds to the soil level. For the condition of higher dirt level, the water injection flow is increased so as to improve the cleaning effect on the ground. And under the condition of lower dirt level, the water injection flow is reduced, and the water utilization rate is improved.

Optionally, the value range of the first preset flow is 0.03L/min to 0.05L/min. The specific value of the first preset flow is 0.03L/min, 0.04L/min or 0.05L/min.

The value range of the second preset flow is 0.06L/min to 0.08L/min. The specific value of the second preset flow is 0.06L/min, 0.07L/min or 0.08L/min.

In some embodiments, in conjunction with the floor scrubbing robot shown in fig. 1 and 2, a control method of the floor scrubbing robot is provided, and in conjunction with fig. 6, the control method includes:

s602, the processor acquires the dirt grade and the garbage type of the floor to be cleaned.

S604, based on the dirt level being greater than or equal to a preset level, in the constructed cleaning map, the processor performs deep cleaning marking on the area to be cleaned.

S606, the processor controls the floor cleaning robot to clean the cleaning map according to the preset cleaning path according to the dirt grade and the garbage type.

S608, based on the position information of the floor to be cleaned with the depth cleaning mark in the cleaning map obtained by the processor after the cleaning work for the cleaning map is completed.

And S610, the processor generates a deep cleaning path according to the position information, and controls the floor cleaning robot to perform cleaning again according to the deep cleaning path.

In this embodiment, in the process that the floor cleaning robot cleans the cleaning map according to the preset cleaning path, the region having the dirt level greater than or equal to the preset level is subjected to the deep cleaning mark. After the floor cleaning robot finishes the cleaning treatment of the cleaning map according to the preset cleaning path. And acquiring the position information of the area for performing the depth cleaning mark in the cleaning map. Based on the location information, a deep cleaning path is generated. The floor cleaning robot is controlled to perform secondary cleaning treatment on the area with the deep cleaning mark along the deep cleaning path so as to realize deep cleaning on the area with higher dirt level and improve the cleaning effect on the ground.

By generating the deep cleaning path, the cleaning is performed according to the deep cleaning path, and the region with serious dirt is cleaned again. On one hand, the floor cleaning effect is improved. On the one hand, the whole cleaning map is prevented from being cleaned integrally, the energy consumption of the floor cleaning robot is reduced, and the service life of the floor cleaning robot is prolonged.

Optionally, the step of generating the depth cleaning path according to the positional information based on the number of depth cleaning marks being a plurality of includes: determining the shortest distance among the distances between any two areas of the ground to be cleaned according to the cleaning map; generating a plurality of paths to be selected according to the shortest distances and the current positions of the floor washing robots; and selecting the path to be selected with the shortest path from the plurality of paths to be selected as the deep cleaning path.

In this embodiment, when there are a plurality of areas marked with the depth cleaning mark in the cleaning map, the distance between any two areas is calculated from the position information of the plurality of areas to be cleaned in the cleaning map, and the shortest distance among the distances is acquired. And marking the current position of the robot in the cleaning map. And generating a plurality of paths to be selected according to the shortest distances and the current positions of the floor washing robots. And calculating a plurality of stroke lengths corresponding to the plurality of paths to be selected. And selecting a path to be selected corresponding to the shortest stroke length in the stroke lengths as a deep cleaning path. Thus, the cleaning path of the floor cleaning robot can be shortened, and the cleaning efficiency can be improved. Meanwhile, the frequency of repeated walking of the floor cleaning robot in the same area is reduced, secondary pollution is avoided, and the cleaning effect on the ground is improved.

Optionally, the step of controlling the floor cleaning robot to perform the re-cleaning operation according to the deep cleaning path includes: and in the process of moving along the deep cleaning path, controlling the first rolling mop and the second rolling mop to keep a lifting state between two adjacent areas of the ground to be cleaned and between the starting point of the deep cleaning path and the area of the ground to be cleaned.

In the embodiment, in the process of deep cleaning, the first rolling mop and the second rolling mop are controlled to be lifted in the process of moving from the current position of the floor cleaning robot to the first deep cleaning area and on the moving path between two adjacent deep cleaning areas, so that secondary pollution to the floor area which is cleaned is avoided.

Optionally, the step of obtaining the dirt level and the garbage type of the floor to be cleaned comprises: acquiring ground information of the ground to be cleaned; and determining the dirt grade and the garbage type of the ground to be cleaned according to the ground information.

In this embodiment, the floor information is analyzed by acquiring the floor information to determine the dirt level and the type of the waste to be cleaned.

Optionally, the floor cleaning robot is provided with a pollution degree sensor, and adopts the correlation principle of infrared light rays. The working principle of the sensor is as follows: turbidity is caused by suspended particles in water that diffusely reflect incident light, and the ratio of scattered light to transmitted light is linear with turbidity. The degree of fouling was divided into 1 to 100 minutes according to the ratio. The memory is set to be normally dirty in 1 to 70 minutes, and is defined to be particularly dirty in 71 to 100 minutes. I.e. a soil level of 1 to 100 is set, wherein the preset level is 70. The dirt level corresponds to a dirt level of 1 to 100.

In some embodiments, in conjunction with the floor scrubbing robot shown in fig. 1 and 2, a control method of the floor scrubbing robot is provided, and in conjunction with fig. 7, the control method includes:

S702, the processor acquires the material type of the ground.

S704, controlling the first rolling mop to keep a lifting state and controlling the second rolling mop and the dust collection piece to work by the processor in the cleaning process based on the carpet type.

S706, the processor acquires the dirt grade and the garbage type of the floor to be cleaned based on the floor or tile type as the material type.

S708, based on the dirt level being greater than or equal to the preset level, in the constructed cleaning map, the processor performs a deep cleaning mark on the area to be cleaned.

S710, the processor controls the floor cleaning robot to clean the cleaning map according to the preset cleaning path according to the dirt grade and the garbage type.

S712, after the cleaning operation for the cleaning map is completed, the processor controls the floor cleaning robot to perform the cleaning operation again on the floor to be cleaned having the deep cleaning mark in the cleaning map.

In this embodiment, the type of material of the floor is obtained prior to performing the cleaning operation. And selecting a corresponding working mode and a corresponding working parameter according to the type of the ground material. When the ground material is of a carpet type, the first rolling and dragging device is required to be lifted, and the smoothness of the movement of the floor cleaning robot is improved. Meanwhile, the dust collection piece is controlled to improve the suction force so as to improve the cleaning effect on carpets. When the floor material is floor or tile type, further obtain the dirt grade and the rubbish type of the floor to be cleaned. With reference to the control method, the floor cleaning robot is controlled to clean the floor according to the dirt grade and the garbage type.

Optionally, based on the material type being a carpet type, in the cleaning process, the step of controlling the first roller to keep a lifted state and controlling the second roller to work with the dust collection piece specifically includes: the second rolling and dragging is controlled to work at a fifth preset rotating speed, and the dust collection piece is controlled to work at a fifth preset suction force.

In this embodiment, the suction force of the suction member needs to be increased to a fifth preset suction force for the carpet type floor surface to enhance the suction effect. And because the carpet type ground has larger running resistance to the floor cleaning robot, the rotating speed of the second rolling and dragging device is reduced to a fifth preset rotating speed, so that the cleaning effect and the running stability of the equipment are improved.

Optionally, the fifth preset rotational speed ranges from 180rpm to 230rpm. Specific values of the fifth preset rotational speed include 180rpm, 200rpm or 230rpm.

The fifth preset suction force has a value ranging from 4500 Pa to 5500 Pa. The specific value of the fifth preset suction force is 4500 Pa, 5000 Pa or 5500 Pa.

Optionally, the water injection assembly is controlled to inject water according to a third preset flow rate during the cleaning operation based on the carpet type as the material type.

In this embodiment, for the floor of the carpet type, the water injection flow rate is reduced to enhance the cleaning effect in consideration of the easiness of water absorption of the carpet material.

Optionally, the third preset flow rate ranges from 0.015L/min to 0.025L/min. The specific value of the third preset flow is 0.015L/min, 0.02L/min or 0.025L/min.

The disclosed embodiment provides a floor washing robot 800, the structure of which is shown in fig. 8, comprising:

A processor (processor) 802 and a memory (memory) 804, and may also include a communication interface (Communication Interface) 806 and a bus 808. The processor 802, the communication interface 808, and the memory 804 may communicate with each other via the bus 808. The communication interface 806 may be used for information transfer. The processor 802 may call logic instructions in the memory 804 to perform the control method of the floor scrubbing robot of the above-described embodiment.

The memory 804 is used as a computer readable storage medium for storing a software program, a computer executable program, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 802 executes the functional applications and data processing by running the program instructions/modules stored in the memory 804, i.e. implements the control method of the floor scrubbing robot in the above-described method embodiment. Therefore, the above embodiments have all the advantages and will not be described herein.

Memory 804 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the terminal device, etc. Further, the memory 804 may include high-speed random access memory, and may also include non-volatile memory.

Embodiments of the present disclosure provide a computer-readable storage medium storing computer-executable instructions configured to perform the above-described control method of a floor scrubbing robot.

The computer readable storage medium may be a transitory computer readable storage medium or a non-transitory computer readable storage medium.

The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of the embodiments of the present disclosure encompasses the full ambit of the claims, as well as all available equivalents of the claims. In the case of use in the present application, although the terms "first", "second", etc. may be used in the present application to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without changing the meaning of the description, so long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first element and the second element are both elements, but may not be the same element. Moreover, the terminology used in the present application is for the purpose of describing embodiments only and is not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (the) are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this disclosure is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises," "comprising," and/or "includes," when used in the present application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method or apparatus that includes the element. In this context, each embodiment may be described with emphasis on the differences from the other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.

Those of skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. The skilled artisan may use different methods for each particular application to achieve the described functionality, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

In the embodiments disclosed herein, the disclosed methods, articles of manufacture (including but not limited to devices, apparatuses, etc.) may be practiced in other ways. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the units may be merely a logical function division, and there may be additional divisions in the case of actual implementations, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to implement the present embodiment. In addition, each functional unit in the embodiments of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than that disclosed in the description, and in some cases no particular order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may also be performed in reverse order in some cases, which may be dependent on the functions involved. Each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Claims (10)

1. The control method of the floor washing robot is characterized in that the floor washing robot comprises a shell, a dust collection piece, a first rolling mop and a second rolling mop, and the first rolling mop can be lifted relative to the shell; the shell comprises a dust collection opening, and the dust collection opening is positioned between the first rolling mop and the second rolling mop; the first rolling mop is positioned in front of the second rolling mop along the advancing direction of the floor washing robot; the control method comprises the following steps:

acquiring the dirt grade and the garbage type of the ground to be cleaned;

based on the dirt grade being greater than or equal to a preset grade, in the constructed cleaning map, carrying out deep cleaning marking on the area of the ground to be cleaned;

according to the dirt level and the garbage type, controlling the floor cleaning robot to clean the cleaning map according to a preset cleaning path;

And after the cleaning work aiming at the cleaning map is completed, controlling the floor cleaning robot to perform cleaning work again on the floor to be cleaned with the depth cleaning mark in the cleaning map.

2. The control method according to claim 1, wherein the step of controlling the floor cleaning robot to perform cleaning work on the cleaning map according to a preset cleaning path based on the type of garbage including granular garbage, according to the dirt level and the type of garbage, includes:

Based on the dirt level being smaller than the preset level, controlling the first rolling mop to be lifted to a preset position, controlling the dust collection piece to work according to a first preset suction force, and controlling the second rolling mop to work according to a first preset rotating speed;

Controlling the first rolling mop to be lifted to a preset position based on the dirt level being greater than or equal to the preset level, controlling the dust collection piece to work according to a second preset suction force, and controlling the second rolling mop to work according to a second preset rotating speed;

the first preset suction force is smaller than the second preset suction force, and the first preset rotating speed is smaller than the second preset rotating speed.

3. The control method according to claim 2, wherein the step of controlling the floor cleaning robot to perform cleaning work on the cleaning map according to a preset cleaning path based on the type of garbage including dust-type garbage or liquid garbage, according to the dirt level and the type of garbage, includes:

Based on the dirt level being smaller than the preset level, controlling the first rolling mop and the second rolling mop to work according to a third preset rotating speed, and controlling the dust collection piece to work according to a third preset suction force;

based on the dirt grade being greater than or equal to the preset grade, controlling the first rolling mop and the second rolling mop to work according to a fourth preset rotating speed, and controlling the dust collection piece to work according to a fourth preset suction force;

The third preset suction force is smaller than the fourth preset suction force, and the third preset rotating speed is smaller than the fourth preset rotating speed.

4. A control method according to any one of claims 1 to 3, wherein the step of controlling the floor scrubbing robot to perform a cleaning operation again on the floor surface to be cleaned having the deep cleaning mark in the cleaning map includes:

Acquiring position information of the ground to be cleaned with the depth cleaning mark in the cleaning map;

generating a deep cleaning path according to the position information;

And controlling the floor cleaning robot to perform cleaning again according to the deep cleaning path.

5. The control method according to claim 4, wherein the step of generating a deep cleaning path from the positional information includes, based on the number of the deep cleaning marks being plural:

Determining the shortest distance among the distances between any two areas of the ground to be cleaned according to the cleaning map;

Generating a plurality of paths to be selected according to the shortest distances and the current positions of the floor washing robots;

And selecting the path to be selected with the shortest path from the plurality of paths to be selected as the deep cleaning path.

6. The control method according to claim 4, wherein the second roller is liftable with respect to the housing; the step of controlling the floor cleaning robot to perform cleaning again according to the deep cleaning path comprises the following steps:

And in the process of moving along the deep cleaning path, controlling the first rolling mop and the second rolling mop to keep a lifting state between two adjacent areas of the ground to be cleaned and between the starting point of the deep cleaning path and the area of the ground to be cleaned.

7. A control method according to any one of claims 1 to 3, wherein the step of acquiring the dirt level and the type of the refuse on the floor to be cleaned comprises

Acquiring ground information of the ground to be cleaned;

and determining the dirt grade and the garbage type of the ground to be cleaned according to the ground information.

8. A control method according to any one of claims 1 to 3, characterized in that, before the step of acquiring the dirt level and the type of waste of the floor to be cleaned, the control method further comprises:

Obtaining the type of the material of the ground;

Based on the carpet type, controlling the first rolling mop to keep a lifting state and controlling the second rolling mop and the dust collection piece to work in the cleaning process;

And based on the material type being floor or tile type, entering the step of acquiring the dirt grade and the garbage type of the floor to be cleaned.

9. A floor scrubbing robot comprising a processor and a memory storing program instructions, characterized in that the processor is configured to execute the control method according to any one of claims 1 to 8 when executing the program instructions.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the program when run performs the control method of any one of claims 1 to 8.