CN111588319A - Mopping control method, mopping control device, mopping control medium and mopping control equipment - Google Patents
Mopping control method, mopping control device, mopping control medium and mopping control equipment Download PDFInfo
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- CN111588319A CN111588319A CN202010442623.XA CN202010442623A CN111588319A CN 111588319 A CN111588319 A CN 111588319A CN 202010442623 A CN202010442623 A CN 202010442623A CN 111588319 A CN111588319 A CN 111588319A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000004140 cleaning Methods 0.000 claims abstract description 189
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 77
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- 238000004891 communication Methods 0.000 claims description 16
- 238000003860 storage Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 abstract description 20
- 230000003749 cleanliness Effects 0.000 abstract description 10
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- 230000003287 optical effect Effects 0.000 description 3
- 238000005202 decontamination Methods 0.000 description 2
- 230000003588 decontaminative effect Effects 0.000 description 2
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The invention relates to a mopping control method, a mopping control device, a mopping control medium and mopping control equipment. According to the scheme provided by the embodiment of the invention, the floor mopping mode corresponding to the current position of the cleaning robot can be determined, and then the cleaning robot is controlled to mop the floor in the area corresponding to the current position according to the determined floor mopping mode. Therefore, the mopping can be performed pertinently according to the determined mopping mode and the mopping modes with different cleaning forces, the mopping effect is optimized, the cleanliness after mopping is improved, and the requirements of customers are met.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a floor mopping control method, a floor mopping control device, a floor mopping control medium and floor mopping equipment.
Background
At present, the cleaning robot is more and more intelligent, and along with the improvement of technique, the cleaning robot not only can sweep the floor, can also possess and drag the ground function, has consequently obtained extensive application.
The cleaning robot who possesses mopping function at present generally includes rag mounting panel and water tank, and the rag mounting panel is used for fixed rag, and water in the water tank is used for humidifying the rag, and according to the ergodic mode of setting for, the motion of cleaning robot drives the rag and trails in the room, accomplishes the function of mopping ground to ground.
However, the existing cleaning robot with the floor mopping function has poor floor mopping effect, sometimes, the cleaning robot cannot achieve the floor mopping effect, and the requirements of customers are difficult to meet.
Disclosure of Invention
The embodiment of the invention provides a mopping control method, a mopping control device, a mopping control medium and mopping control equipment, which are used for solving the problem that a cleaning robot is poor in mopping effect.
The invention provides a mopping control method, which comprises the following steps:
determining a floor mopping mode corresponding to the current position of the cleaning robot, wherein each floor mopping mode corresponds to a floor mopping mode with different cleaning force;
and controlling the cleaning robot to mop the floor in the area corresponding to the current position according to the determined floor mopping mode.
According to the scheme provided by the embodiment of the invention, the floor mopping mode corresponding to the current position of the cleaning robot can be determined, and then the cleaning robot is controlled to mop the floor in the area corresponding to the current position according to the determined floor mopping mode. Therefore, the mopping can be performed pertinently according to the determined mopping mode and the mopping modes with different cleaning forces, the mopping effect is optimized, the cleanliness after mopping is improved, and the requirements of customers are met.
In one possible implementation manner, determining a floor mopping mode corresponding to the current position of the cleaning robot includes:
indicating to collect an environment image corresponding to the current position of the cleaning robot;
and determining a corresponding mopping mode according to the acquired environment image.
In the scheme of the invention, the corresponding mopping mode can be determined by the acquired environment object in the mode of acquiring the environment image, so that the automatic judgment of the mopping mode is realized, the mopping effect is optimized, and the mopping cleanliness is improved.
In one possible implementation manner, determining a floor mopping mode corresponding to the current position of the cleaning robot includes:
determining the current position of the cleaning robot;
and determining a corresponding mopping mode according to the preset corresponding relation between the mopping mode and the position.
Namely, in the scheme of the invention, the corresponding mopping mode can be determined according to the preset corresponding relation between the mopping mode and the position and the current position of the cleaning robot, so that the automatic judgment of the mopping mode is realized, the mopping effect is optimized, and the mopping cleanliness is improved.
In one possible implementation manner, determining a floor mopping mode corresponding to the current position of the cleaning robot includes:
and determining a floor mopping mode corresponding to the current position of the cleaning robot according to the received floor mopping instruction.
That is, in the scheme of the invention, the user can set the mopping mode, and the corresponding mopping mode is determined according to the mopping command, so that the mopping effect is optimized, and the mopping cleanness is improved.
In one possible implementation, each mopping mode differs by at least one of the following parameters:
the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.
In the scheme of the invention, different mopping modes can be obtained by different settings of the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot, so that the mopping effect is optimized, and the mopping cleanliness is improved.
Corresponding to the method provided above, the following device, medium and apparatus are also provided.
The invention also provides a floor mopping control device, which comprises:
the determining module is used for determining floor mopping modes corresponding to the current position of the cleaning robot, and each floor mopping mode corresponds to a floor mopping mode with different cleaning force;
and the control module is used for controlling the cleaning robot to mop the floor in the area corresponding to the current position according to the determined floor mopping mode.
In a possible implementation manner, the determining module is specifically configured to instruct the acquisition of an environment image corresponding to a current location of the cleaning robot, and determine a corresponding mopping mode according to the acquired environment image.
In a possible implementation manner, the determining module is specifically configured to determine a current position of the cleaning robot, and determine a corresponding mopping mode according to a preset correspondence between mopping modes and positions.
In a possible implementation manner, the determining module is specifically configured to determine, according to the received floor mopping instruction, a floor mopping mode corresponding to a current position of the cleaning robot.
In one possible implementation, each mopping mode differs by at least one of the following parameters:
the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.
The present invention also provides a non-volatile computer storage medium having stored thereon an executable program for execution by a processor to implement the method as described above.
The invention also provides a robot controller, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory finish mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor, when executing the program stored in the memory, is configured to implement the method steps as described above.
The invention also provides a cleaning robot comprising a robot controller as described above.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a floor mopping control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a floor mopping control device according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot controller according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a cleaning robot according to a fifth embodiment of the present invention;
fig. 5 is a schematic flow chart of a floor mopping control method according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, the "plurality" or "a plurality" mentioned herein means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The terms "first," "second," and the like in the description and in the claims, and in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
An embodiment of the present invention provides a floor mopping control method, where a flow of steps of the method may be as shown in fig. 1, and the method includes:
step 101, determining a mopping mode.
The execution body of the present embodiment may be understood as a robot controller of the cleaning robot. The present embodiment can be applied to any cleaning robot with a floor mopping function, and in a possible implementation, the cleaning robot can also have other functions, such as a floor sweeping function. The cleaning robot with the sweeping and mopping functions can sweep and mopping the floor simultaneously or respectively.
In this step, a mopping mode corresponding to the current position of the cleaning robot can be determined, and each mopping mode corresponds to a mopping mode with different cleaning force.
That is, in this embodiment, in consideration of that different areas require different cleaning forces when mopping the floor, in order to optimize the floor mopping effect of the cleaning robot, a plurality of floor mopping modes may be set for the cleaning robot to correspond to the floor mopping modes with different cleaning forces, so that the floor mopping may be performed for different areas by using different floor mopping modes to optimize the floor mopping effect.
It should be noted that, in one possible implementation, each mopping mode may be different in at least one of the following parameters: the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.
It can be understood that, the temperature of the water that carries out the humidification to the rag when considering mopping is different, and clean dynamics is also different, and the temperature is higher, and the soil removal ability is stronger, and clean dynamics is big more, consequently can be according to the needs of clean dynamics, sets up corresponding water tank temperature.
In this embodiment, the water tank temperature may be increased by adding a water tank heating module to the cleaning robot. And in a possible implementation mode, the water tank heating module can improve the water temperature of the water tank and realize the integration of charging of the cleaning robot, so that the structure of the cleaning robot is simplified, and the increase of the size of the cleaning robot is reduced.
It can be understood that, in this embodiment, can reach through the heating of the water in the water tank through the setting of water tank temperature, through the hot water softening spot when mopping, strengthen mopping clean dynamics, improve mopping cleanliness's effect.
In addition, the cleaning force is different due to the fact that the cleaning cloth is different in movement modes, the higher the freedom degree of movement of the cleaning cloth is, the stronger the friction vibration is, and the larger the cleaning force is, so that the corresponding movement mode of the cleaning cloth can be set according to the requirement of the cleaning force.
In this embodiment, the movement mode of the cleaning cloth may be controlled by a cleaning cloth movement driving module added to the cleaning robot, and the cleaning cloth movement driving module may be any module that can drive the cleaning cloth movement, such as a mechanism movement module, a vibration motor module, or an ultrasonic vibration module.
It should be noted that the number of the rag driving modules can be one or at least two, so as to better drive the movement of the rag arranged on the rag mounting plate and enhance the decontamination effect of the rag.
Taking the cleaning cloth driving module as at least two ultrasonic vibration modules as an example, the movement mode of the cleaning cloth can be changed by changing the designated parameters of the ultrasonic vibration module, such as at least one of the ultrasonic vibration dimension, the ultrasonic vibration amplitude and the ultrasonic vibration frequency, for at least one ultrasonic vibration module, and of course, the movement mode of the cleaning cloth can also be static.
It can be understood that, in this embodiment, the movement mode setting through the rag, except being driven by the cleaning robot motion, can reach the effect that reinforcing mopping cleaning dynamics improves mopping cleanliness through the drive to the rag motion.
In addition, considering that the cleaning robot has different traversing modes when mopping the floor, the cleaning force is also different, the traversing times are more, the traversing is more complete, and the cleaning force is larger, for example, aiming at the traversing modes of straight line and oblique line intersection and multiple cleaning, the I-shaped complete traversing mode and the rapid large-area traversing mode, the cleaning force is reduced in sequence, so that the corresponding traversing modes of the cleaning robot can be set according to the requirement of the cleaning force.
The traversing mode of the cleaning robot can be realized by controlling a chassis walking mechanism of the cleaning robot.
It can be understood that, in this embodiment, the arrangement may be performed in a traversing manner of the cleaning robot, and the effects of enhancing the mopping force and improving the mopping cleanliness may be achieved by increasing the number of traverses and the completeness of the traverses.
In the embodiment, the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot can be combined in any form to subdivide the mopping modes, so that more mopping modes are obtained, and the mopping effect is further optimized.
In addition, it should be noted that the floor mopping mode corresponding to the current position of the cleaning robot may be implemented in any manner, for example, but not limited to, any one of the following manners:
the method comprises the steps of firstly, indicating to collect an environment image corresponding to the current position of the cleaning robot, and determining a corresponding mopping mode according to the collected environment image;
determining the current position of the cleaning robot, and determining a corresponding mopping mode according to the preset corresponding relation between the mopping mode and the position;
and thirdly, determining a floor mopping mode corresponding to the current position of the cleaning robot according to the received floor mopping instruction.
The mopping instruction can be sent by a user through a client, and can be understood that the mopping instruction carries mopping mode information, and a mopping mode corresponding to the current position of the cleaning robot can be determined according to the mopping mode information.
Of course, determining the floor mopping mode corresponding to the current position of the cleaning robot is not limited to the above manner.
And 102, mopping the floor.
In this step, the cleaning robot may be controlled to mop the floor in the area corresponding to the current location according to the determined floor mopping mode. It should be noted that the area corresponding to the current location may be set as needed.
Assume that the mopping mode is defined according to three parameters of the water temperature of the water tank, the movement pattern of the cloth, and the traversal pattern of the cleaning robot. The mopping mode is represented by 1, the corresponding mopping mode is that the water temperature of the water tank needs to be higher than 60 ℃, the movement mode of the cleaning cloth is two-degree-of-freedom ultrasonic vibration in the horizontal plane (X, Y and theta) (assuming that the cleaning cloth driving module is an ultrasonic vibration module), and the traversing mode of the cleaning robot is an I-shaped complete traversing mode.
And if the water temperature of the water tank is determined to be not more than 60 ℃, controlling the cleaning robot to walk to a charging point to charge through the control of the chassis walking mechanism so as to heat the water in the water tank by the water tank heating module. And when the water temperature of the water tank is determined to be higher than 60 ℃, the cleaning robot is controlled to return to the position where the cleaning robot is located before charging, and the floor mopping function is realized in the area corresponding to the position through controlling the ultrasonic vibration module and the chassis walking mechanism.
According to the scheme provided by the embodiment of the invention, different mopping modes can be adopted for mopping the floor according to different areas, and the mopping effect can be optimized by adopting the mopping mode with larger cleaning force for mopping the floor according to the area with stubborn stains. Aiming at the region with lighter stains, the mopping mode with smaller cleaning force can be adopted to mop the floor, so that the effect of reducing energy consumption can be achieved while the mopping effect is ensured.
In addition, in the solution provided by the first embodiment of the present invention, in order to solve the problem that stains are stubborn and difficult to remove during mopping, it is creatively proposed that the cleaning force can be increased by increasing the water temperature of the water in the water tank and the movement driving of the cleaning cloth, so as to ensure the cleanliness of mopping the floor through a corresponding mopping mode.
Corresponding to the method provided in the first embodiment, the following apparatuses are provided.
Example two
An embodiment of the present invention provides a floor mopping control device, where the structure of the floor mopping control device may be as shown in fig. 2, and the floor mopping control device includes:
the determining module 11 is configured to determine a floor mopping mode corresponding to a current position of the cleaning robot, where each floor mopping mode corresponds to a floor mopping mode with different cleaning force; the control module 12 is configured to control the cleaning robot to mop the floor in an area corresponding to the current position according to the determined floor mopping mode.
In a possible implementation manner, the determining module 11 is specifically configured to instruct to acquire an environment image corresponding to a current location of the cleaning robot, and determine a corresponding mopping mode according to the acquired environment image.
In a possible implementation manner, the determining module 11 is specifically configured to determine a current position of the cleaning robot, and determine a corresponding mopping mode according to a preset correspondence between mopping modes and positions.
In a possible implementation manner, the determining module 11 is specifically configured to determine, according to the received floor mopping instruction, a floor mopping mode corresponding to a current position of the cleaning robot.
In one possible implementation, each mopping mode differs by at least one of the following parameters:
the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.
Based on the same inventive concept, embodiments of the present invention provide the following apparatus and medium.
EXAMPLE III
A third embodiment of the present invention provides a robot controller, which may be configured as shown in fig. 3, and includes a processor 21, a communication interface 22, a memory 23, and a communication bus 24, where the processor 21, the communication interface 22, and the memory 23 complete mutual communication through the communication bus 24;
the memory 23 is used for storing computer programs;
the processor 21 is configured to implement the method steps according to the first embodiment of the present invention when executing the program stored in the memory.
Optionally, the processor 21 may specifically include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), one or more Integrated circuits for controlling program execution, a hardware Circuit developed by using a Field Programmable Gate Array (FPGA), and a baseband processor.
Optionally, the processor 21 may include at least one processing core.
Alternatively, the Memory 23 may include a Read-Only Memory (ROM), a Random Access Memory (RAM), and a disk Memory. The memory 23 is used for storing data required by the at least one processor 21 during operation. The number of the memory 23 may be one or more.
Further, embodiments of the present invention may also provide a cleaning robot including the robot controller according to the third embodiment.
A fourth embodiment of the present invention provides a non-volatile computer storage medium, where the computer storage medium stores an executable program, and when the executable program is executed by a processor, the method provided in the first embodiment of the present invention is implemented.
The scheme provided by the invention is illustrated by a specific example.
EXAMPLE five
The fifth embodiment of the present invention provides a floor mopping control method, where a schematic structural diagram of a cleaning robot applied in the method may be as shown in fig. 4, and the method may include, but is not limited to, a navigation host computer controller, a sensor unit, a robot controller, a chassis walking mechanism, a cleaning cloth mounting plate, a water tank heating module, and a cleaning cloth driving module.
Wherein the sensor unit may include, but is not limited to, at least one of a lidar sensor, an inertial navigation sensor, a odometer, an edge sensor, a fall sensor, a cliff sensor, a collision sensor, a vision sensor, and the like.
Each sensor in the sensor unit can acquire corresponding data and send the acquired data to the navigation upper computer controller, so that the navigation upper computer controller can perform positioning and map building (i.e. SLAM map building and map building in the set environment) of the cleaning robot according to the data reported by the sensor unit, thereby enabling the robot controller to control the movement of a chassis walking mechanism of the cleaning robot through a control instruction according to the map built by the navigation upper computer controller and cleaning the cleaning robot in the set environment. The robot controller can control the movement of the chassis walking mechanism according to a set traversing mode.
It should be noted that, the navigation upper computer controller may also detect the motion feedback data of the chassis traveling mechanism through the sensor unit during the movement of the chassis traveling mechanism, so that the robot controller may adjust the control instruction for the chassis traveling mechanism according to the motion feedback data obtained by the navigation upper computer controller.
In the present embodiment, it may be assumed that the mopping mode is defined according to the water temperature of the water tank, the movement pattern of the cloth, and the traversal pattern of the cleaning robot.
In this embodiment, the cleaning cloth driving module is taken as an ultrasonic vibration module, that is, the movement of the cleaning cloth is driven by the ultrasonic vibration module.
In this embodiment, the rag mounting panel can include three parts, and an ultrasonic vibration module can be installed to every part of rag mounting panel, and the parameter of every ultrasonic vibration module can be adjusted alone to the motion of the rag of installing on the rag mounting panel is driven better. The cleaning cloth is driven by the three ultrasonic vibration modules, so that multi-degree-of-freedom movement can be realized, friction vibration at different angles is generated, and the decontamination effect is enhanced.
In the present embodiment, the parameters that each ultrasonic vibration module can change may include the ultrasonic vibration dimension, the ultrasonic vibration amplitude, and the ultrasonic vibration frequency. The ultrasonic vibration dimension of each ultrasonic vibration module may be selected by the robot controller, and the vibration dimension of each ultrasonic vibration module may include a combination of two-degree-of-freedom ultrasonic vibration in a horizontal plane (X, Y, θ) and vertical ultrasonic vibration in a Z-axis direction. And the ultrasonic vibration amplitude and the ultrasonic vibration frequency of each ultrasonic vibration module can be adjusted by the robot controller.
In addition, in this embodiment, the water in the water tank can be heated by the water tank heating module, and the robot controller can return to the charging point to charge by controlling the cleaning robot, and while charging, the water tank heating module is integrally realized to heat the water in the water tank.
The flow of steps of the method can be shown in fig. 5, and includes:
step 501, the cleaning robot is started.
In this step, the cleaning robot may be started.
Step 502, the cleaning robot performs SLAM mapping.
In this step, the navigation upper computer controller may start map building in the SLAM of the set environment (e.g., home environment) according to the data reported by the sensor unit.
Step 503, the cleaning robot determines the mopping mode.
In the present embodiment, only the floor mopping process of the cleaning robot will be described. If the cleaning robot further comprises a sweeping function, the mopping and sweeping of the cleaning robot can be carried out simultaneously or respectively.
In this step, the robot controller may determine a floor mopping mode corresponding to a current position of the cleaning robot.
The robot controller determines a floor mopping mode corresponding to a current position of the cleaning robot, and in a possible implementation manner, the robot controller may instruct a corresponding sensor (a visual sensor, such as a camera) to acquire an environment image corresponding to the current position of the cleaning robot, and determine the corresponding floor mopping mode according to the acquired environment image.
For example, the collected environment image may include a bed, the current position of the cleaning robot is considered to be a bedroom, the cleaning robot may be generally cleaned according to the floor of the bedroom, stains are easily removed, and a floor mopping mode of corresponding cleaning strength is determined.
For another example, the environment image collected by the cleaning robot may include a seat sofa, the current position of the cleaning robot is considered as a living room, and a floor mopping mode with corresponding cleaning force may be determined according to the fact that a certain stain exists on the floor of the living room and is easy to remove.
For another example, the collected environment image may include a table chair, the current position of the cleaning robot is considered as a restaurant, and the floor mopping mode of the corresponding cleaning force may be determined according to that the floor of the restaurant is poor in cleanliness and the stain is difficult to remove.
For another example, the cleaning robot may include a pool cooking bench according to the collected environment image, and the current position of the cleaning robot is considered as a kitchen, so that the cleaning force may be increased according to the floor requirement of the kitchen, stains may be difficult to remove, and a floor mopping mode with the corresponding cleaning force may be determined.
The robot controller determines a floor mopping mode corresponding to the current position of the cleaning robot, and in another possible implementation manner, the robot controller may also determine the current position of the cleaning robot through a corresponding sensor, and determine the corresponding floor mopping mode according to a preset corresponding relationship between the floor mopping mode and the position.
In a possible implementation manner, a corresponding relationship between each room and the floor mopping mode may be set in the established map, and if it is determined that the current position of the cleaning robot belongs to a certain room, the floor mopping mode corresponding to the current position of the cleaning robot may be determined according to the floor mopping mode corresponding to the room.
For example, if it is determined that the current position of the cleaning robot belongs to a kitchen, the floor mopping mode corresponding to the kitchen may be determined as the floor mopping mode corresponding to the current position of the cleaning robot.
It should be noted that, the robot controller determines the floor mopping mode corresponding to the current position of the cleaning robot, and in another possible implementation, the floor mopping mode may also be determined according to a control instruction of the client.
For example, a user may send a floor mopping instruction to the robot controller through the client, where the floor mopping mode information carried by the floor mopping instruction may be that a floor mopping mode corresponding to the current position of the cleaning robot is 2 (that is, a floor mopping mode represented by application 2), and at this time, the robot controller may determine, according to the received floor mopping instruction, that the floor mopping mode corresponding to the current position of the cleaning robot is the floor mopping mode 2.
Step 504, cleaning the robot mopping floor.
In this step, the robot controller may control the cleaning robot to mop the floor according to the determined floor mopping mode.
For example, if the determined floor mopping mode is that the water temperature of the corresponding water tank needs to be higher than 70 degrees centigrade, the movement mode of the cleaning cloth is that three ultrasonic vibration modules need to be utilized to drive the cleaning cloth to move, the ultrasonic vibration dimension of each ultrasonic vibration module is a composite vibration mode including two-degree-of-freedom ultrasonic vibration in the horizontal plane (X, Y, θ) and ultrasonic vibration in the vertical direction of the Z-axis direction, and the traversing mode of the cleaning robot is a traversing mode in which a straight line and an oblique line are crossed and the cleaning robot cleans for multiple times, then, in this step, the method may include:
the robot controller determines whether the water temperature of water in the water tank is higher than 70 ℃ or not through the sensor, if the water temperature is higher than 70 ℃, the control over the movement mode of the cleaning cloth can be achieved through the control over the three ultrasonic vibration modules, the chassis walking mechanism is controlled to walk in a traversing mode of straight line and oblique line crossing and multiple cleaning, and therefore the mopping is achieved.
If the robot controller determines that the water temperature of the water in the water tank is not more than 70 ℃ through the sensor, in a possible implementation manner, the chassis travelling mechanism can be controlled to travel to a charging point for charging, so that the water in the water tank is heated by the water tank heating module, and when the water temperature of the water in the water tank is determined to be more than 70 ℃ (the water temperature can be greater than a set temperature which is not less than 70 ℃ so as to ensure that the water temperature can be maintained above 70 ℃ for a long time), the position where the water is located before charging is returned, and the floor mopping function is realized in an area corresponding to the position through the control of the three ultrasonic vibration modules and the control of the chassis travelling mechanism.
And 505, judging whether the cleaning is finished by the cleaning robot.
In this step, the robot controller may determine whether cleaning of the entire set environment is completed according to the established map, and if the determination is completed, may continue to perform step 506, otherwise, may return to perform step 503.
Step 506, charging the cleaning robot and replenishing water.
In this step, the robot controller may control the cleaning robot to return to the charging point by controlling the chassis traveling mechanism, to perform charging (heating water in the water tank) and water replenishment, so that the cleaning robot performs the next cleaning operation.
It should be noted that, in a possible implementation manner, the robot controller may control the cleaning robot to reach the charging point to perform charging (simultaneously heat water in the water tank) and water replenishing when it is determined that the floor mopping is required, that is, by controlling the chassis traveling mechanism, so that the cleaning robot can conveniently mop the floor.
It should be noted that, in this embodiment, the cleaning robot may implement navigation by performing SLAM mapping, for example, navigation by performing mapping through a laser radar, or navigation by performing mapping through a visual sensor, and may also implement navigation in other manners, for example, random collision navigation, and the like.
In particular implementations, computer storage media may include: various storage media capable of storing program codes, such as a Universal Serial Bus Flash Drive (USB), a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In the embodiments of the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the described unit or division of units is only one division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical or other form.
The functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be an independent physical module.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device, such as a personal computer, a server, or a network device, or a processor (processor) to execute all or part of the steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a Universal Serial Bus Flash Drive (usb Flash Drive), a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (13)
1. A method of controlling mopping, the method comprising:
determining a floor mopping mode corresponding to the current position of the cleaning robot, wherein each floor mopping mode corresponds to a floor mopping mode with different cleaning force;
and controlling the cleaning robot to mop the floor in the area corresponding to the current position according to the determined floor mopping mode.
2. The method of claim 1, wherein determining the mopping mode corresponding to the current position of the cleaning robot comprises:
indicating to collect an environment image corresponding to the current position of the cleaning robot;
and determining a corresponding mopping mode according to the acquired environment image.
3. The method of claim 1, wherein determining the mopping mode corresponding to the current position of the cleaning robot comprises:
determining the current position of the cleaning robot;
and determining a corresponding mopping mode according to the preset corresponding relation between the mopping mode and the position.
4. The method of claim 1, wherein determining the mopping mode corresponding to the current position of the cleaning robot comprises:
and determining a floor mopping mode corresponding to the current position of the cleaning robot according to the received floor mopping instruction.
5. A method according to any one of claims 1 to 4, wherein each mopping mode differs in at least one of the following parameters:
the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.
6. A mopping control device, characterized in that the device comprises:
the determining module is used for determining floor mopping modes corresponding to the current position of the cleaning robot, and each floor mopping mode corresponds to a floor mopping mode with different cleaning force;
and the control module is used for controlling the cleaning robot to mop the floor in the area corresponding to the current position according to the determined floor mopping mode.
7. The device of claim 6, wherein the determining module is specifically configured to instruct to acquire an environment image corresponding to a current location of the cleaning robot, and determine the corresponding mopping mode according to the acquired environment image.
8. The device of claim 6, wherein the determining module is specifically configured to determine a current position of the cleaning robot, and determine a corresponding mopping mode according to a preset correspondence between mopping modes and positions.
9. The device of claim 6, wherein the determining module is specifically configured to determine, according to the received mopping instruction, a mopping mode corresponding to a current position of the cleaning robot.
10. An apparatus according to any one of claims 6 to 9, wherein each mopping mode differs in at least one of the following parameters:
the water temperature of the water tank, the movement mode of the cleaning cloth and the traversing mode of the cleaning robot.
11. A non-transitory computer storage medium storing an executable program for execution by a processor to perform the method of any one of claims 1 to 5.
12. A robot controller, characterized in that, the device comprises a processor, a communication interface, a memory and a communication bus, wherein, the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the processor is configured to implement the method steps of any one of claims 1 to 5 when executing the program stored in the memory.
13. A cleaning robot characterized in that it comprises a robot controller according to claim 12.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010442623.XA CN111588319A (en) | 2020-05-22 | 2020-05-22 | Mopping control method, mopping control device, mopping control medium and mopping control equipment |
| PCT/CN2020/140643 WO2021232812A1 (en) | 2020-05-22 | 2020-12-29 | Mopping control method and apparatus, and medium and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010442623.XA CN111588319A (en) | 2020-05-22 | 2020-05-22 | Mopping control method, mopping control device, mopping control medium and mopping control equipment |
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| CN111588319A true CN111588319A (en) | 2020-08-28 |
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| CN202010442623.XA Pending CN111588319A (en) | 2020-05-22 | 2020-05-22 | Mopping control method, mopping control device, mopping control medium and mopping control equipment |
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| CN (1) | CN111588319A (en) |
| WO (1) | WO2021232812A1 (en) |
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| WO2021232812A1 (en) * | 2020-05-22 | 2021-11-25 | 珠海格力电器股份有限公司 | Mopping control method and apparatus, and medium and device |
| CN114617478A (en) * | 2020-12-14 | 2022-06-14 | 美智纵横科技有限责任公司 | Cleaning control method and device, sweeping robot and storage medium |
| CN114680751A (en) * | 2020-12-25 | 2022-07-01 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method thereof |
| WO2022237480A1 (en) * | 2021-05-11 | 2022-11-17 | 北京顺造科技有限公司 | Cleaning device control method and cleaning device |
| CN115474870A (en) * | 2021-06-15 | 2022-12-16 | 杭州匠龙机器人科技有限公司 | Control method of cleaning robot system |
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| WO2021232812A1 (en) | 2021-11-25 |
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