CN113273933A - Cleaning robot, control method and device thereof, and storage medium - Google Patents
Cleaning robot, control method and device thereof, and storage medium Download PDFInfo
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- CN113273933A CN113273933A CN202110563266.7A CN202110563266A CN113273933A CN 113273933 A CN113273933 A CN 113273933A CN 202110563266 A CN202110563266 A CN 202110563266A CN 113273933 A CN113273933 A CN 113273933A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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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
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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
- A47L11/4002—Installations of electric equipment
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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
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration
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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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- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a cleaning robot, a control method, a device and a storage medium thereof, wherein the cleaning robot is provided with a mopping piece for cleaning, and the control method comprises the following steps: the method comprises the steps of obtaining first color information when the mopping piece is cleaned, and determining the dirt degree of the mopping piece according to the first color information so as to clean or replace the mopping piece based on the dirt degree. From this, can in time know the dirty degree that the cleaning process dragged and wipe the piece, wash or change the piece of wiping based on dirty degree, effectively avoid dragging and wipe the piece and clean under dirty state to reach better clean effect.
Description
Technical Field
The invention relates to the technical field of cleaning electric appliances, in particular to a cleaning robot, a control method and a control device thereof and a storage medium.
Background
With the pace of life increasing, more and more users choose to clean rooms with cleaning robots. In the related art, the cleaning robot can judge whether the cleaning cloth needs to be cleaned only after cleaning is finished, and in the cleaning process, the cleaning robot cannot judge the cleaning state of the cleaning cloth, so that dirty cleaning cloth can be used in the cleaning process, and the condition of unclean cleaning is caused.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a control method for a cleaning robot, which can know the degree of contamination of a cleaning member in a cleaning process in time, and clean or replace the cleaning member based on the degree of contamination, so as to effectively prevent the cleaning member from being cleaned in a contaminated state, thereby achieving a better cleaning effect.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide a control apparatus of a cleaning robot.
A fourth object of the present invention is to provide a cleaning robot.
In order to achieve the above object, a first embodiment of the present invention provides a control method for a cleaning robot, wherein the cleaning robot is provided with a wiper for cleaning, and the control method comprises the following steps: acquiring first color information of the mopping piece during cleaning; the degree of soiling of the mop is determined from the first color information, so that the mop can be cleaned or replaced on the basis of the degree of soiling.
According to the control method of the cleaning robot, the first color information of the mopping piece during cleaning is obtained, the dirt degree of the mopping piece is determined according to the first color information, so that the mopping piece can be cleaned or replaced based on the dirt degree.
According to one embodiment of the invention, prior to obtaining the first color information as the mop is cleaned, the method further comprises: acquiring second color information of the cleaned or replaced mopping piece; and determining the dirt degree of the mopping piece according to the second color information and the first color information.
According to one embodiment of the present invention, determining the degree of soiling of the scrubbing member from the second color information and the first color information includes: acquiring color difference value information between the second color information and the first color information; the degree of soiling of the mop is determined based on the color difference information.
In accordance with an embodiment of the present invention, in obtaining first color information for cleaning of the mop and/or obtaining second color information for cleaning or replacement of the mop, the method further comprises: and carrying out light supplement treatment on the mopping piece.
According to one embodiment of the invention, the light supplementing treatment of the mopping piece comprises the following steps: acquiring ambient light information of the mopping piece; determining a light supplement brightness value according to ambient light information; and performing light supplement processing on the mopping piece according to the light supplement brightness value.
According to one embodiment of the invention, cleaning or replacing the mop based on the degree of soiling comprises: and if the dirt degree is larger than the preset value, reminding a user to manually clean or replace the mopping piece and/or controlling the cleaning robot to automatically clean or replace the mopping piece.
According to one embodiment of the invention, the user is reminded to manually clean or replace the wiper by the cleaning robot and/or the terminal device.
To achieve the above object, a second embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the steps of the control method of the cleaning robot.
According to the computer-readable storage medium of the embodiment of the invention, the computer program is stored, and when the computer program is executed by the processor, the steps of the control method of the cleaning robot are realized, so that the dirt degree of the mopping piece in the cleaning process can be known in time, the mopping piece is cleaned or replaced based on the dirt degree, the mopping piece can be effectively prevented from being cleaned in a dirt state, and a better cleaning effect is achieved.
To achieve the above object, a third aspect of the present invention provides a control device for a cleaning robot, wherein the cleaning robot is provided with a wiper for cleaning, and the control device comprises: the acquisition module is used for acquiring first color information when the mopping piece is cleaned; and the determining module is used for determining the dirt degree of the mopping piece according to the first color information so as to clean or replace the mopping piece based on the dirt degree.
According to the control device of the cleaning robot, the first color information of the mopping piece during cleaning is obtained through the obtaining module, the dirty degree of the mopping piece is determined through the determining module according to the first color information, so that the mopping piece can be cleaned or replaced based on the dirty degree.
In order to achieve the above object, a fourth aspect of the present invention provides a cleaning robot, which includes the control device of the cleaning robot.
According to the cleaning robot provided by the embodiment of the invention, the control device of the cleaning robot can be used for knowing the dirt degree of the mopping piece in the cleaning process in time, cleaning or replacing the mopping piece based on the dirt degree, so that the mopping piece can be effectively prevented from being cleaned in a dirt state, and a better cleaning effect is achieved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a control method of a cleaning robot according to an embodiment of the present invention;
fig. 2 is a block diagram showing a configuration of a control apparatus of a cleaning robot according to an embodiment of the present invention;
fig. 3 is a block diagram of a cleaning robot according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the invention, which are exemplary and intended to be illustrative of the invention, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functionality throughout.
The cleaning robot in the present application may be a robot having a cleaning function, such as a mopping robot, a window cleaning robot, and the like, and is not limited herein. The cleaning robot is provided with a mopping piece, when the mopping piece works, the mopping piece can clean contact surfaces (such as the ground, the wall surface or the glass surface) through mopping action, and the main body of the mopping piece can be specifically fabric, sponge, hairbrush and the like. Since a clean mop can clean a contact surface, and a dirty mop is not only difficult to clean the contact surface, but may even contaminate the originally clean contact surface, in order to avoid cleaning with a dirty mop, it is common in the related art to determine whether the mop needs to be cleaned or replaced after the cleaning is finished. However, since the dirt of the mop may be formed at any time during the cleaning operation, the cleaning robot in the related art cannot ensure the cleanliness of the mop during the whole cleaning process, i.e., cannot recognize and treat the dirt of the mop during the cleaning process, thereby directly affecting the cleaning effect. Based on the method, the method can know the dirt degree of the mopping piece in the cleaning process in real time, and the mopping piece is cleaned or replaced based on the dirt degree, so that the mopping piece is effectively prevented from being cleaned in the dirt state, and a better cleaning effect can be achieved.
Fig. 1 is a flowchart of a control method of a cleaning robot according to an embodiment of the present invention, and referring to fig. 1, the method may include the steps of:
step S101: first color information is obtained when the mop is cleaned.
Specifically, in order to prevent the mopping piece from being cleaned in a dirty state, the dirty degree of the mopping piece is monitored in real time in the cleaning process of the cleaning robot, and the dirty degree can be visually represented by the color of the mopping piece, so that the dirty degree of the mopping piece can be monitored by acquiring the color information of the mopping piece in the cleaning process, and the dirty degree is used as the basis for judging whether the cleaning and the cleaning of the mopping piece need to be stopped or not. In a specific example, the color information of the eraser may be obtained by a device or apparatus having a color obtaining function, such as a color sensor or a camera, and recorded as the first color information.
For example, as an example, when the color sensor acquires the color information of the mop, the color sensor may be an RGB three-channel color sensor, and when the color acquisition is performed, the color sensor may sense the light emitted from the surface of the object in a reflective manner and generate three analog voltages of RGB, or the color sensor may sense the light transmitted by the object in a transmissive manner and generate three analog voltages of RGB, and then the three analog voltages are analyzed, so as to obtain the color information of the mop. For example, the three analog voltages are converted into digital values to obtain RGB digital output values, and then the color information of the mop is calculated according to the RGB digital output values through a color calculation formula, or the RGB digital output values are multiplied by a predetermined color conversion matrix to obtain tristimulus values, and then the color information of the mop is calculated according to the tristimulus values through the color calculation formula.
As another example, when color information of the wiper is acquired by a camera, a color image of the wiper may be acquired by the camera, and then the color information of the wiper may be acquired by performing color recognition on the color image. For example, the RGB values of the color image may be obtained by first identifying the color image, and then calculating the color information of the eraser according to the RGB values or according to the RGB values and a predetermined color conversion matrix.
It should be noted that, other manners may also be adopted to acquire the color information of the wiping member, and the specific manner is not limited herein, and when the color information is acquired by the color sensor or the camera, the setting position of the color information may be determined according to the structure of the actual cleaning robot, the position where the wiping member is located, and the like, and is not limited herein. In addition, it will be appreciated that color information for the scrubbing element can be obtained in real time or at a frequency during the cleaning process.
Step S102: the degree of soiling of the mop is determined from the first color information, so that the mop can be cleaned or replaced on the basis of the degree of soiling.
Specifically, the color of the mopping piece can reflect the dirt degree of the mopping piece, if the mopping piece is more dirty, the color of the mopping piece becomes darker to a certain degree or becomes other colors, so that the dirt degree of the mopping piece can be judged according to the color information after the color information of the mopping piece is obtained, if the mopping piece is judged to be dirty according to the dirt degree, the cleaning operation is stopped, the mopping piece is cleaned or replaced, and therefore the mopping piece can be effectively prevented from being cleaned in a dirty state, and the cleaning effect is improved.
Further, in one embodiment, prior to obtaining the first color information when the mop is cleaning, the control method further comprises: acquiring second color information of the cleaned or replaced mopping piece; and determining the dirt degree of the mopping piece according to the second color information and the first color information.
That is, after the mop is cleaned or replaced, the degree of soiling of the mop is calibrated and used as a cleaning reference to determine the degree of soiling of the mop during cleaning. For example, if it is detected that the mop has been soiled during the cleaning process, the cleaning operation is stopped, the mop is cleaned or replaced, after the cleaning or replacement is completed, the color information of the mop is obtained, recorded as the second color information and stored, then the first color information of the mop is obtained in real time or at preset intervals during the cleaning process, and compared with the second color information to determine the soiling degree of the mop, so as to effectively avoid the occurrence of a situation that the soiling is misjudged due to directly comparing the first color information with the preset color information, for example, the color of the mop becomes darker or some colors cannot be removed after multiple uses, if the first color information is compared with the preset color information, the mop may be judged to be in the soiled state just after the cleaning is started, but the actual mop is clean, thereby causing erroneous determination to occur.
Further, determining the degree of soiling of the scrubbing member based on the second color information and the first color information may include: acquiring color difference value information between the second color information and the first color information; the degree of soiling of the mop is determined based on the color difference information.
That is, the color difference information between the two can be obtained and used as a criterion for determining the degree of soiling to determine whether the mop is soiled. In a specific example, assuming that the first color information is (R1, G1, B1) and the second color information is (R2, G2, B2), the color difference information between the two color information can be represented as Δ C ═ R2-R1| + | G2-G1| + | B2-B1|, when the color difference Δ C is larger, it indicates that the color change of the mopping member is larger during the cleaning process, and the degree of contamination of the mopping member can be considered to be higher, so that the degree of contamination of the mopping member can be determined according to the two color information.
In one embodiment, in obtaining first color information for cleaning of the mop and/or second color information for cleaning or replacement of the mop, the control method may further comprise: and performing light supplement treatment on the mopping piece.
That is to say, when the first color information and the second color information are obtained, the light supplementing processing can be performed on the mopping piece based on the actual situation, so as to prevent the problem that the first color information and the second color information are not accurately obtained due to the fact that the ambient light is dark, and further the judgment of the degree of contamination is not accurate. It can be understood that, in specific implementation, based on ambient light, in some cases, only the light supplement processing may be performed when the first color information is acquired, in some cases, only the light supplement processing may be performed when the second color information is acquired, in some cases, the light supplement processing is performed, and in the case of the light supplement processing, it is ensured that the light intensities are consistent as much as possible.
Optionally, the light supplementing processing of the mop includes: acquiring ambient light information of the mopping piece; determining a light supplement brightness value according to ambient light information; and performing fill-in processing according to the fill-in brightness value.
Specifically, before the first color information and the second color information are obtained, ambient light information such as light intensity of the mopping piece is sensed by the optical sensor, the ambient light information is compared with preset light intensity to calculate a light intensity difference value, a light supplement brightness value of a light supplement lamp such as an LED lamp is determined according to the light intensity difference value, the light supplement lamp is controlled to work according to a compensation brightness value to supplement light for the mopping piece, and then the first color information and the second color information are obtained through the method, so that the brightness of the mopping piece received by the mopping piece is kept consistent when the first color information and the second color information are obtained, the obtaining precision of the color information can be improved, more accurate dirty degree can be judged, and a better cleaning effect can be achieved.
In one embodiment, cleaning or replacing the mop based on the degree of soiling includes: and if the dirt degree is larger than the preset value, reminding a user to manually clean or replace the mopping piece and/or controlling the cleaning robot to automatically clean or replace the mopping piece. Preferably, the cleaning robot and/or the terminal device prompts the user to manually clean or replace the mop.
That is to say, if the degree of soiling is greater than the preset value, specifically, under the condition that the color difference Δ C between the second color information and the first color information is greater than the corresponding preset value, it indicates that the cleaning or replacement of the mop is required, at this time, the user may be prompted (e.g., in a voice or APP manner) to perform manually, the cleaning robot may also be controlled to perform automatically, the user may also be prompted to perform manually, and if the manual implementation is not monitored within the preset time, the cleaning robot may be controlled to perform automatically. Therefore, timely replacement or cleaning of the mopping piece can be further realized, the mopping piece is prevented from being cleaned in a dirty state, and a better cleaning effect is achieved.
In summary, according to the control method of the cleaning robot in the embodiment of the present invention, the first color information of the cleaning member is obtained, and the degree of contamination of the cleaning member is determined according to the first color information, so that the cleaning member is cleaned or replaced based on the degree of contamination, the degree of contamination of the cleaning member during the cleaning process can be known in time, the cleaning member is cleaned or replaced based on the degree of contamination, and the cleaning member is effectively prevented from being cleaned in the state of contamination, so as to achieve a better cleaning effect.
In one embodiment, a computer-readable storage medium is proposed, on which a computer program is stored, which when executed by a processor implements the steps of the control method of the cleaning robot described above.
According to the computer-readable storage medium of the embodiment of the invention, the computer program is stored, and the steps of the control method are realized when the program is executed, so that the method can know the dirt degree of the mopping piece in the cleaning process in time, and the mopping piece is cleaned or replaced based on the dirt degree, thereby effectively preventing the mopping piece from being cleaned in a dirt state, and further achieving a better cleaning effect.
Fig. 2 is a block diagram of a control apparatus of a cleaning robot according to an embodiment of the present invention. First, the cleaning robot includes a mop for cleaning, and referring to fig. 2 again, the control device 200 of the cleaning robot may include: an acquisition module 201 and a determination module 202.
The acquiring module 201 is used for acquiring first color information of the mopping piece during cleaning; the determining module 202 is configured to determine a contamination level of the mop according to the first color information, so as to clean or replace the mop according to the contamination level.
In one embodiment, the obtaining module 201 is further configured to obtain second color information of the cleaned or replaced mop before obtaining the first color information of the mop; the determining module 202 is further configured to: the degree of soiling is determined from the first color information and the second color information.
In one embodiment, the determining module 202 is specifically configured to: acquiring color difference value information between the second color information and the first color information; the degree of soiling of the wiping member is determined on the basis of the color difference information.
In one embodiment, the control device of the cleaning robot further includes: and the light supplementing module (not specifically shown in the figure) is used for supplementing light to the mopping piece when the first color information of the mopping piece is acquired and/or the second color information of the mopping piece is acquired.
In one embodiment, the light supplement module is specifically configured to: acquiring ambient light information of the mopping piece; determining a supplementary lighting brightness value according to the ambient light information; and performing light supplement processing on the mopping piece according to the light supplement brightness value.
In one embodiment, the determining module 202 is specifically configured to: if the dirt degree is larger than the preset value, the user is reminded to manually clean or replace the mopping piece, and/or the cleaning robot is controlled to automatically clean or replace the mopping piece.
In one embodiment, the determining module 202 is specifically configured to: the user is reminded of manually cleaning or replacing the mop by the terminal device and/or the cleaning robot.
It should be noted that, for the description of the control device in the present application, please refer to the description of the control method in the present application, and detailed description is omitted here.
According to the control device of the cleaning robot, the first color information of the mopping piece during cleaning is obtained through the obtaining module, the dirty degree of the mopping piece is judged through the determining module based on the first color information, so that the mopping piece can be cleaned or replaced according to the dirty degree.
Fig. 3 is a block diagram of a cleaning robot according to an embodiment of the present invention. Referring to fig. 3, the cleaning robot 2000 includes the control device 200 of the cleaning robot described above.
According to the cleaning robot provided by the embodiment of the invention, the control device of the cleaning robot can know the dirt degree of the mopping piece in the cleaning process in time, and the mopping piece is cleaned or replaced based on the dirt degree, so that the mopping piece is effectively prevented from being cleaned in a dirt state, and a better cleaning effect is achieved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A control method of a cleaning robot, characterized in that the cleaning robot is provided with a mop for cleaning, the method comprising the steps of:
acquiring first color information of the mopping piece during cleaning;
and determining the dirt degree of the mopping piece according to the first color information so as to clean or replace the mopping piece based on the dirt degree.
2. The method of controlling a cleaning robot according to claim 1, wherein before acquiring the first color information of the wiper at the time of cleaning, the method further comprises:
acquiring second color information of the cleaned or replaced mopping piece;
and determining the dirt degree of the mopping piece according to the second color information and the first color information.
3. The method of controlling a cleaning robot of claim 2, wherein the determining a degree of soiling of the scrubbing member based on the second color information and the first color information comprises:
acquiring color difference value information between the second color information and the first color information;
determining a degree of soiling of the mop based on the color difference information.
4. A control method of a cleaning robot according to claim 2, wherein in acquiring first color information when the mop is cleaned and/or acquiring second color information after the mop is cleaned or replaced, the method further comprises:
and performing light supplement treatment on the mopping piece.
5. The method of claim 4, wherein the step of supplementing light to the cleaning element comprises:
acquiring ambient light information of the mopping piece;
determining a light supplement brightness value according to the ambient light information;
and performing light supplementing treatment on the mopping piece according to the light supplementing brightness value.
6. The method of controlling a cleaning robot according to any one of claims 1 to 5, wherein the cleaning or replacing the mop based on the degree of contamination includes:
and if the dirt degree is larger than a preset value, reminding a user to manually clean or replace the mopping piece and/or controlling the cleaning robot to automatically clean or replace the mopping piece.
7. A control method of a cleaning robot according to claim 6, characterized in that a user is reminded to manually wash or replace the wiper by the cleaning robot and/or a terminal device.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
9. A control device of a cleaning robot, characterized in that the cleaning robot is provided with a wiping member for cleaning, the device comprising:
the acquisition module is used for acquiring first color information when the mopping piece is cleaned;
the determining module is used for determining the dirt degree of the mopping piece according to the first color information so as to clean or replace the mopping piece based on the dirt degree.
10. A cleaning robot characterized by comprising a control device of the cleaning robot according to claim 9.
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| CN202110563266.7A CN113273933B (en) | 2021-05-24 | 2021-05-24 | Cleaning robot, control method and device thereof, and storage medium |
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| CN202110563266.7A CN113273933B (en) | 2021-05-24 | 2021-05-24 | Cleaning robot, control method and device thereof, and storage medium |
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| CN113273933A true CN113273933A (en) | 2021-08-20 |
| CN113273933B CN113273933B (en) | 2022-04-12 |
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| CN202110563266.7A Active CN113273933B (en) | 2021-05-24 | 2021-05-24 | Cleaning robot, control method and device thereof, and storage medium |
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| CN114468866A (en) * | 2022-04-14 | 2022-05-13 | 风林科技(深圳)有限公司 | Mopping robot control method, device, equipment and medium based on artificial intelligence |
| CN114652227A (en) * | 2022-03-21 | 2022-06-24 | 东莞市品佳智能科技有限公司 | Intelligent cleaning robot control method, system, device, electronic equipment and medium |
| CN115429160A (en) * | 2022-07-27 | 2022-12-06 | 云鲸智能(深圳)有限公司 | Control method, device and system of cleaning robot and storage medium |
| CN115429162A (en) * | 2022-07-27 | 2022-12-06 | 云鲸智能(深圳)有限公司 | Cleaning method, control device, base station, cleaning system and storage medium for mopping piece |
| WO2024020882A1 (en) * | 2022-07-27 | 2024-02-01 | 云鲸智能(深圳)有限公司 | Cleaning robot control method and apparatus, cleaning method and system, and storage medium |
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| CN113273933B (en) | 2022-04-12 |
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