CN113598652B - Robot control method, robot control device, cleaning robot and storage medium - Google Patents

Abstract

The application discloses a robot control method and device, a cleaning robot and a storage medium, and relates to the technical field of intelligent cleaning robots. The method comprises the following steps: detecting an equipment state of the cleaning robot in a cleaning process of the cleaning robot; when the equipment state meets a preset state condition, moving to a base station, wherein the preset state condition is a state condition when the cleaning robot cannot continuously clean; sending a cleaning instruction to the base station to instruct the base station to clean the cleaning robot. Therefore, the cleaning part of the cleaning robot is cleaned by the cleaning robot base station, the user does not need to manually control the operation, and the use experience of the user is improved; compared with manual cleaning, the cleaning effect is better.

Description

Robot control method, device, cleaning robot and storage medium

technical field

The present application relates to the field of intelligent cleaning robots, and more specifically, to a robot control method and device, a cleaning robot and a storage medium.

Background technique

In the related art, the cleaning robot is generally equipped with a mop and a water tank, which can realize the function of mopping the floor. Among them, the water in the water tank can be used to wet the mop, and the mop is close to the ground. When the cleaning robot moves, it will carry the mop together. Move, so as to realize the automatic mopping function. However, after the robot has dragged a certain area of the ground, cleaning parts such as the mop of the robot will become dirty, which may lead to problems such as incomplete cleaning of the subsequent ground.

Contents of the invention

In view of this, the present application proposes a robot control method and device, a cleaning robot and a storage medium.

In the first aspect, the embodiment of the present application provides a robot control method, which is applied to a cleaning robot, and the method includes: during the cleaning process of the cleaning robot, detecting the equipment status of the cleaning robot; when the equipment When the state meets the preset state condition, move to the base station, the preset state condition is the state condition when the cleaning robot cannot continue to clean; send a cleaning instruction to the base station to instruct the base station to clean the cleaning robot cleaning parts for cleaning.

In a second aspect, the embodiment of the present application provides a robot control device, which is applied to a cleaning robot, and the device includes: a state detection module, a control module, and an instruction sending module. The state detection module is used to detect the equipment status of the cleaning robot during the cleaning process of the cleaning robot; the control module is used to move to the base station when the equipment status meets the preset status conditions, and the preset Let the state condition be the state condition when the cleaning robot cannot continue to clean; the instruction sending module is used to send a cleaning instruction to the base station to instruct the base station to clean the cleaning parts of the cleaning robot.

In a third aspect, the embodiment of the present application provides a cleaning robot, including: one or more processors; memory; one or more programs, wherein the one or more programs are stored in the memory and configured To be executed by the one or more processors, the one or more programs are configured to execute the robot control method provided in the first aspect.

In a fourth aspect, the embodiment of the present application provides a computer-readable storage medium, where program code is stored in the computer-readable storage medium, and the program code can be invoked by a processor to execute the robot control method provided in the first aspect.

In the solution provided by this application, by detecting the equipment status of the cleaning robot, when the equipment status meets the status conditions when the cleaning robot cannot continue cleaning, it moves to the cleaning robot base station, and the cleaning robot base station performs cleaning operations on it. In this way, the cleaning robot can automatically move to the base station of the cleaning robot and perform cleaning operations when it determines that cleaning cannot continue according to its real-time equipment status, without requiring the user to manually control the operation, which improves the user experience; and, by cleaning The robot base station cleans the cleaning parts of the cleaning robot. Compared with manual cleaning, the cleaning effect is better. Therefore, it can also improve the cleaning effect of subsequent cleaning floors.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 shows a schematic diagram of the architecture of a robot control system provided by an embodiment of the present application.

Fig. 2 shows a schematic flowchart of a robot control method provided by an embodiment of the present application.

Fig. 3 shows a schematic flowchart of a robot control method provided by another embodiment of the present application.

FIG. 4 shows a schematic flowchart of sub-steps of step S340 shown in FIG. 3 in an implementation manner.

Fig. 5 shows a schematic flowchart of a robot control method provided in yet another embodiment of the present application.

Fig. 6 shows a schematic flowchart of a robot control method provided in yet another embodiment of the present application.

Fig. 7 shows a schematic flowchart of a robot control method provided in yet another embodiment of the present application.

Fig. 8 shows a schematic flowchart of a robot control method provided in yet another embodiment of the present application.

Fig. 9 shows a schematic flow chart of a robot control method provided in yet another embodiment of the present application.

Fig. 10 is a block diagram of a robot control device provided according to an embodiment of the present application.

FIG. 11 is a block diagram of a cleaning robot for performing a robot control method according to an embodiment of the present application according to an embodiment of the present application.

Fig. 12 is a storage unit for saving or carrying program codes for realizing the robot control method according to the embodiment of the present application according to the embodiment of the present application.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

In related technologies, after the intelligent cleaning robot has cleaned the ground for a period of time, the mop assembled by itself will become dirty, resulting in incomplete cleaning of the subsequent ground; the user can disassemble the mop for cleaning, or replace it with a clean The mop is more cumbersome for the user, and the user experience is poor.

In view of the above problems, the inventor proposes a robot control method, device, cleaning robot and storage medium, which can detect the equipment status of the cleaning robot during the cleaning process of the cleaning robot; when the equipment status meets the preset status conditions, move to Clean the robot base station, and send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning robot. The content is described in detail below.

Please refer to FIG. 1 , which is a schematic structural diagram of a robot control system 10 provided in an embodiment of the present application. Wherein, the robot control system 10 includes a cleaning robot base station 100 and a cleaning robot 200 .

Wherein, the cleaning robot base station 100 may include a docking room 101 , and when the cleaning robot 200 needs to be replenished or is idle, the cleaning robot 200 may be parked in the docking room 101 in the cleaning robot base station 100 . The cleaning robot base station 100 may also clean components (not shown in FIG. 1 ). The cleaning robot 200 may include a first clean water tank, a first dirty water tank, and cleaning components. Wherein, the cleaning robot 200 may use cleaning components to clean the ground, clean the cleaning components with clean water in the first fresh water tank, and store the cleaned sewage in the first dirty water tank. The first clean water tank is provided with a water inlet for injecting clean water; the first sewage tank is provided with a discharge port for discharging stored sewage.

The cleaning assembly in the cleaning robot base station 100 includes a scraping assembly, a second clean water tank, a first water pump and a first connecting pipeline, and the scraping assembly is installed in the docking chamber 101 and is suitable for cleaning components in the docking chamber 101 Contact, scrape and clean the cleaning parts; the second clean water tank is installed in the docking chamber 101, the first water pump is connected to the second clean water tank, and communicates with the first connecting pipeline, and the cleaning robot 200 When parked in the docking room 101, the first connecting pipeline communicates with the water inlet of the first clean water tank, and can transfer the clean water in the second clean water tank to the first clean water tank. The cleaning assembly also includes a second sewage tank, a second water pump and a second connection pipeline, the second sewage tank is installed in the docking chamber 101, the second water pump is connected to the second sewage tank, and is connected to the The second connection pipeline communicates. When the cleaning robot 200 is parked in the docking room 101, the second connection pipeline communicates with the water outlet of the second sewage tank, and the sewage in the second sewage tank can be discharged into the second sewage tank.

In addition, the robot base station 100 may also include a charging output port, and the cleaning robot 200 may also include a charging input port. When the cleaning robot 200 is parked in the docking room 101 , the robot base station 100 can also provide charging current to the charging input port of the cleaning robot 200 through the charging output port, so as to realize charging for the cleaning robot 200 .

Please refer to FIG. 2 . FIG. 2 is a schematic flowchart of a robot control method provided by an embodiment of the present application. The robot control method provided by the embodiment of the present application will be described in detail below with reference to FIG. 2 . The robot control method is applied to a cleaning robot and may include the following steps:

Step S210: During the cleaning process of the cleaning robot, detect the device status of the cleaning robot.

In this embodiment, the cleaning robot can clean the ground through self-assembled cleaning components, wherein the cleaning components can be mops, side sweepers, rolling brushes, dust collection boxes, etc., which are not limited in this embodiment. Taking the cleaning part as a mop as an example, when the cleaning robot moves, it can move with the mop that is close to the ground, or the mop mechanism can automatically rotate on the robot chassis and move with the robot to mop the floor to realize the automatic mopping function; The cleaning robot can also suck the dust on the ground at the bottom of the cleaning robot and some of the dirt stuck to the ground into the vacuum box through the roller brush at the bottom; Clean out the dust and dirt near the wall or corner. In this way, the cleaning effect on the ground can be greatly improved by using a plurality of different types of cleaning components to clean the ground.

In some implementations, the equipment status of the cleaning robot may include equipment information such as the water volume of the clean water tank, the water volume of the sewage tank, and the remaining power of the cleaning robot, which is not limited in this embodiment. The equipment status of the cleaning robot can affect the cleaning effect of the cleaning floor. For example, when the water volume of the clean water tank is insufficient or the water volume of the sewage tank is large, it may not be possible to clean the cleaning parts of the cleaning robot in a timely manner, resulting in subsequent cleaning of the ground. Incomplete problems; or, when the remaining power is too low, it may also lead to low working efficiency of the cleaning robot, for example, the low remaining power may cause the mop of the cleaning robot to rub back and forth on the ground less frequently Its working friction frequency cannot reach the preset frequency, therefore, it will lead to low working efficiency, and then cause the problem of incomplete cleaning of the subsequent ground. Based on this, during the cleaning process of the cleaning robot, the equipment status of the cleaning robot can be detected, so as to adjust the equipment status of the cleaning robot in time to ensure the cleaning efficiency of the cleaning robot.

In some embodiments, the cleaning robot detects its equipment status during the cleaning process, which may be to detect the equipment status of the cleaning robot in real time; it may also be to detect the equipment status of the cleaning robot every preset time length, wherein, The specific value of the preset duration may not be limited, for example, the preset duration may be 10 seconds, 30 seconds, 50 seconds and so on.

Step S220: When the state of the device satisfies a preset state condition, move to the base station of the cleaning robot. The preset state condition is a state condition when the cleaning robot cannot continue cleaning.

Wherein, the preset state condition may be any one or more conditions in which the water volume of the clean water tank is less than the first water volume threshold, the water volume of the sewage tank is greater than the second water volume threshold, and the remaining power is less than the preset power, which is not limited in this embodiment. For example, when the water volume of the clean water tank in the cleaning robot is less than the first water volume threshold, it is determined that the equipment status of the cleaning robot meets the preset state conditions at this time; The equipment state of the robot meets the preset state conditions; when the remaining power in the cleaning robot is less than the preset power, it is determined that the equipment state of the cleaning robot meets the preset state conditions at this time; or, when the water volume of the clean water tank in the cleaning robot is less than the first When the water volume threshold and the water volume of the sewage tank are greater than the second water volume threshold and the remaining power is less than the preset power, it is determined that the equipment state of the cleaning robot meets the preset state conditions at this time. After detecting the equipment status of the cleaning robot, it can be judged whether the equipment status meets the preset status conditions. When the equipment status meets the preset status conditions, it means that the equipment status of the cleaning robot cannot be satisfied to continue cleaning, so the cleaning robot moves to the cleaning robot Base station, the cleaning robot base station performs corresponding target operations on the cleaning robot to adjust the equipment status of the cleaning robot and ensure its cleaning ability when performing subsequent cleaning work. Wherein, the target operation may be injecting clean water into the clean water tank, discharging sewage from the sewage tank, charging, etc., which is not limited in this embodiment. When the equipment state does not meet the preset state conditions, it means that the equipment state of the cleaning robot can guarantee to continue cleaning, so the cleaning robot can continue to perform the cleaning work on the ground.

As a way, the preset state condition can be that at least one of the conditions of the water volume of the clean water tank being less than the first water volume threshold, the water volume of the sewage tank being greater than the second water volume threshold, and the remaining power less than the preset power is met, that is to say, as long as If the detected device status satisfies any one of the conditions, it can be determined that the device status satisfies the preset status condition.

Step S230: Send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning parts of the cleaning robot.

After the cleaning robot moves to the cleaning robot base station, the cleaning robot base station usually performs corresponding operations to adjust the water volume of the clean water tank, the sewage tank water volume or the power of the cleaning robot to change the equipment status of the cleaning robot. In this embodiment, when the cleaning robot moves to the cleaning robot base station to adjust the equipment status, it can send a cleaning instruction to the cleaning robot base station. Correspondingly, after receiving the cleaning instruction, the cleaning robot base station will clean the cleaning robot. Parts are cleaned to improve the cleaning ability of the cleaning robot in the subsequent cleaning process. Among them, the cleaning robot and the cleaning robot can perform data interaction (such as transmission instructions) through communication methods such as WiFi, Bluetooth, and ZigBee (ZigBee) network.

In the above embodiment, by detecting the equipment status of the cleaning robot, when the equipment status meets the preset status conditions, it moves to the cleaning robot base station, and the cleaning robot base station performs cleaning operations on it. In this way, the cleaning robot can automatically move to the cleaning robot base station for cleaning operations according to its own real-time equipment status, without the need for the user to manually control the operation, which improves the user experience; moreover, the cleaning robot base station cleans the cleaning parts of the cleaning robot. Cleaning, compared with manual cleaning, has a better cleaning effect, so it can also improve the cleaning effect of the subsequent cleaning of the floor.

Please refer to FIG. 3 , which is a schematic flowchart of a robot control method provided in another embodiment of the present application. The robot control method provided by the embodiment of the present application will be described in detail below with reference to FIG. 3 . The robot control method is applied to a cleaning robot and may include the following steps:

Step S310: During the cleaning process of the cleaning robot, detect the equipment status of the cleaning robot.

Step S320: When the state of the device satisfies a preset state condition, move to the cleaning robot base station, where the preset state condition is a state condition when the cleaning robot cannot continue cleaning.

In the embodiment of the present application, for steps S310 to S320, reference may be made to the content in the foregoing embodiments, and details are not repeated here.

Step S330: Obtain the value of the degree of dirtiness of the cleaning parts of the cleaning robot.

In this embodiment, when the device state meets the state condition when the cleaning robot cannot continue, it means that the current device state of the cleaning robot does not support itself to continue cleaning, but the cleaning parts of the cleaning robot may not be very dirty. Therefore, It can also be further determined according to the degree of dirtiness of the cleaning components whether it is necessary to send a cleaning instruction to the cleaning robot base station. The cleaning components may include a mop, a broom, a dust collection box, etc., which are not limited in this embodiment. The degree of dirtiness of the cleaning part can be detected, and the degree of dirtiness of the cleaning part can be quantified as a specific value of the degree of dirtiness (such as 0.3). The larger the value of the degree of dirtiness, the dirtier the cleaning part is.

In some implementations, the cleaning robot can collect images of the cleaning components through a built-in image collection device, where the image collection device can be a common camera or a depth camera, which is not limited in this embodiment. Taking the image acquisition device as a depth camera as an example, the captured image is a depth image, and the depth image of the current cleaning component is obtained through the depth camera as the first depth image, and the pixels in the first depth image are extracted, and each pixel is The color of the point is analyzed and counted, and the color feature set of all pixels in the first depth image is obtained as the first feature set; before cleaning, the depth image of the clean cleaning part can be obtained in advance as the second depth image, and the second depth image is extracted. pixels in the depth image, and analyze and count the color of each pixel to obtain a color feature set of all pixels in the second depth image as the second feature set. Comparing the similarity between the first feature set and the second feature set to obtain a similarity value; and based on the similarity value, determining the degree of dirtiness, specifically, the reciprocal of the similarity value can be used as the value of the degree of dirtiness. It can be understood that the larger the similarity value, the higher the image color similarity between the cleaning component and the clean cleaning component at this time is, that is to say, the degree of dirtiness of the cleaning component at this time is relatively low, and correspondingly, the dirty The dirtiness value is also smaller.

In other embodiments, the cleaning robot can acquire the image of the area of the current cleaning component through the image acquisition device as the target image; perform image recognition on the target image, and obtain the proportion of other items containing non-cleaning components in the target image , to obtain a proportion value, the higher the proportion value, the more dirt attached to the cleaning part, and correspondingly, the greater the degree of dirtiness. Specifically, the proportion value may be used as the degree of dirtiness; the product of the proportion value and a fixed coefficient may also be used as the degree of dirtiness value, which is not limited in this embodiment.

In some other implementations, the cleaning robot can acquire the target image of the cleaning component through the image acquisition device, and determine the first target dirty degree value according to the target image; then use the sensor to analyze the composition of the sewage in the sewage bin in the cleaning robot , determine the second target degree of dirtiness value of the sewage; determine the value of the degree of dirtiness of the cleaning component based on the first target degree of dirtiness value and the second target degree of dirtiness value. Specifically, the average value of the first target degree of dirtiness and the second target degree of dirtiness can be obtained as the value of the degree of dirtiness of the cleaning component; The largest numerical value is used as the dirty degree value of the cleaning component, which is not limited in this embodiment.

Step S340: If the dirty degree value is greater than the first degree value, send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning component.

Based on this, after obtaining the dirty degree value of the cleaning part, it can be judged whether the dirty degree value is greater than the first degree value. If the dirty degree value is greater than the first degree value, it means that the cleaning part is dirty at this time. Therefore, A cleaning instruction can be sent to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning parts. Wherein, the first degree value may be obtained according to historical data statistics, or may be a preset default value, which is not limited in this embodiment. The first degree value can be the maximum dirty degree value of the cleaning part that the cleaning robot can achieve a better cleaning effect, that is to say, if the dirty degree value of the cleaning part reaches the first degree value, continue to use the cleaning part to Cleaning the ground will result in incomplete cleaning of the ground and poor cleaning effect; of course, if the dirty degree value is not greater than the first degree value, no cleaning instruction will be sent to the cleaning robot base station.

In some implementation manners, referring to FIG. 4, step S340 may include:

Step S341: If the dirty level value is greater than the first level value, based on the dirty level value and the water volume of the clean water tank, determine the current cleanable dirty level value of the cleaning robot as the second level value.

In this embodiment, it may be inaccurate to obtain the dirty degree value of the cleaning parts only through the image acquisition device. The dirtiness value for cleaning. Specifically, when the dirty degree value is greater than the first degree value, the water volume of the clean water tank is obtained, and according to the corresponding relationship between the stored clean water tank water volume and the corresponding cleanable dirty degree value, the cleaning robot can determine the water volume of the clean water tank. In this case, the current dirtiness value that can be cleaned is used as the second dirtiness value. Wherein, the above corresponding relationship may be obtained through statistical analysis of a large amount of actual data. For example, the water volume of the clean water tank includes the water volume of three water volume ranges, 0L-1L, 1L-2L, 2L-4L, and the maximum value of the dirtiness value of the water volume in the above three water volume ranges is respectively 0.3, 0.7, 1. If the obtained water volume of the clean water tank is 1.5 liters, it can be determined that the current cleanable dirtiness value of the cleaning robot is 0.7.

Step S342: Obtain the dirty degree value of the uncleaned area as the third degree value.

Based on this, after obtaining the value of the second degree, the value of the degree of dirtiness of the uncleaned area can be obtained.

In some embodiments, an image acquisition device may be used to collect images of uncleaned areas to obtain uncleaned images, and then analyze the uncleaned images to determine the degree of dirtiness corresponding to the uncleaned areas. Specifically, the uncleaned area can be analyzed with the image of the area when the area is clean, to obtain the corresponding value of the degree of dirtiness, and reference can be made to the content in the foregoing embodiments, which will not be repeated here.

In other embodiments, the cleaning robot can obtain all images of all areas to be cleaned before cleaning, and perform real-time positioning and map construction of the cleaning robot through synchronous positioning and map construction technology; map and its own real-time positioning, determine the cleaned area and the uncleaned area, and obtain the uncleaned image corresponding to the uncleaned area from all the images of the cleaned area acquired in advance, and then analyze the uncleaned image, Determines the dirtiness value corresponding to the uncleaned area. Specifically, the uncleaned area can be analyzed with the image of the area when the area is clean to obtain the corresponding dirty degree value, which can be referred to the content in the foregoing embodiments, and will not be repeated here.

Step S343: When the second degree value is smaller than the third degree value, send the cleaning instruction to the cleaning robot base station.

After obtaining the second degree value and the third degree value, judge the size relationship between the two degree values. If the second degree value is smaller than the third degree value, it can be determined that the cleaning robot is currently able to clean, and it cannot complete cleaning of the uncleaned area. In other words, the timely cleaning robot continues to clean the uncleaned area, and it cannot achieve thorough cleaning, and the cleaning effect is not good. Therefore, a cleaning instruction can be sent to the cleaning robot base station, and after the cleaning robot base station cleans it, follow-up cleaning is performed on the uncleaned area.

In this embodiment, the cleaning robot can send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to automatically clean the cleaning parts of the cleaning robot when the current cleanable dirt level value is less than the dirty level value of the uncleaned area . In this way, combined with the cleaning ability of the cleaning parts and the degree of dirtiness of the uncleaned area, it is judged whether it is necessary to send cleaning instructions to the base station of the cleaning robot, which improves the accuracy of sending cleaning instructions and reduces the chance of sending cleaning instructions by mistake; and does not require manual disassembly by the user Clean the cleaning parts on the robot, and then clean the disassembled cleaning parts, which is easy to operate and improves the user experience; moreover, the cleaning parts of the cleaning robot are cleaned by the cleaning robot base station. Compared with manual cleaning, the cleaning effect is better. Better, therefore, also improves the cleaning effect of the subsequent cleaning of the floor.

Please refer to FIG. 5 . FIG. 5 is a schematic flowchart of a robot control method provided in yet another embodiment of the present application. The robot control method provided by the embodiment of the present application will be described in detail below with reference to FIG. 5 . The robot control method is applied to a cleaning robot and may include the following steps:

Step S410: During the cleaning process of the cleaning robot, detect the device status of the cleaning robot.

Step S420: When the state of the device satisfies a preset state condition, move to the cleaning robot base station, where the preset state condition is a state condition when the cleaning robot cannot continue cleaning.

Step S430: Obtain the value of the degree of dirtiness of the cleaning parts of the cleaning robot.

In the embodiment of the present application, for steps S410 to S430, reference may be made to the content in the foregoing embodiments, and details are not repeated here.

Step S440: If the dirty level value is less than or equal to the first level value, obtain the area of the currently cleaned area and the dirty level of the area as a fourth level value.

In this embodiment, it may not be accurate to directly judge whether to send a cleaning instruction to the base station of the cleaning robot based only on the value of the degree of dirtiness of the cleaning component. Based on this, it can be further judged whether it is necessary to send a cleaning instruction to the cleaning robot base station in combination with the area of the cleaned area, the degree of dirtiness of the area, and the preset area. Specifically, when the dirty degree value is less than or equal to the first degree value, the area of the cleaned area and its dirty degree value may be further acquired to determine whether to send a cleaning instruction to the cleaning robot base station.

In some embodiments, obtaining the area of the cleaned area may be performed by an image acquisition device to collect images of the cleaned area to obtain a cleaned image, and then analyze and calculate the area of the cleaned image to obtain the cleaned area. The area of the region.

In other embodiments, the cleaning robot can obtain all images of all areas to be cleaned before cleaning, and perform real-time positioning and map construction of the cleaning robot through synchronous positioning and map construction technology; map and its own real-time positioning, determine the cleaned area, and obtain the cleaned image corresponding to the cleaned area from all the images of the cleaned area obtained in advance, and then analyze and calculate the area of the cleaned image to obtain the cleaned area. The area of the area to be cleaned.

Wherein, obtaining the dirtiness value of the cleaned area is similar to obtaining the uncleaned area in the above embodiment, and reference may be made to the content in the above embodiment, and details are not repeated here.

Step S450: If the area is greater than a preset area, send the cleaning instruction to the base station of the cleaning robot, the preset area is when the cleaning robot cleans the area of the fourth degree value set in advance, The cleaning area when the dirty degree value of the cleaning component reaches the first degree value.

In this embodiment, the cleaning robot can determine the area that it can clean according to the dirtiness value of the area to be cleaned, combined with its own cleaning ability. The cleaning robot can estimate the cleaning area when the dirty degree value of its cleaning parts reaches the first degree value when it cleans the area to be cleaned according to the water volume of its own clean water tank, the water volume of the sewage tank and the remaining power, and calculate the cleaning area as the default area. Then compare the area of the area that has been cleaned with the preset area. When the area of the cleaned area is larger than the preset area, it means that the area cleaned by the cleaning robot has exceeded the area that can be cleaned within its cleaning capacity. , if you continue to clean, the cleaning effect will be poor and the floor cannot be cleaned thoroughly. Therefore, when the area of the cleaned area is larger than the preset area, in order to ensure the cleaning effect, a cleaning instruction can be sent to the cleaning robot base station, so that the cleaning robot base station can clean the cleaning parts in time.

In some implementations, as an alternative to the above-mentioned implementation, if the value of the degree of dirtiness is less than or equal to the first degree value, the cleaning duration of the currently cleaned area and the dirtyness of the area can also be obtained. degree as the fifth degree value; if the cleaning duration is longer than the preset cleaning duration, the cleaning instruction is sent to the cleaning robot base station, and the preset cleaning duration is the preset cleaning robot for the fifth degree value, the cleaning duration when the dirty degree value of the cleaning component reaches the first degree value.

Among them, the cleaning robot can determine the length of time it can clean according to the dirtiness value of the area to be cleaned, combined with its own cleaning ability. The cleaning robot can estimate the cleaning time when the dirty degree value of the cleaning parts reaches the first degree value when it cleans the area to be cleaned according to the water volume of its own clean water tank, the water volume of the sewage tank and the remaining power, and divide the cleaning area as the preset cleaning duration. Then compare the cleaning time of the cleaned area with the preset cleaning time. When the cleaning time of the cleaned area is longer than the preset cleaning time, it means that the cleaning time of the cleaning robot has exceeded its cleaning capacity. The preset cleaning time of the cleaning work, if the cleaning is continued, the cleaning effect will be poor and the floor cannot be cleaned thoroughly. Therefore, when the cleaning time of the cleaned area is longer than the preset cleaning time, in order to ensure the cleaning effect, a cleaning instruction can be sent to the cleaning robot base station, so that the cleaning robot base station can clean the cleaning parts in time.

In this embodiment, the cleaning robot may send a cleaning instruction to the cleaning robot base station when the area of the cleaned area is greater than a preset area. In this way, it can be more accurately judged whether the cleaning parts of the cleaning robot are capable of completing the subsequent cleaning, and when it is unable to complete the subsequent cleaning work, the cleaning parts will be cleaned by the cleaning robot in time to prevent the cleaning parts from being dirty, resulting in inability to clean the subsequent parts. Thorough cleaning of the ground and other issues; moreover, the cleaning parts of the cleaning robot are cleaned by the cleaning robot base station. Compared with manual cleaning, the cleaning effect is better, so it can also improve the cleaning effect of the subsequent cleaning of the ground.

Please refer to FIG. 6 . FIG. 6 is a schematic flowchart of a robot control method provided in yet another embodiment of the present application. The robot control method provided by the embodiment of the present application will be described in detail below with reference to FIG. 6 . The robot control method is applied to a cleaning robot and may include the following steps:

Step S510: During the cleaning process of the cleaning robot, detect the device status of the cleaning robot.

Step S520: When the state of the device satisfies a preset state condition, move to the cleaning robot base station, where the preset state condition is a state condition when the cleaning robot cannot continue cleaning.

Step S530: Obtain the value of the degree of dirtiness of the cleaning component.

In the embodiment of the present application, for steps S510 to S530, reference may be made to the content in the foregoing embodiments, and details are not repeated here.

Step S540: Determine a target cleaning mode for the cleaning robot base station to clean the cleaning component according to the dirty degree value.

In this embodiment, the target cleaning mode may include a first cleaning mode and a second cleaning mode. The first cleaning mode may include: low-intensity cleaning, medium-intensity cleaning, and high-intensity cleaning; the second cleaning mode may include rotary cleaning, double-drum cleaning, beating cleaning, scraping cleaning, etc. No limit.

In some embodiments, different cleaning modes correspond to different intervals of the degree of dirtiness, such as the first interval, the second interval and the third interval, the first interval corresponds to low-intensity cleaning, the second interval corresponds to medium-intensity cleaning, and the third interval Corresponding to high-intensity cleaning, the interval whose dirty degree value is less than the first threshold is regarded as the first interval; the interval whose dirty degree value is greater than or equal to the first threshold and less than the second threshold is regarded as the second interval; the dirty degree value The interval greater than the third threshold is used as the third interval. After obtaining the dirty degree value of the cleaning component, the dirty level value can be compared with the first threshold, the second threshold or the third threshold respectively, to determine the target cleaning mode for the cleaning robot base station to clean the cleaning component in the first cleaning mode. Among them, the low-intensity cleaning can be a mode with a small flushing speed during cleaning, the medium-intensity cleaning can be a mode with a relatively high flushing speed during cleaning, and the high-intensity cleaning can be a mode with the largest flushing speed and a long flushing time during flushing. longest pattern. That is to say, when the cleaning parts are dirty, use the mode with stronger cleaning ability to rinse, and when the cleaning parts are only a little dirty, use the mode with weaker cleaning ability to rinse. In this way, the cleaning effect can be guaranteed. ,conserve water.

In some other embodiments, it is also possible to carry out image recognition according to the dirt attached to the cleaning component, determine the type of dirt attached to the cleaning component, and determine the target cleaning mode according to the type of dirt. In this way, it can be more effectively Wash away the dirt attached to the cleaning parts. Exemplarily, when the type of dirt is filamentary items, such as dirt such as cotton thread and hair, the scraping cleaning mode or the double-drum mode can be used as the second cleaning mode in the target cleaning mode; Items, the rotating cleaning or the flapping cleaning can be used as the second cleaning mode of the target cleaning mode.

In some other implementations, the target cleaning mode can be determined according to the degree of dirtiness and the type of dirt attached to the cleaning component at the same time, that is to say, the first cleaning mode is determined according to the value of the degree of dirtiness, and the cleaning mode is determined according to the type of dirt at the same time. Second cleaning mode.

Step S50: Generate the cleaning instruction based on the target cleaning mode.

Based on this, after the target cleaning mode is obtained, the mark of the target cleaning mode can be added to the cleaning instruction, so that after the cleaning robot base station receives the cleaning command, it can use the mark of the target cleaning mode carried in the cleaning command to The cleaning part performs a cleaning operation in a corresponding mode.

Step S560: Send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning robot.

In the embodiment of the present application, reference may be made to the content in the foregoing embodiments for step S560, and details are not repeated here.

In this embodiment, different cleaning modes can be determined according to the degree of dirtiness of the cleaning components. In this way, water can be saved and waste of water resources can be reduced while ensuring the cleaning effect; , to determine different cleaning modes, so that the cleaning parts can be cleaned more efficiently and quickly, the dirt attached to the cleaning parts can be removed, and a good cleaning effect can also be achieved.

Please refer to FIG. 7 . FIG. 7 is a schematic flowchart of a robot control method provided in yet another embodiment of the present application. The robot control method provided by the embodiment of the present application will be described in detail below with reference to FIG. 7 . The robot control method is applied to a cleaning robot and may include the following steps:

Step S610: During the cleaning process of the cleaning robot, detect the device status of the cleaning robot.

Step S620: When the state of the device satisfies a preset state condition, move to the cleaning robot base station, where the preset state condition is a state condition when the cleaning robot cannot continue cleaning.

Step S630: Send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning parts of the cleaning robot.

In the embodiment of the present application, reference may be made to the content in the foregoing embodiments for step S610 to step S630, and details are not repeated here.

Step S640: If the water volume of the clean water tank is less than the first water volume threshold, send a water filling command to the cleaning robot base station to instruct the cleaning robot base station to fill the cleaning robot with clean water.

In this embodiment, the preset state condition may be that the water volume of the clean water tank is less than the first water volume threshold, wherein the first water volume threshold may be preset, or the first water volume threshold may be adjusted according to different cleaning modes, This embodiment does not limit this. When the water volume of the clean water tank in the cleaning robot is less than the first water volume threshold, it is determined that the device status meets the preset state conditions, which means that the water volume in the clean water tank is too low at this time, which may not be enough to wet the mop, and the mop that is not completely wet can clean the ground The ability is poor, and it is impossible to clean the ground thoroughly. That is to say, at this time, the cleaning robot cannot continue to clean; If the cleaning robot continues to perform the cleaning work, it will also cause the problem that the ground cannot be cleaned thoroughly.

In the above embodiment, when the water volume of the clean water tank in the cleaning robot is less than the first water volume threshold, the cleaning robot moves to the base station of the cleaning robot, and instructs the base station of the cleaning robot to inject clean water into the clean water tank of the cleaning robot, so as to provide enough clean water for the subsequent cleaning process, In order to ensure the subsequent cleaning ability of the cleaning robot.

Please refer to FIG. 8 . FIG. 8 is a schematic flowchart of a robot control method provided in yet another embodiment of the present application. The robot control method provided by the embodiment of the present application will be described in detail below with reference to FIG. 8 . The robot control method is applied to a cleaning robot and may include the following steps:

Step S710: During the cleaning process of the cleaning robot, detect the device status of the cleaning robot.

Step S720: When the state of the device satisfies a preset state condition, move to the cleaning robot base station, where the preset state condition is a state condition when the cleaning robot cannot continue cleaning.

Step S730: Send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning parts of the cleaning robot.

In the embodiment of the present application, for steps S710 to S730, reference may be made to the content in the foregoing embodiments, and details are not repeated here.

Step S740: If the water volume of the sewage tank is greater than the second water volume threshold, send a drainage command to the cleaning robot base station to instruct the cleaning robot base station to discharge sewage for the cleaning robot.

The preset state condition can be that the water volume of the sewage tank is greater than the second water volume threshold, wherein the second water volume threshold can be preset, or can be adjusted according to different cleaning modes, which is not limited in this embodiment. When the water volume of the sewage tank in the cleaning robot is greater than the second water volume threshold, it is determined that the equipment status meets the preset state conditions, which means that more water is used to clean the mop of the cleaning robot. Therefore, the amount of sewage in the cleaning robot is large at this time. At this time, if clean water is used to clean the mop of the cleaning robot again, since the water volume of the sewage tank is greater than the second water volume threshold, the remaining space in the sewage tank is less, that is, the sewage generated after cleaning cannot be accommodated, and the sewage may overflow. Cause secondary pollution to the ground; or, the cleaning robot does not clean the mop again, and directly continues to use the mop to clean the ground, which will lead to the problem that the ground cannot be cleaned thoroughly.

In the above embodiment, when the water volume of the sewage tank in the cleaning robot is greater than the second water volume threshold, the cleaning robot moves to the base station of the cleaning robot, and instructs the base station of the cleaning robot to discharge the sewage in the sewage tank of the cleaning robot, so as to prevent excessive sewage volume from causing The following problems such as poor cleaning ability of the cleaning robot occur.

Please refer to FIG. 9 . FIG. 9 is a schematic flowchart of a robot control method provided in yet another embodiment of the present application. The robot control method provided by the embodiment of the present application will be described in detail below with reference to FIG. 9 . The robot control method is applied to a cleaning robot and may include the following steps:

Step S810: During the cleaning process of the cleaning robot, detect the device status of the cleaning robot.

Step S820: When the state of the device satisfies a preset state condition, move to the cleaning robot base station, where the preset state condition is a state condition when the cleaning robot cannot continue cleaning.

Step S830: Send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning parts of the cleaning robot.

In the embodiment of the present application, for steps S810 to S830, reference may be made to the content in the foregoing embodiments, and details are not repeated here.

Step S840: If the remaining power is less than the preset power, send a charging instruction to the cleaning robot base station to instruct the cleaning robot base station to charge the cleaning robot.

The preset state condition may be that the remaining power is less than the preset power, wherein the preset power may be preset, or the preset power may be adjusted according to different cleaning modes, which is not limited in this embodiment. When the remaining power of the cleaning robot is less than the preset power, it is determined that the state of the device satisfies the preset state condition. At this time, due to the low remaining power of the cleaning robot, it may affect the friction frequency of the mop of the cleaning robot on the ground, making its friction frequency lower than the preset working frequency, resulting in the cleaning of the ground failing to achieve the preset effect , that is, the ground is not cleaned thoroughly; or, the cleaning robot spins the mop after cleaning it. Due to the low remaining power, the spin speed may be low, and the mop cannot be dried to the preset wetness level, resulting in During the follow-up mopping, the ground is wet, which affects the cleaning effect. If the user passes by the wet ground, it may slip, causing the user to wrestle and other problems, and reducing the user experience.

It should be noted that the implementation manners in the above three embodiments may be combined. Specifically, when the equipment state satisfies the preset state conditions, according to the specific equipment state, when the water volume of the clean water tank is less than the first water volume threshold, a water addition command can be sent to the cleaning robot base station, or when the water volume of the sewage tank is greater than the second water volume threshold. When the water volume threshold is reached, a drainage command is sent to the cleaning robot base station, and a charging command can also be sent to the cleaning robot base station when the remaining power is less than the preset power. That is to say, as long as any one of these three conditions is satisfied, the processing corresponding to the satisfied condition will be executed (that is, sending a water filling command, a draining command, and a charging command). Of course, if any of the three conditions is met Various conditions, the processing corresponding to multiple conditions can be executed at the same time.

In some implementations, the equipment state of the cleaning robot meets any of the preset state conditions in the above three embodiments, that is to say, when the water volume of the clean water tank is less than the first water volume threshold, the water volume of the sewage tank is greater than the second water volume threshold or the remaining power When the power is less than the preset power level, the cleaning robot base station will send water addition instructions, drainage instructions and charging instructions at the same time. The cleaning robot base station can add water to the cleaning robot according to the water addition instruction, discharge sewage to the cleaning robot according to the drainage instruction, and according to the charging instruction. The cleaning robot is charging. In this way, the operations of adding clean water, draining sewage, and charging the cleaning robot can be realized in a timely manner to ensure the cleaning ability of the cleaning robot.

In the above embodiment, when the remaining power of the cleaning robot is less than the preset power, the cleaning robot moves to the cleaning robot base station, and instructs the cleaning robot base station to charge the cleaning robot, so as to provide sufficient power for the subsequent cleaning process, thereby ensuring that the cleaning robot cleaning ability.

Please refer to FIG. 10 , which shows a structural block diagram of a robot control device 900 provided by an embodiment of the present application. The apparatus 900 may include: a state detection module 910 , a control module 920 and an instruction sending module 930 .

The status detection module 910 is configured to detect the equipment status of the cleaning robot during the cleaning process of the cleaning robot.

The control module 920 is configured to move to the base station of the cleaning robot when the state of the device meets a preset state condition, and the preset state condition is a state condition when the cleaning robot cannot continue cleaning.

The instruction sending module 930 is configured to send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning parts of the cleaning robot.

In some implementations, the cleaning robot includes a cleaning component, and before the cleaning instruction is sent to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning robot, the robot control device 900 may further include :dirty value fetching module. Wherein, the dirty value obtaining module can be used to obtain the dirty degree value of the cleaning component. The instruction sending module 930 may be configured to send a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning component if the dirty degree value is greater than the first degree value.

In this manner, the instruction sending module 930 may include: a first dirty value acquisition unit, a second dirty value acquisition unit, and an instruction sending unit. Wherein, the first dirty value acquisition unit can be used to determine the current cleanable dirty value of the cleaning robot based on the dirty level value and the water volume of the clean water tank if the dirty level value is greater than the first level value , as the second degree value. The second dirtiness value acquiring unit can be used to acquire the dirtiness level value of the uncleaned area as the third level value. The instruction sending unit may be configured to send the cleaning instruction to the cleaning robot base station when the second degree value is smaller than the third degree value.

In some implementations, the instruction sending module 930 may further include: a third dirty value acquisition unit and an instruction sending unit. Wherein, the third dirty value acquisition unit can be used to obtain the area of the area currently cleaned and the dirty level of the area as the fourth level value if the dirty level value is less than or equal to the first level value . The instruction sending unit may be specifically configured to send the cleaning instruction to the cleaning robot base station if the area is greater than a preset area, and the preset area is the preset area of the cleaning robot for the fourth degree value During cleaning, the cleaning area when the dirty degree value of the cleaning component reaches the first degree value.

In some implementations, before sending the cleaning instruction to the cleaning robot base station, the robot control device 900 may include: a cleaning mode determination module and an instruction generation module. Wherein, the cleaning mode determining module may be used to determine a target cleaning mode for the cleaning robot base station to clean the cleaning component according to the dirty degree value. The instruction generation module may be used to generate the cleaning instruction based on the target cleaning mode.

In some embodiments, the device state includes the water volume of the cleaning robot's clean water tank, the water volume of the sewage tank, and the remaining power, and the device state meets the preset state conditions, including any one of the following situations: the clean water tank The water volume is less than the first water volume threshold; the water volume of the sewage tank is greater than the second water volume threshold; and the remaining power is less than the preset power. The robot control device 900 may include: a water adding command sending module, a draining command sending module and a charging command sending module. Wherein, the water adding command sending module can be used to send a water adding command to the cleaning robot base station to instruct the cleaning robot base station to fill the cleaning robot with clean water if the water volume of the clean water tank is less than the first water volume threshold. The drainage instruction sending module may be used to send a drainage instruction to the cleaning robot base station to instruct the cleaning robot base station to discharge sewage for the cleaning robot if the water volume of the sewage tank is greater than the second water volume threshold. The charging command sending module may be used to send a charging command to the cleaning robot base station to instruct the cleaning robot base station to charge the cleaning robot if the remaining power is less than the preset power.

In some other implementations, when the water volume of the clean water tank is less than the first water volume threshold, the water volume of the sewage tank is greater than the second water volume threshold, or the remaining power is less than the preset power, the instruction sending module 930 may specifically It is used to send a water adding command, a draining command and a charging command to the cleaning robot base station, so as to instruct the cleaning robot base station to add clean water, discharge sewage and charge the cleaning robot.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the devices and modules described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other forms of coupling.

In addition, each functional module in each embodiment of the present application may be integrated into one processing module, each module may exist separately physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules.

A cleaning robot provided by the present application will be described below with reference to the figures.

Referring to FIG. 11 , FIG. 11 shows a structural block diagram of a cleaning robot 1000 provided in the embodiment of the present application, and the robot control method provided in the embodiment of the present application can be executed by the cleaning robot 1000 .

The cleaning robot 1000 in the embodiment of the present application may include one or more of the following components: a processor 1001, a memory 1002, and one or more application programs, wherein one or more application programs may be stored in the memory 1002 and configured To be executed by one or more processors 1001, one or more programs are configured to execute the methods described in the foregoing method embodiments.

Processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts of the entire cleaning robot 1000, and executes or executes instructions, programs, code sets or instruction sets stored in the memory 1002, and calls data stored in the memory 1002 to execute Various functions and processing data of the cleaning robot 1000. Optionally, the processor 1001 may use at least one of Digital Signal Processing (Digital Signal Processing, DSP), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and Programmable Logic Array (Programmable Logic Array, PLA). implemented in the form of hardware. The processor 1001 may integrate one or a combination of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), a modem, and the like. Among them, the CPU mainly handles the operating system, user interface and application programs, etc.; the GPU is used to render and draw the displayed content; the modem is used to handle wireless communication. It can be understood that the above modem can also be integrated into the processor 1001, and be realized by a single communication chip.

The memory 1002 may include random access memory (Random Access Memory, RAM), and may also include read-only memory (Read-Only Memory). The memory 1002 may be used to store instructions, programs, codes, sets of codes, or sets of instructions. The memory 1002 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system and instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.) , instructions for implementing the following method embodiments, and the like. The data storage area can also store data created by the cleaning robot 1000 during use (such as the above-mentioned various correspondences) and the like.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the devices and modules described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In several embodiments provided in this application, the coupling or direct coupling or communication connection between the modules shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be electrical, mechanical or otherwise.

In addition, each functional module in each embodiment of the present application may be integrated into one processing module, each module may exist separately physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules.

Please refer to FIG. 12 , which shows a structural block diagram of a computer-readable storage medium provided by an embodiment of the present application. Program codes are stored in the computer-readable medium 1100, and the program codes can be invoked by a processor to execute the methods described in the foregoing method embodiments.

The computer readable storage medium 1100 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium 1100 includes a non-transitory computer-readable storage medium (non-transitory computer-readable storage medium). The computer-readable storage medium 1100 has a storage space for program code 1110 for executing any method steps in the above methods. These program codes can be read from or written into one or more computer program products. Program code 1110 may, for example, be compressed in a suitable form.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not drive the essence of the corresponding technical solutions away from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (12)

1. A robot control method, applied to a cleaning robot, the method comprising:

detecting the equipment state of the cleaning robot in the cleaning process of the cleaning robot;

when the equipment state meets a preset state condition, moving to a cleaning robot base station, wherein the preset state condition is a state condition when the cleaning robot cannot continuously clean;

acquiring a target image of a cleaning component through an image acquisition device, and determining a first target dirty degree value according to the target image;

performing a compositional analysis on the sewage in a sewage bin in the cleaning robot via a sensor to determine a second target dirty degree value for the sewage;

obtaining a mean of the first target dirty extent value and the second target dirty extent value, or obtaining a maximum of the first target dirty extent value and the second target dirty extent value as the dirty extent value of the cleaning component;

if the dirty degree value is larger than the first degree value, sending a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning part of the cleaning robot.

2. The method of claim 1, wherein sending a cleaning instruction to the cleaning robot base station if the dirty level value is greater than a first level value comprises:

if the dirty degree value is larger than the first degree value, determining the dirty degree value which can be cleaned by the cleaning robot at present as a second degree value based on the dirty degree value and the clean water bin water amount;

acquiring a dirty degree value of an uncleaned area as a third degree value;

and when the second degree value is smaller than the third degree value, sending the washing instruction to the cleaning robot base station.

3. The method of claim 1, wherein after the obtaining the dirty extent value of the cleaning component, the method comprises:

if the dirty degree value is less than or equal to the first degree value, acquiring the area of the area which is cleaned currently and the dirty degree of the area as a fourth degree value;

and if the area is larger than a preset area, sending the cleaning instruction to the cleaning robot base station, wherein the preset area is the cleaning area when the cleaning robot cleans the area with the fourth range value, and the dirty range value of the cleaning part reaches the first range value.

4. The method of claim 1, wherein prior to said sending a rinse command to said cleaning robot base station, said method further comprises:

determining a target cleaning mode for the cleaning robot base station to clean the cleaning component according to the dirty degree value;

generating the cleaning instruction based on the target cleaning mode.

5. The method according to any one of claims 1 to 4, wherein the equipment status comprises a fresh water bin water volume, a sewage bin water volume and a residual power of the cleaning robot, and the equipment status satisfies a preset status condition, including any one of:

the water quantity of the clean water bin is smaller than a first water quantity threshold value;

the water volume of the sewage bin is greater than a second water volume threshold value;

the residual electric quantity is less than the preset electric quantity.

6. The method of claim 5, wherein after moving to a cleaning robot base station when the device status satisfies a preset status condition, the method further comprises:

and if the water quantity of the clean water bin is smaller than the first water quantity threshold value, sending a water adding instruction to the cleaning robot base station to instruct the cleaning robot base station to add clean water to the cleaning robot.

7. The method of claim 5, wherein after moving to a cleaning robot base station when the equipment status satisfies a preset status condition, the method further comprises:

and if the water quantity of the sewage bin is greater than the second water quantity threshold value, sending a drainage instruction to the cleaning robot base station to instruct the cleaning robot base station to discharge sewage for the cleaning robot.

8. The method of claim 5, wherein after moving to a cleaning robot base station when the device status satisfies a preset status condition, the method further comprises:

and if the residual electric quantity is less than the preset electric quantity, sending a charging instruction to the cleaning robot base station to indicate the cleaning robot base station to charge the cleaning robot.

9. The method of claim 5, wherein after moving to a cleaning robot base station when the device status satisfies a preset status condition, the method further comprises:

if the clear water amount is smaller than the first water amount threshold value, the sewage water amount is larger than the second water amount threshold value or the residual electric quantity is smaller than the preset electric quantity, a water adding instruction, a water draining instruction and a charging instruction are sent to the cleaning robot base station to instruct the cleaning robot base station to add clear water, discharge sewage and charge for the cleaning robot.

10. A robot control apparatus applied to a cleaning robot, the apparatus comprising:

the state detection module is used for detecting the equipment state of the cleaning robot in the cleaning process of the cleaning robot;

the control module is used for moving the cleaning robot to a cleaning robot base station when the equipment state meets a preset state condition, wherein the preset state condition is a state condition when the cleaning robot cannot continuously clean;

a dirty value acquisition module for acquiring a target image of the cleaning component through an image acquisition device and determining a first target dirty value according to the target image; performing a composition analysis on sewage in a sewage tank in the cleaning robot through a sensor, determining a second target dirty degree value of the sewage; obtaining a mean of the first target dirty extent value and the second target dirty extent value, or obtaining a maximum of the first target dirty extent value and the second target dirty extent value as the dirty extent value of the cleaning component;

and the instruction sending module is used for sending a cleaning instruction to the cleaning robot base station to instruct the cleaning robot base station to clean the cleaning part of the cleaning robot if the dirty degree value is greater than a first degree value.

11. A cleaning robot, characterized in that the cleaning robot comprises:

a memory;

one or more processors coupled with the memory;

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the robot control method of any of claims 1-9.

12. A computer-readable storage medium, in which a program code is stored, the program code being invokable by a processor to execute the robot control method according to any one of claims 1 to 9.

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