CN113598657A - Cleaning method and device for mobile robot, storage medium and electronic device - Google Patents
Cleaning method and device for mobile robot, storage medium and electronic device Download PDFInfo
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- CN113598657A CN113598657A CN202110915903.2A CN202110915903A CN113598657A CN 113598657 A CN113598657 A CN 113598657A CN 202110915903 A CN202110915903 A CN 202110915903A CN 113598657 A CN113598657 A CN 113598657A
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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
- A47L11/24—Floor-sweeping 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
- A47L11/4008—Arrangements of switches, indicators or the like
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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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- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a cleaning method and a cleaning device for a mobile robot, a storage medium and an electronic device, wherein the method comprises the following steps: under the condition that the target object does not exist in the box to be cleaned, adjusting the rotating speed of a first cleaning component of the mobile robot to a first preset threshold value, and controlling a second cleaning component of the mobile robot to perform suction operation in a preset area corresponding to the box to be cleaned; under the condition that the cleaning degree of the preset area reaches the preset condition, the rotating speed of the first cleaning assembly is increased from a first preset threshold value to a second preset threshold value, and the first cleaning assembly with the rotating speed being the second preset threshold value is controlled to clean the preset area. By adopting the technical scheme, the problem that the cleaning robot cannot adopt a specific cleaning mode aiming at the pet box and the periphery, and further cannot clean the pet box and the periphery is solved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of communication, in particular to a cleaning method and device for a mobile robot, a storage medium and an electronic device.
[ background of the invention ]
With the development of society, household robots such as cleaning robots have been widely used in various home environments. However, for families with pets, the existing cleaning robot lacks a specific work (walking, cleaning) mode with pertinence, and particularly in an environment with pets, dirt is easy to appear around a pet box (such as a cat litter box) and is special. Meanwhile, when the cleaning robot cleans the dirt, the life habit of the pet needs to be considered, and the influence of the cleaning work of the cleaning robot on the normal life of the pet is avoided.
In the prior art, a normal cleaning mode is still adopted for the pet box and the periphery, and a special cleaning mode specially made for the pet box is not provided.
In the related art, an effective solution is not provided at present for the problem that the cleaning robot cannot clean the pet box and the surroundings because a specific cleaning mode is not adopted for the pet box and the surroundings.
[ summary of the invention ]
The embodiment of the invention provides a cleaning method and device of a mobile robot, a storage medium and an electronic device, which at least solve the problems that the cleaning robot in the related art does not adopt a specific cleaning mode aiming at a pet box and the periphery, so that the pet box and the periphery cannot be cleaned completely and the like.
According to an aspect of an embodiment of the present invention, there is provided a cleaning method of a mobile robot, including: under the condition that a target object does not exist in the box to be cleaned, adjusting the rotating speed of a first cleaning component of the mobile robot to a first preset threshold value, and controlling a second cleaning component of the mobile robot to perform suction operation in a preset area corresponding to the box to be cleaned, wherein the first cleaning component is arranged on the side edge of the mobile robot, and the second cleaning component is arranged on the bottom of the mobile robot; and under the condition that the cleaning degree of the preset area reaches a preset condition, the rotating speed of the first cleaning assembly is increased from a first preset threshold value to a second preset threshold value, and the first cleaning assembly with the rotating speed being the second preset threshold value is controlled to clean the preset area.
Further, in the case that the cleanliness degree of the preset area reaches a preset condition, the method further comprises: when the first cleaning assembly is a side brush and the second cleaning assembly is a main brush, controlling the side brush with the rotation speed of the second preset threshold value to clean a preset area corresponding to the box to be cleaned, and controlling the main brush of the mobile robot to perform suction operation in the preset area corresponding to the box to be cleaned; the first cleaning assembly is an edge brush, the second cleaning assembly is a main brush, the rotating speed is controlled to be the edge brush with the second preset threshold value cleans a preset area corresponding to the box to be cleaned, and the main brush of the mobile robot is controlled to stop in the preset area corresponding to the box to be cleaned to execute suction operation.
Further, the preset area is determined by at least one of the following modes: identifying the preset area of the box to be cleaned through the mobile robot; and receiving indication information sent by the management object of the box to be cleaned so as to indicate the mobile robot to determine the preset area according to the indication information.
Further, the method further comprises: and under the condition that a target object exists in the box to be cleaned, controlling the mobile robot to stop cleaning the preset area corresponding to the box to be cleaned, and controlling the mobile robot to stop the second cleaning assembly to perform suction operation in the preset area corresponding to the box to be cleaned.
Further, the method further comprises: under the condition that the difference between the first time and the current time is detected to meet a preset threshold value, controlling the mobile robot to move to the box to be cleaned so as to determine whether a target object exists in the box to be cleaned, wherein the first time is used for indicating the time when the mobile robot detects that the target object exists in the box to be cleaned last time.
Further, comprising: determining whether a target object exists in the box to be cleaned by one of the following methods: determining whether a target object exists in the box to be cleaned according to a first detection result of a visual detection module arranged in the mobile robot; determining whether a target object exists in the box to be cleaned according to a second detection result of an optical detection module arranged in the mobile robot; determining whether a target object exists in the box to be cleaned according to a third detection result of an ultrasonic detection module arranged in the mobile robot; and determining whether the target object exists in the box to be cleaned or not through a signal sent by a piezoelectric sensing module arranged at the bottom of the box to be cleaned.
According to still another aspect of the embodiments of the present invention, there is also provided a cleaning apparatus of a mobile robot, including: the cleaning device comprises a first control module, a second control module and a control module, wherein the first control module is used for adjusting the rotating speed of a first cleaning component of the mobile robot to a first preset threshold value and controlling a second cleaning component of the mobile robot to perform suction operation in a preset area corresponding to a box to be cleaned under the condition that a target object does not exist in the box to be cleaned; and the second control module is used for increasing the rotating speed of the first cleaning assembly from a first preset threshold value to a second preset threshold value under the condition that the cleaning degree of the preset area reaches a preset condition, and controlling the rotating speed to be the first cleaning assembly with the second preset threshold value to clean the preset area.
Further, the second control module is further configured to, when the first cleaning assembly is a side brush and the second cleaning assembly is a main brush, control the side brush with the rotation speed of the second preset threshold to clean a preset area corresponding to the box to be cleaned, and control the main brush of the mobile robot to perform a suction operation in the preset area corresponding to the box to be cleaned; the first cleaning assembly is an edge brush, the second cleaning assembly is a main brush, the rotating speed is controlled to be the edge brush with the second preset threshold value cleans a preset area corresponding to the box to be cleaned, and the main brush of the mobile robot is controlled to stop in the preset area corresponding to the box to be cleaned to execute suction operation.
According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to execute the above cleaning method of a mobile robot when running.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the cleaning method of the mobile robot through the computer program.
According to the invention, under the condition that the target object does not exist in the box to be cleaned, the rotating speed of the first cleaning component of the mobile robot is adjusted, the second cleaning component of the mobile robot is controlled to perform suction operation in the preset area corresponding to the box to be cleaned, and the rotating speed of the first cleaning component is increased to clean the preset area under the condition that the cleaning degree of the preset area reaches the preset condition. The first cleaning assembly is arranged on the side edge of the mobile robot, and the second cleaning assembly is arranged at the bottom of the mobile robot. Through the scheme, the problem that the cleaning robot in the related art does not adopt a specific cleaning mode aiming at the pet box and the periphery, so that the pet box and the periphery cannot be cleaned completely and the like is solved. And then when the pet box does not have the pet, utilize first clean subassembly to clean the back to the predetermined region that the pet box corresponds earlier, recycle the clean subassembly of second and carry out the suction operation in the region is predetermine to the pet box, improved clean effect, can be with the pet box and around quick clean totally.
[ description of the drawings ]
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware configuration of a mobile robot of a cleaning method of the mobile robot according to an embodiment of the present invention;
fig. 2 is a flowchart of a cleaning method of a mobile robot according to an embodiment of the present invention;
FIG. 3 is a diagram of a cleaning scenario for a mobile robot according to an embodiment of the present invention;
fig. 4 is a block diagram (one) of the structure of a cleaning apparatus of a mobile robot according to an embodiment of the present invention;
fig. 5 is a block diagram (ii) of the structure of the cleaning apparatus of the mobile robot according to the embodiment of the present invention.
[ detailed description ] embodiments
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The method embodiments provided in the embodiments of the present application may be executed in a mobile robot or a similar computing device. Taking a mobile robot as an example, fig. 1 is a hardware configuration block diagram of a mobile robot of a cleaning method of a mobile robot according to an embodiment of the present invention. As shown in fig. 1, the mobile robot may include one or more processors 102 (only one is shown in fig. 1), where the processors 102 may include, but are not limited to, a Microprocessor (MPU) or a Programmable Logic Device (PLD), and a memory 104 for storing data, and in an exemplary embodiment, the mobile robot may further include a transmission device 106 for a communication function and an input and output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile robot. For example, a mobile robot may also include more or fewer components than shown in FIG. 1, or have a different configuration with equivalent functionality to that shown in FIG. 1 or with more functionality than that shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to the cleaning method of the mobile robot in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located from the processor 102, which may be connected to the mobile robot through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. The specific example of the network described above may include a wireless network provided by a communication provider of the mobile robot. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In the related art, if the cat still cleans in the pet box, clean the completion back like this, the cat can make dirty around the pet box, on the other hand, because the cat litter is the circular granule generally during normal cleaning, the limit brush rotates and can sweep the cat litter to a distance, leads to cleaning performance poorly.
In order to solve the above problem, in the present embodiment, a cleaning method of a mobile robot is provided, and fig. 2 is a flowchart of the cleaning method of the mobile robot according to the embodiment of the present invention, the flowchart including the steps of:
step S202, under the condition that a target object does not exist in a box to be cleaned, adjusting the rotating speed of a first cleaning component of a mobile robot to a first preset threshold value, and controlling a second cleaning component of the mobile robot to perform suction operation in a preset area corresponding to the box to be cleaned, wherein the first cleaning component is arranged on the side edge of the mobile robot, and the second cleaning component is arranged at the bottom of the mobile robot;
and S204, under the condition that the cleaning degree of the preset area reaches a preset condition, increasing the rotating speed of the first cleaning assembly from a first preset threshold value to a second preset threshold value, and controlling the first cleaning assembly with the rotating speed of the second preset threshold value to clean the preset area.
It should be noted that the second threshold is greater than the first threshold, and the target object may be understood as an animal, such as a cat.
Through the steps, under the condition that the target object does not exist in the box to be cleaned, the rotating speed of the first cleaning assembly of the mobile robot is adjusted, the second cleaning assembly of the mobile robot is controlled to perform suction operation in the preset area corresponding to the box to be cleaned, and the rotating speed of the first cleaning assembly is increased to clean the preset area under the condition that the cleaning degree of the preset area reaches the preset condition. The first cleaning assembly is arranged on the side edge of the mobile robot, and the second cleaning assembly is arranged at the bottom of the mobile robot. Through the scheme, the problem that the cleaning robot in the related art does not adopt a specific cleaning mode aiming at the pet box and the periphery, so that the pet box and the periphery cannot be cleaned completely and the like is solved. And then when the pet box does not have the pet, utilize first clean subassembly to clean the back to the predetermined region that the pet box corresponds earlier, recycle the clean subassembly of second and carry out the suction operation in the region is predetermine to the pet box, improved clean effect, can be with the pet box and around quick clean totally.
It should be noted that the first cleaning component is used for cleaning the preset area corresponding to the pet box, the fine stains in the preset area corresponding to the pet box are mainly cleaned, the second cleaning component is used for performing suction operation in the preset area of the pet box, and the large-particle stains related to the target object are mainly sucked into the dust collecting piece. Control mobile robot's first clean subassembly earlier rotates slowly with the speed of first preset threshold value, and control mobile robot's second clean subassembly is waiting to wash the box and correspond and predetermine the region and carry out the suction operation, can clean tiny dust, but can not beat big granule dirt etc. and obtain the department and roll, and through the suction of the clean subassembly of second, can be earlier big granule dirt clean up. After dirty the inhaling totally with the large granule, improve the rotational speed of first clean subassembly, mobile robot just can be quick with dirty clean up.
It should be noted that there are various execution manners of the step S204, and in an alternative embodiment, in a case that the cleaning degree of the preset area reaches a preset threshold, the method further includes: when the first cleaning assembly is a side brush and the second cleaning assembly is a main brush, controlling the side brush with the rotation speed of the second preset threshold value to clean a preset area corresponding to the box to be cleaned, and controlling the main brush of the robot to perform suction operation in the preset area corresponding to the box to be cleaned; and under the condition that the first cleaning assembly is a side brush and the second cleaning assembly is a main brush, controlling the rotation speed to be the side brush with the second preset threshold to clean the preset area corresponding to the box to be cleaned, and controlling the main brush of the robot to stop executing suction operation in the preset area corresponding to the box to be cleaned.
In this embodiment, the preset area is cleaned, and the two situations can be specifically divided into two situations, in one situation, the first cleaning component is the side brush, and the second cleaning component is the main brush, the side brush with the rotation speed controlled to be the second preset threshold value cleans the preset area corresponding to the box to be cleaned, and the main brush of the robot is controlled to perform the suction operation in the preset area corresponding to the box to be cleaned. In this case, when there is a lot of dirt on the edge of the box to be cleaned, the cleaning can be speeded up, and the cleaning efficiency can be improved. In another case, when the first cleaning assembly is the side brush and the second cleaning assembly is the main brush, the side brush with the rotation speed of the second preset threshold is controlled to clean a preset area corresponding to the box to be cleaned, and the main brush of the mobile robot is controlled to stop performing suction operation in the preset area corresponding to the box to be cleaned. It should be noted that in this case, when the edge of the box to be cleaned is less stained, the ineffective work by the opening of the main brush can be avoided.
Optionally, before performing step S202, the method further includes: the preset area is determined by at least one of the following modes: identifying the preset area of the box to be cleaned through the mobile robot; and receiving indication information sent by the management object of the box to be cleaned so as to indicate the mobile robot to determine the preset area according to the indication information.
In this embodiment, before controlling the mobile robot to clean the preset area corresponding to the box to be cleaned, the preset area around the pet box needs to be determined, specifically, the preset area around the box to be cleaned can be determined through the image recognition module on the mobile robot, that is, the preset area is determined by judging the dirt condition around the box to be cleaned through the image recognition module, and if the dirt is recognized in a circle with the box to be cleaned as the center of circle and a radius of 50cm, the preset area is a circle with the box to be cleaned as the center of circle and a radius of 50 cm. The mobile robot can also be instructed to determine the preset area according to the indication information by receiving the indication information sent by the management object of the box to be cleaned, specifically, the management object of the box to be cleaned can determine the preset area through a historical dirty range around the box to be cleaned, the mobile robot receives the indication information so as to determine the preset area, and meanwhile, the management object of the box to be cleaned can also be directly provided with a range so as to receive the indication information and determine the preset area.
It should be noted that, if it is determined that the target object exists in the box to be cleaned, the mobile robot is controlled to stop cleaning the preset area corresponding to the box to be cleaned, and the mobile robot is controlled to stop the second cleaning assembly to perform the suction operation in the preset area corresponding to the box to be cleaned. The technical scheme can prevent the target object from leaving the box to be cleaned after the mobile robot is cleaned, and the preset area corresponding to the box to be cleaned is polluted, so that the mobile robot can be cleaned again, the cleaning efficiency is improved, and the target object can be prevented from being scared.
In this embodiment, if it is determined that the target object exists in the box to be cleaned, the mobile robot is controlled to clean the area outside the preset area of the box to be cleaned, the mobile robot is controlled to stop cleaning the preset area corresponding to the box to be cleaned, and the mobile robot is controlled to stop the second cleaning assembly to perform the suction operation in the preset area corresponding to the box to be cleaned.
Further, after controlling the mobile robot to stop sweeping the preset area corresponding to the box to be cleaned and controlling the mobile robot to stop the second cleaning assembly to perform the suction operation in the preset area corresponding to the box to be cleaned, the method further includes: under the condition that the difference between the first time and the current time is detected to meet a preset threshold value, controlling the mobile robot to move to the box to be cleaned so as to determine whether a target object exists in the box to be cleaned, wherein the first time is used for indicating the time when the mobile robot detects that the target object exists in the box to be cleaned last time.
In this embodiment, the time for determining that the target object exists in the box to be cleaned is recorded as a first time, then the mobile robot is controlled to clean the area outside the preset area of the box to be cleaned, and under the condition that the difference between the first time and the current time meets a preset threshold, the mobile robot is controlled to move to the box to be cleaned again, whether the target object exists in the box to be cleaned is determined again, and under the condition that the target object does not exist, the preset area corresponding to the box to be cleaned and the surrounding preset area are cleaned. It should be noted that the preset threshold value may be set according to the time required for the mobile robot to clean the area outside the preset area of the box to be cleaned, and if the mobile robot cleans the area outside the preset area of the box to be cleaned for 10 minutes, the preset time is set to 10 minutes, and the mobile robot is controlled to determine whether the target object exists in the box to be cleaned again 10 minutes after the first time, so that the time can be saved, and the cleaning efficiency can be improved.
It should be noted that, in an alternative embodiment, whether the target object exists in the box to be cleaned may be determined by one of the following methods: determining whether a target object exists in the box to be cleaned according to a first detection result of a visual detection module arranged in the mobile robot; determining whether a target object exists in the box to be cleaned according to a second detection result of an optical detection module arranged in the mobile robot; determining whether a target object exists in the box to be cleaned according to a third detection result of an ultrasonic detection module arranged in the mobile robot; and determining whether the target object exists in the box to be cleaned or not through a signal sent by a piezoelectric sensing module arranged at the bottom of the box to be cleaned.
In the embodiment, at least a visual detection module, an optical detection module and an ultrasonic detection module are arranged in the mobile robot, and a piezoelectric sensing module is arranged at the bottom of the box to be cleaned. When the mobile robot moves to the periphery of the box to be cleaned, any one of the visual detection module, the optical detection module and the ultrasonic detection module can be used for detecting to obtain a detection result, so that the mobile robot can determine whether a target object exists in the box to be cleaned according to the detection result. For example, the mobile robot may transmit ultrasonic waves using the ultrasonic detection module, and if a target object exists in the cleaning box, the mobile robot may receive the reflected ultrasonic waves, thereby determining that the target object exists in the cleaning box. Meanwhile, the piezoelectric sensing module arranged at the bottom of the box to be cleaned can be used for detecting, when a target object enters the box to be cleaned, the piezoelectric sensing module can be triggered to send a first trigger signal to the mobile robot, when the target object leaves the box to be cleaned, the piezoelectric sensing module can be triggered to send a second trigger signal to the mobile robot, it needs to be stated that the first trigger signal indicates that the pressure applied to the piezoelectric sensing module is greater than a first preset threshold value, namely the target object is in the box to be cleaned at the moment, and the second trigger signal indicates that the pressure applied to the piezoelectric sensing module is less than the first preset threshold value, namely the target object is not in the box to be cleaned at the moment. And then the mobile robot can determine whether the target object exists in the box to be cleaned through the first trigger signal and the second trigger signal.
It should be noted that, the box to be cleaned is cleaned only when the mobile robot recognizes that the target object is not in the box to be cleaned, so that the target object is prevented from leaving the box to be cleaned after the mobile robot finishes cleaning, and a preset area corresponding to the box to be cleaned is also prevented from being soiled, so that the mobile robot needs to clean again, and the target object is prevented from being frightened. In addition, control mobile robot's first clean subassembly and rotate slowly with the speed of first preset threshold value earlier, and control mobile robot's second clean subassembly is waiting to wash the box and is carried out the suction operation in corresponding preset region, can clean tiny dust, but can not beat big granule dirt etc. and obtain the department and roll, and through the suction of second clean subassembly, can be earlier big granule dirt clean up. After dirty the inhaling totally with the large granule, improve the rotational speed of first clean subassembly, mobile robot just can be quick with dirty clean up.
It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. In order to better understand the cleaning method of the mobile robot, the following describes the above process with reference to an embodiment, but the invention is not limited to the technical solution of the embodiment, specifically:
fig. 3 is a cleaning scene diagram of a mobile robot according to an embodiment of the present invention, in an alternative embodiment, when an automatic cleaning device 110 (corresponding to the mobile robot in the above-mentioned embodiment) cleans a surface to be cleaned, and passes through a preset area around a pet box 122 (corresponding to the box to be cleaned in the above-mentioned embodiment), it first identifies whether there is a pet in the pet box, and if it is determined that there is no pet, the mobile robot performs a cleaning operation on the pet box and its surroundings. It should be noted that the preset area may be defined by a user according to a history of dirt around the pet box, and the pet box 122 may be a cat litter box, which is not limited herein.
In the process of cleaning the outer surface and the periphery (which are equivalent to the preset area in the embodiment) of the pet box by the automatic cleaning equipment, the automatic cleaning equipment comprises two stages, wherein the first stage comprises the following steps: clean pet box and all around, reduce limit brush rotational speed earlier in clean process, make its slow rotation to utilize main brush suction pet box piece all around, can clean tiny dust etc. like this, but can not beat big granule dirt (like cat litter 124) etc. and obtain the department and roll, through main brush suction, can be earlier with the dirty soil of large granule and inhale the completion.
And a second stage: after the large-particle dirt is sucked, the rotating speed of the side brush is recovered, the outside of the pet box is cleaned, and the large-particle dirt is sucked, so that the pet box can be quickly cleaned by the side brush.
It should be noted that, if a cat (corresponding to the target object of the above-described embodiment) is in the pet box, the automatic cleaning device does not temporarily clean the preset area around the pet box, and returns to the area to perform the cleaning task after completing the cleaning task of the other area.
It should be noted that the process of identifying whether there is a pet in the pet box can be realized by ultrasonic, optical, and pressure (the piezoelectric sensing module 134 is installed at the bottom of the pet box, and after the pet enters the pet box, a trigger signal is generated and sent to the robot), a machine vision module (neural network), and the like.
The determination of the preset contamination range around the pet box may be recognized by the automatic cleaning device or may be set by the user (corresponding to the management target of the above-described embodiment) based on experience.
In addition, according to the technical scheme of the embodiment of the invention, after the pet is identified not to be in the pet box, the automatic cleaning equipment is cleaned again, so that ineffective cleaning can be avoided, and the pet can be prevented from being frightened. In addition, when cleaning around the pet box, clean around earlier (peripheral region can be discerned, also can predetermine by the user), reduce the limit brush rotational speed earlier among the cleaning process, make it rotate slowly, utilize main brush suction pet box piece all around, can clean tiny dust etc. like this, but can not beat big granule dirt (like cat sand) etc. and obtain the department and roll, through the suction of main brush, can finish the dirty absorption of large granule earlier. After the large-particle dirt is sucked, the rotating speed of the side brush is recovered, the outside of the pet box is cleaned, and the large-particle dirt is sucked up, so that the side brush can be used for cleaning quickly. By adopting the technical scheme, the cleaning effect and efficiency can be effectively improved, and the user experience is improved.
The ineffective cleaning means that the pet leaves the pet box after the automatic cleaning device is cleaned, and the outer surface and the periphery of the pet box are soiled again, so that the automatic cleaning device is cleaned again.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a cleaning device for a mobile robot is further provided, and the device is used to implement the above embodiments and preferred embodiments, which have already been described and will not be described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware or a combination of software and hardware are also possible and contemplated.
Fig. 4 is a block diagram (one) of a cleaning apparatus of a mobile robot according to an embodiment of the present invention, the apparatus including:
a first control module 42, configured to, in a case where it is determined that there is no target object in the to-be-cleaned cassette, adjust a rotation speed of a first cleaning component of the mobile robot to a first preset threshold, and control a second cleaning component of the mobile robot to perform a suction operation in a preset area corresponding to the to-be-cleaned cassette, where the first cleaning component is disposed at a side of the mobile robot, and the second cleaning component is disposed at a bottom of the mobile robot;
and the second control module 44 is configured to, when the cleaning degree of the preset area reaches a preset condition, increase the rotation speed of the first cleaning assembly from a first preset threshold to a second preset threshold, and control the first cleaning assembly with the rotation speed of the second preset threshold to clean the preset area.
It should be noted that the second threshold is greater than the first threshold.
Through the module, under the condition that the target object does not exist in the box to be cleaned, the rotating speed of the first cleaning component of the mobile robot is adjusted, the second cleaning component of the mobile robot is controlled to perform suction operation in the preset area corresponding to the box to be cleaned, and the rotating speed of the first cleaning component is increased to clean the preset area under the condition that the cleaning degree of the preset area reaches the preset condition. The first cleaning assembly is arranged on the side edge of the mobile robot, and the second cleaning assembly is arranged at the bottom of the mobile robot. Through the scheme, the problem that the cleaning robot in the related art does not adopt a specific cleaning mode aiming at the pet box and the periphery, so that the pet box and the periphery cannot be cleaned completely and the like is solved. And then when the pet box does not have the pet, utilize first clean subassembly to clean the back to the predetermined region that the pet box corresponds earlier, recycle the clean subassembly of second and carry out the suction operation in the region is predetermine to the pet box, improved clean effect, can be with the pet box and around quick clean totally.
It should be noted that the first cleaning component is used for cleaning the preset area corresponding to the pet box, the fine stains in the preset area corresponding to the pet box are mainly cleaned, the second cleaning component is used for performing suction operation in the preset area of the pet box, and the large-particle stains related to the target object are mainly sucked into the dust collecting piece. Control mobile robot's first clean subassembly earlier rotates slowly with the speed of first preset threshold value, and control mobile robot's second clean subassembly is waiting to wash the box and correspond and predetermine the region and carry out the suction operation, can clean tiny dust, but can not beat big granule dirt etc. and obtain the department and roll, and through the suction of the clean subassembly of second, can be earlier big granule dirt clean up. After dirty the inhaling totally with the large granule, improve the rotational speed of first clean subassembly, mobile robot just can be quick with dirty clean up.
It should be noted that, in an alternative embodiment, the second control module 44 is further configured to, when the first cleaning component is an edge brush, and the second cleaning component is a main brush, control the edge brush with the rotation speed being the second preset threshold to clean the preset area corresponding to the box to be cleaned, and control the main brush of the robot to perform a suction operation in the preset area corresponding to the box to be cleaned; and under the condition that the first cleaning assembly is a side brush and the second cleaning assembly is a main brush, controlling the rotation speed to be the side brush with the second preset threshold to clean the preset area corresponding to the box to be cleaned, and controlling the main brush of the robot to stop executing suction operation in the preset area corresponding to the box to be cleaned.
In this embodiment, the preset area is cleaned, and the two situations can be specifically divided into two situations, in one situation, the first cleaning component is the side brush, and the second cleaning component is the main brush, the side brush with the rotation speed controlled to be the second preset threshold value cleans the preset area corresponding to the box to be cleaned, and the main brush of the robot is controlled to perform the suction operation in the preset area corresponding to the box to be cleaned. In this case, when there is a lot of dirt on the edge of the box to be cleaned, the cleaning can be speeded up, and the cleaning efficiency can be improved. In another case, when the first cleaning assembly is the side brush and the second cleaning assembly is the main brush, the side brush with the rotation speed of the second preset threshold is controlled to clean a preset area corresponding to the box to be cleaned, and the main brush of the mobile robot is controlled to stop performing suction operation in the preset area corresponding to the box to be cleaned. It should be noted that in this case, when the edge of the box to be cleaned is less stained, the ineffective work by the opening of the main brush can be avoided.
Optionally, the first control module 42 is configured to determine the preset area at least one of: identifying the preset area of the box to be cleaned through the mobile robot; and receiving indication information sent by the management object of the box to be cleaned so as to indicate the mobile robot to determine the preset area according to the indication information.
In this embodiment, before controlling the mobile robot to clean the preset area corresponding to the box to be cleaned, the preset area around the pet box needs to be determined, specifically, the preset area around the box to be cleaned can be determined through the image recognition module on the mobile robot, that is, the preset area is determined by judging the dirt condition around the box to be cleaned through the image recognition module, and if the dirt is recognized in a circle with the box to be cleaned as the center of circle and a radius of 50cm, the preset area is a circle with the box to be cleaned as the center of circle and a radius of 50 cm. The mobile robot can also be instructed to determine the preset area according to the indication information by receiving the indication information sent by the management object of the box to be cleaned, specifically, the management object of the box to be cleaned can determine the preset area through a historical dirty range around the box to be cleaned, the mobile robot receives the indication information so as to determine the preset area, and meanwhile, the management object of the box to be cleaned can also be directly provided with a range so as to receive the indication information and determine the preset area.
It should be noted that the above apparatus further includes a third control module 46 and a determination module 48, specifically, as shown in fig. 5, fig. 5 is a structural block diagram (two) of the cleaning apparatus of the mobile robot according to the embodiment of the present invention.
Optionally, the third control module 46 is configured to, in a case where it is determined that a target object exists in the to-be-cleaned box, control the mobile robot to stop cleaning the preset area corresponding to the to-be-cleaned box, and control the mobile robot to stop the second cleaning component to perform a suction operation in the preset area corresponding to the to-be-cleaned box. The technical scheme can prevent the target object from leaving the box to be cleaned after the mobile robot is cleaned, and the preset area corresponding to the box to be cleaned is polluted, so that the mobile robot can be cleaned again, the cleaning efficiency is improved, and the target object can be prevented from being scared.
In this embodiment, if it is determined that the target object exists in the box to be cleaned, the mobile robot is controlled to clean the area outside the preset area of the box to be cleaned, the mobile robot is controlled to stop cleaning the preset area corresponding to the box to be cleaned, and the mobile robot is controlled to stop the second cleaning assembly to perform the suction operation in the preset area corresponding to the box to be cleaned.
Further, the third control module 46 is further configured to control the mobile robot to move to the box to be cleaned to determine whether a target object exists in the box to be cleaned when detecting that a difference between a first time and a current time meets a preset threshold, where the first time is used to indicate a time when the mobile robot last detected that the target object exists in the box to be cleaned.
In this embodiment, the time for determining that the target object exists in the box to be cleaned is recorded as a first time, then the mobile robot is controlled to clean the area outside the preset area of the box to be cleaned, and under the condition that the difference between the first time and the current time meets a preset threshold, the mobile robot is controlled to move to the box to be cleaned again, whether the target object exists in the box to be cleaned is determined again, and under the condition that the target object does not exist, the preset area corresponding to the box to be cleaned is cleaned. It should be noted that the preset threshold value may be set according to the time required for the mobile robot to clean the area outside the preset area of the box to be cleaned, and if the mobile robot cleans the area outside the preset area of the box to be cleaned for 10 minutes, the preset time is set to 10 minutes, and the mobile robot is controlled to determine whether the target object exists in the box to be cleaned again 10 minutes after the first time, so that the time can be saved, and the cleaning efficiency can be improved.
It should be noted that, in an alternative embodiment, the determining module 48 is further configured to determine whether the target object exists in the cartridge to be cleaned by one of the following methods: determining whether a target object exists in the box to be cleaned according to a first detection result of a visual detection module arranged in the mobile robot; determining whether a target object exists in the box to be cleaned according to a second detection result of an optical detection module arranged in the mobile robot; determining whether a target object exists in the box to be cleaned according to a third detection result of an ultrasonic detection module arranged in the mobile robot; and determining whether the target object exists in the box to be cleaned or not through a signal sent by a piezoelectric sensing module arranged at the bottom of the box to be cleaned.
In the embodiment, at least a visual detection module, an optical detection module and an ultrasonic detection module are arranged in the mobile robot, and a piezoelectric sensing module is arranged at the bottom of the box to be cleaned. When the mobile robot moves to the periphery of the box to be cleaned, any one of the visual detection module, the optical detection module and the ultrasonic detection module can be used for detecting to obtain a detection result, so that the mobile robot can determine whether a target object exists in the box to be cleaned according to the detection result. For example, the mobile robot may transmit ultrasonic waves using the ultrasonic detection module, and if a target object exists in the cleaning box, the mobile robot may receive the reflected ultrasonic waves, thereby determining that the target object exists in the cleaning box. Meanwhile, the piezoelectric sensing module arranged at the bottom of the box to be cleaned can be used for detecting, when a target object enters the box to be cleaned, the piezoelectric sensing module can be triggered to send a first trigger signal to the mobile robot, when the target object leaves the box to be cleaned, the piezoelectric sensing module can be triggered to send a second trigger signal to the mobile robot, it needs to be stated that the first trigger signal indicates that the pressure applied to the piezoelectric sensing module is greater than a first preset threshold value, namely the target object is in the box to be cleaned at the moment, and the second trigger signal indicates that the pressure applied to the piezoelectric sensing module is less than the first preset threshold value, namely the target object is not in the box to be cleaned at the moment. And then the mobile robot can determine whether the target object exists in the box to be cleaned through the first trigger signal and the second trigger signal.
It should be noted that, the box to be cleaned is cleaned only when the mobile robot recognizes that the target object is not in the box to be cleaned, so that the target object is prevented from leaving the box to be cleaned after the mobile robot finishes cleaning, and a corresponding preset area to be cleaned is also prevented from being soiled, so that the mobile robot needs to clean again, and the target object is prevented from being scared. In addition, control mobile robot's first clean subassembly and rotate slowly with the speed of first preset threshold value earlier, and control mobile robot's second clean subassembly is waiting to wash the box and is carried out the suction operation in corresponding preset region, can clean tiny dust, but can not beat big granule dirt etc. and obtain the department and roll, and through the suction of second clean subassembly, can be earlier big granule dirt clean up. After dirty the inhaling totally with the large granule, improve the rotational speed of first clean subassembly, mobile robot just can be quick with dirty clean up.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, under the condition that it is determined that no target object exists in the box to be cleaned, adjusting the rotating speed of a first cleaning component of the mobile robot to a first preset threshold value, and controlling a second cleaning component of the mobile robot to perform suction operation in a preset area corresponding to the box to be cleaned, wherein the first cleaning component is arranged on the side edge of the mobile robot, and the second cleaning component is arranged on the bottom of the mobile robot;
and S2, under the condition that the cleaning degree of the preset area reaches a preset condition, increasing the rotating speed of the first cleaning assembly from a first preset threshold value to a second preset threshold value, and controlling the first cleaning assembly with the rotating speed being the second preset threshold value to clean the preset area corresponding to the box to be cleaned.
In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, under the condition that it is determined that no target object exists in the box to be cleaned, adjusting the rotating speed of a first cleaning component of the mobile robot to a first preset threshold value, and controlling a second cleaning component of the mobile robot to perform suction operation in a preset area corresponding to the box to be cleaned, wherein the first cleaning component is arranged on the side edge of the mobile robot, and the second cleaning component is arranged on the bottom of the mobile robot;
and S2, under the condition that the cleaning degree of the preset area reaches a preset condition, increasing the rotating speed of the first cleaning assembly from a first preset threshold value to a second preset threshold value, and controlling the first cleaning assembly with the rotating speed being the second preset threshold value to clean the preset area corresponding to the box to be cleaned.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of cleaning a mobile robot, comprising:
under the condition that a target object does not exist in the box to be cleaned, adjusting the rotating speed of a first cleaning component of the mobile robot to a first preset threshold value, and controlling a second cleaning component of the mobile robot to perform suction operation in a preset area corresponding to the box to be cleaned, wherein the first cleaning component is arranged on the side edge of the mobile robot, and the second cleaning component is arranged on the bottom of the mobile robot;
and under the condition that the cleaning degree of the preset area reaches a preset condition, the rotating speed of the first cleaning assembly is increased from a first preset threshold value to a second preset threshold value, and the first cleaning assembly with the rotating speed being the second preset threshold value is controlled to clean the preset area.
2. The method of claim 1, wherein in the event that the degree of cleanliness of the preset area reaches a preset threshold, the method further comprises:
when the first cleaning assembly is a side brush and the second cleaning assembly is a main brush, controlling the side brush with the rotation speed of the second preset threshold value to clean a preset area corresponding to the box to be cleaned, and controlling the main brush of the mobile robot to perform suction operation in the preset area corresponding to the box to be cleaned;
the first cleaning assembly is an edge brush, the second cleaning assembly is a main brush, the rotating speed is controlled to be the edge brush with the second preset threshold value cleans a preset area corresponding to the box to be cleaned, and the main brush of the mobile robot is controlled to stop in the preset area corresponding to the box to be cleaned to execute suction operation.
3. The method of claim 1, wherein the predetermined area is determined by at least one of:
identifying the preset area of the box to be cleaned through the mobile robot;
and receiving indication information sent by the management object of the box to be cleaned so as to indicate the mobile robot to determine the preset area according to the indication information.
4. The method of claim 1, further comprising:
and under the condition that a target object exists in the box to be cleaned, controlling the mobile robot to stop cleaning the preset area corresponding to the box to be cleaned, and controlling the mobile robot to stop the second cleaning assembly to perform suction operation in the preset area corresponding to the box to be cleaned.
5. The method of claim 4, further comprising:
under the condition that the difference between the first time and the current time is detected to meet a preset threshold value, controlling the mobile robot to move to the box to be cleaned so as to determine whether a target object exists in the box to be cleaned, wherein the first time is used for indicating the time when the mobile robot detects that the target object exists in the box to be cleaned last time.
6. The method according to any one of claims 1 to 5, comprising: determining whether a target object exists in the box to be cleaned by one of the following methods:
determining whether a target object exists in the box to be cleaned according to a first detection result of a visual detection module arranged in the mobile robot;
determining whether a target object exists in the box to be cleaned according to a second detection result of an optical detection module arranged in the mobile robot;
determining whether a target object exists in the box to be cleaned according to a third detection result of an ultrasonic detection module arranged in the mobile robot;
and determining whether the target object exists in the box to be cleaned or not through a signal sent by a piezoelectric sensing module arranged at the bottom of the box to be cleaned.
7. A cleaning device of a mobile robot, comprising:
the cleaning device comprises a first control module, a second control module and a control module, wherein the first control module is used for adjusting the rotating speed of a first cleaning component of the mobile robot to a first preset threshold value and controlling a second cleaning component of the mobile robot to perform suction operation in a preset area corresponding to a box to be cleaned under the condition that a target object does not exist in the box to be cleaned;
and the second control module is used for increasing the rotating speed of the first cleaning assembly from a first preset threshold value to a second preset threshold value under the condition that the cleaning degree of the preset area reaches a preset condition, and controlling the rotating speed to be the first cleaning assembly with the second preset threshold value to clean the preset area.
8. The device according to claim 7, wherein the second control module is further configured to, in a case where the first cleaning component is an edge brush and the second cleaning component is a main brush, control the edge brush with the rotation speed of the second preset threshold to sweep a preset area corresponding to the box to be cleaned, and control the main brush of the mobile robot to perform a suction operation in the preset area corresponding to the box to be cleaned; the first cleaning assembly is an edge brush, the second cleaning assembly is a main brush, the rotating speed is controlled to be the edge brush with the second preset threshold value cleans a preset area corresponding to the box to be cleaned, and the main brush of the mobile robot is controlled to stop in the preset area corresponding to the box to be cleaned to execute suction operation.
9. A computer-readable storage medium, comprising a stored program, wherein the program is operable to perform the method of any one of claims 1 to 6.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program and the processor is arranged to execute the method of any of the preceding claims 1 to 6 by means of the computer program.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110915903.2A CN113598657B (en) | 2021-08-10 | 2021-08-10 | Cleaning method and device for mobile robot, storage medium and electronic device |
| CN202211142979.7A CN115530675A (en) | 2021-08-10 | 2021-08-10 | Cleaning method and device for mobile robot, storage medium and electronic device |
| PCT/CN2022/109614 WO2023016297A1 (en) | 2021-08-10 | 2022-08-02 | Cleaning method and device for mobile robot, storage medium and electronic device |
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| CN202110915903.2A CN113598657B (en) | 2021-08-10 | 2021-08-10 | Cleaning method and device for mobile robot, storage medium and electronic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023016297A1 (en) * | 2021-08-10 | 2023-02-16 | 追觅创新科技(苏州)有限公司 | Cleaning method and device for mobile robot, storage medium and electronic device |
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| CN113598657B (en) | 2022-10-18 |
| CN115530675A (en) | 2022-12-30 |
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