CN114052572A - Cleaning robot, cleaning piece replacing method thereof and computer storage medium - Google Patents
Cleaning robot, cleaning piece replacing method thereof and computer storage medium Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
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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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
Embodiments of the present specification provide a cleaning robot having a dry cleaning mode and a wet cleaning mode, a cleaning member exchanging method thereof, and a computer storage medium, the cleaning robot including: a cleaning member; a pick-up mechanism for picking up or releasing the cleaning member; and the control unit is used for controlling the picking mechanism to replace the cleaning piece based on the cleaning mode, and the replacement frequency of the cleaning piece in the dry cleaning mode is higher than that of the cleaning piece in the wet cleaning mode. The embodiment of the specification can reduce or avoid secondary pollution caused by untimely replacement of the cleaning piece of the cleaning robot.
Description
Technical Field
The present disclosure relates to cleaning robots, and particularly to a cleaning robot, a cleaning member replacing method thereof, and a computer storage medium.
Background
Some cleaning robots have a dry-wet dual-purpose function at present. When the cleaning device is used, a user can select a proper cleaning mode according to the stain working condition of the ground (the cleaning mode can be generally divided into a dry cleaning mode and a wet cleaning mode). In the course of performing the cleaning operation, the cleaning members of the cleaning robot become dirty gradually, and when the cleaning members are dirty to some extent, they generally need to be replaced or cleaned.
However, in implementing the present application, the inventors of the present application found that: regardless of the cleaning mode, the cleaning robot generally employs the same frequency of cleaning element replacement; this makes it easy in some cases to have a secondary contamination problem due to untimely replacement of the cleaning member.
Disclosure of Invention
An object of the embodiments of the present disclosure is to provide a cleaning robot, a cleaning member replacing method thereof, and a computer storage medium, so as to reduce or avoid secondary pollution caused by untimely replacement of a cleaning member.
To achieve the above objects, in one aspect, embodiments of the present specification provide a cleaning robot having a dry cleaning mode and a wet cleaning mode, including:
a cleaning member;
a pick-up mechanism for picking up or releasing the cleaning member;
and the control unit is used for controlling the picking mechanism to replace the cleaning piece based on the cleaning mode, and the replacement frequency of the cleaning piece in the dry cleaning mode is higher than that of the cleaning piece in the wet cleaning mode.
In another aspect, embodiments of the present specification further provide a cleaning member replacing method of a cleaning robot, including:
determining a cleaning mode; the cleaning mode is a dry cleaning mode or a wet cleaning mode;
controlling a pick-up mechanism of the cleaning robot to replace the cleaning member based on the cleaning mode, and enabling the replacement frequency of the cleaning member in the dry cleaning mode to be higher than that in the wet cleaning mode.
In another aspect, embodiments of the present specification also provide a computer storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the cleaning member replacement method described above.
As can be seen from the technical solutions provided in the embodiments of the present specification, the embodiments of the present specification reduce or avoid secondary pollution of the cleaning robot caused by untimely replacement of the cleaning member by making the replacement frequency of the cleaning member in the dry cleaning mode higher than that in the wet cleaning mode.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the specification, and other drawings can be obtained by those skilled in the art without inventive labor. In the drawings:
FIG. 1 is a schematic diagram of an outline configuration of a cleaning robot in some embodiments of the present disclosure;
FIG. 2 is a schematic illustration of a clean area calculation in an exemplary embodiment of the present description;
FIG. 3 is a schematic illustration of a cleaning member being replaced by a cleaning robot in some embodiments of the present disclosure;
fig. 4 is a flow chart of a cleaning member replacement method of a cleaning robot in some embodiments of the present disclosure.
Detailed Description
In order to make the technical solutions in the present specification better understood, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are only a part of the embodiments of the present specification, but not all of the embodiments. All other embodiments obtained by a person skilled in the art without making creative efforts based on the embodiments in the present specification shall fall within the protection scope of the present specification. For example, forming the second feature over the first feature may include embodiments in which the first and second features are formed in direct contact, embodiments in which the first and second features are formed in indirect contact (i.e., additional features may be included between the first and second features), and so forth.
Also, for ease of description, some embodiments of the present description may use spatially relative terms such as "above …," "below …," "top," "below," etc., to describe one element or component's relationship to another (or other) element or component as illustrated in the various figures of the embodiments. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or components described as "below" or "beneath" other elements or components would then be oriented "above" or "over" the other elements or components.
The cleaning robot mentioned in this specification generally refers to an intelligent robot whose body (i.e. cleaning robot body) is equipped with various necessary sensors and controllers, and can autonomously complete a cleaning task without external intervention and control during operation, i.e. the cleaning robot can autonomously move and execute the cleaning task in a working area. Furthermore, it is mentioned in this specification that the cleaning robot may also have a mopping (or so-called mopping) function. In an exemplary embodiment, such a cleaning robot with a floor mopping function may be, for example, a floor mopping robot dedicated to floor mopping, or a sweeping and mopping integrated robot having a floor mopping function in combination, or the like.
Referring to fig. 1, in some embodiments of the present specification, a cleaning robot 100 may include a cleaning robot body 101, a cleaning member 102, a pickup mechanism 103, a control unit (not shown), and the like. Wherein, a picking mechanism 103 is arranged on the cleaning robot body 101, which can be used for picking up or releasing the cleaning piece 102. The control unit can be used for controlling the picking mechanism 103 to replace the cleaning members 102 based on the cleaning mode, and the replacement frequency of the cleaning members 102 in the dry cleaning mode is higher than that in the wet cleaning mode.
In carrying out the present application, the inventors of the present application found that: in the dry cleaning mode, since the cleaning member 102 is relatively dry and has almost no surface tension, stains such as dust and hair attached to the surface of the cleaning member 102 are easily removed, and it is difficult to accommodate a large amount of stains; in the wet cleaning mode, the cleaning member 102 has a certain surface tension after being wetted, so that dust, hair and other stains attached to the surface of the cleaning member 102 are not easy to fall off, and more stains can be accommodated. Furthermore, the dry cleaning mode is mainly used for cleaning dust and hair, and the wet cleaning mode is mainly used for cleaning adherent stains. In the household, the amount (volume) of dust and hair on the ground environment is far larger than the amount of dirt, namely the cleaning piece adsorbs the dust and the hair in the dry cleaning mode in the same area/time, and the amount of the dirt adsorbed by the cleaning piece in the wet cleaning mode is larger than the amount of the dirt adhered to the cleaning piece in the dry cleaning mode. If the frequency of replacement of the cleaning piece in the dry cleaning mode is the same as that in the wet cleaning mode, the cleaning piece is easy to generate dust and hair in the dry cleaning mode and fall off to cause secondary pollution; or the cleaning members are changed as frequently in the wet cleaning mode as in the dry cleaning mode, resulting in waste of the cleaning members being discarded without becoming dirty in the wet cleaning mode. Therefore, embodiments of the present description can be advantageous for reducing or avoiding secondary contamination caused by shedding of dust, hair, and the like from the cleaning members 102 in the dry cleaning mode, and also for improving the utilization rate of the cleaning members 102 in the wet cleaning mode, by making the replacement frequency of the cleaning members in the dry cleaning mode higher than that in the wet cleaning mode, for cleaning the same working area (i.e., floor surface).
In the embodiments of the present specification, the cleaning member is a cleaning performing part of the cleaning robot, and is generally disposed below the cleaning robot body so as to perform a cleaning operation. In some embodiments of the present description, the cleaning element may comprise a floor scrubbing member, for example.
In embodiments of the present description, the picking mechanism is an actuator that picks up and releases the cleaning members. The picking mechanism may pick up or release the cleaning member under the control of the control unit. After the picking mechanism picks up the cleaning piece, the cleaning piece is jointed on the picking mechanism; after the picking mechanism releases the cleaning member, the cleaning member is disengaged from the picking mechanism. In order to realize automatic replacement, the picking mechanism can automatically pick up or automatically release the cleaning piece in any suitable way, which is not limited in the specification and can be selected according to actual needs.
For example, in one exemplary embodiment, a first permanent magnet may be provided on the cleaning robot, and a second permanent magnet having a magnetic polarity opposite to that of the first permanent magnet may be provided on the cleaning member, so that the cleaning robot may attract the cleaning member when the cleaning member approaches the cleaning robot. In addition, a mechanical ejector rod can be arranged on the cleaning robot. When the cleaning piece is released, the cleaning robot can control the mechanical ejector rod to overcome the magnetic force to jack the cleaning piece for unloading, so that the cleaning piece can be automatically picked up or released.
For another example, in another exemplary embodiment, the pick-up mechanism may be a magnetic-type automatic pick-up mechanism, and accordingly, the cleaning member is provided with a magnetically conductive material (e.g., iron, cobalt, nickel, alloys thereof, etc.). When the control unit enables the magnetic type automatic picking mechanism to be electrified, the magnetic type automatic picking mechanism generates a magnetic field due to the electrification, so that the cleaning piece provided with the magnetic conductive material can be attracted; when the control unit makes the magnetic type automatic picking mechanism power off, the magnetic type automatic picking mechanism disappears due to the loss of the electromagnetic field, so that the cleaning piece provided with the magnetic conductive material can be automatically separated from the picking mechanism.
For yet another example, in another exemplary embodiment, the pick-up mechanism may be a mechanical gripper. When the control unit controls the mechanical gripper to perform gripping action, the mechanical gripper can grip and hold the cleaning piece; when the control unit controls the mechanical gripper to perform the releasing action, the mechanical gripper is reset so that the cleaning member can be automatically disengaged from the mechanical gripper.
Generally, the cleaning member may have both a dry cleaning mode and a wet cleaning mode. When the cleaning device is used, a user can select a proper cleaning mode according to the stain working condition on the ground. The dry cleaning mode is that the cleaning piece performs cleaning operation in a dry state so as to deal with dirt such as dust and hair which is easy to clean; the wet cleaning mode is a mode in which the cleaning member performs a cleaning operation in a wet state of itself to cope with adhering stains, which are not easy to clean. For scenes with complex ground stain conditions, two cleaning modes can be used in a mixed manner (for example, a cleaning operation can be performed in a dry cleaning mode first, and then in a wet cleaning mode).
In an exemplary embodiment, the cleaning robot may communicate with other electronic devices of the user, on which an Application (APP) client may be configured. Based on the user's operation, the client may transmit a cleaning mode selection instruction to the cleaning robot. Accordingly, the control unit of the cleaning robot may receive the cleaning mode selection instruction, so that the cleaning mode of the cleaning robot is known. The electronic device may be a smart phone, a smart wearable device (e.g., a smart bracelet, a smart watch, etc.), a tablet computer, a notebook computer, a digital assistant, a desktop computer, or the like.
In another exemplary embodiment, a control panel (on which a switch key, a cleaning mode selection key, a pause key, etc. may be provided) may be provided on the cleaning machine body; alternatively, the cleaning robot may be provided with a remote controller (on/off keys, a cleaning mode selection key, a pause key, etc. may be provided on the remote controller). Thus, the control panel or the remote controller may also transmit a cleaning mode selection instruction to the cleaning robot based on the user's operation.
In the embodiments of the present disclosure, the control unit is generally disposed on the cleaning robot body, and can not only perform replacement control of the cleaning member based on the cleaning mode, but also perform other behavior state control such as movement control of the cleaning robot as a control center of the cleaning robot. In an exemplary embodiment of the present description, the control unit may include, but is not limited to, a single chip microcomputer, a Micro Control Unit (MCU), a Digital Signal Processor (DSP), a Programmable Logic Controller (PLC), or the like.
In some embodiments of the present description, the controlling of the picking mechanism to replace the cleaning member based on the cleaning mode by the control unit may include: when the operating parameter value of a single cleaning piece in the dry cleaning mode reaches a first threshold value, the picking mechanism can be controlled to replace the single cleaning piece; alternatively, the pick-up mechanism may be controlled to replace a single cleaning member when the value of the operating parameter for that cleaning member in the wet cleaning mode reaches a second threshold value. The first threshold value is smaller than the second threshold value, so that the replacement frequency of the cleaning piece in the dry cleaning mode is higher than that of the cleaning piece in the wet cleaning mode, and secondary pollution caused by falling of dust, hair and the like on the cleaning piece in the dry cleaning mode is reduced or avoided.
The above-mentioned operating parameter values can be used to directly or indirectly characterize the degree of contamination of the individual cleaning elements. The control unit may obtain the value of the operating parameter and compare it with a threshold value in a corresponding cleaning mode to confirm whether the value of the operating parameter for an individual cleaning member in the cleaning mode reaches the threshold value in the corresponding cleaning mode. Of course, in order to enable the control unit to select the corresponding threshold according to the cleaning mode, a corresponding relation table of the cleaning mode and the threshold may be configured on the cleaning robot in advance, for example, as shown in the following table 1:
TABLE 1
| Cleaning mode | Threshold value |
| Dry cleaning mode | thd1 |
| Wet cleaning mode | thd 2 |
After the cleaning mode is determined, the control unit queries the corresponding relation table according to the cleaning mode, that is, the threshold corresponding to the cleaning mode can be obtained. For example, when it is determined that the cleaning mode is the dry cleaning mode, the control unit may obtain the threshold thd1 corresponding to the dry cleaning mode by referring to the above table 1.
In one exemplary embodiment, the operating parameter value may be a cleaning area. Generally, the larger the area of the area cleaned by a single cleaning element, the more soiled the cleaning element. Thus, the degree of contamination of the cleaning elements can be indirectly characterized by the cleaning area of an individual cleaning element. Accordingly, a distance detecting device (e.g., a laser distance measuring sensor, etc.) may be provided on the cleaning robot body to collect, in real time, a distance traveled by a single cleaning member when performing a cleaning operation (e.g., as indicated by d in fig. 2), and provide it to the control unit for processing. Since the working width of the individual cleaning elements (e.g. indicated by k in fig. 2) is known, the control unit can calculate the cleaning area of the individual cleaning elements in real time according to the formula s ═ d × w. Where s is the cleaning area of a single cleaning member, d is the distance traveled by a single cleaning member when performing a cleaning operation, and w is the working width of a single cleaning member. When the cleaning area of a single cleaning member in the dry cleaning mode reaches a first area threshold (the first area threshold is an area threshold corresponding to the dry cleaning mode), the control unit may control the picking mechanism to replace the single cleaning member. Alternatively, when the cleaning area of a single cleaning member in the wet cleaning mode reaches the second area threshold (the second area threshold is an area threshold corresponding to the wet cleaning mode), the control unit may control the pick-up mechanism to replace the single cleaning member. Wherein the first area threshold is less than the second area threshold such that the cleaning members are replaced more frequently in the dry cleaning mode than in the wet cleaning mode.
The inventor of the present application has found that: when the ratio of the first area threshold to the second area threshold is between 1/3 and 4/5, the cleaning robot can have better cleaning effect and can also achieve cleaning efficiency. Further, when the ratio of the first area threshold to the second area threshold takes on a value between 1/2 and 3/4, the cleaning robot may have better cleaning effect and cleaning efficiency.
In another exemplary embodiment, the operating parameter value may be a cleaning duration. Generally, the longer the working time for cleaning a single cleaning element, the more dirty the cleaning element becomes. Thus, the degree of contamination of the cleaning members can be indirectly characterized by the length of time that the individual cleaning members are cleaned. Accordingly, the control unit may call a timer (provided on the cleaning robot body) to time the cleaning time period of a single cleaning member and compare the time result with a time period threshold value in the corresponding cleaning mode, thereby determining whether to replace the single cleaning member. When the cleaning time period of a single cleaning member in the dry cleaning mode reaches a first time period threshold value (the first time period threshold value is a time period threshold value corresponding to the dry cleaning mode), the control unit may control the pickup mechanism to replace the single cleaning member. Alternatively, the control unit may control the pick-up mechanism to replace a single cleaning member when the cleaning time period of the single cleaning member in the wet cleaning mode reaches a second time period threshold (the second time period threshold is a time period threshold corresponding to the wet cleaning mode). Wherein the first time threshold is less than the second time threshold, so that the cleaning member is replaced more frequently in the dry cleaning mode than in the wet cleaning mode.
It should be understood by those skilled in the art that the above operation parameter values are merely examples, and in other embodiments of the present disclosure, the operation parameter values may also be other parameter values, which are not limited in the present disclosure and can be specifically selected according to needs.
In some embodiments of the present description, the cleaning robot may be provided with a base station, and when the cleaning robot needs to replace the cleaning member, the cleaning robot may return to the base station and cooperate with the base station to complete automatic replacement of the cleaning member; the cleaning robot and the base station may form a cleaning member changing system. For example, in the exemplary embodiment shown in fig. 3, an open cavity 201 for accommodating the cleaning robot 100 may be provided on the base station 200, and the cleaning robot 100 may enter the base station 200 through the open cavity 201. The bottom surface of the open cavity 201 is provided with a first groove 202 and a second groove 203 from inside to outside in sequence. The top of the open cavity 201 is sequentially provided with a first receiving cavity 204 and a second receiving cavity 205 from inside to outside. The first receiving cavity 204 is located directly above and mates with the first recess 202, and the second receiving cavity 205 is located directly above and mates with the second recess 203. The first receiving cavity 204 may be used to store clean cleaning members; the second receiving cavity 205 may be used to store dirty cleaning elements.
When it is desired to change the cleaning elements, the cleaning robot 100 may return to the base station 200, drive from the open chamber 205 into the base station 200 and align its pick-up mechanism with the position of the second recess 203, after which the cleaning robot 100 may control the pick-up mechanism to release dirty cleaning elements into the second recess 203. When the base station 200 detects that there is a dirty cleaning element in the second recess 203, a clean cleaning element may be released from the first receiving cavity 204 to the first recess 202, and then the cleaning robot 100 may continue to reach into the open cavity 205 with its pick-up mechanism aligned with the position of the first recess 202, and thereafter the cleaning robot 100 may control the pick-up mechanism to pick up a clean cleaning element from the first recess 202, and then drive away from the open cavity 205 to continue the cleaning operation. When the base station 200 detects that the cleaning robot 100 has exited the open cavity 205, dirty cleaning elements in the second recess 203 may be retracted into the second receiving cavity 205.
It will be appreciated by those skilled in the art that the base station can be used not only to replace cleaning elements, but also as a charging station for the cleaning robot, which can return to the base station for charging when the cleaning robot needs to be charged or when the cleaning robot completes a cleaning task.
In some embodiments of the present description, the cleaning robot may further include a liquid storage container and a wetting mechanism. Wherein the wetting mechanism is controlled by the control unit and can be used for wetting the cleaning piece by the liquid stored in the liquid storage container in the wet cleaning mode; when the wetting mechanism wets the cleaning piece, the cleaning robot can perform wet cleaning operation. In an exemplary embodiment, the liquid stored in the reservoir can be water or an aqueous solution (e.g., a disinfecting solution, a cleaning solution, etc.). In an exemplary embodiment, the wetting mechanism may include, for example, an electric pump having an intake port that may be plumbed into the reservoir and a spray head having an exhaust port that may be plumbed to the spray head. When the cleaning piece is wetted, under the control of the control unit, liquid in the liquid storage container is pressed into the spray head by the electric pump and atomized by the spray head to act on the cleaning piece. It will be understood by those skilled in the art that the above-mentioned wetting mechanism composed of the electric pump and the spray head is only an exemplary embodiment, and in other embodiments of the present disclosure, the wetting mechanism may be any other suitable wetting mechanism, which is not limited in the present disclosure and can be selected according to the needs.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
In correspondence with the above-described cleaning robot, the present specification also provides a cleaning member replacing method of the cleaning robot, which may include, in some embodiments of the present specification, as shown in fig. 4, the steps of:
s401, determining a cleaning mode; the cleaning mode is a dry cleaning mode or a humidity cleaning mode;
s402, controlling a picking mechanism of the cleaning robot to replace the cleaning piece based on the cleaning mode, and enabling the replacement frequency of the cleaning piece in the dry cleaning mode to be higher than that in the wet cleaning mode.
In the cleaning member replacing method of some embodiments of the present specification, the controlling the pickup mechanism of the cleaning robot to replace the cleaning member based on the cleaning mode may include:
when the working parameter value of a single cleaning piece in the dry cleaning mode reaches a first threshold value, controlling the picking mechanism to replace the single cleaning piece; or when the working parameter value of a single cleaning piece in the wet cleaning mode reaches a second threshold value, controlling the picking mechanism to replace the single cleaning piece; wherein the first threshold is less than the second threshold.
In the cleaning member replacement method of some embodiments of the present description, the reaching of the first threshold value by the operating parameter value of the single cleaning member in the dry cleaning mode may include: the cleaning area of the individual cleaning elements in the dry cleaning mode reaches a first area threshold; the reaching of the second threshold value by the operating parameter value for the single cleaning member in the wet cleaning mode may include: the cleaning area of the single cleaning member in the wet cleaning mode reaches a second area threshold; wherein the first area threshold is less than the second area threshold.
In the cleaning member replacement method of some embodiments of the present specification, a ratio of the first area threshold to the second area threshold may have a value ranging from 1/3 to 4/5.
In the cleaning member replacement method of some embodiments of the present specification, a ratio of the first area threshold to the second area threshold may have a value ranging from 1/2 to 3/4.
In the cleaning member replacement method of some embodiments of the present description, the reaching of the first threshold value by the operating parameter value of the single cleaning member in the dry cleaning mode may include: the cleaning duration of the individual cleaning elements in the dry cleaning mode reaches a first duration threshold.
The reaching of the second threshold value by the operating parameter value for the single cleaning member in the wet cleaning mode may include: the cleaning time of the single cleaning member in the wet cleaning mode reaches a second time threshold;
wherein the first duration threshold is less than the second duration threshold.
In correspondence with the cleaning member replacing method of the cleaning robot described above, the present specification also provides a computer storage medium having stored thereon a computer program which, when executed by a processor, can implement the cleaning member replacing method described above.
While the process flows described above include operations that occur in a particular order, it should be appreciated that the processes may include more or less operations that are performed sequentially or in parallel (e.g., using parallel processors or a multi-threaded environment).
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The described embodiments may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for system embodiments, because they are substantially similar to process embodiments, the description is relatively simple, and reference may be made to some descriptions of process embodiments for related points. In the description of the specification, reference to the description of the term "one embodiment", "some embodiments", "an example", "a specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the specification. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples and features of the various embodiments or examples described in this specification can be combined and combined by those skilled in the art without contradiction.
The above description is only an embodiment of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (14)
1. A cleaning robot having a dry cleaning mode and a wet cleaning mode, comprising:
a cleaning member;
a pick-up mechanism for picking up or releasing the cleaning member;
and the control unit is used for controlling the picking mechanism to replace the cleaning piece based on the cleaning mode, and the replacement frequency of the cleaning piece in the dry cleaning mode is higher than that of the cleaning piece in the wet cleaning mode.
2. The cleaning robot as claimed in claim 1, wherein said controlling the pick-up mechanism to replace the cleaning member based on the cleaning mode comprises:
when the working parameter value of a single cleaning piece in the dry cleaning mode reaches a first threshold value, controlling the picking mechanism to replace the single cleaning piece;
or when the working parameter value of a single cleaning piece in the wet cleaning mode reaches a second threshold value, controlling the picking mechanism to replace the single cleaning piece;
wherein the first threshold is less than the second threshold.
3. The cleaning robot of claim 2, wherein the value of the operating parameter for the single cleaning member in the dry cleaning mode reaching the first threshold value comprises: the cleaning area of the individual cleaning elements in the dry cleaning mode reaches a first area threshold;
the value of the operating parameter of the single cleaning member in the wet cleaning mode reaching the second threshold value comprises: the cleaning area of the single cleaning member in the wet cleaning mode reaches a second area threshold;
wherein the first area threshold is less than the second area threshold.
4. The cleaning robot of claim 3, wherein a ratio of the first area threshold to the second area threshold ranges from 1/3 to 4/5.
5. The cleaning robot of claim 3, wherein a ratio of the first area threshold to the second area threshold ranges from 1/2 to 3/4.
6. The cleaning robot of claim 2, wherein the value of the operating parameter for the single cleaning member in the dry cleaning mode reaching the first threshold value comprises: the cleaning duration of the individual cleaning elements in the dry cleaning mode reaches a first duration threshold;
the value of the operating parameter of the single cleaning member in the wet cleaning mode reaching the second threshold value comprises: the cleaning time of the single cleaning member in the wet cleaning mode reaches a second time threshold;
wherein the first duration threshold is less than the second duration threshold.
7. The cleaning robot of claim 1, wherein the pick-up mechanism comprises a magnetic-type automatic pick-up mechanism, the cleaning member comprises a floor-mopping component, the cleaning robot further comprising:
a reservoir;
a wetting mechanism, controlled by the control unit, for wetting the cleaning member with the liquid stored in the liquid reservoir in the wet cleaning mode.
8. A cleaning member replacing method of a cleaning robot, comprising:
determining a cleaning mode; the cleaning mode is a dry cleaning mode or a wet cleaning mode;
controlling a pick-up mechanism of the cleaning robot to replace the cleaning member based on the cleaning mode, and enabling the replacement frequency of the cleaning member in the dry cleaning mode to be higher than that in the wet cleaning mode.
9. The cleaning member replacing method according to claim 8, wherein the controlling of the pick-up mechanism of the cleaning robot based on the cleaning mode to replace the cleaning member comprises:
when the working parameter value of a single cleaning piece in the dry cleaning mode reaches a first threshold value, controlling the picking mechanism to replace the single cleaning piece;
or when the working parameter value of a single cleaning piece in the wet cleaning mode reaches a second threshold value, controlling the picking mechanism to replace the single cleaning piece;
wherein the first threshold is less than the second threshold.
10. The cleaning member changing method of claim 9, wherein the reaching of the first threshold value of the operating parameter value for the individual cleaning member in the dry cleaning mode comprises: the cleaning area of the individual cleaning elements in the dry cleaning mode reaches a first area threshold;
the value of the operating parameter of the single cleaning member in the wet cleaning mode reaching the second threshold value comprises: the cleaning area of the single cleaning member in the wet cleaning mode reaches a second area threshold;
wherein the first area threshold is less than the second area threshold.
11. A cleaning member changing method according to claim 10, wherein a ratio of the first area threshold to the second area threshold is in a range of 1/3 to 4/5.
12. A cleaning member changing method according to claim 10, wherein a ratio of the first area threshold to the second area threshold is in a range of 1/2 to 3/4.
13. The cleaning member changing method of claim 9, wherein the reaching of the first threshold value of the operating parameter value for the individual cleaning member in the dry cleaning mode comprises: the cleaning duration of the individual cleaning elements in the dry cleaning mode reaches a first duration threshold;
the value of the operating parameter of the single cleaning member in the wet cleaning mode reaching the second threshold value comprises: the cleaning time of the single cleaning member in the wet cleaning mode reaches a second time threshold;
wherein the first duration threshold is less than the second duration threshold.
14. A computer storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a cleaning member changing method according to any one of claims 8 to 13.
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