CN115024660A

CN115024660A - Cleaning robot control method and device

Info

Publication number: CN115024660A
Application number: CN202210754694.2A
Authority: CN
Inventors: 张兵; 周玮; 王思德
Original assignee: Shenzhen Jingchuang Technology Electronics Co ltd
Current assignee: Shenzhen Jingchuang Technology Electronics Co ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-09-09

Abstract

The invention discloses a cleaning robot control method and device, and relates to the technical field of cleaning robots. The cleaning robot control method includes the steps of: acquiring ground type information and dirt type information of an area to be cleaned; matching corresponding cleaning modes according to the ground type information and the dirt type information; and executing corresponding cleaning operation on the area to be cleaned according to the cleaning mode. The invention improves the intelligent degree of the cleaning robot.

Description

Cleaning robot control method and device

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a cleaning robot control method and device.

Background

With the improvement of living standard of people, the cleaning robot is widely applied to various environments such as families, markets, stations and the like. The existing cleaning robot usually adopts a manual temporary cleaning mode or a preset fixed cleaning mode, and the problems of complex operation, poor user experience and the like exist when a user needs to temporarily set the cleaning mode. Therefore, the existing cleaning robot has the problem of low intelligent degree.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a cleaning robot control method, and aims to solve the technical problem that the existing cleaning robot is low in intelligent degree.

In order to achieve the above object, the present invention provides a cleaning robot control method including the steps of:

acquiring ground type information and dirt type information of an area to be cleaned;

matching corresponding cleaning modes according to the ground type information and the dirt type information;

and executing corresponding cleaning operation on the area to be cleaned according to the cleaning mode.

Optionally, the step of acquiring the floor type information and the stain type information of the area to be cleaned includes:

acquiring ground image information of the area to be cleaned, identifying the ground image information, and acquiring the ground type information and the stain type information, wherein the ground type information comprises at least one of hard ground and soft ground, and the stain type information comprises at least one of solid stain and liquid stain.

Optionally, the cleaning mode includes a liquid suction mode, a sweeping mode, and a dust suction mode, and the step of matching the corresponding cleaning mode according to the floor type information and the soil type information includes:

judging whether the ground type information is soft ground or hard ground;

when the floor type information is soft texture, the cleaning mode is a dust collection mode;

when the ground type information is hard texture surface, judging whether the dirt type information is solid dirt or liquid dirt;

when the dirt type information is solid dirt, the cleaning mode is a sweeping mode or a dust collection mode;

and when the stain type information is liquid stain, the cleaning mode is a liquid suction mode.

Optionally, the step of performing a corresponding cleaning operation on the area to be cleaned according to the cleaning mode includes:

generating a corresponding cleaning driving path according to the area map of the area to be cleaned;

and controlling the cleaning robot to travel according to the cleaning travel path, and executing corresponding cleaning operation on the area to be cleaned according to the cleaning mode.

Optionally, the step of generating a corresponding cleaning travel path according to the area map of the area to be cleaned includes:

when the cleaning mode is one, obtaining the area boundary of the area to be cleaned according to the area map of the area to be cleaned;

and generating a corresponding cleaning traveling path according to the area boundary, wherein the cleaning traveling path is a spiral curve taking one point on the area boundary as a starting point and taking the central point of a graph formed by the area boundary as an end point, and the distance between the spiral curves is smaller than the width of a cleaning assembly corresponding to the cleaning mode.

Optionally, the step of generating a corresponding cleaning travel path according to the area map of the area to be cleaned further includes:

when the cleaning mode is more than one, obtaining a cleaning partition boundary corresponding to the cleaning mode according to the area map of the area to be cleaned;

generating a corresponding local cleaning path according to the cleaning partition boundary, wherein the local cleaning path is a spiral curve taking one point on the cleaning partition boundary as a starting point and taking the central point of a graph formed by the cleaning partition boundary as an end point;

and sequentially connecting the local cleaning paths according to the preset priority of the cleaning mode to form the cleaning running path.

Optionally, the step of controlling the cleaning robot to travel along the cleaning travel path and performing a corresponding cleaning operation on the area to be cleaned according to the cleaning mode includes:

and when the cleaning mode is a liquid suction mode, controlling the cleaning robot to run according to the cleaning running path, controlling the liquid suction component corresponding to the liquid suction mode to deflect a preset angle towards the direction of the central point of a figure formed by the cleaning partition boundary corresponding to the liquid suction mode, and performing liquid suction operation on the area to be cleaned.

Optionally, the step of performing the corresponding cleaning operation on the area to be cleaned according to the cleaning mode includes:

acquiring the integral residual dirt grade of the area after cleaning operation;

judging whether the integral residual dirt level is higher than a preset lowest dirt level;

and if the level of the integral residual dirt is higher than the preset lowest dirt level, adjusting the cleaning parameters of the cleaning mode according to the integral residual dirt level, and executing corresponding cleaning operation on the area subjected to the cleaning operation according to the cleaning mode after the cleaning parameters are adjusted.

Optionally, the step of performing a corresponding cleaning operation on the region to be cleaned according to the cleaning mode further includes:

dividing the region after the cleaning operation into at least two sub-regions according to a preset dividing rule;

acquiring the local contamination level of the subarea, and determining the subarea to be cleaned, of which the local contamination level is higher than a preset lowest contamination level;

and executing corresponding cleaning operation on the subarea to be cleaned according to the cleaning mode.

Further, to achieve the above object, the present invention provides a cleaning robot control device including: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method as claimed in any one of the above.

The invention provides a cleaning robot control method, which comprises the steps of obtaining ground type information and dirt type information of an area to be cleaned; matching corresponding cleaning modes according to the ground type information and the dirt type information; and executing corresponding cleaning operation on the area to be cleaned according to the cleaning mode. According to the invention, the corresponding cleaning mode is matched through the ground type information and the dirty type information of the area to be cleaned on the ground, and then the corresponding cleaning operation is executed on the area to be cleaned according to the cleaning mode, so that different cleaning strategies can be effectively determined for different grounds and dirty, the cleaning effect and the application range of the cleaning robot are improved, and the intelligent degree of the cleaning robot is further improved.

Drawings

FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a control method of a cleaning robot according to a first embodiment of the present invention;

FIG. 3 is a flowchart illustrating a control method of a cleaning robot according to a second embodiment of the present invention;

fig. 4 is a diagram illustrating an example of a cleaning travel path involved in the cleaning robot control method according to the present invention;

FIG. 5 is a schematic view of a cleaning scenario of the present invention when the cleaning mode is a suction mode;

fig. 6 is a flowchart illustrating a cleaning robot control method according to a third embodiment of the present invention.

The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the cleaning robot control device may include: a processor 1001 such as a CPU (Central Processing Unit), an MCU (Micro Controller Unit), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), an input unit such as a touch screen or a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.

Those skilled in the art will appreciate that the configuration of the device shown in fig. 1 does not constitute a limitation of the cleaning robot control device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, the memory 1005, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a cleaning robot control application program.

In the apparatus shown in fig. 1, the processor 1001 may be configured to call a cleaning robot control application stored in the memory 1005 and perform the following operations:

and performing corresponding cleaning operation on the area to be cleaned according to the cleaning mode.

Still further, the processor 1001 may be further configured to call a cleaning robot control application stored in the memory 1005, and perform the following operations:

Further, the cleaning modes include a liquid suction mode, a sweeping mode, and a dust suction mode, and the processor 1001 may be further configured to call the cleaning robot control application stored in the memory 1005, and perform the following operations:

judging whether the ground type information is soft ground or hard ground;

and controlling the cleaning robot to run according to the cleaning running path, and executing corresponding cleaning operation on the area to be cleaned according to the cleaning mode.

and generating a corresponding cleaning travel path according to the region boundary, wherein the cleaning travel path is a spiral curve taking one point on the region boundary as a starting point and the central point of a graph formed by the region boundary as an end point, and the distance between the spiral curves is smaller than the width of a cleaning assembly corresponding to the cleaning mode.

obtaining the integral residual dirt grade of the area after the cleaning operation;

judging whether the integral residual dirt level is higher than a preset lowest dirt level or not;

dividing the cleaned region into at least two sub-regions according to a preset division rule;

acquiring the local dirt level of the subarea, and determining the subarea to be cleaned with the local dirt level higher than a preset lowest dirt level;

Referring to fig. 2, fig. 2 is a flowchart illustrating a cleaning robot control method according to a first embodiment of the present invention.

A first embodiment of the present invention provides a cleaning robot control method including the steps of:

step S100, acquiring ground type information and dirt type information of an area to be cleaned;

specifically, the area to be cleaned may be an area that needs to be cleaned and is determined by the cleaning robot through detection of the floor, or an area that is determined by a user to issue a cleaning instruction and is desired to be cleaned. The ground type information may be a hard ground and/or a soft ground. The stain type information may include solid stains and/or liquid stains. The ground vibration information can be identified by collecting the ground vibration information, so that the ground type information can be obtained; the method can also be used for sending measuring light (such as infrared light) to the dirt to be identified, receiving reflected light of the dirt to be identified to the measuring light, and performing spectrum analysis on the reflected light to obtain the dirt type corresponding to the reflected light. In addition, the ground image information can be identified through the ground image information of the area to be cleaned, and the ground type information and the dirt type information can be obtained. It is to be understood that the ground type information and the soil type information may be identified by one or a combination of identification methods.

Wherein, step S100 includes the steps of:

step S110, obtaining ground image information of the area to be cleaned, identifying the ground image information, and obtaining the ground type information and the stain type information, wherein the ground type information includes at least one of a hard ground and a soft ground, and the stain type information includes at least one of solid stain and liquid stain.

Specifically, the ground image information of the area to be cleaned can be collected, and then the feature extraction is performed on the ground image information, so that the ground feature information and the dirty feature information of the area to be cleaned are obtained. And then matching the ground characteristic information and the dirt characteristic information with the ground type characteristic information representing different ground types and the dirt type characteristic information representing different dirt types so as to obtain the ground type information and the dirt type information of the area to be cleaned. Wherein the ground type information includes a hard ground (such as a wooden ground, a ceramic ground, a cement ground, etc.) or a soft ground (such as a chemical fiber carpet, a natural fiber carpet, etc.); the stain type information includes solid stains (e.g., dust, hair, debris, etc.) or liquid stains (e.g., water, milk, juice, etc.). In the embodiment, the identification of the ground type and the stain type of the area to be cleaned is realized through the ground image information of the area to be cleaned.

Furthermore, the user can identify a corresponding area to be cleaned on an indoor map constructed by the cleaning robot through a terminal device (such as a smart phone, a tablet computer, a notebook computer, etc.) to send out a corresponding cleaning instruction. The graph of the area to be cleaned can be determined according to the operation of a user, and can be a regular graph or an irregular graph. Therefore, after the cleaning instruction is received, a local path with the current coordinate of the cleaning robot as a starting point and the coordinate of the area to be cleaned as an end point can be generated according to the coordinate of the area to be cleaned in the cleaning instruction. The coordinates of the area to be cleaned may be any coordinates on the boundary of the area to be cleaned, or may be the coordinates on the boundary of the area to be cleaned closest to the current coordinates of the cleaning robot. Thereby controlling the cleaning robot to travel according to the local path to reach the area to be cleaned. Therefore, a user can control the cleaning robot to perform cleaning operation on the designated area through the terminal equipment, and the controllability of the cleaning robot is improved.

Step S200, matching corresponding cleaning modes according to the ground type information and the dirt type information;

specifically, the conventional cleaning robot is generally provided with a cleaning device, a suction device, a scrub device, and the like. Thus, a cleaning robot corresponding cleaning pattern containing a set of commands for a sweeping device, a suction device, a scrubbing device, etc. of the cleaning robot may be matched based on the floor type information and the soil type information. The corresponding cleaning mode can be matched according to the floor type and the dirt type of the area to be cleaned, and it can be understood that the floor of the area to be cleaned can be a combination of multiple floor types (for example, a carpet is laid on a ceramic floor), and the dirt can also be a combination of multiple dirt types, so that the cleaning mode can be one mode or a combination of more than one mode. For example, the cleaning mode may include a suction mode, a sweeping mode, and a dust suction mode. Judging whether the ground type information is soft ground or hard ground; when the ground type information is a soft ground surface, the cleaning mode is a dust collection mode so as to avoid damage to the soft ground surface caused by a sweeping mode; when the ground type information is hard texture surface, judging whether the dirt type information is solid dirt or liquid dirt; and when the dirt type information is solid dirt, the cleaning mode is a sweeping mode or a dust collection mode so as to quickly remove the solid dirt on the ground. When the dirt type information is liquid dirt, the cleaning mode is a liquid suction mode, so that liquid splashing caused by a sweeping mode is avoided, or after the dirt is sucked in a dust suction mode, solid dirt and the liquid dirt are mixed and adhered together to cause a suction device to break down. Thereby on the one hand avoiding damage to the floor and the cleaning robot and on the other hand achieving a better cleaning effect.

Further, the cleaning mode includes a liquid suction mode, a sweeping mode, and a dust suction mode, and the step S200 further includes the steps of:

step S210, judging whether the ground type information is soft ground or hard ground;

step S211, when the floor type information is soft texture, the cleaning mode is a dust collection mode;

step S220, when the ground type information is hard texture, judging whether the dirt type information is solid dirt or liquid dirt;

step S221, when the dirt type information is solid dirt, the cleaning mode is a sweeping mode or a dust collection mode;

step S222, when the stain type information is liquid stain, the cleaning mode is a liquid suction mode.

Specifically, the cleaning mode comprises a liquid suction mode, a sweeping mode and a dust suction mode. The liquid suction mode can be used for sucking liquid dirt on hard ground, and can be used for firstly absorbing the liquid dirt on the ground through a liquid suction roller in the scrubbing device, removing the absorbed liquid dirt in a squeezing or centrifuging mode and the like, and storing the liquid dirt in a sewage storage container. It will be appreciated that there may be more than one of the suction rollers, and that when one of the suction rollers is removing liquid soil, the other suction rollers absorb liquid soil from the floor. When the residual amount of the liquid dirt on the ground is lower than the preset residual threshold value, a pre-stored cleaning agent (such as clean water, detergent and the like) can be sprayed to scrub the residual liquid dirt on the ground. For adopting suction device to dirty the pumping of liquid, the cylinder that adopts scrubbing device absorbs the liquid dirty, can avoid the pollution to suction device inside to suction device still need inhale solid dirty usually, still can lead to solid dirty and the dirty adhesion of liquid together, leads to suction device trouble.

The sweeping mode is used for removing solid dirt on the hard ground, the solid dirt on the hard ground is adhered to the ground due to static electricity, adhesive substances and the like, and the solid dirt is difficult to sweep cleanly only by virtue of suction force, so that the sweeping device can be controlled to sweep the ground to stir the solid dirt adhered to the ground, and the solid dirt is sucked into the solid dirt storage container through the suction device and stored in the solid dirt storage container. It will be appreciated that the sweeping mode may also provide scrubbing of the floor by the scrubbing device after the suction device has sucked the solid soil to improve the cleanliness of the floor.

The dust suction mode is used for removing dirt on a soft floor, and since the soft floor is usually made of a fabric material of chemical fibers or natural fibers, even if liquid is splashed on the soft floor, the liquid dirt can be quickly absorbed, so that the liquid dirt does not need to be considered. Meanwhile, in order to avoid the damage and the winding of the cleaning device on the surface of the soft floor, the solid dirt of the soft floor can be sucked only by the suction device and stored in the solid dirt storage container.

Therefore, when the floor type information is soft floor, the matched cleaning mode can be determined to be a dust collection mode without considering the dirt type information; when the ground type information is hard ground, further judging whether the dirt type information is solid dirt or liquid dirt; when the dirt type information is solid dirt, determining that the matched cleaning mode is a sweeping mode or a dust collection mode; when the stain type information is liquid stain, determining that the matched cleaning mode is a liquid suction mode. In addition, whether the hard floor is a wooden floor or not can be further judged, and if the hard floor is the wooden floor, the matched cleaning mode can be determined to be a dust collection mode so as to avoid abrasion of the wooden floor caused by a sweeping mode.

And step S300, performing corresponding cleaning operation on the area to be cleaned according to the cleaning mode.

Specifically, a corresponding cleaning travel path may be generated based on an area map of the area to be cleaned, so that a cleaning range of a cleaning assembly (an assembly for cleaning a floor surface by a sweeping device, a suction device, a scrubbing device, or the like) that performs the cleaning mode when the cleaning robot travels along the cleaning travel path can completely cover the area to be cleaned. And then controlling the cleaning robot to travel according to the cleaning travel path, and executing corresponding cleaning operation on the area to be cleaned according to the cleaning mode.

Further, step S300 includes the steps of:

step S310, generating a corresponding cleaning driving path according to the area map of the area to be cleaned;

and step S320, controlling the cleaning robot to travel according to the cleaning travel path, and executing corresponding cleaning operation on the area to be cleaned according to the cleaning mode.

Specifically, a corresponding cleaning travel path may be generated based on an area map of the area to be cleaned, so that a cleaning range of a cleaning assembly, which performs the cleaning mode when the cleaning robot travels along the cleaning travel path, can completely cover the area to be cleaned. For example, the cleaning travel path that is folded back and forth is a path that is folded back and forth in a direction perpendicular to the cleaning direction, starting from a point of the area boundary of the area to be cleaned, i.e., gradually advancing in a direction along a preset cleaning direction. Of course, other types of cleaning travel paths are also possible, such as spiral curve-type cleaning travel paths, "zigzag" cleaning travel paths, and the like. And then controlling the cleaning robot to travel according to the cleaning travel path, and executing corresponding cleaning operation on the area to be cleaned according to the cleaning mode. Thereby ensuring that the cleaning range of the cleaning robot can fully cover the area to be cleaned.

In the first embodiment of the invention, the floor type information and the stain type information of the area to be cleaned are acquired; matching corresponding cleaning modes according to the ground type information and the dirt type information; and executing corresponding cleaning operation on the area to be cleaned according to the cleaning mode. The cleaning mode that this embodiment corresponds is waited clean regional ground type information and dirty type information matching through ground, and then according to clean mode, it is right to wait clean regional execution corresponding cleaning operation, can confirm different cleaning strategy to different ground and dirt effectively, improve cleaning robot's clean effect and application scope to cleaning robot's intelligent degree has been improved.

Further, referring to fig. 3, a second embodiment of the present invention provides a cleaning robot control method, based on the above embodiment shown in fig. 2, the step S310 includes the following steps:

step S311, when the cleaning mode is one, obtaining the area boundary of the area to be cleaned according to the area map of the area to be cleaned;

step S312, generating a corresponding cleaning travel path according to the area boundary, where the cleaning travel path is a spiral curve using a point on the area boundary as a starting point and a central point of a graph formed by the area boundary as an end point, and a distance between the spiral curves is smaller than a width of the cleaning assembly corresponding to the cleaning mode.

Specifically, when the cleaning mode is one, the area boundary of the area to be cleaned may be obtained according to the area map of the area to be cleaned, and then the central point of the graph formed by the area boundary may be determined. The central point may be the center of a circle circumscribing the graph formed by the region boundary, the center of an inscribed circle, or other points within the range of the central position of the graph. And generating a spiral curve by taking any point on the boundary of the area as a starting point and the central point as an end point, and taking the spiral curve as the cleaning travel path, wherein the distance between the spiral curves is smaller than the width of the cleaning assembly corresponding to the cleaning mode. Referring to fig. 4, fig. 4 is a diagram illustrating an example of a cleaning travel path involved in the method for controlling a cleaning robot according to the present invention. In fig. 4, a point a is a point on an area boundary of the area to be cleaned, a point B is a center point of a graph formed by the area boundary, and a dotted line is the area boundary, which is implemented as the cleaning travel path. It is understood that the cleaning travel path may also be in a shape of "go back", that is, the cleaning travel path is a path formed by sleeving the rings around the center point, the region boundary of the region to be cleaned is the cleaning travel path of the outermost ring around the center point, the distance between the rings needs to be smaller than the width of the cleaning assembly, and then when the cleaning operation is performed, the cleaning operation is performed sequentially from the outermost ring, the second outer ring to the innermost ring. Therefore, when the cleaning running path is a spiral curve or a 'return' shaped path, on one hand, the cleaning range of the cleaning assembly is ensured to completely cover the area to be cleaned, and on the other hand, solid dirt or liquid dirt which is polluted by a driving mechanism (such as wheels, crawler belts and the like) of the cleaning robot is prevented from being brought to the outside of the boundary of the area to pollute other areas.

Still further, in another embodiment, the step S310 further includes the steps of:

step 313, when the number of the cleaning modes is more than one, obtaining a cleaning partition boundary corresponding to the cleaning mode according to the area map of the area to be cleaned;

step S314, generating a corresponding local cleaning path according to the cleaning partition boundary, wherein the local cleaning path is a spiral curve taking one point on the cleaning partition boundary as a starting point and taking a central point of a graph formed by the cleaning partition boundary as an end point;

and S315, sequentially connecting the local cleaning paths according to the preset priority of the cleaning mode to form the cleaning driving path.

Specifically, when the number of the cleaning modes is more than one, it is indicated that there are a plurality of floor types and/or stain types in the area to be cleaned, and then the cleaning zone boundary corresponding to the cleaning mode may be obtained according to the area map of the area to be cleaned. Taking the hard floor with solid dirt and liquid dirt simultaneously, the matched cleaning modes are a sweeping mode and a liquid suction mode as examples, the cleaning partition boundary corresponding to the sweeping mode is the region boundary with solid dirt and hard dirt, and the cleaning partition boundary corresponding to the liquid suction mode is the region boundary with liquid dirt and hard floor. Thereby generating corresponding local cleaning paths according to the cleaning partition boundaries. The local cleaning path is a spiral curve taking one point on the cleaning partition boundary as a starting point and taking the central point of a graph formed by the cleaning partition boundary as an end point. It will be appreciated that the pitch between the helical curves is less than the width of the cleaning elements corresponding to the cleaning mode, so as not to cover the cleaning zones. And finally, sequentially connecting the local cleaning paths according to the preset priority of the cleaning mode to form the cleaning driving path. The preset priority is the processing sequence of each mode in the cleaning modes preset by a user or a manufacturer, for example, the preset priority is the priority of a liquid suction mode over a dust suction mode, and the dust suction mode over a sweeping mode, and then the cleaning driving path formed by sequentially connecting the local cleaning paths according to the preset priority can execute the cleaning operation on the cleaning partition corresponding to the liquid suction mode first, then execute the cleaning operation on the cleaning partition corresponding to the dust suction mode, and finally execute the cleaning operation on the cleaning partition corresponding to the sweeping mode. Therefore, in this embodiment, when the number of the cleaning modes is more than one, the corresponding local cleaning paths are generated according to the cleaning partition boundaries corresponding to the cleaning modes, so that the execution of different cleaning modes can be independent, the frequent switching situation is avoided, and the processing order of the cleaning robot for different floor types and dirt types can be freely controlled by setting the priority. For example, the liquid suction mode is the highest priority, so that liquid dirt on the ground cannot be swept away or sucked into the cleaning robot due to the sweeping mode or the dust suction mode in the cleaning process, and the cruising duration, the service life and the cleaning effect of the cleaning robot can be improved.

Further, step S320 includes the steps of:

step S321, when the cleaning mode is a liquid suction mode, controlling the cleaning robot to run according to the cleaning running path, and controlling the liquid suction component corresponding to the liquid suction mode to deflect to a preset angle towards the direction of the central point of a figure formed by the cleaning partition boundary corresponding to the liquid suction mode, so as to perform liquid suction operation on the area to be cleaned.

Specifically, when the cleaning mode is the liquid suction mode, since the liquid suction roller is used to suck liquid, when the amount of liquid contaminated by the surface liquid is large, the liquid suction roller moves forward while sucking water, and a force is applied to the liquid contaminated by the liquid suction roller in the forward direction of the liquid suction roller, so that the liquid contaminated by the liquid is diffused in the forward direction of the liquid suction roller, and other areas are contaminated. Therefore, referring to fig. 5, fig. 5 is a schematic diagram of a cleaning scenario when the cleaning mode is the liquid suction mode in the present invention. The liquid suction operation can be performed on the area to be cleaned by controlling the liquid suction assembly (i.e. the liquid suction roller) corresponding to the liquid suction mode to deflect a preset angle (for example, 30 degrees, 45 degrees, 60 degrees and the like) towards the center point of the figure formed by the boundary of the cleaning zone corresponding to the liquid suction mode. The angle range of the preset angle is (0 degree, 90 degrees), and the preset angle can be determined according to the running speed of the cleaning robot, the thickness of the liquid dirt and the viscosity. The advancing direction of the liquid suction roller always faces to the inside of the boundary of the cleaning subarea corresponding to the liquid suction mode, so that the liquid dirt is prevented from diffusing outwards and polluting other areas.

Further, referring to fig. 6, a third embodiment of the present invention provides a cleaning robot control method, based on the above embodiment shown in fig. 2, after step S300, the method includes the following steps:

step S400, acquiring the integral residual dirt grade of the area after cleaning operation;

step S410, judging whether the integral residual dirt level is higher than a preset lowest dirt level;

and step S411, if the level of the whole residual dirt is higher than the preset lowest dirt level, adjusting the cleaning parameters of the cleaning mode according to the level of the whole residual dirt, and executing corresponding cleaning operation on the area after the cleaning operation according to the cleaning mode after the cleaning parameters are adjusted.

Specifically, the residual dirty image information of the region after the cleaning operation is collected, feature extraction is performed on the residual dirty image information to obtain residual dirty feature information, and then the residual dirty feature information is matched with dirty grade feature information representing different dirty grades, so that the integral residual dirty grade of the region after the cleaning operation is obtained. Wherein, the higher the dirt level, the more serious the dirt degree on the ground. And judging whether the integral residual dirt grade is higher than a preset lowest dirt grade, wherein the preset lowest dirt grade is a dirt grade preset by a user or a manufacturer and used for representing clean ground. And if the integral residual dirt level is higher than the preset lowest dirt level, which indicates that the dirt still remains on the ground, adjusting the cleaning parameters of the cleaning mode according to the integral residual dirt level, and executing corresponding cleaning operation on the area after the cleaning operation according to the cleaning mode after the cleaning parameters are adjusted. The cleaning parameters comprise cleaning gears, and the higher the cleaning gears are, the stronger the cleaning effect is (for example, increasing the power of the suction device to improve the suction force, increasing the power of the sweeping device to improve the sweeping frequency, increasing the power of the scrubbing device to improve the scrubbing force, etc.). The mapping relation between the overall residual dirt level and the cleaning gear can be set, and the overall residual dirt level is positively correlated with the cleaning gear. And determining a corresponding new cleaning parameter according to the integral residual dirt grade, and updating the current cleaning parameter of the cleaning mode according to the new cleaning parameter so as to complete the adjustment of the cleaning parameter of the cleaning mode. And performing corresponding cleaning operation on the area after the cleaning operation according to the cleaning mode after the cleaning parameters are adjusted. And if the integral residual dirt level is not higher than a preset lowest dirt level, recording that the cleaning is finished, and controlling the cleaning robot to return to charging or execute other cleaning tasks. In the embodiment, the cleaning robot finishes the cleaning work after reaching the expected cleaning effect of the user by detecting the integral residual dirt level after finishing the cleaning, so that the problem that the cleaning robot finishes the cleaning work when the cleaning effect is poor and cannot reach the expected cleaning effect of the user is avoided, the cleaning effect of the cleaning robot is ensured to meet the expectation of the user, and the intelligent degree of the cleaning robot is improved.

Further, in another embodiment, the step S300 is followed by the steps of:

step S420, dividing the region after the cleaning operation into at least two sub-regions according to a preset dividing rule;

step S421, acquiring the local contamination level of the subarea, and determining the subarea to be cleaned, of which the local contamination level is higher than a preset lowest contamination level;

step S422, according to the cleaning mode, performing a corresponding cleaning operation on the sub-area to be cleaned.

Specifically, the preset segmentation rule may be grid-shaped segmentation, that is, the region after the cleaning operation is segmented into a grid region with a preset size, or may be segmented according to local contamination levels to obtain sub-regions with different local contamination levels. And dividing the cleaned region into at least two sub-regions according to a preset dividing rule. And further acquiring the local dirt level of the subregion, determining the subregion of which the local dirt level is higher than the preset lowest dirt level, and taking the subregion of which the local dirt level is higher than the preset lowest dirt level as a subregion to be cleaned. And then according to the cleaning mode, performing corresponding cleaning operation on the subarea to be cleaned. In the embodiment, the region is divided into at least two sub-regions after the cleaning operation, so that the sub-regions with the local dirt level higher than the preset lowest dirt level are cleaned respectively, the whole region is not required to be cleaned, the area required to be cleaned again is reduced, and the cleaning efficiency and the intelligent degree of the cleaning robot are improved. It is understood that this embodiment may also be combined with the third embodiment, that is, step S422 includes determining a new cleaning level of each sub-area to be cleaned corresponding to the cleaning mode according to the local residual contamination level of the sub-area to be cleaned, and performing a corresponding cleaning operation on each sub-area to be cleaned according to the cleaning mode of the new cleaning level.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity/action/object from another entity/action/object without necessarily requiring or implying any actual such relationship or order between such entities/actions/objects; the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described apparatus embodiments are merely illustrative, in that elements described as separate components may or may not be physically separate. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the invention. One of ordinary skill in the art can understand and implement without inventive effort.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a vehicle, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A cleaning robot control method, characterized by comprising the steps of:

2. The cleaning robot controlling method of claim 1, wherein the step of acquiring floor type information and stain type information of the area to be cleaned comprises:

3. The cleaning robot controlling method of claim 2, wherein the cleaning modes include a suction mode, a sweeping mode, and a dust suction mode, and the matching of the corresponding cleaning mode according to the floor type information and the soil type information comprises:

judging whether the ground type information is soft ground or hard ground;

4. The cleaning robot control method of claim 3, wherein the step of performing the corresponding cleaning operation on the region to be cleaned according to the cleaning mode comprises:

5. The cleaning robot control method of claim 4, wherein the step of generating a corresponding cleaning travel path according to the area map of the area to be cleaned comprises:

6. The cleaning robot control method of claim 5, wherein the step of generating a corresponding cleaning travel path according to the area map of the area to be cleaned further comprises:

7. The cleaning robot control method of claim 6, wherein the controlling the cleaning robot to travel along the cleaning travel path and performing a corresponding cleaning operation on the region to be cleaned according to the cleaning mode comprises:

8. The cleaning robot control method according to any one of claims 1 to 7, wherein the step of performing the corresponding cleaning operation on the area to be cleaned according to the cleaning mode is followed by:

9. The cleaning robot control method of claim 8, wherein the step of performing the corresponding cleaning operation on the region to be cleaned according to the cleaning mode further includes, after the step of:

10. A cleaning robot control apparatus, characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 9.