CN115191876A - Water control cleaning method and device for cleaning robot, cleaning robot and medium - Google Patents
Water control cleaning method and device for cleaning robot, cleaning robot and medium Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 107
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The application discloses cleaning robot's accuse water cleaning method, device, cleaning robot and storage medium, wherein cleaning robot's accuse water cleaning method includes: controlling the cleaning robot to surround the periphery of the boundary of the target area and collecting the environmental humidity; calculating a humidity mean value of a target area according to the collected environment humidity; determining the cleaning water amount required by the mopping mode according to the humidity range to which the humidity mean value belongs; the mopping mode is started, and coverage cleaning is carried out in the target area according to the clean water volume, compared with the prior art, the mopping water volume is adaptively adjusted according to the environment humidity by the cleaning robot in the application, so that the environment is prevented from being wet, and the user experience is improved; meanwhile, the energy-saving and environment-friendly water dispenser is energy-saving and avoids unnecessary water consumption.
Description
Technical Field
The application belongs to the technical field of household appliances, and particularly relates to a water control cleaning method and device for a cleaning robot, the cleaning robot and a storage medium.
Background
The floor sweeper, also known as an automatic sweeper, an intelligent dust collector, a cleaning robot and the like, is one of intelligent household appliances, and can automatically complete the floor cleaning work in a room by means of certain artificial intelligence. The existing sweeping robot gradually becomes a necessary intelligent helper in life of people.
Most of the existing floor sweeping machines have the floor mopping function, which is a development trend of the floor sweeping machines. The good mopping effect can bring good cleaning experience to users, and the satisfaction degree of the users is greatly improved. The control of the water quantity of the water tank of the sweeper is a key factor of the mopping function, and the excessive or insufficient water quantity (which can be understood as the water outlet speed) can cause the mopping effect of mops on the sweeper to be greatly reduced.
In the existing method, a user needs to manually set a fixed water quantity (generally divided into dry mopping, low speed, standard, high speed and the like) in advance, and the subsequent mopping process is carried out according to the water quantity until the water quantity is manually set and modified again. If the sweeper encounters heavy rain or warmth, the sweeper can still perform the mopping function according to the preset water quantity, so that the floor in the household of a user is wet, and the floor or furniture can be seriously damaged.
Disclosure of Invention
In view of this, the embodiment of the present application provides a water control cleaning method and apparatus for a cleaning robot, a cleaning robot and a storage medium, so as to adaptively adjust the amount of mopping water according to the ambient humidity, and avoid the ambient humidity, thereby improving the user experience.
An embodiment of a first aspect of the present application provides a water control cleaning method for a cleaning robot, including:
controlling the cleaning robot to surround the periphery of the boundary of the target area and collecting the environmental humidity;
calculating a humidity mean value of a target area according to the collected environment humidity;
determining the cleaning water amount required by the mopping mode according to the humidity range to which the humidity mean value belongs;
and starting a mopping mode, and performing covering cleaning in the target area according to the cleaning water quantity.
According to the water control cleaning method of the cleaning robot in the embodiment of the first aspect of the application, the cleaning robot is controlled to surround the periphery of the boundary of a target area and collect the ambient humidity, and a floor mopping mode is not opened in the periphery process; after the edge is finished, calculating a humidity average value of the target area according to the collected environment humidity; determining the cleaning water amount required by the mopping mode according to the humidity range to which the humidity mean value belongs; the mopping mode is started, and coverage cleaning is started in the target area according to the clean water volume, compared with the prior art, the cleaning robot self-adaptively adjusts the mopping water volume according to the environment humidity, so that the environment is prevented from being wet, and the user experience is improved; meanwhile, the energy is saved, the environment is protected, and unnecessary water consumption is avoided.
In some embodiments of the present application, before the controlling the cleaning robot to circumferentially collect the ambient humidity on the target area boundary, the method further comprises:
judging whether the humidity detection function of the cleaning robot is normal or not;
continuously collecting the environmental humidity according to the normal humidity detection function; and stopping collecting the environmental humidity and reporting fault information according to the humidity detection function abnormity.
In some embodiments of the present application, before the controlling the cleaning robot to circumferentially collect the ambient humidity on the target area boundary, the method further comprises:
and determining a target area to be cleaned according to whether the map information of the current area exists.
In some embodiments of the present application, the determining a target area to be cleaned according to whether there is map information of a current area includes:
determining a target area to be cleaned according to map information of a current area of the cleaning robot and the map information;
and according to the map information of the current area, which does not exist in the cleaning robot, dividing an area with a fixed area as a target area to be cleaned.
In some embodiments of the present application, the calculating a humidity mean value of the target area according to the collected ambient humidity includes:
acquiring the environmental humidity of a plurality of positions separated by preset distances on the boundary of a target area;
and calculating the average value of the environmental humidity of the plurality of positions to obtain the humidity average value of the target area.
The cleaning robot's of this application second aspect embodiment accuse water cleaning device includes:
the acquisition module is used for controlling the cleaning robot to surround the periphery of the boundary of the target area and acquiring the environmental humidity;
the calculation module is used for calculating the humidity mean value of the target area according to the collected environment humidity;
the determining module is used for determining the clean water amount required by the mopping mode according to the humidity range to which the humidity mean value belongs;
and the control module is used for starting a mopping mode and performing coverage cleaning in the target area according to the cleaning water quantity.
According to the water control cleaning device of the cleaning robot in the embodiment of the second aspect of the application, the cleaning robot is controlled to surround the periphery of the boundary of the target area and collect the environmental humidity; after the edge is finished, calculating a humidity average value of the target area according to the collected environment humidity; determining the cleaning water amount required by the mopping mode according to the humidity range to which the humidity mean value belongs; the mopping mode is started, and coverage cleaning is started in the target area according to the clean water volume, compared with the prior art, the mopping water volume is adaptively adjusted according to the environment humidity by the cleaning robot in the application, so that the environment is prevented from being wet, and the user experience is improved; meanwhile, the energy-saving and environment-friendly water dispenser is energy-saving and avoids unnecessary water consumption.
In some embodiments of the present application, the acquisition module is further configured to:
before controlling the cleaning robot to surround the boundary of the target area and collecting the environmental humidity, judging whether the humidity detection function of the cleaning robot is normal or not;
according to the normal humidity detection function, continuously collecting the environmental humidity; and stopping collecting the environmental humidity and reporting fault information according to the abnormal humidity detection function.
In some embodiments of the present application, the acquisition module is further configured to:
and before the cleaning robot is controlled to surround the periphery of the boundary of the target area and the ambient humidity is collected, determining the target area to be cleaned according to whether the map information of the current area exists or not.
In some embodiments of the present application, the acquisition module is specifically configured to:
determining a target area to be cleaned according to map information of a current area of the cleaning robot and the map information;
and according to the map information of the current area, which does not exist in the cleaning robot, dividing an area with a fixed area as a target area to be cleaned.
In some embodiments of the present application, the calculation module is specifically configured to:
acquiring the environmental humidity of a plurality of positions which are separated by a preset distance on the boundary of a target area;
and calculating the average value of the environmental humidity of the plurality of positions to obtain the humidity average value of the target area.
The cleaning robot of the embodiment of the third aspect of the present application includes: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program when executing the computer program to implement the water control cleaning method of the cleaning robot of the first aspect embodiment.
A computer-readable storage medium of an embodiment of a fourth aspect of the present application has computer-readable instructions stored thereon, which are executable by a processor to implement the water control cleaning method of the cleaning robot of the embodiment of the first aspect.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flow chart illustrating a water control cleaning method of a cleaning robot according to an embodiment of the present application;
FIG. 2 is a flow chart of a water control cleaning method of a specific cleaning robot according to an embodiment of the present application;
fig. 3 is a schematic view illustrating a water control cleaning apparatus of a cleaning robot according to an embodiment of the present application;
FIG. 4 is a schematic view of a cleaning robot according to an embodiment of the present application;
FIG. 5 illustrates a schematic diagram of a computer-readable storage medium of an embodiment of the present application.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of the technical solutions by those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The application provides a water control cleaning method and device of a cleaning robot, the cleaning robot and a storage medium, a target area to be cleaned is determined according to whether map information of the current area exists or not, the cleaning robot is controlled to carry out edge-to-edge surrounding on the boundary of the target area and collect environment humidity, and a mopping mode is not opened in the edge-to-edge process; after the edge is finished, calculating the humidity mean value of the target area according to the collected environment humidity, wherein the plurality of different positions can be a plurality of positions separated by preset distances; determining the cleaning water amount required by the mopping mode according to the humidity range to which the humidity mean value belongs; the mopping mode is started, and coverage cleaning is started in the target area according to the clean water volume, compared with the prior art, the cleaning robot adaptively adjusts the mopping water volume according to the environment humidity, so that the aggravation of environment moisture is avoided, and the user experience is improved; meanwhile, the energy is saved, the environment is protected, and unnecessary water consumption is avoided.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below.
Example one
Fig. 1 is a flowchart of a water control cleaning method of a cleaning robot according to an embodiment of the present disclosure. As shown in fig. 1, the water control cleaning method of the cleaning robot includes:
step S101: and controlling the cleaning robot to surround the periphery of the target area boundary and collecting the ambient humidity.
The cleaning robot of the embodiment has a mopping mode and a sweeping mode, and the mopping mode is not turned on during the edgewise process.
Specifically, the target area is an area to be mopped, and may be a specific room floor area or a living room floor area in a home, or may be a floor area with a fixed area in a room or a living room. Therefore, before proceeding to step S101, the target area may be determined first.
In some embodiments of the present application, the determining a target area to be cleaned according to whether there is map information of an area where the cleaning robot is currently located may specifically include: if the cleaning robot has the map information of the current area, determining a target area to be cleaned according to the map information of the current area; and if the cleaning robot does not have the map information of the current area, dividing an area with a fixed area as a target area to be cleaned.
It should be understood that if the cleaning robot completes the collection of the map information of the current area in advance, the floor of a room may be used as a target area, and the cleaning robot may determine the target area directly on the map. If the cleaning robot does not have map information of the current area, an area with a fixed area can be marked for the starting point at the position of the cleaning robot as a target area to be cleaned, for example, a preset side length area (such as an area with a length and a width of 4 meters) can be marked as the target area.
After the target area is determined, the cleaning robot follows the periphery of the target area boundary and collects the ambient humidity. Specifically, the edge refers to that the cleaning robot walks along the boundary of the target area for cleaning, a mopping mode is not opened in the edge process, a sweeping mode can be opened, and the environment humidity is continuously collected in the edge process. The cleaning robot can collect the ambient humidity through a humidity sensor installed thereon.
Before the environment humidity is collected, in order to avoid the situation that the collected humidity information influences the determination of the subsequent mopping water amount by mistake, in some embodiments of the application, whether the humidity detection function of the cleaning robot is normal or not is judged before the environment humidity is collected, and if the humidity detection function is normal, the environment humidity continues to be collected; and if the humidity is abnormal, stopping collecting the environmental humidity and reporting fault information.
It should be understood that can detect whether normal work of the humidity transducer who sweeps the floor and install, if work is unusual, then report fault information, report fault information can be for sending out the police dispatch newspaper sound, light the warning light, still send fault information to the intelligent control APP of user's cell-phone simultaneously to the user in time handles the trouble.
Step S102: and after the edge is finished, calculating the humidity average value of the target area according to the collected environment humidity.
After the cleaning robot is around the edge, the environmental humidity on the position of the periphery of the boundary of the target area is collected, and the average value of the collected data can be calculated to obtain the humidity average value of the target area, so that the mopping water quantity can be controlled according to the environmental humidity of the target area.
Specifically, in some embodiments of the present application, in order to reduce the computation amount and reduce the computation consumption of the cleaning robot, step S102 may be implemented as: acquiring the environmental humidity of a plurality of positions which are separated by a preset distance on the boundary of a target area; and calculating the average value of the environmental humidity of the plurality of positions to obtain the humidity average value of the target area.
It should be understood that the power of the cleaning robot is limited, and the calculation power is also limited, so in order to reduce the consumption of the cleaning robot, in the present application, a humidity average value of the target area may be calculated by taking a collected ambient humidity at every preset distance (for example, 0.2 meter) on the boundary of the target area.
Step S103: and determining the amount of clean water required by the mopping mode according to the humidity range to which the average humidity value of the target area belongs.
Since the ambient humidity directly affects the user's experience and may damage the wooden floor and various wooden furniture, in the present application, in order to avoid further increasing the ambient humidity when the cleaning robot mops the floor, the cleaning water amount required by the floor mopping mode is determined according to the humidity average value of the target area, and may also be understood as the water outlet speed (which may be classified as dry mopping, low speed, standard, high speed, etc.).
Specifically, several humidity ranges and the cleaning water amount corresponding to each humidity range may be preset, and the cleaning water amount corresponds to the water outlet speed. If the humidity mean value of the target area is determined, the corresponding amount of cleaning water can be determined according to the humidity range to which the humidity mean value belongs.
It will be appreciated that when the ambient humidity is greater, the amount of clean water is reduced, preventing mopping from further increasing the ambient humidity. When the environmental humidity is lower, the amount of clean water can be properly increased to increase the environmental humidity by mopping the floor, thereby improving the user experience.
Step S104: and opening the mopping mode, and starting covering cleaning in the target area according to the cleaning water quantity.
Specifically, after the cleaning robot runs along the periphery of the target area boundary and determines the required cleaning water amount, the floor mopping mode is turned on to start water outlet and mopping, and a bow-line covered floor mopping mode can be adopted.
After mopping of the current target area is completed, mopping cleaning of the next target area is performed, and the steps S101 to S104 are continued in the next target area, namely, each area can adaptively adjust the water volume to mopping the floor, so that the areas with different environmental humidity can be mopped by adopting different water volumes, energy is saved, the environment is protected, and unnecessary water volume use is avoided.
According to the water control cleaning method of the cleaning robot, the cleaning robot is controlled to surround the periphery of the boundary of the target area and collect the environmental humidity, and a mopping mode is not opened in the periphery process; after the edge is finished, calculating a humidity average value of the target area according to the collected environment humidity; determining the cleaning water amount required by the mopping mode according to the humidity range to which the average humidity value belongs; the mopping mode is started, and coverage cleaning is started in the target area according to the clean water volume, compared with the prior art, the cleaning robot adaptively adjusts the mopping water volume according to the environment humidity in the application, so that the environment is prevented from being wet, and the user experience is improved; meanwhile, the energy is saved, the environment is protected, and unnecessary water consumption is avoided.
According to the above embodiment, fig. 2 shows a flow chart of a specific water control cleaning method of a cleaning robot of the present application, and as shown in fig. 2, the water control cleaning method of the cleaning robot includes:
step S201: opening the cleaning robot and starting cleaning;
step S202: judging whether the floor mopping mode is in; if the floor mopping mode is in, the step S204 is carried out, and if the floor mopping mode is not in, the step S203 is carried out;
step S203: entering a normal cleaning mode;
step S204: judging whether the humidity detection function is normal or not; if normal, go to step S206, if abnormal, go to step S205;
step S205: reporting fault information;
step S206: controlling the cleaning robot to surround the periphery of the boundary of the target area and collecting the environmental humidity, and not opening a mopping mode in the periphery process;
step S207: after the edge is finished, calculating the humidity average value of the target area according to the collected environment humidity;
step S208: determining the cleaning water amount required by the mopping mode according to the humidity range to which the humidity mean value of the target area belongs;
step S209: turning on a mopping mode, and starting covering cleaning in the target area according to the determined cleaning water amount;
step S210: judging whether all the areas are mopped for cleaning or not; if the mopping is finished, the whole mopping is finished; otherwise, go to the new target area and go to step S206.
According to the application, the cleaning robot adaptively adjusts the mopping water quantity according to the environment humidity, so that the environment is prevented from being wet, and the user experience is improved; meanwhile, the energy is saved, the environment is protected, and unnecessary water consumption is avoided.
Example two
The embodiment of the application provides a water control cleaning device of a cleaning robot, which corresponds to the water control cleaning method of the cleaning robot in the first embodiment, and the relevant points can be referred to the part of the description of the first embodiment. The method embodiments described below are merely illustrative.
Fig. 3 is a schematic view of a water control cleaning device of a cleaning robot according to an embodiment of the present application, and as shown in fig. 3, the device 10 includes:
the acquisition module 101 is used for controlling the cleaning robot to surround the boundary of the target area and acquiring the environmental humidity;
the calculation module 102 is configured to calculate a humidity average value of the target area according to the acquired environmental humidity after the edgewise operation is completed;
the determining module 103 is used for determining the clean water amount required by the mopping mode according to the humidity range to which the humidity mean value belongs;
and the control module 104 is used for switching on the mopping mode and starting coverage cleaning in the target area according to the cleaning water quantity.
In some embodiments of the present application, the acquisition module 101 is further configured to:
before controlling the cleaning robot to surround the boundary of the target area and collecting the environmental humidity, judging whether the humidity detection function of the cleaning robot is normal or not;
if the humidity is normal, continuously collecting the environmental humidity; and if the humidity is abnormal, stopping collecting the environmental humidity and reporting fault information.
In some embodiments of the present application, the acquisition module 101 is further configured to:
and before the cleaning robot is controlled to surround the periphery of the boundary of the target area and the ambient humidity is collected, determining the target area to be cleaned according to whether the map information of the current area exists or not.
In some embodiments of the present application, the acquisition module 101 is specifically configured to:
if the cleaning robot has map information of the current area, determining a target area to be cleaned according to the map information;
and if the cleaning robot does not have the map information of the current area, dividing an area with a fixed area as a target area to be cleaned.
In some embodiments of the present application, the calculation module 102 is specifically configured to:
acquiring the environmental humidity of a plurality of positions which are separated by a preset distance on the boundary of a target area;
and calculating the average value of the environmental humidity of the plurality of positions to obtain the humidity average value of the target area.
The water control cleaning device of the cleaning robot of the embodiment controls the cleaning robot to collect the ambient humidity on the border of the target area along the periphery, and does not open a mopping mode in the process of the edge; after the edge is finished, calculating the humidity average value of the target area according to the collected environment humidity; determining the cleaning water amount required by the mopping mode according to the humidity range to which the average humidity value belongs; the mopping mode is started, and coverage cleaning is started in the target area according to the clean water volume, compared with the prior art, the cleaning robot adaptively adjusts the mopping water volume according to the environment humidity in the application, so that the environment is prevented from being wet, and the user experience is improved; meanwhile, the energy-saving and environment-friendly water dispenser is energy-saving and avoids unnecessary water consumption.
EXAMPLE III
As shown in fig. 4, an embodiment of the present application also provides a cleaning robot 20, including: a memory 201, a processor 202 and a computer program stored on the memory and executable on the processor, the processor 202 executing the computer program when executing the computer program to implement the water control cleaning method of the cleaning robot according to any one of the embodiments.
Specifically, the cleaning robot may include: the system comprises a processor, a memory, a bus and a communication interface, wherein the processor, the communication interface and the memory are connected through the bus; the memory stores a computer program which can be run on the processor, and the processor executes the water control cleaning method of the cleaning robot provided by any one of the previous embodiments when running the computer program.
The Memory may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network and the like can be used.
The bus may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. The storage is used for storing a program, and the processor executes the program after receiving an execution instruction, and the water control cleaning method of the cleaning robot disclosed by any embodiment of the application can be applied to or implemented by the processor.
The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in ram, flash, rom, prom, or eprom, registers, etc. as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The cleaning robot provided by the embodiment of the application and the water control cleaning method of the cleaning robot provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the cleaning robot.
Example four
A computer-readable storage medium is further provided in the embodiments of the present application, please refer to fig. 5, which illustrates a computer-readable storage medium, namely an optical disc 30, on which computer-readable instructions (i.e., a program product) are stored, where the computer-readable instructions can be executed by a processor to implement the water control cleaning method of the cleaning robot in any one of the embodiments.
Examples of the computer-readable storage medium may also 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 optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the above-mentioned embodiment of the present application and the water control cleaning method of the cleaning robot provided by the embodiment of the present application have the same beneficial effects as the method adopted, operated or realized by the application program stored in the computer-readable storage medium.
It should be noted that:
in the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the creation apparatus of a virtual machine according to embodiments of the present application. The present application may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (12)
1. A water control cleaning method of a cleaning robot, comprising:
controlling the cleaning robot to surround the periphery of the boundary of the target area and collecting the environmental humidity;
calculating a humidity mean value of a target area according to the collected environment humidity;
determining the cleaning water amount required by the mopping mode according to the humidity range to which the humidity mean value belongs;
and starting a mopping mode, and performing covering cleaning in the target area according to the cleaning water quantity.
2. The water control cleaning method of a cleaning robot according to claim 1, wherein the method further comprises, before controlling the cleaning robot to run around the target area boundary and collect the ambient humidity:
judging whether the humidity detection function of the cleaning robot is normal or not;
continuously collecting the environmental humidity according to the normal humidity detection function; and stopping collecting the environmental humidity and reporting fault information according to the abnormal humidity detection function.
3. The water control cleaning method of a cleaning robot according to claim 1, wherein the method further comprises, before controlling the cleaning robot to circle around the boundary of the target area and collect the ambient humidity:
and determining a target area to be cleaned according to whether the map information of the current area exists.
4. The water control cleaning method of a cleaning robot according to claim 3, wherein the determining of the target area to be cleaned according to whether there is map information of the current area includes:
determining a target area to be cleaned according to map information of a current area of the cleaning robot and the map information;
and according to the map information that the cleaning robot does not have the current area, dividing an area with a fixed area as a target area to be cleaned.
5. The method of claim 1, wherein calculating a humidity mean of a target area from the collected ambient humidity comprises:
acquiring the environmental humidity of a plurality of positions separated by preset distances on the boundary of a target area;
and calculating the average value of the environmental humidity of the plurality of positions to obtain the humidity average value of the target area.
6. A water control cleaning device of a cleaning robot, comprising:
the acquisition module is used for controlling the cleaning robot to surround the periphery of the boundary of the target area and acquiring the environmental humidity;
the calculation module is used for calculating the humidity mean value of the target area according to the collected environment humidity;
the determining module is used for determining the cleaning water amount required by the mopping mode according to the humidity range to which the humidity mean value belongs;
and the control module is used for starting a mopping mode and performing covering cleaning in the target area according to the cleaning water quantity.
7. The water control cleaning device of the cleaning robot as claimed in claim 6, wherein the collection module is further configured to:
before controlling the cleaning robot to surround the boundary of the target area and collecting the environmental humidity, judging whether the humidity detection function of the cleaning robot is normal or not;
continuously collecting the environmental humidity according to the normal humidity detection function; and stopping collecting the environmental humidity and reporting fault information according to the humidity detection function abnormity.
8. The water control cleaning device of a cleaning robot as recited in claim 6, wherein the collection module is further configured to:
before controlling the cleaning robot to surround the boundary of the target area and collecting the ambient humidity, determining the target area to be cleaned according to whether map information of the current area exists or not.
9. A water control cleaning device of a cleaning robot as claimed in claim 8, characterized in that the acquisition module is specifically configured to:
determining a target area to be cleaned according to map information of a current area of the cleaning robot and the map information;
and according to the map information of the current area, which does not exist in the cleaning robot, dividing an area with a fixed area as a target area to be cleaned.
10. A water control cleaning apparatus of a cleaning robot as claimed in claim 6, wherein the computing module is specifically configured to:
acquiring the environmental humidity of a plurality of positions which are separated by a preset distance on the boundary of a target area;
and calculating the average value of the environmental humidity of the plurality of positions to obtain the humidity average value of the target area.
11. A cleaning robot, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method according to any of claims 1 to 5.
12. A computer readable storage medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 1 to 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110383106.4A CN115191876A (en) | 2021-04-09 | 2021-04-09 | Water control cleaning method and device for cleaning robot, cleaning robot and medium |
| PCT/CN2021/092274 WO2022213442A1 (en) | 2021-04-09 | 2021-05-08 | Water-controlled cleaning method and apparatus for cleaning robot, and cleaning robot and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110383106.4A CN115191876A (en) | 2021-04-09 | 2021-04-09 | Water control cleaning method and device for cleaning robot, cleaning robot and medium |
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| CN115191876A true CN115191876A (en) | 2022-10-18 |
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| CN202110383106.4A Pending CN115191876A (en) | 2021-04-09 | 2021-04-09 | Water control cleaning method and device for cleaning robot, cleaning robot and medium |
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| WO (1) | WO2022213442A1 (en) |
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| WO2022213442A1 (en) | 2022-10-13 |
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