CN115429160A

CN115429160A - Control method, device and system of cleaning robot and storage medium

Info

Publication number: CN115429160A
Application number: CN202210894025.5A
Authority: CN
Inventors: 黄翊峰; 卢涛; 王宇谦; 梁辰; 张文涛
Original assignee: Yunjing Intelligence Technology Dongguan Co Ltd; Yunjing Intelligent Shenzhen Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2022-07-27
Filing date: 2022-07-27
Publication date: 2022-12-06
Anticipated expiration: 2042-07-27
Also published as: CN115429160B

Abstract

The embodiment of the application provides a control method, a device and a system of a cleaning robot and a storage medium, wherein the method comprises the steps of controlling the cleaning robot to mop a preset cleaning area through a mopping piece; acquiring a first dirt degree corresponding to a preset cleaning area; determining that the preset cleaning area comprises a target area according to the first dirt degree, wherein the target area is an area needing repeated mopping; and after finishing mopping the preset cleaning area and maintaining the mopping piece, controlling the cleaning robot to mopping at least part of the target area through the mopping piece. The method comprises the steps of judging whether repeated mopping is needed to be carried out on at least part of the preset cleaning area according to the dirt degree of the preset cleaning area, and if so, after the mopping piece is maintained, repeatedly mopping is carried out on at least part of the preset cleaning area so as to improve the cleaning effect on the preset cleaning area.

Description

Control method, device and system of cleaning robot and storage medium

Technical Field

The present disclosure relates to the field of cleaning technologies, and in particular, to a method, an apparatus, a system, and a storage medium for controlling a cleaning robot.

Background

The cleaning robot can be used for automatically cleaning the ground, and the application scene can be household indoor cleaning, large-scale place cleaning and the like. The cleaning robot can mop the ground through the mopping piece, the mopping piece is often dirty after mopping the ground for a period of time, and the mopping piece needs to return to a base station to be cleaned; in the related art, the cleaning robot usually cleans the mopping piece and then directly mops the floor which is not mopped, but does not monitor whether the mopped floor is clean, so that some floors are still dirty due to insufficient cleaning.

Disclosure of Invention

The application provides a control method, a control device, a control system and a storage medium of a cleaning robot, and aims to solve the technical problems that in the related art, when the cleaning robot cleans the ground, the ground is not sufficiently cleaned, and the cleaning robot is still dirty.

In a first aspect, an embodiment of the present application provides a control method for a cleaning robot, including:

controlling the cleaning robot to mop a preset cleaning area through a mopping piece;

acquiring a first dirt degree corresponding to the preset cleaning area;

determining that the preset cleaning area comprises a target area according to the first dirt degree, wherein the target area is an area needing repeated mopping;

and after the preset cleaning area is completely mopped and the mopping piece is maintained, controlling the cleaning robot to mopping at least part of the target area through the mopping piece.

In a second aspect, an embodiment of the present application provides a control device of a cleaning robot, the control device including a memory and a processor;

wherein the memory is for storing a computer program;

the processor is configured to execute the computer program and implement the steps of the control method of the cleaning robot when executing the computer program.

In a third aspect, embodiments provide a cleaning system, including:

the cleaning robot comprises a walking unit and a mopping piece, wherein the walking unit is used for driving the cleaning robot to move so as to enable the mopping piece to mop the ground;

a base station for at least cleaning or replacing a mop of a cleaning robot; and

the aforementioned control device.

In a fourth aspect, embodiments of the present application provide a cleaning system, including:

the cleaning robot comprises a walking unit and a mopping piece, wherein the walking unit is used for driving the cleaning robot to move so that the mopping piece mops the ground;

the base station comprises a dirt detection device for detecting the dirt degree of a mopping piece of the cleaning robot; and

the aforementioned control device.

In a fifth aspect, embodiments provide a cleaning system, including:

the first cleaning robot comprises a walking unit and a mopping piece, wherein the walking unit is used for driving the first cleaning robot to move so as to enable the mopping piece to mop the ground;

a base station for at least cleaning a mop of the first cleaning robot; and

the aforementioned control device;

the cleaning system further comprises:

a handheld cleaning appliance or a second cleaning robot,

the control device or the first cleaning robot can send the information of the target area to the handheld cleaning device or the second cleaning robot.

In a sixth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the steps of the method described above.

The embodiment of the application provides a control method, a device and a system of a cleaning robot and a storage medium, wherein the method comprises the following steps: controlling the cleaning robot to mop a preset cleaning area through a mopping piece; acquiring a first dirt degree corresponding to a preset cleaning area; determining that the preset cleaning area comprises a target area according to the first dirt degree, wherein the target area is an area needing repeated mopping; and after finishing mopping the preset cleaning area and maintaining the mopping piece, controlling the cleaning robot to mopping at least part of the target area through the mopping piece. The method comprises the steps of judging whether repeated mopping is needed to be carried out on at least part of the preset cleaning area according to the dirt degree of the preset cleaning area, and if so, after the mopping piece is maintained, repeatedly mopping is carried out on at least part of the preset cleaning area so as to improve the cleaning effect on the preset cleaning area.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the embodiments of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flowchart of a control method of a cleaning robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a cleaning system in one embodiment;

FIG. 3 is a schematic diagram of a cleaning robot in one embodiment;

FIG. 4 is a schematic block diagram of a cleaning robot in one embodiment;

FIG. 5 is a block diagram of a base station according to an embodiment;

FIG. 6 is a schematic block diagram of a base station in one embodiment;

FIG. 7 is a schematic illustration of variations in the degree of soiling of the scrubbing member in one embodiment;

FIG. 8 is a schematic flow chart diagram illustrating a method of cleaning a mop according to an exemplary embodiment of the present disclosure;

FIG. 9 is a correspondence of a range of a value range to a cleaning threshold in one embodiment;

FIG. 10 is a schematic view of a plurality of predefined cleaning zones in one embodiment;

FIG. 11 is a schematic illustration of a repeated mopping of a target area in one embodiment;

fig. 12 is a schematic block diagram of a control device of a cleaning robot according to an embodiment of the present disclosure;

fig. 13 is a schematic view of a cleaning system provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flowcharts shown in the figures are illustrative only and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a control method of a cleaning robot according to an embodiment of the present disclosure. The control method of the cleaning robot can be applied to a cleaning system and is used for controlling the cleaning robot in the system so that the cleaning robot can execute a cleaning task and clean an area to be cleaned corresponding to a cleaning task map.

The area to be cleaned may be any area to be cleaned, such as a home space, a room unit of a home space, a partial area of a room unit, a large site, or a partial area of a large site. From another perspective, the area to be cleaned may refer to a larger area that is cleaned for the first time, such as an entire room unit; it may also refer to areas that require a missed cleaning after a first cleaning of a larger area, such as a wall area in a room unit, or an obstacle area.

As shown in fig. 2, the cleaning system includes one or more cleaning robots 100, and one or more base stations 200. The base station 200 is used in cooperation with the cleaning robot 100, for example, the base station 200 may charge the cleaning robot 100, the base station 200 may provide a docking position to the cleaning robot 100, and the like. The base station 200 may also perform maintenance on the mop 110 of the cleaning robot 100, for example, the base station 200 may clean or replace the mop 110, wherein the mop 110 is used to mop the floor.

The cleaning system further comprises a control device 300, and the control device 300 may be used to implement the steps of the control method of the cleaning robot of the embodiment of the present application and/or to implement the steps of the cleaning method of the mop described above. Alternatively, the robot controller 104 of the cleaning robot 100 and/or the base station controller 206 of the base station 200 may be used alone or in combination as the control device 300 for implementing the steps of the method of the embodiment of the present application; in other embodiments, the cleaning system includes a separate control device 300 for implementing the steps of the method of the embodiment of the present application, and the control device 300 may be provided on the cleaning robot 100 or may be provided on the base station 200; of course, the control device 300 may be a device other than the cleaning robot 100 and the base station 200, such as a home intelligent terminal, a general control apparatus, or the like.

The cleaning robot 100 may be used to automatically mop the floor, and the application scenario of the cleaning robot 100 may be household indoor cleaning, large-scale place cleaning, and the like.

Fig. 3 is a perspective view illustrating the cleaning robot 100 according to an embodiment, and fig. 4 is a schematic block diagram illustrating the cleaning robot 100 according to an embodiment. The cleaning robot 100 includes a robot main body 101, a driving motor 102, a sensor unit 103, a robot controller 104, a battery 105, a traveling unit 106, a robot memory 107, a robot communication unit 108, a robot interaction unit 109, a wiper 110, a charging member 111, and the like.

The robot main body 101 may have a circular structure, a square structure, or the like. In the embodiment of the present application, the robot main body 101 is described as having a D-shaped structure. As shown in fig. 3, the robot main body 101 has a rounded rectangular front portion and a semicircular rear portion. In the embodiment of the present application, the robot main body 101 has a bilaterally symmetric structure.

The mop element 110 is used for mopping the floor, and the number of the mop element 110 may be one or more. The mop element 110 is for example a mop cloth. The mop 110 is disposed at the bottom of the robot main body 101, specifically, at a position forward of the bottom of the robot main body 101. The robot main body 101 is internally provided with a driving motor 102, two rotating shafts extend out of the bottom of the robot main body 101, and a mopping piece 110 is sleeved on the rotating shafts. The driving motor 102 can drive the rotation shaft to rotate, so that the rotation shaft drives the mop 110 to rotate.

The walking unit 106 is a component related to the movement of the cleaning robot 100, and is used to drive the cleaning robot 100 to move so that the mopping member 110 mops the floor.

A robot controller 104 is provided inside the robot main body 101, and the robot controller 104 is used to control the cleaning robot 100 to perform a specific operation. The robot controller 104 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. As shown in fig. 4, the robot controller 104 is electrically connected to components such as a battery 105, a robot memory 107, a driving motor 102, a walking unit 106, a sensor unit 103, and a robot interaction unit 109 to control these components.

It should be understood that the cleaning robot 100 described in the embodiment of the present application is only a specific example, and the cleaning robot 100 of the embodiment of the present application is not specifically limited, and the cleaning robot 100 of the embodiment of the present application may be implemented in other specific ways. For example, in other implementations, the cleaning robot may have more or fewer components than the cleaning robot 100 shown in fig. 3 or 4.

Fig. 5 is a perspective view of a base station 200 according to an embodiment, and fig. 6 is a schematic block diagram of the base station 200 according to an embodiment. The base station 200 is used in cooperation with the cleaning robot 100, for example, the base station 200 may charge the cleaning robot 100, the base station 200 may provide a docking position to the cleaning robot 100, and the like. The base station 200 may also clean the mop 110 of the cleaning robot 100. Wherein the mopping piece 110 is used for mopping the ground.

As shown in fig. 5 and 6, the base station 200 of the embodiment of the present application includes a base station main body 202, a washing tank 203, and a water tank (not shown). A cleaning tank 203 is provided on the base station main body 202, and the cleaning tank 203 is used to clean the mop 110 of the cleaning robot. The cleaning ribs 2031 provided on the cleaning bath 203 can scrape clean the mop 110.

A slot inlet 205 is provided on the base station main body 202, and the slot inlet 205 leads to the cleaning tank 203. The cleaning robot 100 may enter the base station 200 through the entry slot 205 such that the cleaning robot 100 is docked at a preset docking position on the base station 200. The water tank is disposed in the base station main body 202, and the water tank specifically includes a clean water tank and a sewage tank. The clean water tank is used for storing clean water. The mop 110 of the cleaning robot 100 is received on the cleaning tank 203 while the cleaning robot 100 is parked on the base station 200. The clean water tank provides cleaning water to the cleaning tank 203, which is used to clean the mop 110. The dirty water after cleaning the mop 110 is then collected in a dirty water tank. Optionally, a top cover (not shown) is provided on the base station main body 202, and a user can remove the water tank from the base station main body 202 by opening the top cover. In other embodiments, the water tank can be connected to an inlet pipe (e.g., to a tap water line) and a drain pipe (e.g., to a drain pipe), where the water tank can be secured within the base station body 202; in other embodiments, the base station 200 may not be provided with one or both of the clean water tank and the dirty water tank, for example, the clean water may be directly supplied to the cleaning tank 203 through the water inlet pipe, and the dirty water after cleaning the mop 110 may also be directly discharged through the sewage pipe.

In some embodiments, the base station 200 further comprises a soil detection device for detecting the degree of mop soil of the mop 110. Illustratively, the contamination detection device includes at least one of: for example, the image or color information of the mop 110 may be obtained by the visual sensor, and the dirt level of the mop 110 may be determined according to the image or color information of the mop 110, for example, the deeper the gray level of the surface of the mop 110, the greater the dirt level of the mop. For example, the sewage detection sensor may obtain a detection value of the sewage obtained by cleaning the mop 110, and may determine a degree of soiling of the mop 110 according to the obtained detection value; optionally, the sewage detection sensor comprises at least one of: a visible light detection sensor, an infrared detection sensor, a total soluble solid matter detection sensor; for example, an infrared detection sensor collects the turbidity of the sewage, a visible light detection sensor collects the chromaticity of the sewage, and a total soluble solid matter detection sensor collects the water conductivity of the sewage; the dirt degree of the mopping piece can be determined according to one or more of turbidity, chroma and water conductivity; for example, the greater the turbidity of the contaminated water, the greater the conductivity of the water, and the greater the degree of soiling of the scrubbing member.

Referring to fig. 6, the base station 200 may further include a base station controller 206, a base station communication unit 207, a base station memory 208, a water pump 209, a base station interaction unit 210, and the like.

The base station controller 206 is disposed inside the base station main body 202, and the base station controller 206 is used to control the base station 200 to perform specific operations. The base station controller 206 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. The base station controller 206 is electrically connected to the base station communication unit 207, the base station memory 208, the water pump 209, and the base station interaction unit 210.

A base station memory 208 is provided on the base station main body 202, and the base station memory 208 stores a program that implements a corresponding operation when executed by the base station controller 206. The base station memory 208 is also used to store parameters for use by the base station 200. The base station memory 208 includes, but is not limited to, disk memory, CD-ROM, optical memory, and the like.

The water pumps 209 are provided inside the base station body 202, and for example, there are two water pumps 209, one of the water pumps 209 is for controlling the clean water tank to supply cleaning water to the cleaning tank 203, and the other water pump 209 is for collecting dirty water after cleaning the mop 110 into the dirty water tank. Of course, the present invention is not limited thereto, and the cleaning water may be supplied to the cleaning tank 203 by controlling a solenoid valve on the water inlet pipe, for example, by directly supplying the cleaning water to the cleaning tank 203 through the water inlet pipe.

A base station communication unit 207 is provided on the base station main body 202, the base station communication unit 207 is used to communicate with an external device, and the base station 200 may communicate with a terminal through a WI-FI communication module and/or communicate with the cleaning robot 100.

The base station interacting unit 210 is configured to interact with a user, for example, a cleaning mode may be acquired through the base station interacting unit 210, for example, information of a target area may be displayed, so as to select whether to repeat the mopping, for example, the cleaning robot is controlled to perform the mopping on the target area according to a determination operation of the user. The base station interaction unit 210 includes, for example, a display screen and control buttons, the display screen and the control buttons are disposed on the base station main body 202, the display screen is used for displaying information to a user, and the control buttons are used for a user to perform a pressing operation to control the power-on or power-off of the base station 200.

For example, the cleaning robot 100 may be used to mop the floor. After the cleaning robot 100 wipes the floor of the room for a certain period of time and the wiping member 110 becomes dirty, the cleaning robot 100 drives to the base station 200. The cleaning robot 100 enters the base station 200 through the entry slot 205 on the base station 200 and stops at a preset stop position on the base station 200. At this time, the mop 110 of the cleaning robot 100 is accommodated on the cleaning tank 203, and under the action of the water pump 209, the cleaning water in the clean water tank in the base station 200 flows to the cleaning tank 203 and is sprayed onto the mop 110 through the liquid inlet structure on the cleaning tank 203, and meanwhile, the mop 110 scrapes the convex cleaning rib 2031 in the cleaning tank, so that the cleaning of the mop 110 is realized. The dirty water after cleaning the mop 110 flows out of the cleaning tank 203 from the drainage structure on the cleaning tank, and is collected into the dirty water tank under the action of the water pump 209.

It should be understood that the foregoing cleaning system is only a specific example, and is not intended to limit the cleaning robot and the base station in the embodiment of the present invention, and the base station in the embodiment of the present invention may also be implemented in other specific ways, for example, the base station in the embodiment of the present invention may not include a water tank, and the main body of the base station may be connected to a tap water pipe and a drain pipe, so that the mop 110 of the cleaning robot 100 is cleaned by using tap water from the tap water pipe, and dirty water after cleaning the mop 110 flows out of the base station 200 through the drain pipe from the cleaning tank 203. Alternatively, in other implementations, the base station may have more or fewer components than the base station 200 shown in fig. 5 or 6.

The cleaning robot of the embodiment of the application can also be realized in other specific ways. In some embodiments, a cleaning robot of embodiments of the present application may include a cleaning mechanism for cleaning the mop. Illustratively, the cleaning robot comprises a water tank and the dirt detection device, the water tank supplies water to the cleaning mechanism to clean the mopping piece, and the dirt detection device is used for detecting the dirt degree of the mopping piece. For example, the control method of the cleaning robot in the embodiment of the present application may be used to control the cleaning robot to wipe the preset cleaning area, for example, determine a degree of soiling of the preset cleaning area according to a degree of soiling of a wiping member of the wiping member, and wipe the preset cleaning area according to the degree of soiling of the preset cleaning area. The cleaning robot can control the cleaning mechanism to automatically clean the mopping piece in the process of cleaning the ground. For example, the method for cleaning the mop according to the embodiment of the present application may be used to control the cleaning mechanism of the cleaning robot to self-clean the mop, for example, determining a cleaning threshold value according to a range of values within which the degree of soiling of the mop is located, and ending a cleaning task for the mop. It is understood that the cleaning method of the mop of the embodiment of the present application can be applied to a base station or to a cleaning robot, for example, for controlling a cleaning mechanism (e.g., including the cleaning trough 203, the cleaning ribs 2031) on the base station or for controlling a cleaning mechanism on the cleaning robot.

The inventor of the present application has also found that the cleaning robot in the related art usually directly wipes the floor which is not wiped after cleaning the wiping member, without monitoring whether the wiped floor is clean, so that some floors are not sufficiently cleaned and still dirty.

Based on this, the inventor of the present application improves a control method of a cleaning robot to determine whether repeated mopping of at least a partial area of a preset cleaning area is required according to a degree of contamination of the preset cleaning area, and if required, after maintenance of the mopping member, repeated mopping of at least a partial area of the preset cleaning area is performed to improve a cleaning effect of the preset cleaning area.

As shown in fig. 1, the method for controlling a cleaning robot according to an embodiment of the present invention includes steps S110 to S140.

And S110, controlling the cleaning robot to wipe the preset cleaning area through the wiping piece.

In some embodiments, the preset cleaning area may be determined according to a room in a cleaning task map, and/or a workload threshold of the cleaning robot. For example, the workload of each of the preset cleaning areas is less than or equal to the workload threshold. For example, one room may be one preset cleaning area, or one room has a plurality of preset cleaning areas; of course, not limited thereto, for example, a predetermined cleaning area may include a room and at least a partial area of another room. Optionally, the preset cleaning area may also be determined according to a dividing operation of the user on the cleaning task map, or may be determined by dividing according to a preset area dividing rule.

In some embodiments, the cleaning task of the cleaning robot includes mopping a plurality of the preset cleaning areas, for example, mopping a plurality of the preset cleaning areas in a cleaning task map.

Illustratively, the workload of the cleaning robot includes at least one of: the mopping part of the cleaning robot is used for mopping the floor, the amount of dirt adsorbed when the cleaning robot cleans the floor, the power consumption of the cleaning robot when the cleaning robot cleans the floor, the water consumption of the cleaning robot when the cleaning robot cleans the floor, the dirt collection amount of the cleaning robot when the cleaning robot cleans the floor, the sewage collection amount of the cleaning robot when the cleaning robot cleans the floor, the area of the cleaning robot cleans the floor and the path length of the cleaning robot cleans the floor. The embodiments of the present application mainly take the example that the workload of the cleaning robot includes the amount of collected dirt when the cleaning robot cleans the floor, such as the amount of collected dirt of the mop.

In some embodiments, the cleaning robot needs to interrupt the current cleaning task and move to the base station for maintenance before completing the workload corresponding to the workload threshold, so as to ensure a better cleaning effect. For example, the mopping member, such as a mop cloth, has a limited dirt collecting capability, and referring to fig. 7, the mopping member mops the floor from the beginning of the mopping to the maximum dirt collecting degree of the mopping member, when the cleaning robot moves forward at a constant speed and does not repeatedly mop a floor (with an infinite area) with uniformly distributed dirt, the relationship between the dirt collecting amount of the mopping member, i.e. the dirt collecting degree d of the mopping member and the mopping time is shown in fig. 7, after the dirt collecting degree d of the mopping member reaches the maximum dirt value d _ max of the mopping member, the mopping member cannot pass the mopping floor any more and becomes more dirty, the mopping cleaning effect on the floor is also poor, and it can be determined that the dirt collecting degree d of the mopping member reaches the workload threshold value, and the mopping is required to stop; the cleaning robot can also be controlled to move to a base station for maintenance, such as cleaning the mopping piece, or replacing the cleaned mopping piece. Optionally, the maximum soiling value d _ max of the mop is an empirical value, which can be measured, for example, in a laboratory.

And S120, acquiring a first dirt degree corresponding to the preset cleaning area.

For example, when the cleaning robot moves in the preset cleaning area, for example, when the preset cleaning area is mopped, at least one of a sensor, such as a vision sensor, an infrared sensor, and the like, carried by the cleaning robot obtains a first degree of soiling corresponding to the preset cleaning area. It will be appreciated that the corresponding first degree of soiling may be obtained prior to or at the time of mopping the preset cleaning area. Of course, the first contamination level corresponding to the preset cleaning area may be obtained according to a sensor not on the cleaning robot, such as a vision sensor provided on the roof.

In some embodiments, the acquiring the first contamination degree corresponding to the preset cleaning area includes: after the cleaning robot finishes mopping a preset cleaning area through a mopping piece, acquiring the dirt degree of the mopping piece; and determining a first dirty degree corresponding to the preset cleaning area according to the dirty degree of the mopping piece. For example, when the dirt degree of the wiping member is smaller than the maximum dirt value d _ max of the wiping member, the first dirt degree corresponding to the preset cleaning area is positively correlated with the dirt degree of the wiping member, that is, the larger the dirt degree of the wiping member is, the more dirty the preset cleaning area is; when the degree of soiling of the mop is equal to the maximum soiling value d _ max of the mop, it can be determined that the predetermined cleaning area is soiled and remains unsoiled by the mop after the mopping of the predetermined cleaning area is completed in step S110.

Illustratively, said obtaining the degree of soiling of the mop of said mop comprises: when the mopping piece is cleaned, a detection value of sewage for cleaning the mopping piece is obtained; and determining the dirt degree of the mopping piece according to the detection value. Optionally, the contamination detection means comprises a contamination detection sensor for detecting contamination of the cleaning wipe, for example detecting one or more of turbidity, colour, water conductivity of the contamination. The amount of dirt washed from the scrubbing member can be determined by the turbidity of the dirt, the shade of the dirt, or the water conductivity of the dirt. For example, the greater the turbidity, the chromaticity or the water conductivity of the soiled water, the greater the amount of soil cleaned from the scrubbing element, i.e., the greater the soil elution value used to characterize the amount of soil cleaned from the scrubbing element, the greater the amount of soil adsorbed on the scrubbing element prior to cleaning, i.e., the greater the degree of soiling of the scrubbing element. It will be appreciated that the turbidity of the waste water, the colour of the waste water, and the water conductivity of the waste water can all be used to characterise the amount of soiling being washed from the scrubbing element, i.e. the degree of soiling of the scrubbing element, and all have a positive or corresponding relationship with the soil elution value, the amount of soiling, or the degree of soiling of the scrubbing element. For example, if the turbidity detected for the first time of cleaning the mop with the waste water is 1NTU, the dirt elution value or the dirt amount corresponding to the turbidity of 1NTU is 100, and the turbidity detected for the second time of cleaning the mop with the waste water is 2NTU, and the dirt elution value or the dirt amount corresponding to the waste water with the turbidity of 2NTU is 200, it can be determined that the dirt amount cleaned from the mop is smaller than the dirt amount cleaned from the mop in the second time, that is, the dirt elution value for the first time is smaller than the dirt elution value for the second time. The same applies to the correspondence between the chromaticity of the sewage, the water conductivity of the sewage, and the soil elution value or the soil amount, and will not be described herein again. It will also be appreciated that the degree of soiling of the mop may be characterised by a value, such as any one of turbidity of the waste water, colour of the waste water, water conductivity of the waste water, amount of soiling, soil elution value, or the degree of soiling may be determined by any one of turbidity of the waste water, colour of the waste water, water conductivity of the waste water, amount of soiling, soil elution value. For example, if the turbidity of the sewage after cleaning the mopping member is 1NTU, the dirty degree of the mopping member can be represented as 1; or the dirty degree corresponding to the turbidity of the dirty water after cleaning the mopping piece being 1NTU is 100, and the dirty degree of the mopping piece is 100.

Illustratively, the dirt detection device, such as a visual sensor, on the base station obtains the dirt level of the wiping member, for example, the deeper the color of the wiping member 110, the greater the dirt level of the wiping member; the present invention is not limited to this, and the degree of soiling of the wiper may be detected by a visual sensor mounted on the cleaning robot and facing the wiping surface of the wiper.

Illustratively, said obtaining the degree of soiling of the mop of said mop comprises: cleaning the mopping piece to obtain a detection value of sewage for cleaning the mopping piece; and determining the dirt degree of the mopping part according to the detection value. Optionally, the contamination detection means comprises a contamination detection sensor for detecting contamination of the cleaning wipe, for example detecting one or more of turbidity, colour, water conductivity of the contamination. For example, when the turbidity, the chromaticity or the water conductivity of the contaminated water is larger, which indicates that the contaminated water after cleaning the mop is more dirty, the larger the amount of dirt washed from the mop, i.e., the dirt elution value, is, the larger the amount of dirt adsorbed on the mop before cleaning, i.e., the larger the degree of dirt of the mop, can be determined.

For example, when the wiping member is cleaned, the detection value of the sewage detection sensor may be obtained at intervals, and the accumulated result d of the dirt amount may be obtained by accumulating the dirt amount corresponding to the detection value according to the time and/or the water amount for cleaning the wiping member, where the water amount may be determined according to the water amount for supplying cleaning water to the cleaning tank and/or the water amount for discharging wastewater.

In some embodiments, the mop cleaning operation performed between floor cleaning operations may be performed as a mop cleaning task. The cleaning task for cleaning the mop may include, for example, a process of cleaning the mop after cleaning one preset cleaning area and before cleaning another preset cleaning area, and may further include a process of cleaning the mop after finishing the cleaning task on the cleaning task map, for example, when the degree of contamination of all areas on the cleaning task map is less than the corresponding threshold value of the amount of contamination, finishing the cleaning task and executing the cleaning task for the mop.

The cleaning task of the mopping piece for cleaning the mopping piece comprises one or more stage tasks, wherein in each stage task, cleaning water is supplied to a cleaning tank of a base station to clean the mopping piece, and then sewage after the mopping piece is cleaned is discharged, and the process can be not circulated or circulated for multiple times; or simultaneously supplying the cleaning water to the cleaning tank to clean the mop and discharging the sewage after cleaning the mop, for example, the cleaning water is supplied to the cleaning tank to intermittently discharge the sewage after cleaning the mop.

The time and/or the water amount for cleaning the mopping piece corresponding to the tasks at different stages can be the same or different, and the dirty amount corresponding to the detection value obtained when the tasks at each stage are executed is accumulated according to the time and/or the water amount corresponding to one or more stages in the cleaning task of the mopping piece to obtain an accumulated result d of the dirty amount.

Alternatively, a detection value, such as sewage turbidity, may be directly used as the amount of dirt; and determining the dirt degree of the mopping piece according to the accumulated result of the dirt amount. For example, the accumulated result of the dirt level d of the mop, i.e. the dirt amount, can be obtained from the integral of the dirt turbidity T of the water amount l for cleaning the mop, and is expressed as follows:

d＝∫T dl

when the sewage detection sensor has the limit of the detection water capacity and the limit of the detection frequency, the accumulated result d of the amount of the sewage can be determined according to the detection value of one or more times of sampling and the amount of the water in the sampling interval, and is represented as follows:

d＝∑T _i ×l _i

wherein, T _i Represents the turbidity T, l of the sewage sampled at the ith time _i Representing the water quantity between two samplings, i is 1, 2, \8230;, n is any value, and n is the total sampling times.

For example, the dirt degree of the mopping part can be judged in advance according to the single detection value. For example, after stopping supplying the cleaning water to the cleaning tank, the sewage is drained, and a turbidity of the sewage is detected once during the draining of the sewage, and an amount of the drained sewage is obtained, and a product of the turbidity of the sewage and the amount of the water can be determined as an accumulated result d of the amount of the dirt. Of course, the present invention is not limited to this, and for example, the turbidity of the sewage may be detected a plurality of times during the discharge of the sewage, and the product of the average value, the maximum value, or the minimum value of the plurality of detected turbidity of the sewage and the amount of the sewage may be determined as the accumulation result d of the amount of the dirt.

In some embodiments, the accumulated amount of dirt corresponding to the detected value is accumulated according to the time and/or amount of water for cleaning the mop, and the accumulated result of the amount of dirt represents the amount of dirt washed from the mop, which may be referred to as a dirt elution value.

In some embodiments, a soil elution value for the mop cleaning task may be determined based on the soil elution values for one or more stage tasks in the mop cleaning task; for example, the dirt elution values of all stage tasks in the mop cleaning task are accumulated to obtain the dirt elution value of the mop cleaning task.

In each stage task, the detection value of the sewage may be obtained only once, or may be obtained multiple times, and the dirt elution value of the stage task is determined according to the detection value of one or multiple times, for example, the dirt elution value of the stage task is determined according to the product of the average value of the detection values of multiple times and the water amount of the stage of the task.

For example, the degree of soiling of the mop may be determined from the soiling elution value of one or more phase tasks, or the soiling elution value of the mop cleaning task. Determining the dirt degree of the mop according to the dirt elution value of the first stage task in the cleaning task of the mop, wherein if the dirt elution value of the first stage task is larger, the dirt degree of the mop is larger; or determining the dirt degree of the mopping piece according to the maximum value or the average value of the dirt elution values of a plurality of stage tasks, wherein the larger the maximum value or the average value is, the larger the dirt degree of the mopping piece is. Of course, without limitation, the degree of soiling of the mop may be predicted, for example, from a soiling elution value in each of a plurality of stage tasks, based on a predictive model; the prediction model may be obtained by fitting the number of stage tasks in the cleaning task of the mop in the big data buried point and the soil elution value of each stage task, for example, T = f (T) is the soil degree of the mop, T represents n × [ sequence identifier, soil elution value ] matrix, n represents the number of stage tasks in the cleaning task of the mop, and [ sequence identifier, soil elution value ] represents the cleaning soil elution value corresponding to the stage task executed in a certain order, for example, when the sequence identifier corresponds to the first stage task, the soil elution value is the soil elution value of the first stage task, when the sequence identifier corresponds to the second stage task, the soil elution value is the soil elution value of the second stage task, and so on.

For example, a degree of soiling of the mop may be determined based on a value of soiling elution of the stage task that has been performed.

For example, the acquiring a first contamination degree corresponding to the preset cleaning area includes: after the cleaning robot finishes mopping a preset cleaning area through a mopping piece, executing a mopping piece cleaning task, accumulating the dirt elution values of all stage tasks in the mopping piece cleaning task to obtain the dirt elution value of the mopping piece cleaning task, and determining the dirt elution value of the mopping piece cleaning task as a first dirt degree corresponding to the preset cleaning area.

S130, determining that the preset cleaning area comprises a target area according to the first dirt degree, wherein the target area is an area needing repeated mopping.

In this embodiment, it may be determined whether the preset cleaning region includes a target region according to the first contamination degree. For example, the entire preset cleaning area may be used as the target area according to the first contamination degree, or a partial area of the preset cleaning area may be used as the target area according to the first contamination degree; for example, when a first contamination degree of the preset cleaning area is obtained by a visual sensor, the contamination degree distribution of different areas in the preset cleaning area may be determined, and according to the contamination degree distribution of different areas in the preset cleaning area, a relatively dirty area is determined as the target area.

When the preset cleaning area is determined to be dirty according to the first dirty degree corresponding to the preset cleaning area, the preset cleaning area is judged to comprise the target area. Optionally, before the preset cleaning region is wiped in step S110, when the preset cleaning region is wiped in step S110, or after the preset cleaning region is wiped in step S110, a first contamination degree corresponding to the preset cleaning region is obtained, and it is determined whether the preset cleaning region includes the target region.

For convenience of description, in the embodiment of the present application, after the preset cleaning area is mopped in step S110, a first contamination degree corresponding to the preset cleaning area is determined according to the contamination degree of the mopping member, and whether the preset cleaning area includes a target area is determined according to the first contamination degree.

In some embodiments, when the first contamination degree corresponding to the preset cleaning area is greater than or equal to a preset contamination amount threshold, determining that the preset cleaning area comprises a target area; and/or when the first contamination degree corresponding to the preset cleaning area is smaller than a preset contamination amount threshold value, determining that the preset cleaning area does not comprise the target area.

For example, the dirt threshold value may be determined from a maximum dirt value d _ max of the mop, for example, the dirt threshold value may be positively correlated to the maximum dirt value d _ max of the mop.

For example, when the total dirt amount of the preset cleaning area currently mopped by the cleaning robot is V, when V is greater than the maximum dirt value d _ max of the mopping piece, when the mopping piece mops the preset cleaning area, the accumulated dirt amount d on the mopping piece is approximately equal to d _ max, and the remaining total dirt amount of the preset cleaning area is V-d = V-d _ max > 0, it may be determined that the preset cleaning area is not cleaned; when V is less than or equal to the maximum stain value d _ max of the wiping member, the accumulated stain amount d on the wiping member is approximately equal to V when the wiping member wipes the preset cleaning area, and the remaining total stain amount of the preset cleaning area is V-d =0, it can be determined that the preset cleaning area is cleaned.

For example, the soil threshold is less than or equal to the maximum soil value d _ max of the mop; in actual use, the mop swab has difficulty collecting as much dirt as d _ max, so the dirt threshold may be less than the maximum dirt value d _ max.

Alternatively, the contamination amount threshold may also be determined according to a cleaning mode (or referred to as a floor mopping mode) of the cleaning robot. For example, the higher the cleaning requirement of the cleaning mode (e.g., deep cleaning mode), the smaller the soil threshold, the lower the cleaning requirement of the cleaning mode (e.g., rapid cleaning mode), the larger the soil threshold. For example, the contamination amount threshold value d _ var = k × d _ max, wherein 0-k-woven fabric is composed of (1); different cleaning modes can be set with different k values, for example, the k value of the deep cleaning mode can be smaller, and the k value of the fast cleaning mode can be larger. The cleaning robot includes a quick cleaning mode, a general cleaning mode, a deep cleaning mode, or more other modes, and different cleaning modes correspond to different contamination thresholds. For example, the threshold of the amount of dirt corresponding to the normal cleaning mode is 20, after the user selects the normal cleaning mode, if the first degree of dirt in the preset cleaning area is greater than 20, the preset cleaning area is repeatedly cleaned, and when the first degree of dirt is less than 20, the preset cleaning area is stopped being cleaned; the dirt amount threshold corresponding to the deep cleaning mode is 10, after the user selects the deep cleaning mode, if the first dirt degree of the preset cleaning area is greater than 10, the preset cleaning area is repeatedly cleaned, and when the first dirt degree is less than 10, the preset cleaning area is stopped being cleaned.

When the first dirt level corresponding to the preset cleaning area is a certain level (e.g. 15), it may occur that in the cleaning mode with higher cleaning requirement, the first dirt level is greater than or equal to the dirt amount threshold (the dirt amount threshold in the deep cleaning mode is 10, for example) and the preset cleaning area is determined to include the target area, and in the cleaning mode with lower cleaning requirement, the first dirt level is less than the dirt amount threshold (the dirt amount threshold in the quick cleaning mode is 20, for example) and the preset cleaning area is determined not to include the target area, so that in the cleaning mode with higher cleaning requirement, at least a part of the preset cleaning area may be repeatedly mopped to realize deep cleaning of the floor.

It should be noted that the cleaning mode in the related art is only defined according to the difference of the number of mopping times, for example, the fast cleaning mode is cleaning (mopping) once, and the deep cleaning mode is cleaning (mopping) twice, and this defined mode has low cleaning efficiency and may waste unnecessary time. For example, when the area is relatively clean but the user sets the cleaning mode to deep cleaning, the cleaning is required twice, and the cleaning efficiency is low.

According to the embodiment of the application, the dirt amount threshold value can be adjusted according to the cleaning mode of the cleaning robot, so that whether the preset cleaning area needs to be repeatedly mopped or not is judged according to the comparison result of the dirt amount threshold value and the first dirt degree of the preset cleaning area, and the cleaning efficiency can be improved; for example, when the preset cleaning area is clean but the user sets the cleaning mode to be deep cleaning, the cleaning can be performed only once, and the cleaning efficiency is high.

And S140, after the preset cleaning area is mopped and the mopping piece is maintained, controlling the cleaning robot to mopping at least part of the target area through the mopping piece.

In some embodiments, when it is determined that the preset cleaning region includes the target region at step S130, after the mopping of the preset cleaning region is completed, the cleaning robot is controlled to move to a base station, and the mopping piece is maintained, for example, replaced, or cleaned; for example, the mop may include at least one of: rotary mops, one-piece mops, roller mops, track mops, etc., although not limited thereto. It should be noted that the maintenance of the mop is not limited to be performed by the base station, the cleaning robot, or both the base station and the cleaning robot, and may be performed by the user by notifying the user.

In some embodiments, when the mopping of the preset cleaning area is completed and the mopping piece cleaning task is executed, the mopping piece dirt degree of the mopping piece is obtained and the first dirt degree of the preset cleaning area is determined according to the mopping piece dirt degree, and when the preset cleaning area comprises the target area, the cleaning robot can be controlled to mop at least part of the target area through the mopping piece after the mopping piece cleaning task is finished.

For example, the dirt amount adsorbed on the mopping piece is the dirt amount brought back from a preset cleaning area, that is, the dirt degree of the preset cleaning area can be referred to as the dirt degree of the mopping piece, when the dirt degree of the mopping piece is greater than or equal to a preset dirt amount threshold value during the execution of a mopping piece cleaning task, after the completion of the mopping piece cleaning task, the cleaning robot is controlled to mop a target area by the mopping piece, and the target area is the area cleaned by the mopping piece before the mopping piece cleaning task. For example, when the degree of soiling of the mop is determined according to the soiling elution value of at least a first phase task of the mop cleaning task, and when the degree of soiling of the mop is greater than or equal to a preset soiling amount threshold value, it is determined that the floor mopped by the mop includes a target area, the mop cleaning task may be ended after the at least first phase task; after the at least first stage task, the mopping piece is cleaned to a certain degree, and at the moment, the mopping piece has the capacity of adsorbing dirt, so that subsequent stage tasks do not need to be executed, the obvious cleaning effect can still be achieved when the target area is repeatedly mopped, and the time and water consumption during cleaning the mopping piece can be reduced.

The embodiment of the application also provides a cleaning method of the mop, which can be applied in a cleaning system and used for controlling a base station and/or a cleaning robot in the cleaning system so as to control a cleaning mechanism on the base station and/or a cleaning mechanism on the cleaning robot to clean the mop of the cleaning robot.

With continued reference to fig. 2, the cleaning system further includes a control device 300, and the control device 300 is used for implementing the steps of the control method of the cleaning robot of the embodiment of the present application and/or implementing the steps of the cleaning method of the mop described above. Alternatively, the robot controller 104 of the cleaning robot 100 and/or the base station controller 206 of the base station 200 may be used alone or in combination as the control device 300 for implementing the steps of the method of the embodiment of the present application; in other embodiments, the cleaning system includes a separate control device 300 for implementing the steps of the method of the embodiment of the present application, and the control device 300 may be provided on the cleaning robot 100 or may be provided on the base station 200; of course, the control device 300 may be a device other than the cleaning robot 100 and the base station 200, such as a home intelligent terminal, a general control apparatus, or the like. In some embodiments, the robot controller 104 is configured to implement the steps of the cleaning robot control method of the embodiments of the present application, and the base station controller 206 is configured to implement the steps of the cleaning method of the mop of the embodiments of the present application. And certainly not limited thereto.

The inventor of the application finds that although some devices in the related art can clean mopping pieces, in order to ensure that mopping pieces such as mops are washed clean, the cleaning time is usually fixed to be a longer time, the working efficiency of a cleaning machine is affected, and water is wasted.

In view of the discovery, the inventor of the present application has improved a cleaning method for a mop, so as to at least improve the cleaning efficiency of the mop, for example, the mop can be cleaned as soon as possible to control a cleaning robot to clean other preset cleaning areas or to mop the last cleaned area.

As shown in fig. 8, the cleaning method of the mop includes steps S210 to S230.

210. And executing the cleaning task of the mopping piece.

220. And acquiring the dirt degree of the mopping piece.

It should be noted that, the order of the step of executing the cleaning task of the mop and the step of obtaining the degree of soiling of the mop is not limited to a specific order, and for example, after the degree of soiling of the mop is obtained by using a sensor such as a visual sensor or an infrared sensor, the cleaning task of the mop may be started to be executed, and the cleaning task of the mop may be ended according to the cleaning threshold corresponding to the degree of soiling of the mop.

In some embodiments, after each stage task of a mop cleaning task is performed, a degree of mop soiling of the mop is determined based on the soil elution value for the stage task that has been performed.

In some embodiments, the mop cleaning tasks include an executed stage task and an unexecuted stage task, the unexecuted stage task being a stage task other than the executed stage task. For example, the executed stage task may include one or more stage tasks that have been executed in the mop cleaning task, the executed stage task may be referred to as a history stage task, and each stage task before the current stage task may be used as the executed stage task; the unexecuted stage task may include a current stage task or may further include a stage task to be executed after the current stage task.

Illustratively, the acquiring the dirt level of the mopping piece comprises the following steps: and acquiring the dirt degree of the mopping piece in the executed stage task.

The dirt degree of the mopping piece in the executed stage task can be obtained by adopting a visual sensor or an infrared sensor or the like, or can be determined according to a dirt elution value when the mopping piece is cleaned in the executed stage task.

For example, said obtaining the degree of soiling of the mop in said executed stage task comprises: and before the executed stage task, acquiring the image or color information of the mop by a visual sensor, and determining the dirt degree of the mop in the executed stage task according to the image or color information of the mop. The phase task is performed, for example, after acquiring an image or color information of the mop by a visual sensor and determining a degree of soiling of the mop based on the image or color information of the mop.

Illustratively, the acquiring the degree of contamination of the mop in the executed stage task includes: acquiring a dirt elution value of the mopping piece in the executed stage task; and determining the dirt degree of the mopping piece according to the dirt elution value of the executed stage task. For example, based on a preset corresponding relationship or model between the dirt degree of the mop and the dirt elution value of the executed stage task, the dirt degree of the mop is determined according to the dirt elution value of the executed stage task, for example, the larger the dirt elution value of the executed stage task is, the larger the dirt degree of the mop is.

Optionally, the degree of soiling of the mop is determined according to the soiling elution value of the first stage task of the mop cleaning task. Determining the degree of soiling of the mop, for example on the basis of a soiling elution value for a first stage task of the mop cleaning tasks; usually, the dirt amount eluted by the first stage task is the largest, and the larger the dirt degree of the mopping piece is, the larger the dirt amount eluted by the first stage task is, and the dirt degree of the mopping piece can be quickly determined according to the dirt elution value of the first stage task.

Optionally, the degree of soiling of the mop is determined according to a soiling elution value of a last executed stage task before the unexecuted stage task. For example, when the unexecuted stage task is a second stage task in the mopping piece cleaning tasks, determining the dirt degree of the mopping piece according to the dirt elution value of the first stage task in the mopping piece cleaning tasks; and when the unexecuted stage task is the ith stage task in the mopping piece cleaning task, determining the dirt degree of the mopping piece according to the dirt elution value of the ith-1 stage task in the mopping piece cleaning task, wherein i is an integer larger than 1. For example, the greater the last soil elution value, the more soiled the mop is determined.

Optionally, the degree of soiling of the mop may be determined according to a soiling elution value of a plurality of executed stage tasks before the unexecuted stage task, such as at least one of an accumulated value, a maximum value, and an average value of the soiling elution values of the plurality of executed stage tasks, although the present invention is not limited thereto. For example, the dirt degree of the wiping member can be determined more accurately by determining the dirt degree of the wiping member according to the dirt elution values of a plurality of stage tasks, for example, when the unexecuted stage task is the ith stage task, and according to the accumulated value of the dirt elution values of a plurality of executed stage tasks (for example, the 1 st stage task to the (i-1) th stage task).

230. And determining a cleaning threshold value according to the range of the dirt degree of the mopping piece, and finishing the cleaning task of the mopping piece according to the cleaning threshold value.

In some embodiments, when it is determined at the end of a session that the current level of soiling of the mop is below the cleaning threshold, it may be determined that the mop is clean enough to meet the demand, and cleaning of the mop may be ended; for example, the mop may be used to mop a predetermined cleaning area.

Illustratively, the current degree of soiling of the mop may be sensed by a visual or infrared sensor.

For example, the current dirt level of the mop may be determined according to a dirt elution value when the current stage task cleans the mop, and the smaller the dirt elution value, the less the current dirt level of the mop is, i.e. the cleaner the mop is. For example, when the dirt elution value of the mop of the current stage task is smaller than or equal to the cleaning threshold, the cleaning task of the mop is ended, that is, the current stage task is the last stage task in the cleaning task of the mop.

For example, based on a corresponding relationship or model, such as a functional relationship, between a preset cleaning threshold and a value range in which the dirt degree of the mopping member is located, a corresponding cleaning threshold is determined according to the value range in which the dirt degree of the mopping member is located.

In some embodiments, the cleaning threshold is in positive correlation with an upper limit value of a range of values of the degree of soiling of the mop or with a lower limit value of the range of values of the degree of soiling of the mop, for example the greater the upper limit value of the range of values of the degree of soiling of the mop, the greater the cleaning threshold. When the mopping piece is dirty, the mopping piece can be determined to be dirty, the mopping piece is cleaned to be generally clean when the mopping piece is cleaned, namely, the mopping piece cleaning task is finished at a larger cleaning threshold value, so that the time and water consumption can be reduced; and when the mopping piece is used for mopping dirty ground, a relatively obvious cleaning effect can still be achieved.

The degree of soiling of the mop is related to the degree of soiling of the floor which the mop has mopped, for example a first degree of soiling of a predetermined cleaning area. When the mopping piece is dirty, the mopped floor can be determined to be dirty; when the floor needs to be repeatedly mopped, if the mopping piece is cleaned to be extremely clean and then is repeatedly mopped, the cleaning effect of the mopping piece on the floor is equivalent to the cleaning effect of the mopping piece on the floor after being cleaned to be generally clean, but the water consumption and the time consumption for cleaning the mopping piece to be extremely clean and cleaning the mopping piece to be generally clean are greatly different, so when the floor needs to be repeatedly mopped, the benefit for cleaning the mopping piece to be extremely clean is less than the benefit for cleaning the mopping piece to be generally clean, the working efficiency of the cleaning robot is influenced, and water is wasted.

In other embodiments, the cleaning threshold is in a negative correlation with an upper limit value of a range of values of the degree of soiling of the mop or with a lower limit value of the range of values, i.e. the larger the range of values of the degree of soiling of the mop, the smaller the cleaning threshold. When the mopping piece is dirty, the mopped floor can be determined to be dirty, and the mopping piece can be cleaned to be cleaner, so that the cleaned mopping piece can absorb more dirt when mopping the floor, for example, the mopping times of the floor can be reduced, the working efficiency of a cleaning machine is improved, and the cleaning efficiency of the floor is improved; the number of times of returning to the base station for cleaning after mopping the ground can be reduced, and the round trip time and the consumption of water for cleaning the mopping piece are reduced.

In some embodiments, the cleaning threshold may also be adjusted according to the area of the area to be mopped in the cleaning task; an exemplary said cleaning threshold is positively correlated with the area of said area to be wiped. For example, in the case where the area to be wiped is large, by increasing the washing threshold, it is possible to prevent the water amount of the base station from being consumed until the area to be wiped is not completely cleaned.

According to the cleaning method of the mopping piece, the cleaning threshold value can be determined according to the value range of the dirty degree of the mopping piece, the cleaning task of the mopping piece can be finished timely according to the cleaning threshold value, and the dirty degree of the mopping piece can reflect the dirty degree of the ground, so that the cleaning degree of the mopping piece can be adjusted according to the dirty degree of the ground, and the working efficiency of the cleaning robot is improved.

In some embodiments, the determining a cleaning threshold according to the range of the degree of soiling of the mop, and ending the cleaning task of the mop according to the cleaning threshold includes: determining a cleaning threshold value of the task at the non-executed stage according to a value range of the dirt degree of the mopping piece in the task at the executed stage; acquiring the dirt degree of the mopping piece in the task of the unexecuted stage; and determining that the dirt degree of the mopping piece in the task in the unexecuted stage is less than or equal to the cleaning threshold value of the task in the unexecuted stage, and finishing the cleaning task of the mopping piece.

For example, the degree of soiling of the mop in the unexecuted stage task may be obtained by a visual or infrared sensor, or may be determined based on a soiling elution value for cleaning the mop in the unexecuted stage task. For example, the acquiring the degree of contamination of the mop in the unexecuted stage task, and determining that the degree of contamination of the mop in the unexecuted stage task is less than or equal to the cleaning threshold of the unexecuted stage task, and ending the mop cleaning task includes: and when the dirt elution value of the mopping piece in the task of the unexecuted stage is smaller than or equal to the cleaning threshold value of the task of the unexecuted stage, the cleaning task of the mopping piece is finished.

In some embodiments, the contamination degree of the wiping member is determined according to the contamination elution values of one or more executed stage tasks after the last executed stage task is finished, for example, the contamination degree of the wiping member is determined according to the accumulated value or the predicted value of the contamination elution values of a plurality of executed stage tasks; determining a cleaning threshold value of the task in the unexecuted stage according to the dirt degree of the mopping piece; and then when the mopping piece is cleaned by the task at the unexecuted stage, acquiring a dirt elution value of the task at the unexecuted stage, and when the dirt elution value of the task at the unexecuted stage is less than or equal to the cleaning threshold value, ending the cleaning task of the mopping piece, namely the task at the unexecuted stage is the last stage task of the cleaning task of the mopping piece.

Optionally, the method further comprises determining the degree of soiling of the mopping member according to the soil elution value of at least one executed stage task before the unexecuted stage task, and determining the cleaning threshold value of the unexecuted stage task according to the degree of soiling of the mopping member. For example, when the contamination elution value of the unexecuted stage task is greater than the cleaning threshold value of the unexecuted stage task, the unexecuted stage task is taken as the executed stage task, the contamination elution value of the stage task is accumulated to the contamination degree of the mopping piece to obtain the updated contamination degree of the mopping piece, and the cleaning threshold value of the unexecuted stage task is updated according to the updated contamination degree of the mopping piece; then, continuously cleaning the mopping piece in a new unexecuted stage task, and comparing the dirty elution value of the new unexecuted stage task with the updated cleaning threshold value; and ending the cleaning task of the mopping piece until the dirt elution value in the task at a certain stage is less than or equal to the cleaning threshold value of the task at the stage.

Optionally, when the contamination elution value of the unexecuted stage task is greater than the cleaning threshold value of the unexecuted stage task, cleaning the mop continuously in a new unexecuted stage task, and comparing the contamination elution value of the new unexecuted stage task with the cleaning threshold value; and ending the cleaning task of the mopping piece until the dirt elution value of the task at a certain stage is less than or equal to the cleaning threshold value of the task at the stage. It will be appreciated that it is also possible to determine a cleaning threshold only once, with each stage task thereafter comparing the soil elution value of each stage task with the cleaning threshold; for example, after the first phase task is finished, the cleaning threshold is determined according to the dirt elution value of the first phase task, and then the dirt elution value of each phase task is compared with the cleaning threshold by each phase task.

Illustratively, the preset value range includes a plurality of value ranges, and the plurality of value ranges are all different, for example, the value ranges are not coincident, and the cleaning thresholds corresponding to the value ranges are also different. For example, the range of values includes at least a first range of values and a second range of values, the first range of values and the second range of values being different. The step of determining the cleaning threshold of the task at the non-executed stage according to the value range of the dirt degree of the mopping piece in the task at the executed stage comprises the following steps: when the dirt degree of the mopping piece is in the first value range, determining that the cleaning threshold value of the task at the unexecuted stage is a first cleaning threshold value; when the dirt degree of the mopping piece is in the second value range, determining the cleaning threshold value of the task in the unexecuted stage as a second cleaning threshold value; wherein the first cleaning threshold and the second cleaning threshold are not equal. For example, when the values in the first value range are all larger than the values in the second value range, the first cleaning threshold is larger than the second cleaning threshold, that is, the cleaning threshold is in positive correlation with the upper limit value of the value range in which the dirt degree of the mop is located, or in positive correlation with the lower limit value of the value range. Naturally, the present invention is not limited to this, for example, when the values in the first value range are all smaller than the values in the second value range, the first cleaning threshold is greater than the second cleaning threshold, that is, the cleaning threshold is in a negative correlation with the upper limit value of the value range in which the dirt level of the mop is located, or in a negative correlation with the lower limit value of the value range.

For example, as shown in fig. 9, the mopping member fouling degree determination corresponding value range includes three, wherein the mopping member fouling degree in the first value range is smaller than the second fouling amount threshold, and the cleaning threshold corresponding to the first value range is the threshold 0; the dirt degree of the mopping piece in the second value range is greater than or equal to a second dirt amount threshold value and smaller than a first dirt amount threshold value, and the cleaning threshold value corresponding to the second value range is a threshold value 1; the dirt degrees of the mopping pieces in the third value range are all larger than or equal to the first dirt amount threshold, and the cleaning threshold corresponding to the third value range is a threshold 2; of course, not limited thereto. Where threshold 2 is greater than threshold 1 and threshold 1 is greater than threshold 0. For example, when the mop is more soiled, indicating that the mopped floor is more soiled, the cleaning may be ended after a small number of mopping operations, depending on a larger cleaning threshold.

Referring to fig. 9, it is also possible to determine that the floor surface being wiped by the mop includes a target area when the degree of soiling of the mop is greater than or equal to a predetermined threshold amount of soiling, such as a second threshold amount of soiling, and to repeat the wiping of at least a portion of the target area after the end of the cleaning task for the mop by the mop (which may be referred to as back-wiping).

In some embodiments, the cleaning method further comprises: the cleaning strategy of the unexecuted phase task is determined according to the dirt elution value of the executed phase task, for example, the cleaning time and/or the water amount of the unexecuted phase task can be determined according to the dirt elution value of the executed phase task, and certainly, the cleaning strategy is not limited to this, and for example, the pressure for supplying water to the mopping piece can be increased or decreased by adjusting the rotating speed of a pump for supplying cleaning water to the cleaning groove.

Optionally, the cleaning duration and/or the water volume of the unexecuted stage task is in a positive correlation with the soil elution value of the executed stage task. When the dirt elution value of the executed stage task is larger, the mopping piece can be determined to adsorb more dirt, and the cleaning efficiency of the dirt piece can be improved by prolonging the cleaning time and/or the water quantity of the unexecuted stage task and taking away more dirt in the unexecuted stage task; when the soil elution value of the executed stage task is smaller, it can be determined that the mop adsorbs less soil, and time and water consumption can be saved by shortening the cleaning time and/or the water amount of the unexecuted stage task.

For example, after a preset cleaning area is mopped, the cleaning robot moves to a base station to clean the mopping piece, a first stage task cleans the mopping piece for 15 seconds, the dirt degree of the mopping piece is determined according to the dirt elution value of the first stage task, and a cleaning threshold value is determined according to the value range of the dirt degree of the mopping piece; when the dirt elution value of the first stage task is larger than the cleaning threshold value, determining the cleaning time (such as 18 seconds) and/or the water amount of the unexecuted stage task according to the dirt elution value of the first stage task, and then executing a second stage task to clean the mopping piece for 18 seconds; by prolonging the cleaning time of the tasks in the unexecuted stage, the number of the tasks in the subsequent unexecuted stage can be reduced, and the cleaning efficiency of the dirty parts is improved.

For example, after the end of the mop cleaning task, the degree of soiling of the mop may be determined from the value of the soil elution for at least one of the phases of the mop cleaning task (as determined from the accumulated value of the soil elution values for all phases of the mop cleaning task) and a first degree of soiling corresponding to a preset cleaning area, from which it is determined that the preset cleaning area comprises the target area.

Optionally, the cleaning duration and/or the water volume of the unexecuted stage task and the dirt elution value of the executed stage task are in a negative correlation relationship. When the dirt elution value of the executed stage task is larger, the cleaning time and/or the water quantity of the unexecuted stage task can be shortened, the number of the unexecuted stage tasks can be increased to ensure that the mopping piece is sufficiently cleaned, and the cleaning efficiency of the dirt piece can be improved on the whole; when the dirt elution value of the executed stage task is smaller, more dirt can be taken away by the tasks in each unexecuted stage by prolonging the cleaning time and/or the water amount of the tasks in the unexecuted stages, the number of the tasks in the subsequent unexecuted stages is reduced, the mopping piece can be cleaned sufficiently as soon as possible, and the cleaning efficiency of the dirt piece is improved.

For example, after the cleaning threshold of the non-executed stage task is determined according to the range of the value range of the dirt degree of the mopping piece in the executed stage task, the cleaning strategy of the non-executed stage task is determined according to the dirt elution value of the executed stage task and the cleaning threshold of the non-executed stage task.

For example, the cleaning duration and/or the water volume of the unexecuted stage task may be adjusted according to the stain elution value of the executed stage task and the cleaning threshold of the unexecuted stage task. For example, the mop cleaning task may be ended when the stain elution value of the executed stage task is less than or equal to the cleaning threshold value; when the stain elution value of the executed stage task is larger than the washing threshold value, adjusting the non-executed stage task cleaning strategy, such as the cleaning time length and/or the water amount, and executing the non-executed stage task according to the cleaning time length and/or the water amount of the non-executed stage task.

In some embodiments, the method further comprises: when the cleaning task of the mopping piece is executed, when the water consumption for cleaning the mopping piece reaches a preset water quantity threshold value or the time reaches a preset time threshold value, the cleaning task of the mopping piece is ended, and/or an abnormal prompt is output. For example, when cleaning water is supplied to the cleaning tank only from the clean water tank, the amount of water which can be used for cleaning the mop is limited, when the amount of water consumed by a certain cleaning task of the mop reaches a preset water amount threshold or the time reaches a preset time threshold, the cleaning task of the mop is ended in time, and some cleaning water can be reserved to clean the mop again after the mop cleans the floor, so as to prevent the water in the water tank from being consumed when the cleaning task of the floor is not completed. Or an abnormal prompt can be output when the water consumption for cleaning the mop reaches a preset water quantity threshold or the time reaches a preset time threshold, for example, a user is prompted to add water to the clean water tank.

After the mopping piece is maintained, the mopping piece dirt degree of the mopping piece on the cleaning robot meets the requirement, such as being less than or equal to the corresponding cleaning threshold value; the cleaning robot may be controlled to wipe at least a portion of the target area by the wiping member, and after the dirt value of d _ max is adsorbed at step S110, the cleaning robot may be controlled to continue to adsorb the remaining dirt amount of V-d _ max on the target area, so as to improve the wiping and cleaning effect on the target area.

In some embodiments, the preset cleaning area includes a plurality of preset cleaning areas, and if it is determined that the current preset cleaning area includes a target area in step S130, the cleaning robot is controlled to perform mopping on at least part of the target area through the mopping piece after the mopping on all the preset cleaning areas and the maintenance performed on the mopping piece are completed. Optionally, all the preset cleaning areas are all the preset cleaning areas in the cleaning task map.

For example, as shown in fig. 10, the predetermined cleaning region includes a plurality of cleaning regions, such as a predetermined cleaning region A1 to a predetermined cleaning region A9, and the cleaning sequence of the predetermined cleaning region A1 to the predetermined cleaning region A9 is, for example, A1, A2, \ 8230; \ 8230;, A9. After the preset cleaning area A1 is wiped, determining that the preset cleaning area A1 includes a target area, and marking the preset cleaning area A1 as including the target area; then after the mopping piece is maintained, mopping is carried out on a preset cleaning area A2 to a preset cleaning area A9 according to a cleaning sequence; after the preset cleaning area A2 is subjected to the mopping, it is determined that the preset cleaning area A2 includes the target area, the preset cleaning area A2 may be marked as including the target area, after the preset cleaning area A4 is subjected to the mopping, it is determined that the preset cleaning area A4 includes the target area, and after the preset cleaning area A7 is subjected to the mopping, it is determined that the preset cleaning area A7 includes the target area, as shown in fig. 10, an area marked with gray is represented as a preset cleaning area including the target area.

After the preset cleaning area A9 is completely mopped and the mopping piece is maintained, the cleaning robot is controlled to mop at least part of the target areas of the preset cleaning areas A1, A2, A4 and A7 through the mopping piece. After all the preset cleaning areas are wiped, at least part of the target area is wiped, so that all the preset cleaning areas in the cleaning task map can be cleaned at least once; for example, if a plurality of predefined cleaning areas in the cleaning task map are dirty, the floor corresponding to the cleaning task map can be made less dirty as quickly as possible.

In other embodiments, the preset cleaning area includes a plurality of preset cleaning areas, if it is determined in step S130 that the current preset cleaning area includes a target area, the cleaning robot is controlled to perform the mopping on at least part of the target area by using the mopping piece before performing the mopping on other preset cleaning areas except for the preset cleaning area corresponding to the target area.

Referring to fig. 10, after the preset cleaning area A1 is wiped, it is determined that the preset cleaning area A1 includes the target area, and after the wiping member is maintained, at least a part of the target area of the preset cleaning area A1 is wiped, so as to clean the preset cleaning area A1 as soon as possible; and then, mopping the preset cleaning area A2 to the preset cleaning area A9 according to a cleaning sequence, wherein after the preset cleaning area A2 is mopped, the preset cleaning area A2 is determined to comprise a target area, after the mopping piece is maintained, at least part of the target area of the preset cleaning area A2 is mopped, and then the preset cleaning area A3 is mopped. For example, when a specific preset cleaning area in the cleaning task map is dirty, for example, when a dirty liquid is splashed, the specific preset cleaning area can be cleaned as soon as possible, and then the rest preset cleaning areas can be cleaned; for example, after cleaning a dirty preset cleaning area, the remaining preset cleaning area is cleaned, so that even if the cleaning robot repeatedly wipes the target area and moves to the base station through the remaining preset cleaning area, the remaining preset cleaning area is contaminated by the dirt adsorbed on the wiping member, and the remaining preset cleaning area can be cleaned.

In other embodiments, the preset cleaning area comprises a plurality of preset cleaning areas, and when the first contamination degree of the current preset cleaning area is greater than or equal to a preset first contamination amount threshold, it is determined that the current preset cleaning area comprises a target area; before other preset cleaning areas except the current preset cleaning area are mopped, maintaining the mopping piece, and controlling the cleaning robot to mop at least part of the target area through the mopping piece, namely, when the first dirt degree is greater than or equal to a preset first dirt amount threshold value, immediately controlling the cleaning robot to mop at least part of the target area through the mopping piece. When the first contamination degree of the preset cleaning area is larger than or equal to a preset second contamination threshold value and smaller than the first contamination threshold value, determining that the preset cleaning area comprises a target area; and after finishing mopping all the preset cleaning areas and maintaining the mopping piece, controlling the cleaning robot to mopping at least part of the target area through the mopping piece. Referring to fig. 9, a first contamination degree of a preset cleaning area is determined according to a contamination degree of a mopping unit, and when the first contamination degree of the preset cleaning area is greater than or equal to a preset first contamination amount threshold, the cleaning robot is immediately controlled to mop at least a portion of the target area through the mopping unit; when the first dirt degree of a preset cleaning area is larger than or equal to a preset second dirt amount threshold and smaller than the first dirt amount threshold, after one-time mopping cleaning is completed on all the preset cleaning areas and the mopping piece is maintained, the cleaning robot is controlled to mopping at least part of the target area through the mopping piece.

Wherein the second fouling amount threshold is less than the first fouling amount threshold. When the first contamination level of the current preset cleaning area is greater than or equal to the first contamination threshold value, the preset cleaning area may be determined to be very dirty, and at least part of the target area of the preset cleaning area may be cleaned multiple times to clean the at least part of the target area to be cleaner (if the contamination level is less than the first contamination threshold value) or to be very clean (if the contamination level is less than the second contamination threshold value) as soon as possible, and then the remaining preset cleaning area is cleaned; thus, even if the cleaning robot moves to the base station through the remaining preset cleaning area after repeatedly mopping the target area, the dirt adsorbed on the mopping member pollutes the remaining preset cleaning area, and the dirt can be cleaned when the remaining preset cleaning area is cleaned. When the first contamination degree of the current preset cleaning area is greater than or equal to the second contamination amount threshold and smaller than the first contamination amount threshold, it can be determined that the preset cleaning area is not very dirty, the remaining preset cleaning area can be cleaned first, the ground corresponding to the cleaning task map can be cleaned at least once as soon as possible, and the whole map does not seem to be very dirty.

Illustratively, the controlling the cleaning robot mops at least a portion of the target area by the mopping member further includes: acquiring a second pollution degree corresponding to the target area; determining that the target area needs to be repeatedly dragged and wiped according to a second dirt degree corresponding to the target area; repeating the mopping on at least a portion of the target area. As can be understood, whether the target area needs to be repeatedly dragged and wiped is determined according to the second dirt degree corresponding to the target area; if yes, repeating the dragging on at least part of the target area.

It should be noted that, the first contamination degree and the second contamination degree may be both used to indicate the contamination degree of the same area; or the first degree of soiling may be indicative of the degree of soiling of a region and the second degree of soiling may be indicative of the degree of soiling of at least part of the region in the region. For example, the first contamination degree may be a contamination degree of the preset cleaning area determined according to a contamination degree of the wiping member when the preset cleaning area is wiped for the first time in the current cleaning task; the second dirt degree is the dirt degree determined according to the dirt degree of the mopping piece when at least partial area of the preset cleaning area, such as the target area, is subjected to repeated mopping; or may be a level of soiling determined by the degree of soiling of the scrubbing member when repeated scrubbing of at least part of the target area.

Illustratively, when the first dirt degree is larger than or equal to a preset first dirt amount threshold value, immediately controlling the cleaning robot to mop at least part of the target area through the mopping piece; and acquiring a second degree of soiling corresponding to the target area, for example acquiring a detection value of the dirty water obtained by cleaning the mop after at least part of the target area is wiped by the mop, determining the degree of soiling of the mop based on the acquired detection value, and determining the second degree of soiling corresponding to the target area based on the degree of soiling of the mop. Of course, the method is not limited thereto, and the degree of soiling of the mop and the second degree of soiling corresponding to the target area may be determined based on the image or color information of the mop, or the second degree of soiling corresponding to the target area may be obtained by at least one of a visual sensor, an infrared sensor, and the like, for example.

For example, when it is determined that the target area needs to be repeatedly mopped again according to the second contamination degree corresponding to the target area, at least part of the target area is repeatedly mopped again; and after repeating the mopping of the target area, further comprising: when the repeated mopping times of the target area meet the cleaning time threshold value, stopping the repeated mopping of the target area. For example, when the second contamination degree corresponding to the target area is greater than or equal to a preset contamination amount threshold, such as a first contamination amount threshold or a second contamination amount threshold, the mopping is repeated for at least part of the target area; after the target area is repeatedly dragged and wiped, a second smudgy degree corresponding to the target area can be obtained again, and whether the target area needs to be repeatedly dragged and wiped is judged, wherein the smudgy degree is 8230; when the repeated mopping times of the target area meet the cleaning time threshold value, such as 3 times, the repeated mopping of the target area is stopped. It will be appreciated that if the second degree of soiling of the target area after a number of repeated mopping operations has not fallen below the soiling threshold, cleaning of the target area is also stopped if the number of cleaning operations reaches the upper limit of the maximum number of cleaning operations, i.e. the threshold number of cleaning operations. The cleaning device can prevent repeated mopping of a certain preset cleaning area when more dirt exists in the area, and influence on cleaning of other preset cleaning areas.

Optionally, when the number of times of repeated mopping of the target area meets the threshold of the number of times of cleaning, the repeated mopping of the target area is terminated, a message may also be sent to the user interface to prompt the user that the target area is more dirty, and the user may go to the target area according to the message to check whether the dirt is continuously leaked, and then the dirt is timely disposed.

Optionally, the threshold of the cleaning times may be determined according to the cleaning mode, and different cleaning modes correspond to different thresholds of the cleaning times; for example, the threshold number of cleanings in the deep cleaning mode is greater than the threshold number of cleanings in the normal cleaning mode or the quick cleaning mode.

Illustratively, when the first dirt degree is greater than or equal to a preset first dirt amount threshold, immediately controlling the cleaning robot to wipe the target area through the wiping part, and acquiring a second dirt degree corresponding to the target area; when the second contamination degree is greater than the second contamination amount threshold value, it is determined that the target area needs to be repeatedly mopped again, and the cleaning robot may be controlled to continue mopping the target area again. And when the second dirt degree corresponding to the target area is smaller than a second dirt amount threshold value, mopping is completed on at least part of the target area, and after the mopping piece is maintained, mopping is performed on other preset cleaning areas. For example, when it is determined that the target area needs to be repeatedly mopped again, the cleaning robot is controlled to continuously mopped the target area again, a second contamination degree corresponding to the target area may be obtained again after the target area is repeatedly mopped again, when the second contamination degree is greater than a second contamination amount threshold, the target area is continuously mopped again after the mopping member is maintained until the second contamination degree corresponding to the target area is less than the second contamination amount threshold, the mopping of the target area is finished, and other preset cleaning areas may be cleaned. When the cleaning robot passes through other areas after mopping the target area, the passing areas are polluted by the dirt adsorbed on the mopping piece, and the pollution can be removed by cleaning other preset cleaning areas after the mopping of the target area is finished.

For example, when a first contamination degree is greater than or equal to a preset first contamination amount threshold, the cleaning robot is immediately controlled to mop the target area through the mopping unit, a second contamination degree corresponding to the target area is obtained, and when the second contamination degree is greater than the first contamination amount threshold, the cleaning robot is controlled to continue to mop the target area until the second contamination degree is greater than or equal to a preset second contamination amount threshold and is less than the first contamination amount threshold, and after the mopping of all preset cleaning areas is completed and the mopping unit is maintained, the cleaning robot is controlled to mop at least part of the target area through the mopping unit. For example, when the target area is repeatedly wiped, other preset cleaning areas can be cleaned until the second dirt degree of the target area is smaller than the first dirt amount threshold value by repeatedly wiping; when the second contamination degree of the target area is smaller than the first contamination amount threshold and is greater than or equal to a preset second contamination amount threshold, marking the target area as an area needing to be repeatedly mopped after mopping all the preset cleaning areas; and after the mopping of all the preset cleaning areas is completed and the mopping piece is maintained, at least part of the target area is mopped through the mopping piece so as to further clean the preset cleaning areas. The mopping part is used for mopping the dirty areas until the dirty areas are not dirty, and then mopping is carried out on other areas, so that all areas can be cleaned quickly, and the pollution of the mopping part to the mopped floor can be reduced; after the cleaning of the whole area is completed, repeated mopping is carried out on the floor which is not very dirty so as to improve the cleanliness of the partial area.

In some embodiments, when the first contamination degree of the preset cleaning area is greater than or equal to a preset second contamination threshold and less than the first contamination threshold, determining that the preset cleaning area comprises a target area; and after finishing mopping all the preset cleaning areas and maintaining the mopping piece, controlling the cleaning robot to mopping at least part of the target area through the mopping piece. After the mopping of all the preset cleaning areas is completed, it may be determined that one or more of the preset cleaning areas include a target area, referring to fig. 10, the preset cleaning areas A1, A2, A4, A7 include a target area. Illustratively, the method further comprises: after finishing mopping all the preset cleaning areas, determining a mopping sequence of a plurality of target areas according to the characteristic parameters of the target areas, wherein the characteristic parameters of the target areas at least comprise: the dirt degree corresponding to the target area, the distance between the target area and the cleaning robot, and a room identifier of a room where the target area is located; when the cleaning robot is controlled to wipe at least part of the target areas through the wiping member, the cleaning robot may be controlled to wipe at least part of the target areas according to the wiping sequence. The areas needing repeated mopping are cleaned according to the mopping sequence, and the cleaning effect and/or the cleaning efficiency of the repeated mopping can be improved.

Illustratively, the cleaning robot is controlled to wipe at least part of the target areas in a sequence from a larger degree to a smaller degree. For example, when the target area with a relatively large degree of contamination is repeatedly wiped and then the target area with a relatively small degree of contamination is repeatedly wiped, even if the target area is contaminated by the contamination adsorbed on the wiping member when the cleaning robot passes through the target area with a relatively small degree of contamination, the target area with a relatively small degree of contamination can be cleaned better.

Illustratively, the cleaning robot is controlled to wipe at least part of the target areas in a sequence from small to large. For example, after repeatedly mopping a target area with a small degree of dirt, the mopping piece still has the capability of adsorbing the dirt, and when the cleaning robot passes through the target area with a large degree of dirt, at least part of the dirt in the area can be adsorbed, and then the cleaning robot returns to the base station for maintenance; when the target area with larger dirt degree is dragged and wiped later, the cleaning effect of the target area can be improved.

Illustratively, the cleaning robot is controlled to scrub at least part of the target areas in the order of the distance between the target areas and the cleaning robot from near to far. For example, the cleaning robot can reduce the walking distance and improve the cleaning efficiency by first mopping the closer target area.

Illustratively, the cleaning robot is controlled to wipe at least part of the target areas in a sequence from far to near according to the distance between the target areas and the cleaning robot. For example, repeated scrubbing of a target area farther away followed by repeated scrubbing of a target area closer together may result in contamination of the target area closer together by the scrubbing element after scrubbing the target area farther away while cleaning the target area closer together. For example, after the cleaning robot repeatedly wipes a distant target area and returns to the base station through a close target area, the wiping member can absorb at least part of dirt in the close target area and then return to the base station for maintenance; when the closer target area is dragged and wiped later, the cleaning effect on the target area can be improved.

For example, the kitchen may be repeatedly dragged and wiped first, and then the living room and the bedroom may be dragged and wiped, but the present invention is not limited thereto, and the reverse order may be adopted.

In some embodiments, after the mopping of all the preset cleaning areas is completed, determining a mopping sequence of a plurality of the target areas according to the dirt levels corresponding to the target areas includes: determining a target area with the difference of the dirt degrees smaller than or equal to a difference threshold value as a merging area; and determining the dirt degree of the merging area according to the dirt degrees of a plurality of target areas in the same merging area.

For example, after the mopping is completed for all the preset cleaning areas, i.e. each preset cleaning area is mopped at least once, one or more preset cleaning areas can be determined as target areas still needing repeated mopping. For example, when a difference in the contamination levels of a plurality of target regions is less than or equal to a difference threshold and a sum of the contamination levels of the plurality of target regions is less than or equal to the first contamination amount threshold or the second contamination amount threshold, the plurality of target regions are determined to be merged regions. Referring to fig. 10, the preset cleaning areas A1, A2, A4, and A7 are target areas, wherein the target area A1 is wiped once, and the degree of contamination corresponding to the target area A1, that is, the first degree of contamination of the preset cleaning area A1, is 20; the target area A2 is dragged twice, after the last dragging, the second dirt degree of the target area A2 is determined to be 25 according to the dirt degree of the dragging piece, and the target area A1 and the target area A2 can be determined to be a combined area.

For example, the contamination degree of the merged region may be determined according to a maximum value, a minimum value, a sum, or an average value of the contamination degrees corresponding to the target regions in the merged region.

Optionally, the controlling the cleaning robot to wipe the target area through the wiping member includes: and when the dirt degree of the combined area is smaller than or equal to a preset combined dirt threshold value, controlling the cleaning robot to wipe a plurality of target areas in the combined area through the wiping piece. For example, the merged contamination threshold value may be determined according to a maximum contamination value d _ max of the mop, for example, the merged contamination threshold value may be the first contamination amount threshold value or the second contamination amount threshold value. By repeatedly mopping and wiping the combined areas of the target areas, the area of the repeatedly mopped areas can be increased, the time of the cleaning robot for the base station to come and go is reduced, and the cleaning efficiency is improved; and when the sum of the dirt degrees corresponding to the target areas in the combined area is less than or equal to the maximum dirt value d _ max of the wiping piece, the cleaning effect of the target areas in the combined area can still be ensured.

For example, the mopping sequence of a plurality of the merging areas can be determined according to the dirt degree of the merging areas; or when the target areas are not merged, determining the scrubbing sequence of the merged area and the target areas which are not merged according to the dirt degree of the merged area and the dirt degree of the target areas which are not merged. The area needing repeated mopping is cleaned according to the mopping sequence, and the cleaning effect and/or the cleaning efficiency of the repeated mopping can be improved. For example, the dragging and wiping order of the merged region and the un-merged target region may be determined according to the characteristic parameters of the merged region and the un-merged target region, and specifically, the step of determining the dragging and wiping order of the plurality of target regions according to the characteristic parameters of the target region may be referred to.

In some embodiments, referring to fig. 11, the controlling the cleaning robot to wipe at least a portion of the target area B by the wiping member includes: and splitting the target area B into a plurality of sub target areas (such as B1 and B2), and controlling the cleaning robot to mop at least one sub target area (such as B1) through the mopping piece. For example, when the target area is repeatedly mopped, part of the sub-target areas can be mopped first, and then the rest of the sub-target areas are cleaned after the mopping piece is maintained (for example, B2); or when the target area is repeatedly dragged and wiped, only the dirtier sub-target area (such as B1) can be dragged and wiped.

Illustratively, the controlling the cleaning robot to mop the at least one sub-target area by the mop includes: controlling the cleaning robot to sequentially wipe the sub-target areas (B1, B2) through the wiping piece; acquiring a third dirt degree of the sub-target area (such as B1), and determining whether the sub-target area (B1) needs to be repeatedly mopped; if yes, continuing to split the sub-target area (B1), and dragging the split areas (including B11 and B12). As can be understood, according to the third contamination degree of the sub-target area, determining whether the sub-target area needs to be repeatedly mopped; if so, continuing to split the sub-target area, and dragging and erasing the split area. For example, the target area is divided into a plurality of sub-target areas, after the sub-target areas are subjected to mopping, a third dirty degree of the sub-target areas is determined according to the dirty degree of the mopping piece, and a dirty sub-target area in the target area can be determined; and further splitting the sub-target area, and determining the dirt degree of a smaller area so as to repeatedly drag and wipe the smaller area. It can be understood that the area needing repeated mopping can be separated, and the area needing repeated mopping can be gradually reduced, so that the cleaning efficiency and the cleaning effect of the repeated mopping can be improved.

For example, referring to fig. 11, the controlling the cleaning robot to wipe at least one of the sub-target areas by the wiping member includes: controlling the cleaning robot to wipe one of the sub-target areas, such as B1, through the wiping piece; estimating a second dirt degree of the target area B, acquiring a third dirt degree of the sub-target area B1, and determining whether the target area is not repeatedly dragged and wiped according to the second dirt degree and the third dirt degree; if not (finishing repeated mopping), repeating mopping on the next sub-target area. For example, when the third contamination degree of the target region B1 is close to or equal to the second contamination degree of the target region B, it may be determined that the contamination of the target region B is mainly concentrated in the sub-target region B1, and the sub-target region B2 is cleaner, and it may be determined that the target region completes the repeated mopping without the repeated mopping; when the third contamination degree of the target area B1 is much smaller than, for example, half smaller than the second contamination degree of the target area B, it may be determined that other sub-target areas, for example, B2 still has much contamination, and it is necessary to perform repeated mopping on the sub-target area B2, that is, it is determined that the target area has not been subjected to repeated mopping.

Referring to fig. 11, when the sub-target area B1 is repeatedly dragged and wiped, the sub-target area B1 is divided into a plurality of smaller areas B11 and B12, the cleaning robot is controlled to drag and wipe the area B11, the degree of contamination of the area B11 can be determined, and whether the repeated dragging and wiping of the areas B11 and B12 is required can be determined according to the degree of contamination of the area B11 and the third degree of contamination of the sub-target area B1; the area needing repeated mopping is split, and whether the smaller area needs repeated mopping or not is determined according to the dirt degree of the split area, so that the repeated mopping range can be gradually reduced, and the cleaning efficiency is improved.

In some embodiments, the method of cleaning a mop further comprises: judging whether the mopping piece is used for mopping the ground within a preset time length, if not, executing and ending the mopping piece cleaning task according to a post-task cleaning threshold value; the post-task cleaning threshold is less than or equal to a cleaning threshold determined according to a range of values within which the degree of soiling of the mop is located. Optionally, the post-task cleaning threshold is smaller than the first cleaning threshold and the second cleaning threshold, or the post-task cleaning threshold is equal to the minimum cleaning threshold in the cleaning thresholds determined by the range of the value range.

When the mopping piece is not used for mopping the floor within a long time, such as one day, or the current cleaning task is finished (for example, each preset cleaning area of the cleaning task map does not include a target area, a sub-target area or a dirty area with a smaller area), and the next cleaning task is executed after the preset time, the mopping piece can be cleaned until the dirty elution value is less than or equal to the post-task cleaning threshold value, so that the mopping piece is cleaned more thoroughly, and peculiar smell is prevented from being generated within the preset time.

In some embodiments, the degree of mopping member soiling of the mopping member is determined from a sensed value of dirty water cleaning the mopping member and a zero offset value of the mopping member. For example, the stain elution value of each stage task is determined based on the detected value and the zero offset value of the stain of each stage task. For example, the zero offset value is a detection value when the sewage detection sensor detects clean water or sewage close to the clean water, and a difference value between the detection value of the sewage and the zero offset value can more accurately indicate the dirty amount of the mopping piece for cleaning the ground and the elution amount of the mopping piece for cleaning, so that the deviation caused by the error of the sewage detection sensor and/or the aging of the mopping piece can be eliminated.

For example, when the detection value of the sewage detection sensor reaches a stable value, such as no change over a period of time or a change slope of substantially 0, during cleaning of the mop, the stable value may be determined to be the zero-offset value.

Illustratively, the zero offset value includes a first zero offset value pre-stored in a factory setting, and/or a second zero offset value updated according to a detection value of the sewage detection sensor. For example, for a mop that has not been used, or when the second zero offset value has not been determined or is lost, the degree of contamination of the mop may be determined according to the factory-set first zero offset value; and when the second zero offset value is stored, preferentially using the second zero offset value. For example, when the mopping piece which is not used yet is cleaned for the first time, the second zero offset value is determined according to a first zero offset value set by a factory and a detection value of sewage for cleaning the mopping piece; then, the dirt degree of the mopping part can be determined according to the second zero offset value and the detection value; the second zero offset value may also be calibrated according to the detection value.

Optionally, the method further includes: acquiring a detection value of sewage for cleaning the mopping piece after finishing the cleaning task of the mopping piece and/or before mopping the ground by the mopping piece; and when the absolute value of the difference value between the detection value and the zero offset value is smaller than or equal to a first difference threshold value, calibrating the zero offset value according to the detection value.

For example, when a mop cleaning task is executed, under the condition that the preset cleaning task is executed, the mop cleaning task is ended according to a post-task cleaning threshold value; and determining whether the absolute value of the difference between the detected value of the sewage of the mopping piece and the first zero offset/second zero offset when the mopping piece cleaning task is finished or after the mopping piece cleaning task is finished is smaller than or equal to a first difference threshold, and for example, updating the detected value to the second zero offset when the absolute value is smaller than or equal to the first difference threshold. It is possible to eliminate the deviation caused by the error of the sewage detection sensor and/or the aging of the wiping member when determining the detection value of the sewage based on the first zero offset value/the second zero offset value.

Optionally, the method further includes: when the absolute value of the difference value between the detection value of the executed stage task in the mopping piece cleaning task and the zero offset value is larger than the first difference threshold value, continuing to execute the next stage task; and when the absolute value of the difference between the detection value of the next-stage task and the zero offset value is smaller than or equal to a second difference threshold value and the absolute value of the difference between the detection value of the last executed stage task and the zero offset value is smaller than or equal to a third difference threshold value, calibrating the zero offset value according to the detection value of the next-stage task. For example, when the absolute value of the difference between the detection value and the zero offset value is greater than the first difference threshold, the cleaning of the mop can be continued, and when the dirt degree of the mop is stable (the absolute value of the difference between the detection values of two adjacent stages is less than or equal to a third difference threshold), and the absolute value of the difference between the latest detection value and the zero offset value is less than or equal to a second difference threshold, the latest detection value can be updated to the second zero offset value. Optionally, the second difference threshold is greater than or equal to the first difference threshold, so that the second zero-bias value can be updated according to the detection value when the wiping member is aged.

In some embodiments, the method further comprises: when the absolute value of the difference value of the detection values of the tasks in two adjacent stages in the cleaning task of the mopping piece is larger than the third difference value threshold value, the next stage of task is continuously executed; until the absolute value of the difference value of the detection values of the two adjacent stage tasks is less than or equal to a third difference threshold value. When the dirt degree of the mopping piece is not stable, the mopping piece cannot be determined to be cleaned to the cleanest degree, and the mopping piece is continuously cleaned; and when the dirt degree of the mopping piece is stable, determining that the mopping piece is cleaned to the cleanest degree, and updating the second zero offset value according to the stable detection value.

In some embodiments, the method further comprises: when the absolute value of the difference value between the detection value of the task in the later stage of the two adjacent stages of tasks and the zero offset value is larger than the second difference value threshold value, continuing to execute the task in the next stage; until the absolute value of the difference between the detection value of the task in the later stage of the two adjacent stages and the zero offset value is less than or equal to the second difference threshold value. When the absolute value of the difference value between the detection value and the zero offset value is larger than the second difference value threshold value, the fact that the mopping piece is washed to the cleanest degree cannot be determined, and the mopping piece is continuously cleaned; the most recent detection value may be updated to the second zero bias value until an absolute value of a difference between the most recent detection value and the zero bias value is less than or equal to a second difference threshold.

Optionally, the method further includes: and when the number of the stage tasks reaches a stage number threshold value, outputting prompt information, wherein the prompt information is used for indicating that the sensor for detecting the sewage is abnormal. For example, when the number of the stage tasks reaches a stage number threshold, the absolute value of the difference between the detection value of each stage and the first zero offset value/the second zero offset value is greater than the first difference threshold or the second difference threshold, and the absolute value of the difference between the detection values of two adjacent stage tasks is greater than the third difference threshold, the mop cleaning task may be stopped; the sensor detecting the sewage is abnormal can be determined, and the prompt message can be further used for prompting a user to replace the mopping piece.

Optionally, the method further includes: and outputting prompt information after the sum of the time length consumed by the stage task and the water amount reaches a corresponding threshold value, wherein the prompt information is used for indicating that the sensor for detecting the sewage is abnormal.

In some embodiments, after determining that the preset cleaning region includes the target region, the method further includes: and sending a message to a user interface, such as a user interface on a base station or a user interface on a user terminal, so that a user can select to mop the target area, and if the target area is determined to be mopped, finishing mopping on the preset cleaning area, and after the mopping piece is maintained, controlling the cleaning robot to mop at least part of the target area through the mopping piece. It can be understood that a message is sent to a user interface, so that a user can select whether to mop the target area, if yes, the preset cleaning area is completely mopped, and after the mopping piece is maintained, the cleaning robot is controlled to mop at least part of the target area through the mopping piece. Whether to repeat the mopping of the target area may be selected autonomously by the user, for example, when the user is ready to sleep, the target area may be selected not to be mopped.

In some embodiments, the cleaning system further comprises a handheld cleaning device, or the cleaning system comprises a plurality of cleaning robots, such as a first cleaning robot and a second cleaning robot.

Optionally, the control device or the first cleaning robot may be capable of sending information of the target area to the handheld cleaning appliance or the second cleaning robot.

For example, the information of the target area may be sent to the handheld cleaning device, or when it is determined that a certain area needs to be repeatedly mopped according to the dirt degree of the mopping piece after the first cleaning robot cleans the certain area, the information of the certain area may be sent to the handheld cleaning device and/or the second cleaning robot, so that the cleaning devices except the first cleaning robot can repeatedly mopping the certain area. Optionally, the first cleaning robot may continue to wipe other areas, and the cleaning efficiency and the cleaning effect are improved by the cooperative cleaning of multiple devices.

The control method of the cleaning robot provided by the embodiment of the application comprises the following steps: controlling the cleaning robot to mop a preset cleaning area through a mopping piece; acquiring a first dirt degree corresponding to a preset cleaning area; determining that the preset cleaning area comprises a target area according to the first dirt degree, wherein the target area is an area needing repeated mopping; and after the preset cleaning area is completely mopped and the mopping piece is maintained, controlling the cleaning robot to mopping at least part of the target area through the mopping piece. The method comprises the steps of judging whether repeated mopping is needed to be carried out on at least part of the preset cleaning area according to the dirt degree of the preset cleaning area, and if so, repeatedly mopping is carried out on at least part of the preset cleaning area after the mopping piece is maintained, so that the cleaning effect on the preset cleaning area is improved.

In some embodiments, the degree of soiling of the plot of land being towed by the cleaning robot may be determined by a mop soiling detection; for example, whether the floor block dragged by the cleaning robot is completely dragged can be judged according to whether the dirt degree of the mopping piece reaches the limit value of the dirt adsorption capacity of the mopping piece.

In some embodiments, different dirt thresholds are set in the cleaning mode, and whether the land block dragged by the cleaning robot continues to be cleaned or stops being cleaned is judged according to the comparison between the detection result of the dirt degree of the dragging piece and the dirt threshold; optionally, a maximum number of cleanings is set, and cleaning may be terminated when the number of cleanings reaches an upper limit, even if the degree of soiling of the mop does not fall below the soiling threshold.

The cleaning method of the mopping piece provided by the embodiment of the application comprises the following steps: executing a cleaning task of the mopping piece; acquiring the dirt degree of the mopping piece; determining a cleaning threshold value according to the value range of the dirt degree of the mopping piece, and finishing the cleaning task of the mopping piece according to the cleaning threshold value; the cleaning degree of the mopping piece is automatically adjusted, and the working efficiency of the cleaning robot is improved. The dirty degree of the mopping piece can reflect the dirty degree of the ground, for example, the dirty degree of a cleaned area of the mopping piece can be determined according to the dirty degree of the mopping piece, and the cleaning threshold value can be determined according to the value range of the dirty degree of the mopping piece, so that the cleaning degree of the mopping piece can be adjusted according to the dirty degree of the ground, and the working efficiency of the cleaning robot is improved.

In some embodiments, after the cleaning robot cleans the preset cleaning area, the mopping piece is cleaned, and the dirt elution value of the mopping piece is detected when the cleaning time length meets the preset time length (such as the stage task time length); when the dirt elution value is larger than the cleaning threshold value, the cleaning of the mopping piece is continued in the next stage task, and when the dirt elution value of a certain stage task is smaller than or equal to the cleaning threshold value of the stage task, the cleaning task of the mopping piece is stopped; the cleaning threshold value of each stage task can be preset, or the cleaning threshold value of at least one stage task can be determined according to the dirt elution value of the executed stage task. Determining a zone soiling level of the mopped zone according to the soiling elution value of the mopping member, such as a first soiling level of the preset cleaning zone; when the area dirt degree of the mopped area is larger than a first dirt amount threshold value, after finishing the cleaning task of the mopping piece, the cleaning robot immediately returns to the mopped area to carry out repeated mopping; when the area dirt degree of the dragged area is smaller than the first dirt amount threshold value and larger than or equal to the second dirt amount threshold value, marking the dragged area as a target area, namely an area needing repeated dragging. When the areas in the cleaning task map are not cleaned, the areas which are not cleaned can be mopped; when all the preset cleaning areas in the cleaning task map are cleaned at least once, the mopped areas marked as target areas can be mopped repeatedly. When no area needing to be repeatedly dragged exists in the cleaning task map, the cleaning task is judged to be completed, and the dragging piece can be cleaned to be cleaner according to the cleaning threshold value after the task, so that the cleaning task map can be stored for a long time.

In other embodiments, when the area of the mopped area is dirty more than the first dirty amount threshold, the cleaning robot returns to the mopped area for repeated mopping immediately after finishing the mopping piece cleaning task; when cleaning the mopping piece after repeatedly mopping the mopped area, continuously judging whether the dirt elution value is less than or equal to the cleaning threshold value, when not, determining that the mopped area is not yet cleaned, stopping the cleaning task of the mopping piece, and continuously repeatedly mopping the mopped area until the mopped area is cleaned, wherein the dirt elution value is less than or equal to the cleaning threshold value. When areas are not cleaned in the cleaning task map, the areas which are not cleaned can be mopped.

Referring to fig. 12 in conjunction with the above embodiments, fig. 12 is a schematic block diagram of a control device 300 according to an embodiment of the present application. The control device 300 comprises a processor 301 and a memory 302.

Illustratively, the processor 301 and the memory 302 are connected by a bus 303, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 301 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 302 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

Wherein the processor 301 is configured to run a computer program stored in the memory 302 and to implement the aforementioned steps of the control method of the cleaning robot and/or to implement the aforementioned steps of the cleaning method of the mop when executing the computer program.

Illustratively, the processor 301 is configured to run a computer program stored in the memory 302 and to implement the following steps when executing the computer program:

controlling the cleaning robot to mop a preset cleaning area through the mopping piece;

acquiring a first dirt degree corresponding to the preset cleaning area;

executing a cleaning task of the mopping piece;

acquiring the dirt degree of the mopping piece;

and determining a cleaning threshold value according to the value range of the dirt degree of the mopping piece, and finishing the cleaning task of the mopping piece according to the cleaning threshold value.

The specific principle and implementation manner of the control device provided in the embodiment of the present application are similar to those of the method in the foregoing embodiment, and are not described here again.

Referring to fig. 2 to 6, optionally, the robot controller 104 of the cleaning robot 100 and/or the base station controller 206 of the base station 200 may be used alone or in combination as the control device 300 to implement the steps of the control method of the cleaning robot of the embodiment of the present application and/or implement the steps of the cleaning method of the mop described above; in other embodiments, the cleaning system includes a separate control device 300 for implementing the steps of the method of the embodiment of the present application, and the control device 300 may be provided on the cleaning robot 100 or may be provided on the base station 200; of course, the control device 300 may be a device other than the cleaning robot 100 and the base station 200, such as a home intelligent terminal, a general control apparatus, or the like.

In some embodiments, a control device 300, such as a base station controller 206, at a base station 200 is used to implement the steps of the cleaning method for a mop according to the embodiments of the present application; a control device 300 on the cleaning robot 100, such as the robot controller 104, is used to implement the steps of the control method of the cleaning robot of the embodiment of the present application; of course, the present invention is not limited thereto, and the control device 300 on the base station 200 may be used to implement the steps of the control method of the cleaning robot according to the embodiment of the present invention.

Embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, causes the processor to implement the steps of the control method for a cleaning robot and/or the steps of the cleaning method for a mop described above.

The computer-readable storage medium may be an internal storage unit of the control device according to any of the foregoing embodiments, for example, a hard disk or a memory of the control device. The computer readable storage medium may also be an external storage device of the control apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the control apparatus.

It will be appreciated that embodiments of the present application also provide a base station for at least cleaning a mop of a cleaning robot, the base station further comprising control means 300, such as a base station controller 206, for implementing the steps of the cleaning method of a mop of embodiments of the present application and/or for implementing the steps of the control method of a cleaning robot of embodiments of the present application.

The embodiment of the present application further provides a cleaning robot, including:

a mopping member;

the cleaning mechanism is used for cleaning the mopping piece; and

the control device 300, such as the robot controller 104, is used for implementing the steps of the cleaning method for the mop of the embodiment of the present application and/or for implementing the steps of the control method for the cleaning robot of the embodiment of the present application.

Please refer to fig. 2 in conjunction with the above embodiments, fig. 2 is a schematic diagram of a cleaning system provided in an embodiment of the present application.

As shown in fig. 2 to 6, the cleaning system includes:

the cleaning robot 100, the cleaning robot 100 includes a walking unit 106 and a mopping piece 110, the walking unit 106 is used for driving the cleaning robot 100 to move, so that the mopping piece 110 mops the floor;

a base station 200, the base station 200 at least being used for cleaning or replacing the mop 110 of the cleaning robot 100; and/or the base station 200 comprises a soiling detection device (not shown) to detect the degree of soiling of the mop of the cleaning robot 100; and

and a control device 300.

Please refer to fig. 13 in conjunction with the above embodiments, fig. 13 is a schematic diagram of a cleaning system provided in an embodiment of the present application. As shown in fig. 13, the cleaning system includes:

the first cleaning robot 100, the first cleaning robot 100 comprising a walking unit 106 and a mopping piece 110, the walking unit 106 being used for driving the first cleaning robot 100 to move, so that the mopping piece 110 mops the ground;

a base station 200, the base station 200 being at least for cleaning the mop 110 of the first cleaning robot 100; and

a control device 300;

the cleaning system further comprises:

a handheld cleaning device 401 or a second cleaning robot 402,

the control device 300 or the first cleaning robot 100 can transmit information of a target area, which is an area requiring repeated mopping, to the handheld cleaning apparatus 401 or the second cleaning robot 402. The optional base station 200 may also be used to clean the mop of the second cleaning robot 402.

The specific principle and implementation manner of the cleaning system provided in the embodiment of the present application are similar to the control method of the cleaning robot in the foregoing embodiment, and are not described here again.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

It should also be understood that the term "and/or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

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

acquiring a first dirt degree corresponding to the preset cleaning area;

2. The control method according to claim 1, wherein the acquiring the first contamination degree corresponding to the preset cleaning area comprises:

after the cleaning robot finishes mopping a preset cleaning area through a mopping piece, acquiring the dirt degree of the mopping piece; and

and determining a first dirt degree corresponding to the preset cleaning area according to the dirt degree of the mopping piece.

3. The method of claim 2, wherein said obtaining a mop dirty level of said mop comprises:

cleaning the mopping piece to obtain a detection value of sewage for cleaning the mopping piece;

and determining the dirt degree of the mopping part according to the detection value.

4. The control method of claim 3, wherein said determining a mop contamination level of said mop based on said sensed value comprises:

accumulating the dirty amount corresponding to the detection value according to the time and/or the water amount for cleaning the mopping piece; determining the dirt degree of the mopping part according to the accumulated result of the dirt amount; or

And pre-judging the dirt degree of the mopping piece according to the single detection value.

5. The control method according to claim 1, wherein the cleaning task of the cleaning robot includes mopping a plurality of the preset cleaning areas;

the controlling the cleaning robot to wipe at least part of the target area through the wiping member after the wiping of the preset cleaning area is completed and the wiping member is maintained includes:

and after finishing mopping on all the preset cleaning areas and maintaining the mopping piece, controlling the cleaning robot to mopping at least part of the target area through the mopping piece.

6. The control method according to claim 1, wherein the cleaning task of the cleaning robot includes mopping a plurality of the preset cleaning areas;

the controlling the cleaning robot to mop at least part of the target area through the mopping piece after finishing mopping the preset cleaning area and maintaining the mopping piece comprises:

before other preset cleaning areas except the preset cleaning area corresponding to the target area are mopped, maintaining the mopping piece, and controlling the cleaning robot to mopping at least part of the target area through the mopping piece.

7. The control method according to claim 1, wherein the determining that the preset cleaning region includes a target region, which is a region requiring repeated mopping, according to the first contamination degree includes:

when the first contamination degree corresponding to the preset cleaning area is larger than or equal to a preset contamination amount threshold value, determining that the preset cleaning area comprises a target area.

8. The method of claim 1, wherein the controlling the cleaning robot to wipe at least a portion of the target area with the wipe implement further comprises:

acquiring a second pollution degree corresponding to the target area;

determining that the target area needs to be repeatedly dragged and wiped according to a second dirt degree corresponding to the target area; repeating the mopping on at least a portion of the target area.

9. The control method according to claim 8, further comprising, after repeating the dragging and wiping of the target area:

and when the repeated mopping times of the target area meet the cleaning time threshold, terminating the repeated mopping of the target area.

10. The control method according to claim 7, wherein the cleaning task of the cleaning robot includes mopping a plurality of the preset cleaning areas; the fouling amount threshold comprises a first fouling amount threshold and a second fouling amount threshold;

determining that the preset cleaning area includes a target area when a first contamination degree is greater than or equal to the first contamination amount threshold; before other preset cleaning areas except the current preset cleaning area are mopped, maintaining the mopping piece, and controlling the cleaning robot to mop at least part of the target area through the mopping piece; and/or

Determining that the preset cleaning area includes a target area when the first contamination degree is greater than or equal to the second contamination amount threshold and less than the first contamination amount threshold; and is

11. The control method according to claim 10, characterized in that when the first contamination degree is greater than or equal to the first contamination amount threshold value, it is determined that the preset cleaning region includes a target region; before mopping other preset cleaning areas except the current preset cleaning area, maintaining the mopping piece, and controlling the cleaning robot to mopping at least part of the target area through the mopping piece, wherein the mopping method comprises the following steps:

when the first dirt degree is larger than or equal to the first dirt amount threshold, immediately controlling the cleaning robot to mop at least part of the target area through the mopping piece to obtain a second dirt degree corresponding to the target area, when the second dirt degree is larger than the second dirt amount threshold, controlling the cleaning robot to continuously mop the target area again until the second dirt degree is smaller than the second dirt amount threshold, finishing mopping at least part of the target area, and after the mopping piece is maintained, mopping other preset cleaning areas; alternatively, the first and second electrodes may be,

when the first dirt degree is larger than or equal to the first dirt amount threshold, immediately controlling the cleaning robot to wipe the target area through the wiping part, acquiring a second dirt degree corresponding to the target area, and when the second dirt degree is larger than the first dirt amount threshold, controlling the cleaning robot to continue wiping the target area until the second dirt degree is larger than or equal to the second dirt amount threshold and smaller than the first dirt amount threshold, and after all preset cleaning areas are wiped and the wiping part is maintained, controlling the cleaning robot to wipe at least part of the target area through the wiping part.

12. The control method according to claim 5 or 10, characterized by further comprising:

after finishing mopping all the preset cleaning areas, determining a mopping sequence of a plurality of target areas according to the characteristic parameters of the target areas, wherein the characteristic parameters of the target areas at least comprise: the dirt degree corresponding to the target area, the distance between the target area and the cleaning robot, and the room identification of the room in which the target area is located;

the controlling the cleaning robot to wipe at least a portion of the target area with the wipe, comprising:

and controlling the cleaning robot to wipe at least part of the target areas according to the wiping sequence.

13. The method of claim 12, wherein said controlling the cleaning robot to wipe the plurality of target areas in the wiping sequence comprises:

controlling the cleaning robot to wipe at least part of the target areas according to the sequence of the dirt degrees from large to small; or alternatively

Controlling the cleaning robot to wipe at least part of the target areas according to the sequence of the dirt degrees from small to large; or alternatively

Controlling the cleaning robot to wipe at least part of the target areas according to the distance between the target areas and the cleaning robot from near to far; or alternatively

And controlling the cleaning robot to wipe at least part of the target areas according to the distance between the target areas and the cleaning robot from far to near.

14. The control method according to claim 12, wherein the determining a mopping sequence of a plurality of the target areas according to the dirt levels corresponding to the target areas after mopping is completed for all the preset cleaning areas comprises: determining a target area with the difference of the dirt degrees smaller than or equal to a difference threshold value as a merging area;

determining the dirt degree of the merging area according to the dirt degrees of a plurality of target areas in the same merging area;

determining the dragging and wiping sequence of the plurality of merging areas according to the dirt degree of the merging areas; or when the target areas are not merged, determining the mopping sequence of the merged area and the target areas which are not merged according to the dirty degree of the merged area and the dirty degree of the target areas which are not merged.

15. The method of claim 14, wherein said controlling said cleaning robot to scrub said target area with said scrubber member comprises:

and when the dirt degree of the combined area is smaller than or equal to a preset combined dirt threshold value, controlling the cleaning robot to wipe a plurality of target areas in the combined area through the wiping piece.

16. The method of claim 1, wherein said controlling said cleaning robot to wipe at least a portion of said target area with said wipe, comprises:

and splitting the target area into a plurality of sub-target areas, and controlling the cleaning robot to mop at least one sub-target area through the mopping piece.

17. The method of claim 16, wherein controlling the cleaning robot to mop at least one of the sub-target areas with the mop includes:

controlling the cleaning robot to sequentially wipe the sub-target areas through the wiping piece;

acquiring a third dirt degree of the sub-target area, and determining that the sub-target area needs to be repeatedly mopped; and continuously splitting the sub-target area, and dragging and erasing the split area.

18. The method of claim 16, wherein said controlling the cleaning robot to wipe at least one of the sub-target areas with the wipe implement comprises:

controlling the cleaning robot to wipe the sub-target area of the cleaning robot through the wiping piece;

estimating a second dirt degree of the target area, acquiring a third dirt degree of the sub-target area, and determining that the target area does not finish repeated mopping according to the second dirt degree and the third dirt degree; repeating the dragging and wiping on the next sub-target area.

19. The control method according to claim 1, wherein after determining that the preset cleaning region includes a target region, further comprising:

sending a message to a user interface for a user to select to drag and wipe the target area,

and if the target area is determined to be mopped, finishing mopping on the preset cleaning area, and after the mopping piece is maintained, controlling the cleaning robot to mopping at least part of the target area through the mopping piece.

20. The control method according to any one of claims 7, 10 to 11, wherein the dirt amount threshold is determined according to a cleaning mode of the cleaning robot.

21. A control device, comprising a memory and a processor;

wherein the memory is for storing a computer program;

the processor for executing the computer program and implementing the steps of the control method of the cleaning robot according to any one of claims 1-20 when executing the computer program.

22. A cleaning system, comprising:

the control device of claim 21.

23. A cleaning system, comprising:

a base station including a contamination detection device to detect a degree of contamination of a mop of the cleaning robot; and

the control device of claim 21.

24. A cleaning system, comprising:

the cleaning robot comprises a first cleaning robot and a second cleaning robot, wherein the first cleaning robot comprises a walking unit and a mopping piece, and the walking unit is used for driving the first cleaning robot to move so that the mopping piece mops the ground;

a base station for at least cleaning a mop of the first cleaning robot; and

the control device of claim 21;

the cleaning system further comprises:

a handheld cleaning appliance or a second cleaning robot,

the control device or the first cleaning robot can send information of a target area to the handheld cleaning equipment or the second cleaning robot, and the target area is an area needing repeated mopping.

25. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the steps of the control method of a cleaning robot according to any one of claims 1-20.