CN115429172A - Mopping method of cleaning robot, cleaning robot and storage medium - Google Patents
Mopping method of cleaning robot, cleaning robot and storage medium Download PDFInfo
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- CN115429172A CN115429172A CN202211048809.2A CN202211048809A CN115429172A CN 115429172 A CN115429172 A CN 115429172A CN 202211048809 A CN202211048809 A CN 202211048809A CN 115429172 A CN115429172 A CN 115429172A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The application discloses a mopping method of a cleaning robot, the cleaning robot and a storage medium, wherein the method comprises the following steps: controlling the cleaning robot to mop a target area with a cleaning action in a first set of cleaning actions; and controlling the cleaning robot to repeatedly mop the target area by cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behavior in the first cleaning behavior set. Through this kind of mode, this application can improve the clean effect on ground.
Description
Technical Field
The present disclosure relates to the field of robot technologies, and in particular, to a floor mopping method for a cleaning robot, and a storage medium.
Background
At present, when a cleaning robot is used for mopping a floor, a target area (such as a single room) is mopped, and the room cannot be cleaned by mopping the floor once, for example: some places can be used for mopping the floor cleanly, some places can leave mopping stains, some places can be used for mopping the floor without mopping, and the like. There is currently no solution to these problems.
Disclosure of Invention
Accordingly, the present application provides a floor mopping method of a cleaning robot, a cleaning robot and a storage medium, which can improve the cleaning effect of the floor.
In a first aspect, the present application provides a mopping method of a cleaning robot, the method comprising:
controlling the cleaning robot to mop a target area with a cleaning action in a first set of cleaning actions;
and controlling the cleaning robot to repeatedly mop the target area by cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behavior in the first cleaning behavior set.
In a second aspect, the present application provides a cleaning robot comprising: a processor and a memory for storing a computer program; the processor is configured to execute the computer program and, when executing the computer program, implement the mopping method of the cleaning robot as described above.
In a third aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the mopping method of a cleaning robot as described above.
The embodiment of the application provides a floor mopping method of a cleaning robot, the cleaning robot and a storage medium, wherein the cleaning robot is controlled to mopping a target area by cleaning behaviors in a first cleaning behavior set; controlling the cleaning robot to repeatedly mop the target area with cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behaviors in the first cleaning behavior set. Since at least one cleaning action is different from the previous cleaning action when the cleaning robot repeatedly mops the target area, the cleaning effect of the floor can be improved by the way. If different cleaning actions can be performed during repeated mopping to clean stains and missed areas left by mopping the floor last time, the repeated mopping can improve the cleaning effect of the floor.
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 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 flow chart diagram of one embodiment of a mopping method for a cleaning robot according to the present disclosure;
fig. 2 is a schematic view illustrating that a cleaning robot mops a floor according to a first mopping path (a zigzag path in an up-and-down direction) in a first cleaning order in a mopping method of the cleaning robot according to the present invention;
FIG. 3 is a schematic view of the cleaning robot performing a repeated mopping operation in a second cleaning sequence according to the same first mopping path in the mopping method of the cleaning robot according to the present application;
fig. 4 is a schematic view illustrating that a cleaning robot repeatedly mops the floor according to a second mopping path (a left-right direction zigzag path) in the mopping method of the cleaning robot according to the present application;
fig. 5 is a schematic view illustrating that a first mopping path of a previous mopping is crossed with a second mopping path of a repeated mopping in the mopping method of the cleaning robot according to the present application;
FIG. 6 is a schematic view of an embodiment of a mopping method of a cleaning robot according to the present invention, wherein a target area is divided into a plurality of sub-areas;
FIG. 7 is a schematic view of another embodiment of a mopping method of a cleaning robot according to the present application, wherein a target area is divided into a plurality of sub-areas;
FIG. 8 is a schematic view illustrating a general and swing mopping of a floor when a cleaning robot is edgewise in the mopping method of the cleaning robot according to the present invention;
FIG. 9 is a schematic view of the swing mop and the repeated swing mop as the cleaning robot moves along the edge in the mopping method of the cleaning robot according to the present application;
fig. 10 is a schematic structural diagram of an embodiment of the cleaning robot 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 obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution order may be changed according to the actual situation.
At present, when a cleaning robot is used for mopping a floor, a target area (such as a single room) is mopped, and the room cannot be cleaned by mopping the floor once, for example: some places can be used for mopping the floor cleanly, some places can leave mopping stains, some places can be used for leaking mopping, and the like.
The present application aims to overcome the above-mentioned drawbacks, and provides a floor mopping method of a cleaning robot, in particular, a floor cleaning method of a cleaning robot, which can improve the cleaning effect of the floor by making at least one cleaning action when the cleaning robot repeatedly mops the target area different from the cleaning action when mopping the target area last time. If different cleaning behaviors can clean the stain and the missing area left by mopping the floor last time when the floor is repeatedly mopped, the cleaning effect of the floor can be improved by repeatedly mopping the floor. The floor mopping method of the cleaning robot provided in the embodiments of the present application is described in detail below.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a mopping method of a cleaning robot according to the present application, the method including: step S101 and step S102.
Step S101: controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set.
Step S102: controlling the cleaning robot to repeatedly mop the target area with cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behaviors in the first cleaning behavior set.
The first cleaning action set comprises more than one cleaning action, the second cleaning action set comprises more than one cleaning action, and the number of the cleaning actions in the first cleaning action set and the number of the cleaning actions in the second cleaning action set can be the same or different. Cleaning activities may include, but are not limited to: mopping path, mopping direction, mopping sequence, etc.
After the cleaning robot mops the target area with the cleaning behaviors in the first cleaning behavior set, the target area is repeatedly mopped, at least one cleaning behavior is different from the cleaning behaviors in the first cleaning behavior set when the mopping is repeated, for example, one cleaning behavior is different from the cleaning behaviors in the first cleaning behavior set when the mopping is repeated, or two cleaning behaviors are different from the cleaning behaviors in the first cleaning behavior set when the mopping is repeated, and the like.
For example: the mopping path when mopping repeatedly is different from the mopping path when mopping last time, or the mopping path and the mopping direction when mopping repeatedly is different from the mopping path and the mopping direction when mopping last time, and the mopping cloth rotates when mopping repeatedly, and the mopping cloth does not rotate when mopping last time, and the like.
Therefore, the repeated mopping behavior of the cleaning robot is different from the last mopping behavior, and the repeated mopping of the cleaning robot is not the simple repetition of the last mopping, which provides technical support for improving the cleaning effect of the floor. If different cleaning actions can be performed during repeated mopping to clean stains and missed areas left by mopping the floor last time, the repeated mopping can improve the cleaning effect of the floor.
In an embodiment, the cleaning actions of the first set of cleaning actions and the cleaning actions of the second set of cleaning actions may comprise at least one of a mopping path of the cleaning robot, a mopping order, a rotation of a mop or not, a trajectory of the cleaning robot rotating the mopping edgewise, respectively.
In an embodiment, the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set in step S101 may include: the cleaning robot is controlled to mop the target area in such a way that the rotating mop rotates. At this time, the controlling the cleaning robot to repeatedly mop the target area with the cleaning behaviors of the second cleaning behavior set may include: controlling the cleaning robot to repeatedly mop the target area in such a manner that the rotating mop does not rotate.
In the embodiment of the application, the rotary mop can rotate or not rotate, when the rotary mop rotates, water on the rotary mop can be rapidly dispersed to wet the ground around the mop, the rotary mop can remove stains and particularly can remove the stains attached to the ground, but the stains which are not removed can be left at the same time, and some stains with strong adhesive force still can be left on the ground. When the mopping is repeated, the rotating mop cloth does not rotate, namely, a flat mopping mode is adopted, and since the wet mop cloth wets the stains with strong adhesive force when the mopping is carried out last time (namely, the target area is mopped by the cleaning action in the first cleaning action set), the repeated mopping mode of selecting the flat mopping can carry the stains away in a flat mopping mode, the rotating mopping is not carried out, and the stains left before are also removed. In this way, the cleaning effect can be improved.
In an embodiment, the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set in step S101 may include: the control unit controls the cleaning robot to mop the target area in a first cleaning sequence. At this time, the controlling the cleaning robot to repeatedly mop the target area with the cleaning behaviors of the second cleaning behavior set may include: the control unit controls the cleaning robot to repeatedly mop the target area in a reverse direction opposite to the first cleaning sequence from a position where a previous mopping is finished.
When the cleaning robot mops the floor, the cleaning capability gradually decreases along with the progress of the mopping task, the cleaning effect of the place cleaned first is relatively good and relatively clean, and the cleaning effect of the place cleaned later is relatively poor and stains can be remained. Therefore, in the embodiment of the present invention, when the cleaning robot repeatedly mops the floor, the cleaning sequence is changed, and the cleaning robot repeatedly mops the target area in the reverse direction opposite to the previous first cleaning sequence from the position where the previous mopping was completed.
Referring to fig. 2 and 3, fig. 2 is a schematic view of a cleaning robot mopping a floor in a first cleaning order according to a first mopping path, fig. 3 is a schematic view of a cleaning robot repeatedly mopping a floor in a second cleaning order according to the same first mopping path, and in fig. 2 and 3, the mopping paths of the cleaning robot are the same except for a cleaning order in which the cleaning robot repeatedly mops the target area in a reverse direction (i.e., in the second cleaning order) opposite to the previous first cleaning order from a position where the last mopping was ended (i.e., a single work end point) while repeatedly mopping the floor.
In an embodiment, the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set at step S101 may include: and controlling the cleaning robot to mop the target area in a first mopping path. At this time, the controlling the cleaning robot to repeatedly mop the target area with the cleaning behaviors of the second cleaning behavior set in step S102 may include: and controlling the cleaning robot to repeatedly mop the target area in a second mopping path, wherein the second mopping path is different from the first mopping path.
In the embodiment of the application, a mopping path (i.e., a first mopping path) during the last mopping is different from a mopping path (i.e., a second mopping path) during the repeated mopping, that is, an original mopping path is changed during the repeated mopping, so that the cleaning robot can clean an area which is not cleaned (i.e., a missing area) during the last cleaning, thereby improving the cleaning effect of the whole target area.
In an embodiment, the second mopping path intersects the first mopping path. The mopping path (namely, the first mopping path) during the last mopping is crossed with the mopping path (namely, the second mopping path) during the repeated mopping, so that the area which is not cleaned during the last cleaning can be better cleaned, and the cleaning efficiency of the whole target area is better improved. The floor mopping path (i.e., the first floor mopping path) during the previous floor mopping may intersect with the floor mopping path (i.e., the second floor mopping path) during the repeated floor mopping, and may intersect vertically or diagonally.
Illustratively, as shown in fig. 2, 4 and 5, the second mopping path intersects the first mopping path in a groined shape.
Referring to fig. 2, 4 and 5, fig. 2 is a schematic view of the cleaning robot mopping the floor according to a first mopping path (a vertically-curved path), fig. 4 is a schematic view of the cleaning robot repeatedly mopping the floor according to a second mopping path (a horizontally-curved path), and fig. 5 is a schematic view of the cleaning robot crossing the first mopping path (shown by a solid line) and the second mopping path (shown by a dotted line). In fig. 2, 4 and 5, the starting points of mopping by the cleaning robot are the same, except for the mopping path, and when mopping is repeated, the cleaning robot repeatedly mops the target area from the second mopping path intersecting the first mopping path in a cross-hatch manner.
Of course, in some embodiments, for example, the last floor mopping start point and floor mopping path of the cleaning robot may both be different from the next floor mopping start point and floor mopping path.
In an embodiment, the controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set at step S101 may include: the cleaning robot is controlled to mop the target area along a first track of the side-rotating mopping floor. At this time, the controlling the cleaning robot to repeatedly mop the target area with the cleaning behaviors of the second cleaning behavior set in step S102 may include: controlling the cleaning robot to repeatedly mop the target area along a second trajectory of the edgewise rotation mopping, the second trajectory intersecting the first trajectory.
The cleaning robot rotates along the floor, which is also called as the cleaning robot swings (i.e. the cleaning robot twists intermittently). When the cleaning robot mops the floor according to a common mode (namely, the cleaning robot does not swing), an uncleaned area (namely, a cleaning leaking area) can be omitted at the edge position of a wall surface or an obstacle, the cleaning robot mops the floor by adopting a swinging posture, and the cleaning leaking area which is not cleaned in the common floor mopping process can be cleaned. When the cleaning robot drags the floor by rotating along the edge, the first track generated by the dragging of the floor by rotating along the edge can not completely cover the missed cleaning area, and partial areas can also be missed, so that when the cleaning robot drags the floor by rotating along the edge repeatedly, the second track generated by the dragging of the floor by rotating along the edge repeatedly crosses with the first track, namely the second track is different from the first track and crosses with the first track, and the second track can cover partial areas in the missed cleaning area which are not covered by the first track. Thus, the cleaning efficiency and the cleaning effect can be improved.
In an embodiment, the controlling the cleaning robot to repeatedly mop the target area in a second track of the edgewise rotation mopping step S102 may further include: and controlling the cleaning robot to repeatedly mop the target area by taking the area missed to be dragged by the first track as a starting point and by taking a second track of edgewise rotating and mopping the floor.
In the embodiment of the present application, the direction in which the cleaning robot swings during the previous mopping is the same as the direction in which the cleaning robot swings during the current repeated mopping, and the difference is that the starting point of the swing of the cleaning robot is different (as shown in fig. 9, the starting point of the swing during the repeated mopping is the area that is missed during the previous mopping during the rotation of the floor), that is, the cleaning robot repeatedly mops the target area along the second track that is the repeated mopping of the floor with the area that is missed during the current repeated mopping taking the first track as the starting point (the swing during the repeated mopping may also be referred to as the repeated swing). In this way, the second trace when repeatedly mopping may cover a partial area of the missed cleaning area that was not covered by the first trace when last mopping.
When the cleaning robot performs mopping in a swing manner, if the mop of the cleaning robot is a rotating mop, the rotating mop may or may not rotate at this time.
Of course, the cleaning robot may also adopt a direction different from the swing direction of the cleaning robot when mopping the floor last time, as long as the second track when mopping the floor repeatedly can cover a partial area in the missed cleaning area which is not covered by the first track when mopping the floor last time.
Referring to fig. 8, when the cleaning robot mops the floor in a normal manner (i.e., normal mopping), the area that can be cleaned is a clean area, and an unclean area (i.e., a clean area) is missed at the edge of a wall or an obstacle; when the cleaning robot adopts a swinging posture to mop the floor (the edge rotates to mop the floor to generate a first track), the cleaning robot can clean the cleaning leaking area which is not cleaned in the common floor mopping process; when the cleaning robot adopts the swing gesture to repeatedly mop the floor (edge rotation mopping, generating a second track), the cleaning robot can clean partial areas in the cleaning leakage area which are not cleaned in the previous edge rotation mopping.
In an embodiment, before controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set in step S101, the method may further include: dividing the target area into a plurality of sub-areas according to a cleaning capability of the cleaning robot.
The target area is divided into a plurality of sub-areas according to the cleaning capability of the cleaning robot, and the sub-areas may be areas of the areas that the cleaning robot can continuously and continuously mop. The cleaning capacity of the cleaning robot can be determined by the set backwash area, wherein backwash area refers to the maximum area that the cleaning robot is allowed to clean before returning to the base station for washing the mops. For example, the backwashing area of the cleaning robot can be set to 8 square meters according to the preset requirements, and the cleaning robot needs to return to the base station to wash the mop after dragging the area of 8 square meters. Then when the area of the room is 20 square meters, the room can be divided into three sub-areas. Of course, in some embodiments, the user may set the backwash area of the cleaning robot, i.e. to mop N square meters and then return to the base station to wash a mop, for example, the user may set the backwash area of the cleaning robot to select different cleaning modes, e.g. backwash areas of 8 square meters, 10 square meters, 12 square meters, etc. Taking the cleaning of the whole room as an example, the smaller the backwashing area is, the higher the frequency of returning to the base station of the cleaning robot is in the process of completing the cleaning of the whole room is, and correspondingly, the better the cleaning effect on the room is, but the cleaning efficiency is slightly lower. For example, the user can select to set the backwashing area according to the needs of the user, when the user wants to deeply clean the room, the backwashing area can be set to be 8 square meters, and when the user wants to lightly clean the room, the backwashing area can be set to be 12 square meters.
It will be appreciated that the smaller the backwash area set, the more sub-areas the room is divided into.
At this time, the step S101 of controlling the cleaning robot to mop the target area with the cleaning behaviors in the first cleaning behavior set may include: controlling the cleaning robot to mopping the plurality of sub-areas with cleaning behaviors in a first cleaning behavior set respectively;
step S102, the controlling the cleaning robot to repeatedly mop the target area with the cleaning behaviors in the second cleaning behavior set may include: and controlling the cleaning robot to repeatedly mop the sub-areas of the plurality of sub-areas, which do not meet the requirement in the cleaning degree, by the cleaning behaviors in the second cleaning behavior set.
There are many methods for determining a sub-area of the plurality of sub-areas where the degree of cleanliness does not meet the requirement. For example: after mopping the floor of each subarea once, returning the cleaning robot to the base station to wash the mop once, detecting the sewage for washing the mop to obtain the dirt amount of the subarea, if the dirt amount is larger than a preset threshold value, indicating that the subarea is dirty, and repeatedly mopping the subarea; alternatively, in some embodiments, the cleaning robot may be provided with a visual sensor by which the soiling of each sub-area within the room may be detected directly, thereby determining which sub-areas need to be repeatedly mopped; alternatively, the cleaning robot may detect the change of the dirt level of the mop in real time during the cleaning process, for example, after the sub-area a is completely mopped, the dirt amount of the mop is increased by a1, and if a1 is greater than the preset threshold, it indicates that the sub-area a block needs to be mopped repeatedly.
It should be noted that, the repeated mopping of the subarea whose cleaning degree does not meet the requirement can be realized in the following two ways: the first is that after all the subregions are mopped once, the previously marked subregions which need to be mopped repeatedly are mopped repeatedly; the second is that after the mopping of a sub-region is finished for the first time, if it is found that the mopping of the sub-region needs to be repeated, the mopping of the sub-region is repeated until the mopping of other sub-regions is finished.
In the embodiment of the application, if the target area is relatively large, the target area can be divided into a plurality of sub-areas according to the cleaning capability of the cleaning robot, that is, the number of the divided sub-areas is greater than or equal to 2. And then the cleaning robot mops the plurality of sub-areas respectively, namely mopping each single sub-area once, and mopping another sub-area after mopping of one sub-area is finished until the mopping of the plurality of sub-areas is finished.
The embodiment of the application only repeatedly mops the heavy spot area when repeatedly mopping the floor, namely repeatedly mopping the sub-area of a plurality of sub-areas, wherein the cleaning degree of the sub-area does not meet the requirement. By the mode, the cleaning robot can repeatedly mop the floor in a targeted mode, the cleaning effect can be improved, and meanwhile the working efficiency of the cleaning robot can be greatly improved.
Referring to fig. 6, the target area in fig. 6 is divided into 6 sub-areas: the cleaning robot mops the floor for each sub-area once, and mops the target area for 6 times, wherein the mopping sequence of the sub-areas is as follows: the upper left sub-region, the middle upper sub-region, the middle lower sub-region, the lower right sub-region, the upper right sub-region. If the cleaning degree of the upper and lower subregions (namely the upper right subregion and the lower right subregion) on the right side of the target region does not meet the requirement, the cleaning robot can only repeatedly mop the upper right subregion and the lower right subregion when the mopping is repeated.
In an embodiment, as shown in fig. 7, the method further comprises: if a smaller sub-region with an area smaller than a preset area exists in the plurality of sub-regions, the smaller sub-region is combined with at least one other sub-region, and the area of the combined sub-region after combination is smaller than or equal to the maximum area of single cleaning of the cleaning robot. In this case, the controlling the cleaning robot to mop the floor of each of the plurality of sub-areas in step S101 may include: and controlling the cleaning robot to mopping each uncombined subarea and each combined subarea respectively.
In the embodiment of the application, after the target area is divided into a plurality of sub-areas according to the cleaning capability of the cleaning robot, if the area of one sub-area is too small and the area of the sub-area is smaller than the preset area, the smaller sub-area with the area smaller than the preset area can be merged with at least one other sub-area, and the area of the merged sub-area is smaller than or equal to the maximum area of the cleaning robot for single cleaning. When merging, two or more adjacent smaller sub-regions may be merged into a merged sub-region, or the smaller sub-region and an adjacent sub-region having an area greater than or equal to a preset area may be merged into a merged sub-region. And then the cleaning robot mops the floor of each uncombined subarea and each combined subarea respectively. The areas of the sub-areas are too small, so that the cleaning robot is inconvenient to mop the floor, and the area which is not mopped is easier to leave when mopping the floor.
Referring to fig. 7, the target area in fig. 7 is divided into 8 sub-areas: the combined sub-area comprises an upper left sub-area, a left neutron area, a lower left sub-area, an upper middle sub-area, a middle neutron area, a lower middle sub-area, an upper right sub-area and a lower right sub-area, wherein the upper left sub-area and the upper middle sub-area are smaller sub-areas with areas smaller than a preset area, and therefore the upper left sub-area and the upper middle sub-area which are adjacent to each other are combined into a combined sub-area. The cleaning robot mops the floor for 6 uncombined sub-areas and 1 combined sub-area once respectively, and mops the floor of the target area for 7 times, wherein the mopping sequence of the sub-areas is as follows: the device comprises a left lower sub-region, a left neutron region, a merging sub-region, a middle neutron region, a middle lower sub-region, a right lower sub-region and a right upper sub-region. If the cleaning degree of the three sub-areas, namely the middle-lower sub-area, the right-lower sub-area and the right-upper sub-area, in the target area does not meet the requirement, the cleaning robot can only repeatedly mop the three sub-areas, namely the middle-lower sub-area, the right-lower sub-area and the right-upper sub-area, when repeatedly mopping the floor.
It should be noted that the target area is divided into a plurality of sub-areas, and the cleaning robot mops the floor of each of the plurality of sub-areas by using the cleaning behaviors in the first cleaning behavior set; when the cleaning robot repeatedly mops the subarea with the cleaning action in the second cleaning action set, the cleaning action in the first cleaning action set and the cleaning action in the second cleaning action set respectively comprise at least one of a mopping path, a mopping sequence, whether the rotating mop rotates or not, and a track of the cleaning robot rotating the mopping along the edge, the mopping and the repeated mopping can be performed in the above manner, so as to improve the cleaning effect.
In some embodiments, the controlling the cleaning robot to repeatedly mop sub-areas of the plurality of sub-areas that do not meet the requirement for degree of cleaning with cleaning actions in the second set of cleaning actions comprises: determining the number of subregions of the plurality of subregions with unsatisfactory cleaning degree; if the number of the sub-areas with the cleaning degrees which do not meet the requirements in the plurality of sub-areas is at least two, merging the sub-areas with the cleaning degrees which do not meet the requirements; and controlling the cleaning robot to repeatedly mop the merged at least two subareas which do not meet the requirement in cleaning degree.
That is to say, when the floor is repeatedly mopped, if it is determined that the sub-area needing to be repeatedly mopped is greater than or equal to 2, the at least two sub-areas can be combined, so that the at least two areas needing to be repeatedly mopped can be mopped at a time, and since the sub-area has already been mopped once before the mopping, the floor is not particularly dirty when the mopping is repeatedly performed, the embodiment of the application can combine the sub-areas needing to be repeatedly mopped and mopping can be performed, and therefore the cleaning efficiency can be effectively improved while the cleaning effect is not affected as much as possible.
Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of the cleaning robot of the present application, it should be noted that the cleaning robot of the embodiment of the present application can implement the floor mopping method of the cleaning robot, and for detailed description of related contents, please refer to the above method section, which is not described redundantly here.
The cleaning robot includes: a processor 1 and a memory 2, said memory 2 being for storing a computer program; the processor 1 is configured to execute the computer program and, when executing the computer program, implement the mopping method of the cleaning robot as described above. The memory 2 is connected to the processor 1 via a bus.
The processor 1 may be a micro control unit, a central processing unit, a digital signal processor, or the like. The memory 2 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb-disk, or a removable hard disk, etc.
The present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the mopping method of a cleaning robot as described in any one of the above.
The computer readable storage medium may be an internal storage unit of the cleaning robot, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device of the cleaning robot, such as a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. provided.
It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
The above description is only for the specific embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered by 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 (13)
1. A method of mopping a floor of a cleaning robot, the method comprising:
controlling the cleaning robot to mop a target area with a cleaning action in a first set of cleaning actions;
controlling the cleaning robot to repeatedly mop the target area with cleaning behaviors in a second cleaning behavior set, wherein at least one cleaning behavior in the second cleaning behavior set is different from the cleaning behaviors in the first cleaning behavior set.
2. The method according to claim 1, wherein the cleaning actions of the first set of cleaning actions and the cleaning actions of the second set of cleaning actions comprise at least one of a mopping path, a mopping order, a rotation of a mop or not, a trajectory of a edgewise rotating mopping of the cleaning robot, respectively.
3. The method of claim 2, wherein the controlling the cleaning robot to mop the target area with the cleaning actions in the first set of cleaning actions comprises:
controlling the cleaning robot to mop the target area in a manner that the rotary mop rotates;
the controlling the cleaning robot to repeatedly mop the target area with cleaning actions in a second set of cleaning actions includes:
controlling the cleaning robot to repeatedly mop the target area in a manner that the rotating mop does not rotate.
4. The method of claim 2, wherein the controlling the cleaning robot to mop the target area with the cleaning actions in the first set of cleaning actions comprises:
controlling the cleaning robot to mop a target area in a first cleaning sequence;
the controlling the cleaning robot to repeatedly mop the target area with cleaning actions in a second set of cleaning actions includes:
the control unit controls the cleaning robot to repeatedly mop the target area in a reverse direction opposite to the first cleaning sequence from a position where a previous mopping is finished.
5. The method of claim 2, wherein the controlling the cleaning robot to mop the target area with the cleaning actions in the first set of cleaning actions comprises:
controlling the cleaning robot to mop a target area in a first mopping path;
the controlling the cleaning robot to repeatedly mop the target area with cleaning behaviors of a second set of cleaning behaviors includes:
and controlling the cleaning robot to repeatedly mop the target area by a second mopping path, wherein the second mopping path is different from the first mopping path.
6. The method of claim 5, wherein the second mopping path intersects the first mopping path.
7. The method of claim 2, wherein the controlling the cleaning robot to mop the target area with the cleaning actions in the first set of cleaning actions comprises:
controlling the cleaning robot to mop the target area along a first track of the edge rotation mopping floor;
the controlling the cleaning robot to repeatedly mop the target area with cleaning behaviors of a second set of cleaning behaviors includes:
controlling the cleaning robot to repeatedly mop the target area along a second track of the edgewise rotation mopping, the second track intersecting the first track.
8. The method of claim 7, wherein the controlling the cleaning robot to repeatedly mop the target area in a second trajectory of edgewise rotational mopping comprises:
and controlling the cleaning robot to repeatedly mop the target area by taking the area missed to be dragged by the first track as a starting point and by taking a second track of edgewise rotating and mopping the floor.
9. The method of any of claims 1-8, wherein controlling the cleaning robot to mop the target area with the cleaning actions in the first set of cleaning actions comprises:
dividing the target area into a plurality of sub-areas according to the cleaning capacity of the cleaning robot;
controlling the cleaning robot to mop a target area with a cleaning action of a first set of cleaning actions, comprising:
controlling the cleaning robot to mopping the plurality of sub-areas with cleaning behaviors in a first cleaning behavior set respectively;
the controlling the cleaning robot to repeatedly mop the target area with cleaning actions in a second set of cleaning actions includes:
and controlling the cleaning robot to repeatedly mop the sub-areas of the plurality of sub-areas, which do not meet the requirement in the cleaning degree, by the cleaning behaviors in the second cleaning behavior set.
10. The method of claim 9, further comprising:
if a smaller sub-region with an area smaller than a preset area exists in the plurality of sub-regions, combining the smaller sub-region with at least one other sub-region, and enabling the area of the combined sub-region after combination to be smaller than or equal to the maximum area of single cleaning of the cleaning robot;
the controlling the cleaning robot to mop the plurality of sub-areas with the cleaning behaviors in the first set of cleaning behaviors respectively comprises:
and controlling the cleaning robot to mopping each uncombined subarea and each combined subarea by cleaning behaviors in a first cleaning behavior set.
11. The method of claim 9, wherein the controlling the cleaning robot repeatedly mops the sub-area of the plurality of sub-areas that is unsatisfactory in terms of degree of cleaning with a cleaning action of a second set of cleaning actions; the method comprises the following steps:
determining the number of subregions of the plurality of subregions with unsatisfactory cleaning degree;
if the number of the sub-areas with the cleaning degrees which do not meet the requirements in the plurality of sub-areas is at least two, merging the sub-areas with the cleaning degrees which do not meet the requirements;
and controlling the cleaning robot to repeatedly mop the merged at least two subareas with the cleaning degrees which do not meet the requirements.
12. A cleaning robot, characterized in that the cleaning robot comprises: a processor and a memory for storing a computer program; the processor is configured to execute the computer program and, when executing the computer program, implement a mopping method of a cleaning robot according to any one of claims 1-11.
13. 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 implement the mopping method of a cleaning robot according to any one of claims 1-11.
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