CN116115121A - Cleaning robot, control method, device and system thereof and storage medium - Google Patents

Abstract

The embodiment of the application provides a cleaning robot, a control method, a device, a system and a storage medium thereof, wherein the method comprises the following steps: the cleaning robot is controlled to clean a preset area through the brushing part and the mopping part, wherein when the cleaning robot monitors a preset ground medium, the cleaning robot is controlled to avoid the preset ground medium in a bypassing mode; determining an unclean area in the preset area; controlling the cleaning robot to at least maintain the cleaning piece of the cleaning robot; and controlling the cleaning robot to detect the preset floor medium in the uncleaned area and cleaning the detected preset floor medium. By avoiding the preset ground medium in a bypassing manner when the preset ground medium is monitored and controlling the cleaning robot to clean the preset ground medium after the cleaning robot maintains the cleaning robot, the cleaning robot can be prevented from carrying the dirty cleaning robot to the preset ground medium, and the preset ground medium is prevented from being polluted by dirt on the cleaning robot.

Description

Cleaning robot and its control method, device, system and storage medium

technical field

The present application relates to the field of cleaning technology, in particular to a cleaning robot and its control method, device, system and storage medium.

Background technique

At present, there are cleaning robots with brushing parts (such as side brushes) and mopping parts (such as mop). During the cleaning task of the cleaning robot, when there is a preset floor medium in the room, such as a carpet, if the cleaning robot goes up to the preset floor medium and cleans the preset floor medium, the cleaning robot will be wiped by dragging. After mopping the ground, the dirty mopping part is directly carried on the preset ground medium, resulting in the problem that the dirt on the mopping part contaminates the preset ground medium.

Contents of the invention

The present application provides a cleaning robot and its control method, device, system and storage medium, capable of mopping the dirt on the wiping parts to stain the preset ground medium.

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

Control the cleaning robot to clean the preset area by brushing and mopping, wherein when the cleaning robot detects the preset ground medium, control the cleaning robot to avoid the preset ground medium in a detour;

determining uncleaned areas in the predetermined area;

controlling the cleaning robot to at least maintain the mop of the cleaning robot;

The cleaning robot is controlled to clean the preset floor medium in the uncleaned area.

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

Wherein, the memory is used to store computer programs;

The processor is configured to execute the computer program and when executing the computer program, realize:

Steps of the aforementioned cleaning robot and its control method.

In a third aspect, an embodiment of the present application provides a cleaning robot, the cleaning robot includes a walking unit and a cleaning piece, the walking unit is used to drive the cleaning robot to move, and the cleaning piece is used to clean the ground;

the aforementioned control device.

In a fourth aspect, the embodiment of the present application provides a cleaning system, including:

A cleaning robot, the cleaning robot includes a walking unit and a cleaning piece, the walking unit is used to drive the cleaning robot to move, and the cleaning piece is used to clean the ground;

a base station for maintaining the cleaning robot; and

the aforementioned control device.

In the fifth aspect, the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the above method .

An embodiment of the present application provides a cleaning robot and its control method, device, system, and storage medium. The method includes: controlling the cleaning robot to clean a preset area by using brushes and mopping pieces, wherein the cleaning robot monitors When reaching the preset ground medium, control the cleaning robot to avoid the preset ground medium in a detour; determine the uncleaned area in the preset area; control the cleaning robot to at least drag the cleaning robot The wiper is maintained; the cleaning robot is controlled to clean the preset ground medium in the uncleaned area. By avoiding the preset floor medium in a detour when the preset floor medium is detected, and controlling the cleaning robot to clean the preset floor medium after the mopping member is maintained, it is possible to prevent the cleaning robot from carrying Dirty mops go up to the preset floor medium, causing dirt on the mop to stain the preset floor medium.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure content of the embodiments of the present application.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

FIG. 1 is a schematic flowchart of a control method for a cleaning robot provided in an embodiment of the present application;

Fig. 2 is a schematic block diagram of a cleaning robot in an embodiment;

Figure 3 is a schematic diagram of a cleaning system in one embodiment;

Fig. 4 is a schematic diagram of avoiding the carpet in a detour;

Fig. 5 is a schematic diagram of a preset area including a second target area in an embodiment;

Fig. 6 is a schematic diagram of a point set corresponding to an uncleaned area in an embodiment;

Fig. 7 is a schematic diagram when there are multiple uncleaned areas in one embodiment;

Fig. 8 is a schematic block diagram of a control device for a cleaning robot provided by an embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to FIG. 1 . FIG. 1 is a schematic flowchart of a method for controlling a cleaning robot provided in an embodiment of the present application. The cleaning robot control method can be applied to a cleaning robot or a cleaning system, and is used to control the cleaning robot so that the cleaning robot performs cleaning tasks and cleans the area corresponding to the cleaning task map.

As shown in FIG. 2 , the embodiment of the present application provides a cleaning robot 100 . Specifically, the cleaning robot 100 includes a walking unit 110, a cleaning part 120, and a control device 300; the walking unit 110 is used to drive the cleaning robot 100 to move, and the cleaning part 120 is used to clean the ground; the control device 300 is used to implement the present application. The steps of the control method of the cleaning robot in the embodiment.

The cleaning parts include but are not limited to at least one of the following: mopping parts and brushing parts. For example, the cleaning part includes a mopping part, which is used to mop the ground after wetting; the cleaning part may also include a brushing part, which is used to brush the ground.

The mopping piece is used for mopping the ground, and the number of the mopping piece can be one or more. The mopping member includes, for example, at least one of the following: a rotating mop, a flat mop, a roller mop, a crawler mop, etc., and of course it is not limited thereto. The dragging part is arranged at the bottom of the robot main body, specifically the position behind the bottom of the robot main body. A driving motor is arranged inside the main body of the robot, and two rotating shafts protrude from the bottom of the main body of the robot, and the dragging part is sleeved on the rotating shafts. The driving motor can drive the rotating shaft to rotate, so that the rotating shaft drives the dragging member to rotate.

The brushes include side brushes and/or center brushes. For example, when the cleaning robot uses the brush to sweep the floor, the side brush sweeps dirt such as dust to the middle area on the outside, and the middle sweep continues to sweep the dirt in the middle area to the dust collection device.

Optionally, the cleaning robot 100 is a cleaning robot integrating sweeping and mopping. The brushing part and the mopping part can work together, for example, the brushing part and the mopping part work at the same time, and the brushing part and the mopping part work continuously and alternately; of course , the brushing part and the mopping part can also work separately, that is, the brushing part performs the cleaning work alone, or the mopping part enters the mopping work independently.

It should be understood that the cleaning robot 100 described in the embodiment of the present application is only a specific example, and does not specifically limit the cleaning robot 100 in the embodiment of the present application. The cleaning robot 100 in the embodiment of the present application can also be implemented in other specific ways. For example, a cleaning robot may have more or fewer components in other implementations.

As shown in FIG. 3 , the cleaning system provided by the embodiment of the present application includes a cleaning robot 100 , a base station 200 and a control device 300 . The cleaning robot 100 can be used to automatically clean the floor, and the application scenarios of the cleaning robot 100 can be household cleaning, large-scale cleaning, and the like.

The base station 200 is used in cooperation with the cleaning robot 100 , and the base station 200 can at least be used for maintaining the cleaning parts of the cleaning robot 100 , such as cleaning or replacing the cleaning parts of the cleaning robot 100 . For example, the base station 200 may also charge the cleaning robot 100, and/or the base station 200 may also provide the cleaning robot 100 with a docking position, etc., and of course it is not limited thereto.

The cleaning system further includes a control device 300, and the control device 300 can be used to implement the steps of the cleaning robot control method of the embodiment of the present application. Optionally, the robot controller of the cleaning robot 100 and/or the base station controller of the base station 200 can be used alone or in cooperation as the control device 300 for implementing the steps of the cleaning robot control method in the embodiment of the present application; in other implementation manners Among them, the cleaning system includes a separate control device 300, which is used to realize the steps of the control method of the cleaning robot in the embodiment of the present application. The control device 300 can be set on the cleaning robot 100, or can be set on the base station 200; Limited to this, for example, the control device 300 may be a device other than the cleaning robot 100 and the base station 200, such as a home smart terminal, a master control device, and the like.

As shown in FIG. 1 , a method for controlling a cleaning robot according to an embodiment of the present application includes steps S110 to S130 .

S110. Control the cleaning robot to clean the preset area by brushing and mopping, wherein when the cleaning robot detects the preset ground medium, control the cleaning robot to avoid the preset ground in a detour medium.

For example, the preset area may be any area to be cleaned, such as a family space, a room unit of a family space, a partial area of a room unit, a large place or a partial area of a large place, and is certainly not limited thereto.

For example, the preset ground medium includes but is not limited to at least one of the following: carpets, floor mats, children's climbing mats, mats laid on the ground, and of course is not limited thereto; for example, the preset ground medium also It can be the medium laid on the ground that requires special treatment when encountered by other cleaning robots, and there is no limitation here; for the convenience of description, the preset ground medium is mainly carpet as an example for illustration.

Exemplarily, please refer to Figure 4. The cleaning robot cleans the preset area S by brushing and mopping. The mop wets the carpet, and the wet carpet picks up dirt and bacteria.

In some implementations, the controlling the cleaning robot to avoid the preset ground medium in a detour includes: controlling the cleaning robot to perform outer edge exploration on the preset ground medium; when the outer edge When the exploration ends, the boundary of the first target area is determined according to the path explored along the outer edge; according to the boundary of the first target area, the cleaning robot is controlled to avoid the preset ground medium and continue to Area is cleaned.

As shown in Figure 4, when exploring the outer edge of the carpet, the cleaning robot performs edge exploration on the outside of the carpet. When the cleaning robot is exploring along the outer edge, the orthographic projection of the geometric center of the cleaning robot does not fall into the orthographic projection of the carpet. The extent to which the carpeted area is dirty. At the end of the outer edge exploration, the boundary of the carpet is determined according to the path of the outer edge exploration.

Optionally, the cleaning robot may also perform inner-edge exploration on the preset ground medium to determine the boundary of the first target area, and at this time, the extent to which the mopping member wets or soils the carpet area may also be reduced. When exploring the inner edge, the cleaning robot explores the carpet along the inner side of the carpet. During the process of the cleaning robot exploring along the inner side, at least a part of the trajectory formed by the orthographic projection of the geometric center of the cleaning robot coincides with the orthographic projection of the carpet. The boundary of the carpet determined by the cleaning robot using the inner edge exploration mode to explore the carpet has higher integrity. For example, when obstacles are placed around the carpet, the cleaning robot uses the inner edge exploration mode to prevent obstacles from hindering the cleaning robot's exploration. OK, you can get full carpet borders.

Exemplarily, when the preset ground medium is monitored, an outer edge exploration is performed on the preset ground medium to determine the boundary of the first target area; when the preset area is continued to be cleaned afterwards, it can be directly based on the The boundary of the first target area goes around the first target area to avoid the preset ground medium of the first target area; the preset ground medium of the first target area may not be monitored, or the preset ground medium of the first target area may not be monitored, or the preset ground medium of the first target area may be monitored. The ground medium then circumvents the preset ground medium according to the boundary of the first target area.

Optionally, the first target area determined through outer edge exploration may be marked in the preset area; so that when the preset area is cleaned again later, the first target area will not be cleaned by mopping. In some implementation manners, the first target area marked in the preset area may also be referred to as the second target area.

In some embodiments, please refer to FIG. 5 , the preset area includes a second target area T. Referring to FIG. Exemplarily, step S110 controls the cleaning robot to clean the preset area by brushing and mopping, including: controlling the cleaning robot to remove the second Areas outside the target area T are cleaned. When the area of the preset area S other than the second target area T is cleaned by brushing and mopping, when the preset ground medium is detected, the cleaning robot is controlled to go around Avoid the preset ground medium.

Wherein, the second target area of the preset area may include the target area determined by controlling the cleaning robot to explore the preset ground medium along the edge, and/or include the target area determined according to the user's area setting operation. The human-computer interaction interface marks the second target area in the preset area according to the position of the carpet, but of course it is not limited thereto. For example, the second target area is provided with a carpet in an actual scene, may be provided with a carpet, or may not be provided with a preset ground medium such as a carpet. When the preset area is cleaned by brushing and mopping, the second target area is not cleaned, for example, it can prevent the mopping from wetting the carpet and other preset ground media in the second target area, as well as wet carpets, etc. Preset the floor medium to be dirty and harbor bacteria.

S120. Determine an uncleaned area in the preset area.

Exemplarily, after the cleaning of the preset area is completed, for example, after cleaning by brushing and mopping members, or for example, after cleaning the preset floor medium and the area outside the second target area, Uncleaned areas in the preset area are determined.

Exemplarily, the uncleaned area is determined according to the movement trajectory of the cleaning robot when avoiding the preset ground medium in a detour manner. For example, the determining the uncleaned area in the preset area includes: determining the uncleaned area in the preset area according to the boundary of the first target area. For example, the uncleaned area includes at least a first target area determined by performing outer edge exploration on a preset ground medium.

Exemplarily, when the cleaning robot cleans the preset area by using the brush and mop, it does not clean the monitored preset ground medium, nor does it clean the second target area. For example, when the preset area includes the second target area, when determining the uncleaned area in the preset area, the uncleaned area also includes the second target area. Of course, it is not limited thereto. For example, when the cleaning robot cleans the preset area by brushing and mopping, it can monitor the carpet in the second target area, and control the cleaning robot to go around when the second target area detects the carpet. The second target area can be cleaned by brushing and mopping when no carpet is detected.

S130. Control the cleaning robot to at least maintain the mopping member of the cleaning robot.

It should be noted that step S130 may be performed after step S120, or may be performed after step S110 and before step S120, or may be performed simultaneously with step S120. Specifically, step S140 is executed after it is determined that there is an uncleaned area in the preset area and the mopping member is maintained.

Wherein, maintaining the mopping member includes but is not limited to at least one of the following: cleaning, replacement, and drying.

In some embodiments, the cleaning robot can maintain the mopping piece by itself. For example, the cleaning robot includes a water washing device, which is used to clean the mopping piece, and can also control the fast rotation of the mopping piece to get rid of water. The water that is thrown off can be collected. In some embodiments, the cleaning robot can move to the base station, and the base station at least performs maintenance on the mop, such as replacing or cleaning, for example, the base station cooperates with the cleaning robot to clean the mop. In some implementations, the control device of the cleaning robot can output prompt information on the human-computer interaction component, prompting the user to maintain the mop.

S140. Control the cleaning robot to clean the preset floor medium in the uncleaned area.

After the mop is maintained, the cleaning robot is controlled to clean the preset ground medium in the uncleaned area. Since the mop is relatively clean after maintenance, it can prevent wetting the preset ground medium and/or prevent pollution. Set ground medium.

Optionally, the cleaning robot is controlled to clean the preset floor medium in the uncleaned area through the brushing part, and when the preset floor medium in the uncleaned area is cleaned by the brushing part, the dragging part can be controlled. The wiper is lifted to prevent wetting the preset floor medium and/or prevent contamination of the preset floor medium, and can also reduce friction with the preset floor medium, improve cleaning efficiency, and reduce damage to the wiper and preset floor medium .

In some implementations, the controlling the cleaning robot to clean the preset floor medium in the uncleaned area includes: when the target setting item is set to need to clean the preset floor medium, controlling the cleaning robot Clean the preset floor medium in the uncleaned area.

Exemplarily, whether to clean the preset floor medium can be determined according to user settings, or it can also be determined based on preset control logic whether to clean the preset floor medium. For example, the cleaning robot can autonomously determine the carpet cleaning decision and its execution strategy. For example, if it is set to clean the carpet according to a preset cycle, when the current time is the carpet cleaning time corresponding to the preset cycle, Determine that the carpet needs to be cleaned.

In some embodiments, the controlling the cleaning robot to clean the preset floor medium in the uncleaned area includes: controlling the cleaning robot to detect the preset floor medium in the uncleaned area, and detecting the detected The preset floor medium for cleaning. For example, when the target setting item is set to need to clean the preset floor medium, the cleaning robot is controlled to detect the preset floor medium in the uncleaned area and clean the detected preset floor medium. Optionally, the cleaning robot is controlled to clean the detected preset ground medium through the brush.

When the cleaning robot avoids the preset ground medium in a detour manner, it may perform outer edge exploration on the preset ground medium, and determine the boundary of the first target area according to the outer edge explored path. In some implementations, the contour of the preset ground medium determined when determining the boundary of the first target area is not accurate enough, for example, it can be called rough inspection; and the prediction of the second target area in the uncleaned area It is assumed that the ground medium may also move, so the position of the preset ground medium in the uncleaned area is not accurate enough; by controlling the cleaning robot to detect the preset ground medium in the uncleaned area, and the detected preset ground The cleaning of the medium can accurately clean the actual preset ground medium in the uncleaned area.

In some implementations, the controlling the cleaning robot to detect preset ground media in the uncleaned area, and to clean the detected preset ground media includes the following steps S141 to S143.

S141. Obtain a point set corresponding to the uncleaned area where the preset ground medium is located, where the point set includes a plurality of contour positions on the contour of the uncleaned area.

Exemplarily, the outline of the uncleaned area may be the boundary of the first target area. As shown in Figure 6, one of the uncleaned areas is the target area determined by exploring the outer edge of the preset ground medium, and the point set corresponding to this uncleaned area is called point set a, where each black point represents point set a The contour position in , the contour position is, for example, the position where the preset ground medium is detected each time when the preset ground medium is explored on the outer edge; for example, please refer to point set a in Figure 6, where the cleaning robot For the preset floor medium, such as carpet, when the outer edge is explored, the point set a corresponding to the uncleaned area where the preset floor medium is located is determined according to the trajectory of the outer edge edge exploration, and the point set a includes the uncleaned area. Multiple contour locations on the contour of the region.

Another uncleaned area is the preset second target area T, and the point set corresponding to this uncleaned area is called point set b, wherein each black dot represents a contour position in point set b. Exemplarily, please refer to point set b in FIG. The point set b corresponding to the uncleaned area where the ground medium is located is preset. Optionally, when the cleaning robot does not clean the second target area T, such as not monitoring whether there is a carpet in the second target area T, it can be determined according to the boundary of the second target area T where the second target area is located. The point set b corresponding to the uncleaned area; for example, the boundary of the second target area T is discretized into a plurality of points with the same interval to obtain the point set b, of course it is not limited thereto.

S142. Determine several target points according to the aggregation degree of multiple contour positions in the point set in the preset area.

When more outline positions are gathered in a certain sub-area in the preset area, the sub-area has a higher probability to be a preset ground medium, such as a carpet. For example, the aggregation degree of multiple contour positions corresponding to the target point in the preset area is greater than the aggregation degree of non-target points in the preset area; that is, the position of the target point has a higher Probability is the default ground medium.

Exemplarily, the determining several target points according to the aggregation degree of multiple contour positions in the point set in the preset area includes: according to the concentration of multiple contour positions in the point set in the preset area The aggregation degree determines multiple target points, and an arrangement sequence of the multiple target points. For example, the target points with a higher degree of aggregation are arranged in the front, and the positions of the target points in the front have a higher probability of being the default ground medium.

Optionally, determining a plurality of target points and an arrangement order of the plurality of target points according to the aggregation degree of multiple contour positions in the point set in the preset area includes: determining the point set The number of adjacent contour positions of each contour position, the adjacent contour position is a contour position whose distance from the contour position in the preset area is less than or equal to a preset distance threshold; according to the proximity of each contour position in the point set The number of contour positions, determining a plurality of target points in the contour positions in the point set, and determining the arrangement order of the plurality of target points in descending order of the number. According to the number of neighboring contour positions of each contour position, the aggregation degree corresponding to each contour position is determined, so that the aggregation degree can indicate the probability that each contour position is a preset ground medium.

For example, the preset distance threshold is determined according to the diameter of the cleaning robot, for example, the preset distance threshold is 0.5 to 1.5 times the diameter of the cleaning robot, such as 1 time, and of course it is not limited thereto.

Exemplarily, the determining several target points according to the aggregation degree of multiple contour positions in the point set in the preset area includes: according to the concentration of multiple contour positions in the point set in the preset area Aggregation degree, determining a plurality of target points; and determining an arrangement order of the plurality of target points according to the shortest total path traversing the plurality of target points. For example, starting from the base station or the door of the room, the shortest path search is performed on the determined multiple target points to obtain the shortest total path, and the multiple target points are determined according to the order of the multiple target points on the shortest total path The order of the points. During the process of moving to the plurality of target points, the preset ground medium can be detected, and when the detected preset ground medium is cleaned, the moving and cleaning efficiency can be improved.

S143. Control the cleaning robot to move to the several target points, detect preset ground media during the movement to the several target points, and clean the detected preset ground media.

The location of the target point has a high probability of being the preset ground medium. By controlling the cleaning robot to move to the target point, it is convenient for the cleaning robot to quickly reach the area where the preset ground medium is located, improving cleaning efficiency.

Exemplarily, the controlling the cleaning robot to move to the several target points, and detecting the preset ground medium during the movement to the several target points, and cleaning the detected preset ground medium includes : Determine the current target point according to the arrangement order of the multiple target points; control the cleaning robot to move to the current target point, and detect the preset ground medium during the movement to the current target point; when the The cleaning robot detects a preset ground medium before moving to the current target point or when moving to the current target point, and cleans the detected preset ground medium. By determining the arrangement order of the target points according to the aggregation degree of the contour positions, and controlling the movement trajectory of the cleaning robot according to the arrangement order of multiple target points, the cleaning robot will preferentially move to the right where the higher probability is the preset ground medium, so that Because the cleaning robot quickly reaches the area where the ground medium is preset.

For example, when the cleaning robot moves to the current target point, the preset ground medium has not been detected, and according to the arrangement sequence of the multiple target points, it is determined that the next target point of the current target point is the current target point. a target point; and controlling the cleaning robot to move to the current target point, and detecting a preset ground medium during the movement to the current target point. If the cleaning robot does not find the preset ground medium such as the carpet when it moves to the current target point, it will continue to navigate to the next target point to prevent missing the preset ground medium such as the carpet. Optionally, when the preset ground medium is not detected when moving to any target point in the multiple target points of the point set, the preset ground medium can be moved and detected according to the target points of other point sets .

In some implementations, when controlling the cleaning robot to clean the detected preset ground medium, it includes: controlling the cleaning robot to explore the inner edge of the detected preset ground medium to obtain the preset The contour of the floor medium: according to the contour of the preset floor medium, the cleaning robot is controlled to clean the preset floor medium in an arcuate path through the brushing member. In some implementations, the inner edge exploration method can more accurately determine the contour of the preset floor medium, which can be called fine inspection, and can accurately clean the actual preset floor medium in the uncleaned area.

For example, inner edge exploration means that the cleaning robot explores the carpet along the inner side of the carpet. During the process of the cleaning robot's edge exploration on the inner side, at least a part of the trajectory formed by the orthographic projection of the geometric center of the cleaning robot coincides with the orthographic projection of the carpet. . The integrity of the contour of the carpet determined after the cleaning robot explores the carpet by using inner edge exploration is higher. For example, there are obstacles placed around the carpet, and when the cleaning robot uses the outer edge exploration mode to explore the carpet, the obstacles may hinder the exploration behavior of the cleaning robot, so that the complete outline of the carpet cannot be obtained.

For example, the controlling the cleaning robot to clean the preset floor medium in an arcuate path through the brushing member according to the profile of the preset floor medium includes: according to the profile of the preset floor medium Contour, control the cleaning robot to clean the preset ground medium with a first arcuate path through the brushing part; according to the profile of the preset ground medium, control the cleaning robot to pass through the brushing part to A second arcuate path cleans the predetermined floor medium, wherein the second arcuate path is orthogonal to the first arcuate path. It can fully clean multiple positions of the preset ground medium and improve the cleaning effect.

Optionally, the method further includes: determining and marking a second target area in the preset area according to the profile of the preset ground medium. When the cleaning robot is controlled to clean the preset area through the brush and mop, the second target area may not be cleaned, so as to prevent the mop from wetting the preset ground medium such as the carpet in the second target area.

Exemplarily, the method further includes: when the cleaning robot cleans the preset area with the brush and mop, determining the position of the non-preset floor medium in the preset area; When the ratio of the area occupied by non-preset ground medium positions in the second target area of the set area is greater than or equal to a preset area threshold, the second target area in the preset area is deleted.

In the second target area marked in the preset area, the preset floor medium such as carpet may be removed or moved in the actual scene; If the ground medium position is set, and when the actual non-preset ground medium position occupies a large area in the marked second target area, it can be determined that the preset ground medium such as carpet in the second target area may be removed or a large area If the second target area is moved, the second target area can be deleted to prevent omission of cleaning the second target area by brushing and mopping.

In some embodiments, the controlling the cleaning robot to clean the preset floor medium in the uncleaned area includes: when there are multiple uncleaned areas, according to the relationship between the uncleaned area and the door of the room The distance and/or the distance from the base station determine the cleaning order of the multiple uncleaned areas; control the cleaning robot to perform cleaning on the preset floor medium of the uncleaned areas according to the cleaning order of the multiple uncleaned areas clean.

Exemplarily, the controlling the cleaning robot to detect preset floor media in the uncleaned area, and to clean the detected preset floor media includes: when there are multiple uncleaned areas, according to the The distance between the uncleaned area and the door of the room and/or the distance from the base station, determine the detection and cleaning sequence of multiple uncleaned areas; control the cleaning robot according to the detection and cleaning order of multiple uncleaned areas, Detect preset ground media in each of the uncleaned areas, and clean the detected preset ground media.

Referring to FIG. 7 , there are multiple uncleaned areas, including target areas corresponding to carpet 1 , carpet 2 and carpet 3 . By determining the detection and cleaning sequence of multiple uncleaned areas according to the distance between each uncleaned area and the door of the room and/or the distance from the base station 200, the efficiency of multiple uncleaned areas can be improved.

Exemplarily, the determining the cleaning order of the uncleaned areas according to the distance between the uncleaned area and the door of the room and/or the distance to the base station includes: according to the distance between the uncleaned area and the door of the room Determining the cleaning order of the multiple uncleaned areas in ascending order; or determining the cleaning order of the uncleaned areas in ascending order of the distance between the uncleaned area and the base station, which can be Increased efficiency for multiple said uncleaned areas. Please refer to Figure 7, the uncleaned areas corresponding to carpet 1, carpet 2 and carpet 3 are arranged in descending order according to the distance from the door of the room/base station 200, and are the uncleaned areas corresponding to carpet 2, carpet 3 and carpet 1 ; then the cleaning robot can be controlled to move to some target points in the corresponding point set of the carpet 2, and to detect the preset ground medium in the process of moving to the several target points, and to detect the preset ground medium. Cleaning; then move and detect the preset ground medium in turn for several target points in the corresponding points of carpet 3 and carpet 1.

The method for controlling a cleaning robot provided in an embodiment of the present application includes: controlling the cleaning robot to clean a preset area through brushes and mopping pieces, wherein when the cleaning robot detects a preset ground medium, control the cleaning The robot avoids the preset ground medium in a detour manner; determines the uncleaned area in the preset area; controls the cleaning robot to at least maintain the mop of the cleaning robot; controls the cleaning robot to The preset floor medium in the uncleaned area is cleaned. By avoiding the preset floor medium in a detour when the preset floor medium is detected, and controlling the cleaning robot to clean the preset floor medium after the mopping member is maintained, it is possible to prevent the cleaning robot from carrying Dirty mops go up to the preset floor medium, causing dirt on the mop to stain the preset floor medium.

Please refer to FIG. 8 in conjunction with the above embodiments. FIG. 8 is a schematic block diagram of a control device 300 provided by an embodiment of the present application. The control device 300 includes a processor 301 and a memory 302 .

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

Specifically, the processor 301 may be a micro-controller unit (Micro-controllerUnit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 301 is configured to run a computer program stored in the memory 302, and implement the steps of the method in any of the foregoing embodiments when executing the computer program.

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

Control the cleaning robot to clean the preset area by brushing and mopping, wherein when the cleaning robot detects the preset ground medium, control the cleaning robot to avoid the preset ground medium in a detour;

determining uncleaned areas in the predetermined area;

controlling the cleaning robot to at least maintain the mop of the cleaning robot;

The cleaning robot is controlled to clean the preset floor medium in the uncleaned area.

The specific principles and implementation manners of the control device provided in the embodiments of the present application are similar to the methods in the foregoing embodiments, and will not be repeated here.

It can be understood that the embodiment of the present application also provides a cleaning robot 100, the cleaning robot 100 includes the aforementioned control device 300, the control device 300 is, for example, a robot controller, and the control device 300 is used to implement the steps of the method in the embodiment of the present application .

An embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the method in any of the above-mentioned embodiments .

Wherein, the computer-readable storage medium may be an internal storage unit of the control device described in any of the foregoing embodiments, such as a hard disk or a memory of the control device. The computer-readable storage medium can also be an external storage device of the control device, such as a plug-in hard disk equipped on the control device, a smart memory card (Smart MediaCard, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

It should be understood that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application.

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

The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (20)

1. A cleaning robot and a control method thereof, characterized in that, comprising: Control the cleaning robot to clean the preset area by brushing and mopping, wherein when the cleaning robot detects the preset ground medium, control the cleaning robot to avoid the preset ground medium in a detour; determining uncleaned areas in the predetermined area; controlling the cleaning robot to at least maintain the mop of the cleaning robot; The cleaning robot is controlled to clean the preset floor medium in the uncleaned area. 2. The control method according to claim 1, wherein the controlling the cleaning robot to clean the preset ground medium in the uncleaned area comprises: When the target setting item is set to need to clean the preset floor medium, the cleaning robot is controlled to clean the preset floor medium in the uncleaned area. 3. The control method according to claim 1, wherein the controlling the cleaning robot to avoid the preset ground medium in a detour includes: controlling the cleaning robot to explore the outer edge of the preset ground medium; When the outer edge exploration ends, determine the boundary of the first target area according to the outer edge exploration path; According to the boundary of the first target area, the cleaning robot is controlled to avoid the preset ground medium and continue to clean the preset area. 4. The control method according to claim 3, wherein the determining the uncleaned area in the preset area comprises: Uncleaned areas in the preset area are determined according to boundaries of the first target area. 5. The control method according to claim 1, wherein the preset area includes a second target area, and the control cleaning robot cleans the preset area by brushing and mopping, comprising: controlling The cleaning robot cleans the area in the preset area except the second target area by brushing and mopping; When determining the uncleaned area in the preset area, the uncleaned area includes the second target area. 6. The control method according to any one of claims 1-5, wherein the controlling the cleaning robot to clean the preset ground medium in the uncleaned area comprises: The cleaning robot is controlled to detect preset ground media in the uncleaned area, and to clean the detected preset ground media. 7. The control method according to claim 6, wherein the controlling the cleaning robot to detect a preset ground medium in the uncleaned area, and cleaning the detected preset ground medium comprises: Acquiring a point set corresponding to the uncleaned area where the preset ground medium is located, the point set including a plurality of contour positions on the contour of the uncleaned area; Determining a number of target points according to the aggregation degree of multiple contour positions in the point set in the preset area; Controlling the cleaning robot to move to the several target points, detecting preset ground media in the process of moving to the several target points, and cleaning the detected preset ground media. 8. The control method according to claim 7, wherein said determining a number of target points according to the aggregation degree of a plurality of contour positions in said point set in said preset area comprises: Determining a plurality of target points and an arrangement order of the plurality of target points according to the aggregation degree of the plurality of contour positions in the point set in the preset area; The controlling the cleaning robot to move to the several target points, and detecting the preset ground medium in the process of moving to the several target points, and cleaning the detected preset ground medium includes: determining the current target point according to the arrangement order of the plurality of target points; controlling the cleaning robot to move to the current target point, and detecting a preset ground medium during the movement to the current target point; When the cleaning robot detects a preset ground medium before moving to the current target point or when moving to the current target point, and cleans the detected preset ground medium. 9. The control method according to claim 8, wherein the controlling the cleaning robot to move to the several target points, and detecting the preset ground medium in the process of moving to the several target points, also include: When the cleaning robot moves to the current target point, the preset ground medium has not been detected, and according to the arrangement sequence of the plurality of target points, it is determined that the next target point of the current target point is the current target point; and Controlling the cleaning robot to move to the current target point, and detecting a preset ground medium in the process of moving to the current target point. 10. The control method according to claim 8, characterized in that, according to the aggregation degree of a plurality of contour positions in the point set in the preset area, a plurality of target points are determined, and the plurality of target points The order of the points, including: determining the number of neighboring contour positions of each contour position in the point set, the neighboring contour positions being contour positions in the preset area whose distance from the contour position is less than or equal to a preset distance threshold; According to the number of adjacent contour positions of each contour position in the point set, determine a plurality of target points in the contour positions in the point set, and determine the arrangement of the plurality of target points in descending order according to the number order. 11. The control method according to claim 10, wherein the preset distance threshold is determined according to the diameter of the cleaning robot. 12. The control method according to claim 6, wherein when controlling the cleaning robot to clean the detected preset ground medium, it includes: controlling the cleaning robot to explore the inner edge of the detected preset ground medium, so as to obtain the contour of the preset ground medium; According to the profile of the preset floor medium, the cleaning robot is controlled to clean the preset floor medium in an arcuate path through the brushing member. 13. The control method according to claim 12, wherein the method further comprises: A second target area in the preset area is determined and marked according to the profile of the preset ground medium. 14. The control method according to claim 13, wherein the method further comprises: When the cleaning robot cleans the preset area by brushing and mopping, determine the position of the non-preset ground medium in the preset area; When the proportion of the area occupied by non-preset ground medium positions in the second target area of the preset area is greater than or equal to a preset area threshold, the second target area in the preset area is deleted. 15. The control method according to any one of claims 1-5, wherein the controlling the cleaning robot to clean the preset ground medium in the uncleaned area comprises: When there are multiple uncleaned areas, according to the distance between the uncleaned area and the door of the room and/or the distance to the base station, determine the cleaning order of the multiple uncleaned areas; The cleaning robot is controlled to clean the preset floor medium in the uncleaned areas according to the cleaning order of the multiple uncleaned areas. 16. The control method according to claim 15, wherein, according to the distance between the uncleaned area and the door of the room and/or the distance to the base station, determining the cleaning sequence of the uncleaned areas includes : Determining the cleaning order of the multiple uncleaned areas in ascending order of the distance between the uncleaned areas and the door of the room; or The cleaning order of the multiple uncleaned areas is determined in ascending order of the distances between the uncleaned areas and the base station. 17. A control device for a cleaning robot, characterized in that the control device includes a memory and a processor; Wherein, the memory is used to store computer programs; The processor is configured to execute the computer program and when executing the computer program, realize: The steps of the cleaning robot and its control method according to any one of claims 1-16. 18. A cleaning robot, characterized in that the cleaning robot includes a walking unit and a cleaning piece, the walking unit is used to drive the cleaning robot to move, and the cleaning piece is used to clean the ground; The cleaning robot further comprises the control device as claimed in claim 17 . 19. A cleaning robot system, characterized in that it comprises: A cleaning robot, the cleaning robot includes a walking unit and a cleaning piece, the walking unit is used to drive the cleaning robot to move, and the cleaning piece is used to clean the ground; a base station for at least maintaining the cleaning parts of the cleaning robot; and A control device as claimed in claim 17. 20. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes: The steps of the cleaning robot and its control method according to any one of claims 1-16.

Images