CN116115121A

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

Info

Publication number: CN116115121A
Application number: CN202211096794.7A
Authority: CN
Inventors: 王锦涛; 龚鼎; 林晓龙
Original assignee: Yunjing Intelligence Technology Dongguan Co Ltd; Yunjing Intelligent Shenzhen Co Ltd
Current assignee: Yunjing Intelligence Technology Dongguan Co Ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2022-09-08
Filing date: 2022-09-08
Publication date: 2023-05-16
Also published as: WO2024051705A1

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, control method, device and system thereof and storage medium

Technical Field

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

Background

Currently there are cleaning robots with a brush (e.g. side brush) and a mop (e.g. mop cloth). In the process that the cleaning robot performs a cleaning task, when a preset floor medium such as a carpet exists in a room, if the cleaning robot is on the preset floor medium and cleans the preset floor medium, a problem occurs in that the cleaning robot directly brings the preset floor medium on the dirty mopping member after mopping the floor by the mopping member, resulting in the dirt on the mopping member to dirty the preset floor medium.

Disclosure of Invention

The application provides a cleaning robot, a control method, a control device, a control system and a storage medium thereof, which can drag dirt on a cleaning piece to pollute a preset ground medium.

In a first aspect, embodiments of the present application provide a cleaning robot and a control method thereof, including:

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 a cleaning piece of the cleaning robot;

And controlling the cleaning robot to clean the preset floor medium of the uncleaned area.

In a second aspect, embodiments of the present application provide a control device of a cleaning robot, the control device including a memory and a processor;

wherein the memory is used for storing a computer program;

the processor is configured to execute the computer program and implement, when the computer program is executed:

the step of the cleaning robot and the control method thereof.

In a third aspect, embodiments of the present application provide a cleaning robot, where the cleaning robot includes a walking unit for driving the cleaning robot to move, and a cleaning member for cleaning a floor;

the control device.

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

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

the base station is used for maintaining the cleaning robot; and

the control device.

In a fifth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program, which when executed by a processor causes the processor to implement the steps of the method described above.

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 a cleaning piece of the cleaning robot; and controlling the cleaning robot to clean the preset floor medium of the uncleaned area. 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.

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

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a control method of a cleaning robot according to an embodiment of the present application;

FIG. 2 is a schematic block diagram of a cleaning robot in one embodiment;

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

FIG. 4 is a schematic illustration of bypassing a carpet in one embodiment;

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 set of points corresponding to an unclean area in one embodiment;

FIG. 7 is a schematic diagram of an uncleaned area in multiple embodiments;

fig. 8 is a schematic block diagram of a control device of a cleaning robot provided in an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

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

Referring to fig. 1, fig. 1 is a flow chart of a control method of a cleaning robot according to an embodiment of the present application. The control method of the cleaning robot can be applied to the cleaning robot or a cleaning system and used for controlling the cleaning robot so that the cleaning robot can execute cleaning tasks and cleaning the corresponding area of the cleaning task map.

As shown in fig. 2, the present embodiment provides a cleaning robot 100. Specifically, the cleaning robot 100 includes a traveling unit 110, a cleaning member 120, and a control device 300; the walking unit 110 is used for driving the cleaning robot 100 to move, and the cleaning member 120 is used for cleaning the ground; the control device 300 is used for implementing the steps of the control method of the cleaning robot according to the embodiment of the present application.

The cleaning elements include, but are not limited to, at least one of the following: a mopping piece and a brushing piece. For example, the cleaning elements include a mopping element for mopping the floor after wetting; the cleaning member may further comprise a brushing member for brushing the floor surface.

The mopping pieces are used for mopping the ground, and the number of the mopping pieces can be one or more. The mop element comprises, for example, at least one of the following: the rotary mop, flat mop, roller mop, crawler mop, etc., are of course not limited thereto. The mopping piece is arranged at the bottom of the robot main body, in particular to a position of the bottom of the robot main body, which is at a rear position. The inside driving motor that is equipped with of robot main part stretches out two pivots at the bottom of robot main part, drags and wipes the piece and cup joints in the pivot. The driving motor can drive the rotating shaft to rotate, so that the rotating shaft drives the mopping piece to rotate.

The brushing elements comprise side brushing elements and/or middle brushing elements. For example, when the cleaning robot uses the brushing member to sweep the floor, the side brushing member sweeps dirt such as dust to the middle area on the outer side, and the middle brushing member continues to sweep the dirt in the middle area to the dust collection device.

Alternatively, the cleaning robot 100 is a cleaning robot with sweeping and mopping functions, for example, the sweeping member and the mopping member work simultaneously, and the sweeping member and the mopping member work continuously and alternately; of course, the brushing member and the wiping member may be operated separately, i.e., the brushing member alone performs the cleaning operation, or the wiping member alone performs the wiping operation.

It should be understood that the cleaning robot 100 described in the embodiments of the present application is only one specific example, and is not limited to the specific configuration of the cleaning robot 100 in the embodiments of the present application, and the cleaning robot 100 in the embodiments of the present application may be other specific implementations. For example, in other implementations, the cleaning robot may have more or fewer components.

As shown in fig. 3, the cleaning system provided in the embodiment of the present application includes a cleaning robot 100, a base station 200, and a control device 300. The cleaning robot 100 may be used for automatically cleaning the floor, and an application scenario of the cleaning robot 100 may be household indoor cleaning, large-scale place cleaning, and the like.

The base station 200 is used in conjunction with the cleaning robot 100, and the base station 200 may be used at least for maintenance of cleaning members of the cleaning robot 100, such as cleaning or replacement of cleaning members 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 a docking position or the like to the cleaning robot 100, although not limited thereto.

The cleaning system further comprises a control device 300, which control device 300 may be used for implementing the steps of the control method of the cleaning robot of the embodiments of the present application. Alternatively, the robot controller of the cleaning robot 100 and/or the base station controller of the base station 200 may be used alone or in combination as the control device 300 for implementing the steps of the control method of the cleaning robot of the embodiment of the present application; in other embodiments, the cleaning system includes a separate control device 300 for implementing the steps of the control method of the cleaning robot of the embodiments of the present application, the control device 300 may be provided on the cleaning robot 100 or may be provided on the base station 200; of course, the control apparatus 300 is not limited thereto, and may be, for example, an apparatus other than the cleaning robot 100 and the base station 200, such as a home intelligent terminal, a general control device, and the like.

As shown in fig. 1, the control method of the cleaning robot according to an embodiment of the present application includes steps S110 to S130.

S110, controlling a cleaning robot to clean a preset area through a brushing part and a 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.

For example, the preset area may be any one of an area to be cleaned, such as a home space, a room unit of the home space, a partial area of a room unit, a large-sized place, or a partial area of a large-sized place, but is not limited thereto.

For example, the predetermined surface medium includes, but is not limited to, at least one of: carpets, foot pads, climbing pads for children, summer sleeping mats laid on the ground, but are not limited to such; for example, the preset floor medium may be a medium laid on the floor, which needs to be specially treated when other cleaning robots encounter, which is not limited herein; for convenience of description, the carpet will be mainly described by taking a preset floor medium as an example.

For example, referring to fig. 4, the cleaning robot cleans the preset area S through the brushing member and the mopping member, and bypasses the carpet when the carpet is monitored, i.e., does not mopping the carpet, so as to prevent the mopping member from wetting the carpet, and the wet carpet from being stained with dirt and bacteria.

In some embodiments, the controlling the cleaning robot to bypass the preset floor medium includes: controlling the cleaning robot to search the outer edges of the preset ground medium; when the outer edge exploration is finished, determining the boundary of a first target area according to the path of the outer edge exploration; and controlling the cleaning robot to avoid the preset ground medium and continuously cleaning the preset area according to the boundary of the first target area.

As shown in fig. 4, when the carpet is searched for the outer edge, the cleaning robot searches for the outer edge of the carpet. In the process that the cleaning robot performs edge exploration on the outer side, the front projection of the geometric center of the cleaning robot does not fall into the front projection of the carpet, so that the range of motion of the cleaning robot in the process of edge exploration is controlled to reduce the degree of wetting or soiling of a carpet area by the cleaning member. At the end of the edge finding, the boundary of the carpet is determined from the path of the edge finding.

Alternatively, the cleaning robot may also perform an inner edge search on the preset floor medium to determine the boundary of the first target area, where the extent to which the mop wets or contaminates the carpet area may also be reduced. When the inner edge exploration is carried out, the cleaning robot carries out edge exploration on the carpet on the inner side of the carpet, and in the process that the cleaning robot carries out edge exploration on the inner side, at least a part of a track formed by the orthographic projection of the geometric center of the cleaning robot is overlapped with the orthographic projection of the carpet. The cleaning robot adopts the inner edge exploration mode to explore the carpet, and the integrity of the determined boundary of the carpet is higher, for example, when an obstacle is placed around the carpet, the cleaning robot adopts the inner edge exploration mode to prevent the obstacle from obstructing the exploration row of the cleaning robot, and the boundary of the complete carpet can be obtained.

Illustratively, when the preset ground medium is monitored, performing primary outer edge exploration on the preset ground medium to determine the boundary of the first target area; when the cleaning of the preset area is continued, the first target area can be directly bypassed according to the boundary of the first target area so as to avoid the preset ground medium of the first target area; the preset surface medium of the first target area may not be monitored, or may be bypassed according to the boundary of the first target area after the preset surface medium is monitored.

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

In some embodiments, referring to fig. 5, the preset area includes a second target area T. Illustratively, step S110 controls the cleaning robot to clean the preset area through the brushing member and the mopping member, including: and controlling the cleaning robot to clean the areas except the second target area T in the preset area S through the brushing part and the wiping part. And when the preset floor medium is monitored during cleaning of the areas except the second target area T in the preset area S through the brushing part and the wiping part, controlling the cleaning robot to avoid the preset floor medium in a bypassing mode.

The second target area of the preset area may include a target area determined by controlling the cleaning robot to perform edge-finding on the preset floor medium, and/or include a target area determined according to an area setting operation of a user, for example, the user may mark the second target area in the preset area according to a carpet position on a man-machine interface, which is not limited thereto. For example, the second target area may be provided with a carpet in an actual scene, may be provided with a carpet, or may not be provided with a preset floor medium such as a carpet. When the preset area is cleaned through the brushing part and the mopping part, the second target area is not cleaned, for example, the mopping part can be prevented from wetting preset floor media such as carpets in the second target area, and the wet preset floor media such as carpets are prevented from being stained with dirt and bacteria.

S120, determining an unclean area in the preset area.

Illustratively, the uncleaned areas in the predetermined area are determined after cleaning of the predetermined area is completed, such as by a brush and a mop, or after cleaning of areas outside the predetermined floor medium and the second target area, for example.

The uncleaned area is illustratively determined from a trajectory of movement of the cleaning robot while bypassing the preset floor medium. For example, the determining the unclean area in the preset area includes: and determining an unclean area in the preset area according to the boundary of the first target area. For example, the unclean region includes at least a first target region determined by performing an outer edge finding on a preset floor medium.

Illustratively, the cleaning robot does not clean the monitored predetermined floor medium nor the second target area when cleaning the predetermined area by the brushing member and the mopping member. For example, when the preset area includes a second target area, the unclean area further includes the second target area when determining the unclean area in the preset area. Of course, the method is not limited thereto, for example, when the cleaning robot cleans the preset area through the brushing member and the mopping member, the carpet may be monitored in the second target area, and when the carpet is monitored in the second target area, the cleaning robot is controlled to avoid the preset floor medium in the second target area in a bypassing manner; the second target area may be cleaned by the brush and the mop when the carpet is not detected.

S130, controlling the cleaning robot to at least maintain the cleaning piece of the cleaning robot.

It should be noted that step S130 may be performed after step S120, may be performed before step S120 after step S110, or may be performed simultaneously with step S120. Specifically, after determining that there is an unclean area in the preset area and the mop performs maintenance, step S140 is performed.

Wherein maintaining the mop includes, but is not limited to, at least one of: cleaning, replacing and spin-drying.

In some embodiments, the cleaning robot may maintain the mop by itself, for example, the cleaning robot may include a water washing device for washing the mop, and may also control the mop to rotate rapidly to spin off water, and the water washing device may collect the spun off water. In some embodiments, the cleaning robot may be moved to the base station, and at least the base station may perform maintenance, such as replacement or cleaning, on the mop, for example, the base station may cooperate with the cleaning robot to clean the mop. In some embodiments, the control device of the cleaning robot may output a prompt message at the man-machine interaction assembly to prompt the user to maintain the mop.

And S140, controlling the cleaning robot to clean the preset ground medium in the uncleaned area.

After the maintenance of the mopping piece is finished, the cleaning robot is controlled to clean the preset ground medium in the unclean area, and the cleaning robot can prevent the preset ground medium from being wetted and/or prevent the preset ground medium from being polluted because the mopping piece is clean after the maintenance.

Optionally, the cleaning robot is controlled to clean the preset ground medium in the unclean area through the brushing part, when the preset ground medium in the unclean area is cleaned through the brushing part, the cleaning part can be controlled to be lifted, the preset ground medium is prevented from being wetted and/or polluted, friction between the cleaning robot and the preset ground medium can be reduced, cleaning efficiency is improved, and damage to the cleaning part and the preset ground medium is reduced.

In some embodiments, the controlling the cleaning robot to clean a preset floor medium of the unclean area includes: and when the target setting item is set to be required to clean the preset floor medium, controlling the cleaning robot to clean the preset floor medium in the uncleaned area.

For example, whether the preset floor medium needs to be cleaned may be determined according to user settings, or may be determined based on preset control logic. For example, the cleaning robot may autonomously determine a decision of carpet cleaning and its execution strategy, for example, in the case of setting to clean a carpet according to a preset period, when the current time is the carpet cleaning time corresponding to the preset period, it is determined that the carpet needs to be cleaned.

In some embodiments, the controlling the cleaning robot to clean a preset floor medium of the unclean area includes: and controlling the cleaning robot to detect a preset floor medium in the unclean area, and cleaning the detected preset floor medium. For example, when the target setting item is set to require cleaning of a preset floor medium, the cleaning robot is controlled to detect the preset floor medium in the unclean area and clean the detected preset floor medium. Optionally, the cleaning robot is controlled to clean the detected preset floor medium through the brushing member.

When the cleaning robot bypasses the preset ground medium, the preset ground medium may be subjected to outer edge exploration, and a boundary of a first target area may be determined according to a path of the outer edge exploration. In some embodiments, the profile of the pre-set surface medium determined when the edge finding determines the boundary of the first target area is not sufficiently accurate, e.g., may be referred to as coarse inspection; and the preset floor medium of the second target area in the uncleaned area may also be moved, so that the position of the preset floor medium of the uncleaned area is not accurate enough; by controlling the cleaning robot to detect the preset floor medium in the unclean area and cleaning the detected preset floor medium, the actual preset floor medium in the unclean area can be accurately cleaned.

In some embodiments, the controlling the cleaning robot to detect a preset floor medium in the unclean area and clean the detected preset floor medium includes the following steps S141 to S143.

S141, acquiring a point set corresponding to an unclean area where the preset ground medium is located, wherein the point set comprises a plurality of contour positions on the contour of the unclean area.

For example, the contour of the unclean region may be the boundary of the first target region. As shown in fig. 6, one uncleaned area is a target area determined by performing an outer edge exploration on a preset ground medium, and a point set corresponding to the uncleaned area is called a point set a, wherein each black point represents a contour position in the point set a, and the contour position is, for example, a position where the preset ground medium is monitored each time when the preset ground medium is subjected to the outer edge exploration; for example, referring to the point set a of fig. 6, when the cleaning robot performs the rim exploration on the preset floor medium, such as a carpet, a point set a corresponding to an unclean area where the preset floor medium is located is determined according to a track of the rim exploration, where the point set a includes a plurality of contour positions on a contour of the unclean area.

The other unclean area is a preset second target area T, and the point set corresponding to the unclean area is called a point set b, wherein each black point represents the contour position in the point set b. For example, referring to the point set b of fig. 6, when the cleaning robot monitors a carpet in the second target area T, the cleaning robot bypasses a preset floor medium of the second target area T, and determines the point set b corresponding to an unclean area where the preset floor medium is located. Optionally, when the cleaning robot does not clean the second target area T, if no carpet is monitored in the second target area T, determining a point set b corresponding to an unclean area where the second target area is located according to a boundary of the second target area T; for example, the boundary of the second target area T is dispersed into a plurality of points with the same interval to obtain the point set b, which is not limited to this.

S142, determining a plurality of target points according to the aggregation degree of the plurality of contour positions in the point set in the preset area.

When a certain sub-area of the predetermined area gathers more contour positions, the sub-area has a higher probability of being a predetermined floor medium, such as a carpet. For example, the aggregation degree of the plurality of contour positions corresponding to the target point in the preset area is greater than the aggregation degree of the non-target point in the preset area; i.e. the position of the target point has a higher probability of being the preset ground medium.

Illustratively, the determining a plurality of target points according to the aggregation degree of the plurality of contour positions in the point set in the preset area includes: and determining a plurality of target points and the arrangement sequence 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. For example, the ranking order of the target points with higher aggregation level is forward, and the position of the target point with the forward ranking order has higher probability to be the preset ground medium.

Optionally, the determining a plurality of target points according to the aggregation degree of the plurality of contour positions in the point set in the preset area, and the arrangement sequence of the plurality of target points includes: determining the number of adjacent contour positions of each contour position in the point set, wherein the adjacent contour positions are contour positions in the preset area, and the distance between the adjacent contour positions and the contour positions is smaller than or equal to a preset distance threshold value; determining a plurality of target points in the contour positions in the point set according to the number of adjacent contour positions of each contour position in the point set, and determining the arrangement order of the plurality of target points in the order of the number from more to less. And determining the corresponding aggregation degree of each contour position according to the number of adjacent contour positions of each contour position, 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, and is, for example, 0.5 to 1.5 times, such as 1 time, of the diameter of the cleaning robot, which is not limited thereto.

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

S143, controlling the cleaning robot to move towards the target points, detecting a preset floor medium in the process of moving towards the target points, and cleaning the detected preset floor medium.

The position of the target point is provided with a preset ground medium, and the cleaning robot can conveniently and quickly reach the area where the preset ground medium is located by controlling the cleaning robot to move towards the target point, so that the cleaning efficiency is improved.

Illustratively, the controlling the cleaning robot to move toward the plurality of target points, and detecting a preset floor medium in the course of moving toward the plurality of target points, and cleaning the detected preset floor medium, includes: determining a current target point according to the arrangement sequence of the plurality of target points; controlling the cleaning robot to move towards the current target point, and detecting a preset ground medium in the process of moving towards the current target point; the cleaning robot detects a preset floor medium before moving to the current target point or when moving to the current target point, and cleans the detected preset floor medium. The arrangement sequence of the target points is determined according to the aggregation degree of the contour positions, and the moving track of the cleaning robot is controlled according to the arrangement sequence of the plurality of target points, so that the cleaning robot moves to the right preferentially in the area with higher probability of being the preset ground medium, and the cleaning robot can quickly reach the area with the preset ground medium.

For example, when the cleaning robot moves to the current target point, a preset ground medium is not detected yet, and a next target point of the current target point is determined to be the current target point according to the arrangement sequence of the plurality of target points; and controlling the cleaning robot to move towards the current target point, and detecting a preset floor medium in the process of moving towards the current target point. And if the preset ground media such as carpets are not found in the process that the cleaning robot moves to the current target point, the robot continues to navigate to the next target point, and the preset ground media such as carpets are prevented from being omitted. Optionally, when the preset ground medium is not detected when moving to any one of the plurality of target points of the point set, the preset ground medium may be moved and detected according to the target points of the other point sets.

In some embodiments, when controlling the cleaning robot to clean the detected preset floor medium, the method includes: controlling the cleaning robot to search the inner edge of the detected preset ground medium to obtain the outline of the preset ground medium; and controlling the cleaning robot to clean the preset ground medium through the brushing part in an arched path according to the outline of the preset ground medium. In some embodiments, the inner edge searching mode can determine the outline of the preset ground medium more accurately, which may be called fine inspection, and can clean the actual preset ground medium in the uncleaned area accurately.

For example, the inner edge search refers to the cleaning robot performing edge search on the carpet inside the carpet, and during the cleaning robot performing edge search on the carpet inside, at least a portion of a trajectory formed by the orthographic projection of the geometric center of the cleaning robot coincides with the orthographic projection of the carpet. The cleaning robot uses inner edge exploration to explore the carpet and the integrity of the determined carpet contour is higher. For example, when the cleaning robot searches for the carpet in the rim searching mode, the obstacle may obstruct the searching behavior of the cleaning robot, and thus the entire carpet contour may not 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 outline of the preset ground medium, controlling the cleaning robot to clean the preset ground medium through the brushing part in a first arched path; and controlling the cleaning robot to clean the preset ground medium through the brushing part in a second arched path according to the outline of the preset ground medium, wherein the second arched path is orthogonal to the first arched path. So as to fully clean a plurality of positions of the preset ground medium and improve the cleaning effect.

Optionally, the method further comprises: and determining and marking a second target area in the preset area according to the outline of the preset ground medium. When the cleaning robot is controlled to clean the preset area through the brushing part and the mopping part, the second target area can not be cleaned, and the mopping part is prevented from wetting preset ground media such as carpets and the like in the second target area.

Illustratively, the method further comprises: when the cleaning robot cleans a preset area through a brushing part and a mopping part, determining a non-preset ground medium position in the preset area; and deleting the second target area in the preset area when the proportion of the occupied area of the non-preset ground medium position in the second target area of the preset area is larger than or equal to a preset area threshold value.

A second target area marked in the preset area, wherein the preset ground media such as carpets and the like can be removed or moved in an actual scene; by determining the position of the non-preset floor medium when the preset area is cleaned by the brushing part and the mopping part, and determining that the preset floor medium such as a carpet of the second target area is likely to be removed or move in a large range when the actual non-preset floor medium position in the marked second target area occupies a large area, the second target area can be prevented from being cleaned by deleting the second target area.

In some embodiments, the controlling the cleaning robot to clean a preset floor medium of the unclean area includes: when the plurality of uncleaned areas are provided, determining the cleaning sequence of the plurality of uncleaned areas according to the distance between the uncleaned areas and a door of a room and/or the distance between the uncleaned areas and a base station; and controlling the cleaning robot to clean the preset ground medium of the uncleaned area according to the cleaning sequence of the uncleaned areas.

Illustratively, the controlling the cleaning robot to detect a preset floor medium in the unclean area and clean the detected preset floor medium includes: when the plurality of uncleaned areas are provided, determining the detection and cleaning sequence of the plurality of uncleaned areas according to the distance between the uncleaned areas and a door of a room and/or the distance between the uncleaned areas and a base station; and controlling the cleaning robot to detect a preset floor medium in each of the uncleaned areas according to the detection and cleaning sequences of the plurality of uncleaned areas, and cleaning the detected preset floor medium.

Referring to fig. 7, the plurality of uncleaned areas includes target areas corresponding to the carpet 1, the carpet 2 and the carpet 3. By determining the order of detection and cleaning of a plurality of unclean areas based on the distance of each unclean area from the doorway of the room and/or from the base station 200, the efficiency of the plurality of unclean areas can be improved.

Illustratively, the determining a cleaning order of the plurality of uncleaned areas according to a distance between the uncleaned areas and a doorway of a room and/or a distance between the uncleaned areas and a base station includes: determining the cleaning sequence of a plurality of uncleaned areas according to the sequence that the distances between the uncleaned areas and the door of the room are from small to large; or determining the cleaning sequence of the plurality of uncleaned areas according to the sequence that the distances between the uncleaned areas and the base station are from small to large, so that the efficiency of the plurality of uncleaned areas can be improved. Referring to fig. 7, the uncleaned areas corresponding to the carpet 1, the carpet 2 and the carpet 3 are arranged in order of small to large distances from the doorway/base station 200 of the room, and are uncleaned areas corresponding to the carpet 2, the carpet 3 and the carpet 1; the cleaning robot can be controlled to move to a plurality of target points in the corresponding point set of the carpet 2, and a preset ground medium is detected in the process of moving to the plurality of target points, and the detected preset ground medium is cleaned; and then sequentially moving and detecting a plurality of target points in the corresponding point sets of the carpet 3 and the carpet 1 to preset ground media.

The control method of the cleaning robot provided by the embodiment of the application 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 a cleaning piece of the cleaning robot; and controlling the cleaning robot to clean the preset floor medium of the uncleaned area. 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.

Referring to fig. 8 in combination with the above embodiments, fig. 8 is a schematic block diagram of a control device 300 according to an embodiment of the present application. The control device 300 comprises a processor 301 and a memory 302.

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

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

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

Wherein the processor 301 is adapted to run a computer program stored in the memory 302 and to implement the steps of the method of any of the previous embodiments when said computer program is executed.

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

Determining an unclean area in the preset area;

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

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

Embodiments of the present application also provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the method of any of the embodiments described above.

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

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

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

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A cleaning robot and a control method thereof are characterized by comprising:

determining an unclean area in the preset area;

2. The control method according to claim 1, wherein the controlling the cleaning robot to clean a preset floor medium of the uncleaned area includes:

and when the target setting item is set to be required to clean the preset floor medium, controlling the cleaning robot to clean the preset floor medium in the uncleaned area.

3. The control method according to claim 1, characterized in that the controlling the cleaning robot to bypass the preset floor medium includes:

controlling the cleaning robot to search the outer edges of the preset ground medium;

when the outer edge exploration is finished, determining the boundary of a first target area according to the path of the outer edge exploration;

and controlling the cleaning robot to avoid the preset ground medium and continuously cleaning the preset area according to the boundary of the first target area.

4. A control method according to claim 3, wherein said determining an unclean area of said preset areas comprises:

And determining an unclean area in the preset area according to the boundary of the first target area.

5. The control method according to claim 1, wherein the preset area includes a second target area, and the controlling the cleaning robot to clean the preset area by the brush and the mop includes: controlling a cleaning robot to clean the areas except the second target area in the preset area through a brushing part and a wiping part;

and when the unclean area in the preset area is determined, the unclean area comprises the second target area.

6. The control method according to any one of claims 1 to 5, characterized in that the controlling the cleaning robot to clean a preset floor medium of the uncleaned area includes:

and controlling the cleaning robot to detect a preset floor medium in the unclean area, and cleaning the detected preset floor medium.

7. The control method according to claim 6, wherein the controlling the cleaning robot to detect a preset floor medium in the unclean area and clean the detected preset floor medium includes:

Acquiring a point set corresponding to an unclean area where the preset ground medium is located, wherein the point set comprises a plurality of contour positions on the contour of the unclean area;

determining a plurality of target points according to the aggregation degree of a plurality of contour positions in the point set in the preset area;

and controlling the cleaning robot to move towards the target points, detecting a preset floor medium in the process of moving towards the target points, and cleaning the detected preset floor medium.

8. The control method according to claim 7, wherein the determining a plurality of target points according to the degree of aggregation of the plurality of contour positions in the point set in the preset area includes:

determining a plurality of target points and the arrangement sequence 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 plurality of target points, detecting a preset floor medium in the process of moving to the plurality of target points, and cleaning the detected preset floor medium, including:

determining a current target point according to the arrangement sequence of the plurality of target points;

Controlling the cleaning robot to move towards the current target point, and detecting a preset ground medium in the process of moving towards the current target point;

the cleaning robot detects a preset floor medium before moving to the current target point or when moving to the current target point, and cleans the detected preset floor medium.

9. The control method according to claim 8, characterized in that the controlling the cleaning robot to move to the number of target points and detecting a preset floor medium during the movement to the number of target points, further comprises:

when the cleaning robot moves to the current target point, a preset ground medium is not detected yet, and the next target point of the current target point is determined to be the current target point according to the arrangement sequence of the plurality of target points; and controlling the cleaning robot to move towards the current target point, and detecting a preset floor medium in the process of moving towards the current target point.

10. The control method according to claim 8, wherein the determining a plurality of target points according to the degree of aggregation of the plurality of contour positions in the point set in the preset area, and the arrangement order of the plurality of target points, comprises:

Determining the number of adjacent contour positions of each contour position in the point set, wherein the adjacent contour positions are contour positions in the preset area, and the distance between the adjacent contour positions and the contour positions is smaller than or equal to a preset distance threshold value;

determining a plurality of target points in the contour positions in the point set according to the number of adjacent contour positions of each contour position in the point set, and determining the arrangement order of the plurality of target points in the order of the number from more to less.

11. The control method according to claim 10, wherein the preset distance threshold is determined according to a diameter of the cleaning robot.

12. The control method according to claim 6, characterized by, when controlling the cleaning robot to clean the detected preset floor medium, comprising:

controlling the cleaning robot to search the inner edge of the detected preset ground medium to obtain the outline of the preset ground medium;

and controlling the cleaning robot to clean the preset ground medium through the brushing part in an arched path according to the outline of the preset ground medium.

13. The control method according to claim 12, characterized in that the method further comprises:

And determining and marking a second target area in the preset area according to the outline of the preset ground medium.

14. The control method according to claim 13, characterized in that the method further comprises:

when the cleaning robot cleans a preset area through a brushing part and a mopping part, determining a non-preset ground medium position in the preset area;

and deleting the second target area in the preset area when the proportion of the occupied area of the non-preset ground medium position in the second target area of the preset area is larger than or equal to a preset area threshold value.

15. The control method according to any one of claims 1 to 5, characterized in that the controlling the cleaning robot to clean a preset floor medium of the uncleaned area includes:

when the plurality of uncleaned areas are provided, determining the cleaning sequence of the plurality of uncleaned areas according to the distance between the uncleaned areas and a door of a room and/or the distance between the uncleaned areas and a base station;

and controlling the cleaning robot to clean the preset ground medium of the uncleaned area according to the cleaning sequence of the uncleaned areas.

16. The control method according to claim 15, wherein the determining a cleaning order of a plurality of the uncleaned areas according to a distance of the uncleaned areas from a door of a room and/or a distance from a base station, comprises:

Determining the cleaning sequence of a plurality of uncleaned areas according to the sequence that the distances between the uncleaned areas and the door of the room are from small to large; or alternatively

And determining the cleaning sequence of a plurality of uncleaned areas according to the sequence that the distances between the uncleaned areas and the base station are from small to large.

17. A control device of a cleaning robot, characterized in that the control device comprises a memory and a processor;

wherein the memory is used for storing a computer program;

the cleaning robot and the control method thereof according to any one of claims 1 to 16.

18. A cleaning robot is characterized by comprising a walking unit and a cleaning piece, wherein the walking unit is used for driving the cleaning robot to move, and the cleaning piece is used for cleaning the ground;

the cleaning robot further comprises a control device according to claim 17.

19. A cleaning robot system, comprising:

The base station is at least used for maintaining cleaning pieces of the cleaning robot; and

the control device of claim 17.

20. A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement: