WO2021232812A1 - 一种拖地控制方法、装置、介质和设备 - Google Patents

一种拖地控制方法、装置、介质和设备 Download PDF

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Publication number
WO2021232812A1
WO2021232812A1 PCT/CN2020/140643 CN2020140643W WO2021232812A1 WO 2021232812 A1 WO2021232812 A1 WO 2021232812A1 CN 2020140643 W CN2020140643 W CN 2020140643W WO 2021232812 A1 WO2021232812 A1 WO 2021232812A1
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WIPO (PCT)
Prior art keywords
mopping
cleaning robot
mode
current location
mopping mode
Prior art date
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PCT/CN2020/140643
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English (en)
French (fr)
Inventor
马鑫磊
陈彦宇
谭泽汉
马雅奇
李茹
王云华
邓剑锋
丁晋文
许林辉
张磊
刘金龙
邝英兰
车路平
郭少峰
刘威
朱莹莹
Original Assignee
珠海格力电器股份有限公司
珠海联云科技有限公司
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Publication of WO2021232812A1 publication Critical patent/WO2021232812A1/zh

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    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/10Terrestrial scenes
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present disclosure relates to the technical field of intelligent robots, and in particular to a method, device, medium and equipment for mopping control.
  • cleaning robots are becoming more and more intelligent. With the improvement of technology, cleaning robots can not only sweep the floor, but also have the function of mopping the floor, so they have been widely used.
  • the current cleaning robot with mopping function generally includes a rag mounting plate and a water tank.
  • the rag mounting plate is used to fix the rag, and the water in the water tank is used to humidify the rag.
  • the cleaning robot moves the rag in the room. Traverse inside to complete the mopping function on the ground.
  • the embodiments of the present disclosure provide a mopping control method, device, medium, and equipment, which are used to solve the problem of poor mopping effect of a cleaning robot.
  • the present disclosure provides a mopping control method, the method includes:
  • the cleaning robot is controlled to mop in the area corresponding to the current position.
  • the mopping mode corresponding to the current location of the cleaning robot can be determined first, and then the cleaning robot can be controlled to mop the floor in the area corresponding to the current location according to the determined mopping mode. Therefore, according to the determined mopping mode and mopping methods with different cleaning strengths, the mopping can be carried out in a targeted manner, so as to optimize the mopping effect, improve the cleanliness after mopping, and meet the needs of customers.
  • determining the mopping mode corresponding to the current location of the cleaning robot includes:
  • the corresponding mopping mode can be determined by collecting environmental images and the collected environmental objects, so as to realize the automatic judgment of the mopping mode, optimize the mopping effect, and improve the cleanliness of the mopping.
  • determining the mopping mode corresponding to the current location of the cleaning robot includes:
  • the corresponding mopping mode is determined.
  • the corresponding mopping mode can be determined according to the preset corresponding relationship between the mopping mode and the position and the current position of the cleaning robot, so as to realize the automatic judgment of the mopping mode, optimize the mopping effect, and improve Mopping cleanliness.
  • determining the mopping mode corresponding to the current location of the cleaning robot includes:
  • the mopping mode corresponding to the current location of the cleaning robot is determined.
  • the user can set the mopping mode, determine the corresponding mopping mode according to the mopping instruction, optimize the mopping effect, and improve the cleanliness of the mopping.
  • At least one of the following parameters is different for each mopping mode:
  • the water temperature of the water tank, the movement mode of the rag and the traversal mode of the cleaning robot is the water temperature of the water tank, the movement mode of the rag and the traversal mode of the cleaning robot.
  • the present disclosure also provides a mopping control device, which includes:
  • the determining module is set to determine the mopping mode corresponding to the current location of the cleaning robot, and each mopping mode corresponds to the mopping mode with different cleaning strength;
  • the control module is set to control the cleaning robot to mop in the area corresponding to the current position according to the determined mopping mode.
  • the determining module is specifically configured to instruct to collect an environment image corresponding to the current location of the cleaning robot, and determine the corresponding mopping mode according to the collected environment image.
  • the determining module is specifically configured to determine the current location of the cleaning robot, and determine the corresponding mopping mode according to the preset correspondence between the mopping mode and the position.
  • the determining module is specifically configured to determine the mopping mode corresponding to the current location of the cleaning robot according to the received mopping instruction.
  • At least one of the following parameters is different for each mopping mode:
  • the water temperature of the water tank, the movement mode of the rag and the traversal mode of the cleaning robot is the water temperature of the water tank, the movement mode of the rag and the traversal mode of the cleaning robot.
  • the present disclosure also provides a non-volatile computer storage medium, the computer storage medium stores an executable program, and the executable program is executed by a processor to implement the above-mentioned method.
  • the present disclosure also provides a robot controller, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus;
  • the memory is configured to store computer programs
  • the processor is configured to execute the program stored in the memory to implement the method steps described above.
  • the present disclosure also provides a cleaning robot including the above-mentioned robot controller.
  • FIG. 1 is a schematic flowchart of a mopping control method provided by Embodiment 1 of the present disclosure
  • FIG. 2 is a schematic structural diagram of a mopping control device provided in Embodiment 2 of the present disclosure
  • FIG. 3 is a schematic structural diagram of a robot controller provided by Embodiment 3 of the disclosure.
  • Embodiment 4 is a schematic structural diagram of a cleaning robot provided by Embodiment 5 of the present disclosure.
  • FIG. 5 is a schematic flowchart of a mopping control method provided by Embodiment 5 of the present disclosure.
  • the first embodiment of the present disclosure provides a mopping control method.
  • the step flow of the method may be as shown in FIG. 1, including:
  • Step 101 Determine the mopping mode.
  • the execution subject of this embodiment can be understood as the robot controller of the cleaning robot.
  • This embodiment can be applied to any cleaning robot with a floor mopping function.
  • the cleaning robot can also have other functions, such as a floor sweeping function. For cleaning robots that have both sweeping and mopping functions, sweeping and mopping can be performed at the same time or separately.
  • the mopping mode corresponding to the current location of the cleaning robot can be determined, and each mopping mode corresponds to a mopping mode with different cleaning strength.
  • each mopping mode may be different in at least one of the following parameters: the water temperature of the water tank, the movement mode of the rag, and the traversal mode of the cleaning robot.
  • the cleaning strength is also different. The higher the water temperature, the stronger the decontamination ability and the greater the cleaning strength. Therefore, the corresponding setting can be set according to the needs of the cleaning strength.
  • the water temperature of the water tank can be increased by adding a water tank heating module for the cleaning robot.
  • the water tank heating module can be integrated with the charging of the cleaning robot to increase the water temperature of the water tank, so as to simplify the structure of the cleaning robot and reduce the increase in the volume of the cleaning robot.
  • the water temperature of the water tank can be set and the water in the water tank can be heated to soften the stains through hot water when mopping the floor, enhance the cleaning force of the mopping, and improve the cleanliness of the mopping. .
  • the cleaning power is also different.
  • the movement of the rag can be controlled by a rag movement drive module added to the cleaning robot.
  • the rag movement drive module can be any module that can drive the movement of the rag, for example, a mechanism movement module, a vibration motor module or Ultrasonic vibration module and so on.
  • the number of wiper drive modules can be one or at least two to better drive the movement of the wiper mounted on the wiper mounting plate and enhance the decontamination effect of the wiper.
  • the specified parameters of the ultrasonic vibration module can be changed, for example, at least one of the ultrasonic vibration dimension, the ultrasonic vibration amplitude, and the ultrasonic vibration frequency.
  • the way of movement of the rag can also be static.
  • the movement of the mopping cloth can be set by the movement of the mopping cloth.
  • the movement of the mopping can be driven to achieve the effect of enhancing the cleaning force of the mopping and improving the cleanliness of the mopping. .
  • the cleaning strength is also different.
  • the more traversal times the more complete the traversal, and the greater the cleaning power.
  • the cleaning power is sequentially reduced, so the corresponding cleaning robot traversal mode can be set according to the needs of the cleaning power.
  • the traversal mode of the cleaning robot can be realized by controlling the chassis walking mechanism of the cleaning robot.
  • the traversal mode of the cleaning robot can be set to increase the number of traversal and the completeness of the traversal to achieve the effect of enhancing the cleaning force of the mopping and improving the cleanliness of the mopping.
  • any combination of the water temperature of the water tank, the movement mode of the rag, and the traversal mode of the cleaning robot can be combined to subdivide the mopping mode, obtain more mopping modes, and further optimize the mopping mode. Effect.
  • determining the mopping mode corresponding to the current location of the cleaning robot can be implemented in any way, for example, but not limited to any of the following ways:
  • Method 1 Instruct to collect the environment image corresponding to the current location of the cleaning robot, and determine the corresponding mopping mode according to the collected environment image;
  • Method 2 Determine the current location of the cleaning robot, and determine the corresponding mopping mode according to the preset corresponding relationship between the mopping mode and the position;
  • Manner 3 Determine the mopping mode corresponding to the current location of the cleaning robot according to the received mopping instruction.
  • the mopping instruction may be sent by the user through the client, and it can be understood that the mopping mode information is carried in the mopping instruction, and the mopping mode corresponding to the current location of the cleaning robot can be determined according to the mopping mode information.
  • determining the mopping mode corresponding to the current location of the cleaning robot is not limited to the above method.
  • Step 102 Mopping the floor.
  • the cleaning robot can be controlled to mop in the area corresponding to the current position. It should be noted that the area corresponding to the current location can be set as required.
  • the mopping mode is defined according to the three parameters of the water temperature of the water tank, the movement mode of the rag, and the traversal mode of the cleaning robot.
  • the mopping mode is represented by 1, the corresponding mopping method is that the water temperature of the water tank needs to be greater than 60 degrees Celsius, and the movement mode of the rag is the two-degree-of-freedom ultrasonic vibration in the horizontal plane (X, Y, ⁇ ) (assuming that the rag drive module is an ultrasonic vibration module ), the traversal mode of the cleaning robot is the I-shaped full traversal mode as an example.
  • the ultrasonic vibration dimension of the ultrasonic vibration module can be controlled. Realize the control of the movement mode of the rag, and control the chassis walking mechanism to walk in the I-shaped full traversal mode, so as to realize the mopping in the area corresponding to the current position.
  • the cleaning robot can be controlled to walk to the charging point for charging by controlling the chassis walking mechanism, so that the water tank heating module heats the water in the water tank. And when it is determined that the water temperature of the water tank is greater than 60 degrees Celsius, the cleaning robot is controlled to return to the position before charging, and through the control of the ultrasonic vibration module and the chassis walking mechanism, the mopping function is realized in the area corresponding to the position.
  • different mopping modes can be used for different areas to mopping the floor, and for areas with stubborn stains, the mopping effect can be optimized by using a mopping mode with greater cleaning force to mopping the floor. For areas with lighter stains, a mopping mode with less cleaning power can be used to mop the floor. While ensuring the mopping effect, it can also achieve the effect of reducing energy consumption.
  • the second embodiment of the present disclosure provides a mopping control device.
  • the structure of the device may be as shown in FIG. 2 and includes:
  • the determining module 11 is set to determine the mopping mode corresponding to the current location of the cleaning robot, and each mopping mode corresponds to a mopping mode with different cleaning strength; the control module 12 is set to control the cleaning robot according to the determined mopping mode Drag the floor in the area corresponding to the current location.
  • the determining module 11 is specifically configured to instruct to collect an environment image corresponding to the current location of the cleaning robot, and determine the corresponding mopping mode according to the collected environment image.
  • the determining module 11 is specifically configured to determine the current location of the cleaning robot, and determine the corresponding mopping mode according to the preset correspondence between the mopping mode and the position.
  • the determining module 11 is specifically configured to determine the mopping mode corresponding to the current location of the cleaning robot according to the received mopping instruction.
  • At least one of the following parameters is different for each mopping mode:
  • the water temperature of the water tank, the movement mode of the rag and the traversal mode of the cleaning robot is the water temperature of the water tank, the movement mode of the rag and the traversal mode of the cleaning robot.
  • the embodiments of the present disclosure provide the following devices and media.
  • the third embodiment of the present disclosure provides a robot controller.
  • the structure may be as shown in FIG. 3, including a processor 21, a communication interface 22, a memory 23, and a communication bus 24.
  • the memories 23 communicate with each other through the communication bus 24;
  • the memory 23 is configured to store computer programs
  • the processor 21 is configured to implement the method steps described in the first embodiment of the present disclosure when it is configured to execute the program stored on the memory.
  • the processor 21 may specifically include a central processing unit (CPU), an Application Specific Integrated Circuit (ASIC, Application Specific Integrated Circuit), and may be one or more integrated circuits for controlling program execution, and may It is a hardware circuit developed using Field Programmable Gate Array (FPGA, Field Programmable Gate Array), which can be a baseband processor.
  • CPU central processing unit
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the processor 21 may include at least one processing core.
  • the memory 23 may include a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), and a disk memory.
  • the memory 23 is configured to store data required by at least one processor 21 during operation.
  • the number of memories 23 may be one or more.
  • the embodiments of the present disclosure may also provide a cleaning robot, which includes the robot controller described in the third embodiment.
  • the fourth embodiment of the present disclosure provides a non-volatile computer storage medium that stores an executable program, and when the executable program is executed by a processor, the method provided in the first embodiment of the present disclosure is implemented.
  • the fifth embodiment of the present disclosure provides a mopping control method.
  • the schematic diagram of the structure of the cleaning robot applied by the method may be as shown in FIG. , Rags, rag mounting plates, water tanks, water tank heating modules and rag drive modules.
  • the sensor unit may include, but is not limited to, at least one of a laser radar sensor, an inertial navigation sensor, an odometer, an edge sensor, a fall sensor, a cliff sensor, a collision sensor, a vision sensor, and the like.
  • Each sensor in the sensor unit can collect corresponding data and send the collected data to the navigation host computer controller, so that the navigation host computer controller can clean the robot in the set environment (for example, the home environment) according to the data reported by the sensor unit.
  • Positioning and mapping that is, SLAM mapping to achieve the establishment of the map in the set environment
  • the robot controller can control the chassis walking mechanism of the cleaning robot through control instructions according to the map established by the navigation host computer controller
  • the movement of the cleaning robot realizes the cleaning in the set environment.
  • the robot controller can control the movement of the chassis walking mechanism according to the set traversal mode.
  • the navigation host computer controller can also detect the motion feedback data of the chassis running mechanism through the sensor unit during the movement of the chassis running mechanism, so that the robot controller can adjust according to the motion feedback data obtained by the navigation host computer controller. Control instructions for the running mechanism of the chassis.
  • the mopping mode is defined according to the water temperature of the water tank, the movement mode of the rag, and the traversal mode of the cleaning robot.
  • the rag driving module is an ultrasonic vibration module, that is, the movement of the rag is driven by the ultrasonic vibration module as an example for description.
  • the rag mounting plate can include three parts, each part of the rag mounting plate can be equipped with an ultrasonic vibration module, and the parameters of each ultrasonic vibration module can be adjusted individually to better drive the installation on the rag mounting plate Movement on the rag. Driven by three ultrasonic vibration modules, the rag can realize multi-degree-of-freedom movement, generate frictional vibrations at different angles, and achieve enhanced decontamination effects.
  • the changeable parameters of each ultrasonic vibration module may include ultrasonic vibration dimension, ultrasonic vibration amplitude, and ultrasonic vibration frequency.
  • the ultrasonic vibration dimension of each ultrasonic vibration module can be selected by the robot controller.
  • the vibration dimension of each ultrasonic vibration module can include the two-degree-of-freedom ultrasonic vibration in the horizontal plane (X, Y, ⁇ ) and the vertical ultrasonic vibration in the Z-axis direction. combination.
  • the ultrasonic vibration amplitude and ultrasonic vibration frequency of each ultrasonic vibration module can be adjusted by the robot controller.
  • the water in the water tank can be heated by the water tank heating module, and the robot controller can control the cleaning robot to return to the charging point for charging.
  • the water tank heating module can integrate the water in the water tank. heating.
  • the step flow of this method can be as shown in Figure 5, including:
  • Step 501 The cleaning robot is started.
  • the cleaning robot can be started.
  • Step 502 The cleaning robot performs SLAM mapping.
  • the navigation host computer controller can start the SLAM mapping in the set environment (for example, the home environment) according to the data reported by the sensor unit.
  • Step 503 The cleaning robot determines the mopping mode.
  • the cleaning robot also includes a sweeping function, the mopping and sweeping of the cleaning robot can be performed at the same time or separately.
  • the robot controller can determine the mopping mode corresponding to the current location of the cleaning robot.
  • the robot controller determines the mopping mode corresponding to the current location of the cleaning robot.
  • the robot controller may instruct the corresponding sensor (visual sensor, such as a camera) to collect the environment corresponding to the current location of the cleaning robot. Image, according to the collected environmental images, determine the corresponding mopping mode.
  • the current location of the cleaning robot can be considered as the bedroom based on the collected environmental images including the bed, and the floor mopping mode corresponding to the cleaning intensity can be determined based on the fact that the floor of the bedroom is generally clean and the stains are easy to remove.
  • the current location of the cleaning robot can be considered to be the living room based on the collected environmental images including the seat sofa, and according to the presence of certain stains on the floor of the living room, the stains are easier to remove, and the corresponding cleaning intensity mopping mode can be determined.
  • the current location of the cleaning robot can be considered as a restaurant based on the collected environmental images including dining tables and chairs, and the floor mopping mode of the corresponding cleaning intensity can be determined based on the poor cleanliness of the floor of the restaurant and the difficulty of removing stains.
  • the current location of the cleaning robot can be considered to be the kitchen based on the collected environmental images including the sink and stove.
  • the cleaning force can be increased according to the kitchen floor, and the stains are difficult to remove, and the corresponding cleaning power mopping mode can be determined.
  • the robot controller determines the mopping mode corresponding to the current location of the cleaning robot.
  • the robot controller may also determine the current location of the cleaning robot through the corresponding sensor, and mopping according to the preset Correspondence between mode and location, determine the corresponding mopping mode.
  • the corresponding relationship between each room and the mopping mode can be set in the established map. If it is determined that the current location of the cleaning robot belongs to a certain room, it can be based on the mopping mode corresponding to the room. Determine the mopping mode corresponding to the current location of the cleaning robot.
  • the mopping mode corresponding to the kitchen can be determined as the mopping mode corresponding to the current location of the cleaning robot.
  • the robot controller determines the mopping mode corresponding to the current location of the cleaning robot. In another possible implementation manner, it may also be determined according to a control instruction of the client.
  • the user can send a mopping instruction to the robot controller through the client.
  • the mopping mode information carried by the mopping instruction may be that the mopping mode corresponding to the current location of the cleaning robot is 2 (that is, the mopping mode indicated for application 2). ), at this time, the robot controller can determine that the mopping mode corresponding to the current location of the cleaning robot is mopping mode 2 according to the received mopping instruction.
  • Step 504 The cleaning robot mopping the floor.
  • the robot controller can control the cleaning robot to mop the floor according to the determined mopping mode.
  • the movement mode of the wiper needs to use three ultrasonic vibration modules to drive the movement of the wiper, and the ultrasonic vibration dimension of each ultrasonic vibration module is including the horizontal plane ( X, Y, ⁇ ) is a composite vibration mode of two-degree-of-freedom ultrasonic vibration and vertical ultrasonic vibration in the Z-axis direction, and the traversal mode of the cleaning robot is a traversal mode of straight lines and diagonal crossings and multiple cleanings.
  • the robot controller uses the sensor to determine whether the water temperature in the water tank is greater than 70 degrees Celsius. If it is greater than 70 degrees Celsius, it can control the movement of the rag through the control of the three ultrasonic vibration modules, and control the chassis walking mechanism to follow a straight line The traversal mode of crossing diagonal lines and sweeping multiple times realizes mopping the floor.
  • the chassis walking mechanism can be controlled to walk to the charging point for charging, so that the water tank heating module can charge the water in the water tank. Perform heating, and when it is determined that the water temperature of the water in the water tank is greater than 70 degrees Celsius (it can be greater than the set temperature, and the set temperature is not less than 70 degrees Celsius to ensure that the water temperature can be maintained above 70 degrees Celsius for a long period of time), Return to the position before charging, and through the control of the three ultrasonic vibration modules and the control of the chassis walking mechanism, the mopping function is realized in the area corresponding to the position.
  • Step 505 The cleaning robot judges whether the cleaning is completed.
  • the robot controller can determine whether the cleaning of the entire set environment has been completed according to the established map. If the determination is completed, it can continue to execute step 506, otherwise, it can return to execute step 503.
  • Step 506 The cleaning robot is charged and refilled.
  • the robot controller can control the running mechanism of the chassis to control the cleaning robot to return to the charging point, charge (at the same time heat the water in the water tank) and replenish water, so that the cleaning robot can perform the next cleaning work.
  • the robot controller can control the cleaning robot to reach the charging point and charge (at the same time, the water in the water tank can be Heating) and water replenishment, so that the cleaning robot can mop the floor.
  • the cleaning robot can not only perform SLAM mapping to achieve navigation, for example, use lidar to perform mapping to achieve navigation, or use visual sensors to perform mapping to achieve navigation, but also through Other ways to achieve navigation, for example, random collision navigation and so on.
  • computer storage media may include: Universal Serial Bus Flash Drive (USB, Universal Serial Bus Flash Drive), mobile hard disk, Read-Only Memory (ROM), Random Access Memory (RAM) , Random Access Memory), magnetic disks or optical disks and other storage media that can store program codes.
  • USB Universal Serial Bus Flash Drive
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • RAM Random Access Memory
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the units or units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be Combined or can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical or other forms.
  • the functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may also be an independent physical module.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the computer software product is stored in a storage medium and includes several instructions to enable a computer device, for example, A personal computer, a server, or a network device, etc., or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present disclosure.
  • the aforementioned storage media include: Universal Serial Bus Flash Drive, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.
  • the embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

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Abstract

一种拖地控制方法、装置、介质和设备,可以首先确定清洁机器人当前所在位置所对应的拖地模式(步骤101),然后按照确定出的拖地模式,控制清洁机器人在当前所在位置对应的区域进行拖地(步骤102),从而可以根据确定出的拖地模式,按照清洁力度不同的拖地方式,有针对性地进行拖地,优化拖地效果,提高拖地后的清洁度,满足客户的需求。

Description

一种拖地控制方法、装置、介质和设备
本公开要求于2020年05月22日提交中国专利局、申请号为202010442623.X、发明名称为“一种拖地控制方法、装置、介质和设备”的中国专利申请的优先权,其全部内容通过引用结合在本公开中。
技术领域
本公开涉及智能机器人技术领域,特别涉及一种拖地控制方法、装置、介质和设备。
背景技术
目前,清洁机器人越来越智能化,随着技术的提高,清洁机器人不仅可以扫地,还可以具备拖地功能,因此得到了广泛的应用。
目前具备拖地功能的清洁机器人一般包括抹布安装板和水箱,抹布安装板用于固定抹布,水箱中的水用于对抹布进行加湿,按照设定的遍历方式,由清洁机器人运动带动抹布在房间内进行遍历,完成对地面的拖地功能。
但是目前具备拖地功能的清洁机器人拖地效果不佳,有时无法达到清洁的拖地效果,难以满足客户的需要。
发明内容
本公开实施例提供一种拖地控制方法、装置、介质和设备,用于解决清洁机器人拖地效果不佳的问题。
本公开提供了一种拖地控制方法,所述方法包括:
确定清洁机器人当前所在位置所对应的拖地模式,每种拖地模式对应清洁力度不同的拖地方式;
根据确定出的拖地模式,控制清洁机器人在当前所在位置对应的区域进行拖地。
根据本公开实施例提供的方案,可以首先确定清洁机器人当前所在位置所对应的拖地模式,然后按照确定出的拖地模式,控制清洁机器人在当前所在位置对应的区域进行拖地。从而可以根据确定出的拖地模式,按照清洁力度不同的拖地方式,有针对性地进行拖地,优化拖地效果,提高拖地后的清洁度,满足客户的需求。
在一种可能的实现方式中,确定清洁机器人当前所在位置所对应的拖地模式,包括:
指示采集清洁机器人当前所在位置对应的环境图像;
根据采集到的环境图像,确定对应的拖地模式。
即在本公开方案中,可以通过采集环境图像的方式,通过采集的环境对象来确定对应的拖地模式,实现拖地模式的自动判断,优化拖地效果,提高拖地清洁度。
在一种可能的实现方式中,确定清洁机器人当前所在位置所对应的拖地模式,包括:
确定清洁机器人当前所在位置;
根据预先设置的拖地模式与位置的对应关系,确定对应的拖地模式。
即在本公开方案中,可以根据预先设置的拖地模式与位置的对应关系,根据清洁机器人当前所处位置来确定对应的拖地模式,实现拖地模式的自动判断,优化拖地效果,提高拖地清洁度。
在一种可能的实现方式中,确定清洁机器人当前所在位置所对应的拖地模式,包括:
根据接收到的拖地指令,确定清洁机器人当前所在位置所对应的拖地模式。
即在本公开方案中,可以由用户进行拖地模式的设定,根据拖地指令确定对应的拖地模式,优化拖地效果,提高拖地清洁度。
在一种可能的实现方式中,每种拖地模式至少以下一项参数不相同:
水箱水温、抹布的运动方式以及清洁机器人的遍历方式。
即在本公开方案中,可以由水箱水温、抹布的运动方式以及清洁机器人的遍历方式的不同设置,来获得不同的拖地模式,以优化拖地效果,提高拖地清洁度。
与上述提供的方法对应的,还提供以下的装置、介质和设备。
本公开还提供了一种拖地控制装置,所述装置包括:
确定模块,被设置为确定清洁机器人当前所在位置所对应的拖地模式,每种拖地模式对应清洁力度不同的拖地方式;
控制模块,被设置为根据确定出的拖地模式,控制清洁机器人在当前所在位置对应的区域进行拖地。
在一种可能的实现方式中,所述确定模块,具体被设置为指示采集清洁机器人当前所在位置对应的环境图像,根据采集到的环境图像,确定对应的拖地模式。
在一种可能的实现方式中,所述确定模块,具体被设置为确定清洁机器人当前所在位置,根据预先设置的拖地模式与位置的对应关系,确定对应的拖地模式。
在一种可能的实现方式中,所述确定模块,具体被设置为根据接收到的拖地指令,确定清洁机器人当前所在位置所对应的拖地模式。
在一种可能的实现方式中,每种拖地模式至少以下一项参数不相同:
水箱水温、抹布的运动方式以及清洁机器人的遍历方式。
本公开还提供了一种非易失性计算机存储介质,所述计算机存储介质存储有可执行程序,该可执行程序被处理器执行实现如上所述的方法。
本公开还提供了一种机器人控制器,包括处理器、通信接口、存储器和通信总线,其中,所述处理器,所述通信接口,所述存储器通过所述通信总线完成相互间的通信;
所述存储器,被设置为存放计算机程序;
所述处理器,被设置为执行所述存储器上所存储的程序时,实现如上所述 的方法步骤。
本公开还提供了一种清洁机器人,所述清洁机器人包括如上所述的机器人控制器。
本公开的其它特征和优点将在随后的说明书中阐述,并且,部分地从说明书中变得显而易见,或者通过实施本公开而了解。本公开的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。
附图说明
为了更清楚地说明本公开实施例或相关技术中的技术方案,下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本公开的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1为本公开实施例一提供的拖地控制方法的流程示意图;
图2为本公开实施例二提供的拖地控制装置的结构示意图;
图3为本公开实施例三提供的机器人控制器的结构示意图;
图4为本公开实施例五提供的清洁机器人的结构示意图;
图5为本公开实施例五提供的拖地控制方法的流程示意图。
具体实施方式
为了使本公开的目的、技术方案和优点更加清楚,下面将结合附图对本公开作进一步地详细描述,显然,所描述的实施例仅仅是本公开的一部分实施例,而不是全部的实施例。基于本公开中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本公开保护的范围。
需要说明的是,在本文中提及的“多个或者若干个”是指两个或两个以上。“和/或”,描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况。字 符“/”一般表示前后关联对象是一种“或”的关系。
本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本公开的实施例能够以除了在这里图示或描述的那些以外的顺序实施。
此外,术语“包括”和“具有”以及他们的任何变形,意图在于覆盖不排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例一
本公开实施例一提供一种拖地控制方法,该方法的步骤流程可以如图1所示,包括:
步骤101、确定拖地模式。
本实施例的执行主体可以理解为清洁机器人的机器人控制器。本实施例可以应用于任何具有拖地功能的清洁机器人,在一种可能的实现方式中,该清洁机器人还可以具有其它功能,例如扫地功能。针对同时具有扫地功能和拖地功能的清洁机器人,扫地和拖地可以同时执行,也可以分别执行。
在本步骤中,可以确定清洁机器人当前所在位置所对应的拖地模式,每种拖地模式对应清洁力度不同的拖地方式。
也就是说,在本实施例中,考虑到拖地时,不同区域需要的清洁力度不同,为了优化清洁机器人的拖地效果,可以为清洁机器人设置多种拖地模式,来对应清洁力度不同的拖地方式,从而可以利用不同的拖地模式来针对不同区域进行拖地,优化拖地效果。
需要说明的是,在一种可能的实现方式中,每种拖地模式可以是至少以下一项参数不相同:水箱水温、抹布的运动方式以及清洁机器人的遍历方式。
可以理解为,考虑到拖地时对抹布进行加湿的水的水温不同,清洁力度也 不同,水温越高,去污能力越强,清洁力度越大,因此可以根据清洁力度的需要,来设置对应的水箱水温。
在本实施例中,水箱水温可以通过为清洁机器人增加的水箱加热模块来提高。且在一种可能的实现方式中,水箱加热模块提高水箱水温可以与对清洁机器人的充电一体化实现,以简化清洁机器人结构,减少清洁机器人体积增加。
可以理解为,在本实施例中,可以通过水箱水温设置,通过对水箱中的水的加热,来达到在拖地时通过热水软化污渍,增强拖地清洁力度,提高拖地清洁度的效果。
另外,考虑到抹布的运动方式不同,清洁力度也不同,抹布运动的自由度越高,摩擦振动越强,清洁力度越大,因此可以根据清洁力度的需要,来设置对应的抹布的运动方式。
在本实施例中,抹布的运动方式可以通过为清洁机器人增加的抹布运动驱动模块来控制,抹布运动驱动模块可以为任意可以实现对抹布运动驱动的模块,例如,机构运动模块,振动马达模块或者超声振动模块等等。
需要说明的是,抹布驱动模块的数量可以为一个,也可以为至少两个,以更好地驱动安装在抹布安装板上的抹布的运动,增强抹布的去污效果。
以抹布驱动模块为至少两个超声振动模块为例,可以针对至少一个超声振动模块,通过改变该超声振动模块的指定参数,例如,超声振动维度、超声振动振幅、超声振动频率中的至少一项,来变换抹布的运动方式,当然,抹布的运动方式也可以为静止。
可以理解为,在本实施例中,可以通过抹布的运动方式设置,除了由清洁机器人运动带动之外,可以通过对抹布运动的驱动,来达到增强拖地清洁力度,提高拖地清洁度的效果。
另外,考虑到清洁机器人在拖地时的遍历方式不同,清洁力度也不同,遍历次数越多、遍历越完全,清洁力度越大,例如,针对直线加斜线交叉并多次清扫的遍历方式,工字型的完全遍历方式以及快速大区域遍历方式,清洁力度 依次降低,因此可以根据清洁力度的需要,来设置对应的清洁机器人的遍历方式。
清洁机器人的遍历方式可以通过对清洁机器人的底盘行走机构的控制来实现。
可以理解为,在本实施例中,可以通过清洁机器人的遍历方式设置,通过增加遍历次数和遍历的完整度,来达到增强拖地清洁力度,提高拖地清洁度的效果。
在本实施例中,可以对水箱水温、抹布的运动方式以及清洁机器人的遍历方式的设置进行任意形式的组合,来对拖地方式进行细分,获得更多的拖地模式,进一步优化拖地效果。
另外,需要说明的是,确定清洁机器人当前所在位置所对应的拖地模式可以通过任意方式实现,例如,可以但不限于通过以下方式中的任意一种来实现:
方式一、指示采集清洁机器人当前所在位置对应的环境图像,根据采集到的环境图像,确定对应的拖地模式;
方式二、确定清洁机器人当前所在位置,根据预先设置的拖地模式与位置的对应关系,确定对应的拖地模式;
方式三、根据接收到的拖地指令,确定清洁机器人当前所在位置所对应的拖地模式。
拖地指令可以是用户通过客户端发送的,且可以理解为,拖地指令中携带了拖地模式信息,根据拖地模式信息即可以确定清洁机器人当前所在位置所对应的拖地模式。
当然,确定清洁机器人当前所在位置所对应的拖地模式,不限于通过以上方式来实现。
步骤102、进行拖地。
在本步骤中,可以根据确定出的拖地模式,控制清洁机器人在当前所在位置对应的区域进行拖地。需要说明的是,当前所在位置对应的区域可以根据需 要进行设定。
假设拖地模式根据水箱水温、抹布的运动方式以及清洁机器人的遍历方式这三个参数来限定。以拖地模式用1表示,对应的拖地方式为水箱水温需要大于60摄氏度、抹布的运动方式为水平面(X,Y,θ)内二自由度超声振动(假设抹布驱动模块为一个超声振动模块),清洁机器人的遍历方式为工字型的完全遍历方式为例,那么在本步骤中,可以确定水箱水温是否大于60摄氏度,如果是,则可以通过对超声振动模块的超声振动维度的控制,实现对抹布的运动方式的控制,并控制底盘行走机构按照工字型的完全遍历方式行走,从而在当前所在位置对应的区域实现拖地。
如果确定水箱水温是否不大于60摄氏度,则可以通过对底盘行走机构的控制,控制清洁机器人行走到充电点进行充电,以由水箱加热模块对水箱中的水进行加热。并在确定水箱水温大于60摄氏度时,控制清洁机器人返回充电前所在位置,并通过对超声振动模块以及底盘行走机构的控制,在该位置对应的区域实现拖地功能。
根据本公开实施例一提供的方案,可以针对不同区域采用不同的拖地模式进行拖地,针对污渍顽固的区域,通过采用清洁力度较大的拖地模式进行拖地,可以优化拖地效果。针对污渍较轻的区域,可以采用清洁力度较小的拖地模式进行拖地,在保证拖地效果的同时,还可以达到减小能耗的效果。
另外,需要说明的是,在本公开实施例一提供的方案中,针对目前拖地时污渍顽固难以去除的问题,创造性地提出可以通过提高水箱内水的水温以及抹布的运动驱动,来加大清洁力度,以通过对应的拖地模式,保证拖地的清洁度。
与实施例一提供的方法对应的,提供以下的装置。
实施例二
本公开实施例二提供一种拖地控制装置,该装置的结构可以如图2所示,包括:
确定模块11被设置为确定清洁机器人当前所在位置所对应的拖地模式, 每种拖地模式对应清洁力度不同的拖地方式;控制模块12被设置为根据确定出的拖地模式,控制清洁机器人在当前所在位置对应的区域进行拖地。
在一种可能的实现方式中,所述确定模块11具体被设置为指示采集清洁机器人当前所在位置对应的环境图像,根据采集到的环境图像,确定对应的拖地模式。
在一种可能的实现方式中,所述确定模块11具体被设置为确定清洁机器人当前所在位置,根据预先设置的拖地模式与位置的对应关系,确定对应的拖地模式。
在一种可能的实现方式中,所述确定模块11具体被设置为根据接收到的拖地指令,确定清洁机器人当前所在位置所对应的拖地模式。
在一种可能的实现方式中,每种拖地模式至少以下一项参数不相同:
水箱水温、抹布的运动方式以及清洁机器人的遍历方式。
基于同一发明构思,本公开实施例提供以下的设备和介质。
实施例三
本公开实施例三提供一种机器人控制器,结构可以如图3所示,包括处理器21、通信接口22、存储器23和通信总线24,其中,所述处理器21,所述通信接口22,所述存储器23通过所述通信总线24完成相互间的通信;
所述存储器23,被设置为存放计算机程序;
所述处理器21,被设置为执行所述存储器上所存储的程序时,实现本公开实施例一所述的方法步骤。
在一些实施方式中,所述处理器21具体可以包括中央处理器(CPU)、特定应用集成电路(ASIC,Application Specific Integrated Circuit),可以是一个或多个用于控制程序执行的集成电路,可以是使用现场可编程门阵列(FPGA,Field Programmable Gate Array)开发的硬件电路,可以是基带处理器。
在一些实施方式中,所述处理器21可以包括至少一个处理核心。
在一些实施方式中,所述存储器23可以包括只读存储器(ROM,Read-Only  Memory)、随机存取存储器(RAM,Random Access Memory)和磁盘存储器。存储器23被设置为存储至少一个处理器21运行时所需的数据。存储器23的数量可以为一个或多个。
在一些实施方式中,本公开实施例还可以提供一种清洁机器人,该清洁机器人包括如实施例三所述的机器人控制器。
本公开实施例四提供一种非易失性计算机存储介质,所述计算机存储介质存储有可执行程序,当可执行程序被处理器执行时,实现本公开实施例一提供的方法。
下面通过一个具体的实例,对本公开提供的方案进行说明。
实施例五
本公开实施例五提供一种拖地控制方法,该方法应用的清洁机器人的结构示意图可以如图4所示,可以但不限于包括导航上位机控制器、传感器单元、机器人控制器、底盘行走机构、抹布、抹布安装板、水箱、水箱加热模块和抹布驱动模块。
其中,传感器单元可以但不限于包括激光雷达传感器、惯导传感器、里程计、沿边传感器、跌落传感器、悬崖传感器、碰撞传感器、视觉传感器等中的至少一种。
传感器单元中的各传感器可以采集相应的数据,并将采集到的数据发送给导航上位机控制器,以便导航上位机控制器根据传感器单元上报的数据进行清洁机器人在设定环境(例如,家庭环境)的定位与建图(即,进行SLAM建图,实现设定环境中地图的建立),从而使得机器人控制器可以根据导航上位机控制器建立的地图,通过控制指令控制清洁机器人的底盘行走机构的运动,实现清洁机器人在设定环境内进行清洁。其中,机器人控制器可以根据设定的遍历方式,控制底盘行走机构的运动。
需要说明的是,导航上位机控制器还可以在底盘行走机构运动期间,通过传感器单元检测底盘行走机构的运动反馈数据,从而使得机器人控制器可以根 据导航上位机控制器获得的运动反馈数据,调整对底盘行走机构的控制指令。
在本实施例中,可以假设拖地模式根据水箱水温、抹布的运动方式以及清洁机器人的遍历方式来限定。
在本实施例中,以抹布驱动模块为超声振动模块,即抹布的运动由超声振动模块驱动为例进行说明。
在本实施例中,抹布安装板可以包括三部分,抹布安装板的每个部分均可以安装一个超声振动模块,每个超声振动模块的参数可以单独调节,以更好地驱动安装在抹布安装板上的抹布的运动。抹布经三个超声振动模块的驱动,可以实现多自由度运动,产生不同角度的摩擦振动,实现去污效果的增强。
在本实施例中,每个超声振动模块可改变的参数可以包括超声振动维度、超声振动振幅和超声振动频率。每个超声振动模块的超声振动维度可由机器人控制器进行选择,每个超声振动模块的振动维度可以包括水平面(X,Y,θ)内二自由度超声振动以及Z轴方向的垂直方向超声振动的组合。且每个超声振动模块的超声振动振幅和超声振动频率均可由机器人控制器进行调节。
此外,在本实施例中,水箱中的水可以由水箱加热模块进行加热,机器人控制器可以通过控制清洁机器人返回充电点进行充电,在充电同时,一体化实现水箱加热模块对水箱中的水的加热。
该方法的步骤流程可以如图5所示,包括:
步骤501、清洁机器人启动。
在本步骤中,可以启动清洁机器人。
步骤502、清洁机器人进行SLAM建图。
在本步骤中,导航上位机控制器可以根据传感器单元上报的数据,启动在设定环境(例如,家庭环境)的SLAM建图。
步骤503、清洁机器人确定拖地模式。
在本实施例中,仅对清洁机器人的拖地过程进行说明。若清洁机器人还包括扫地功能,清洁机器人的拖地和扫地可以同时进行,也可以分别进行。
在本步骤中,机器人控制器可以确定清洁机器人当前所在位置所对应的拖地模式。
机器人控制器确定清洁机器人当前所在位置所对应的拖地模式,在一种可能的实现方式中,可以是机器人控制器指示对应的传感器(视觉传感器,如摄像头)采集清洁机器人当前所在位置对应的环境图像,根据采集到的环境图像,确定对应的拖地模式。
例如,可以根据采集到的环境图像包括床,认为清洁机器人当前所在位置为卧室,可以根据卧室的地面一般比较清洁,污渍容易去除,确定对应的清洁力度的拖地模式。
又如,可以根据采集到的环境图像包括座椅沙发,认为清洁机器人当前所在位置为客厅,可以根据客厅的地面会存在一定污渍,污渍较为容易去除,确定对应的清洁力度的拖地模式。
又如,可以根据采集到的环境图像包括餐桌椅子,认为清洁机器人当前所在位置为餐厅,可以根据餐厅的地面清洁度较差,污渍较难去除,确定对应的清洁力度的拖地模式。
又如,可以根据采集到的环境图像包括水池灶台,认为清洁机器人当前所在位置为厨房,可以根据厨房的地面需要加大清洁力度,污渍难以去除,确定对应的清洁力度的拖地模式。
机器人控制器确定清洁机器人当前所在位置所对应的拖地模式,在另一种可能的实现方式中,还可以是机器人控制器通过对应的传感器确定清洁机器人当前所在位置,并根据预先设置的拖地模式与位置的对应关系,确定对应的拖地模式。
在一种可能的实现方式中,可以在建立的地图中设置每个房间与拖地模式的对应关系,如果确定清洁机器人当前所在位置属于某个房间,即可以根据该房间对应的拖地模式,确定出清洁机器人当前所在位置对应的拖地模式。
例如,如果确定清洁机器人当前所在位置属于厨房,即可以将厨房对应的 拖地模式,确定为清洁机器人当前所在位置对应的拖地模式。
需要说明的是,机器人控制器确定清洁机器人当前所在位置所对应的拖地模式,在另一种可能的实现方式中,还可以是根据客户端的控制指令确定。
例如,用户可以通过客户端向机器人控制器发送拖地指令,该拖地指令携带的拖地模式信息可以为清洁机器人当前所在位置对应的拖地模式为2(即对应用2表示的拖地模式),此时,机器人控制器可以根据接收到的拖地指令,确定清洁机器人当前所在位置对应的拖地模式为拖地模式2。
步骤504、清洁机器人拖地。
在本步骤中,机器人控制器可以根据确定出的拖地模式,控制清洁机器人进行拖地。
例如,如果确定出的拖地模式中,对应的水箱水温需要大于70摄氏度、抹布的运动方式为需要利用三个超声振动模块驱动抹布运动,每个超声振动模块的超声振动维度均为包括水平面(X,Y,θ)内二自由度超声振动以及Z轴方向的垂直方向超声振动的复合振动方式,且清洁机器人的遍历方式为直线加斜线交叉并多次清扫的遍历方式,那么,在本步骤中,可以包括:
机器人控制器通过传感器确定水箱内的水的水温是否大于70摄氏度,如果大于70摄氏度,则可以通过对三个超声振动模块的控制,实现对抹布的运动方式的控制,并控制底盘行走机构按照直线加斜线交叉并多次清扫的遍历方式行走,从而实现拖地。
如果机器人控制器通过传感器确定水箱内的水的水温不大于70摄氏度,则在一种可能的实现方式中,可以控制底盘行走机构行走到充电点进行充电,以由水箱加热模块对水箱中的水进行加热,并在确定水箱内的水的水温大于70摄氏度(可以为大于设定温度,设定温度不小于70摄氏度,以保证水温可以在较长一段时间内维持在70摄氏度之上)时,返回充电前所在位置,并通过对三个超声振动模块的控制,以及对底盘行走机构的控制,在该位置对应的区域实现拖地功能。
步骤505、清洁机器人判断是否清洁完毕。
在本步骤中,机器人控制器可以根据建立的地图,判断是否完成了整个设定环境的清洁,如果判断完成,可以继续执行步骤506,否则,可以返回执行步骤503。
步骤506、清洁机器人充电、补水。
在本步骤中,机器人控制器可以通过对底盘行走机构的控制,控制清洁机器人返回充电点,进行充电(同时对水箱内的水进行加热)和补水,以便于清洁机器人进行下一次的清洁工作。
需要说明的是,在一种可能的实现方式中,机器人控制器可以在确定需要拖地时,即通过对底盘行走机构的控制,控制清洁机器人到达充电点,进行充电(同时对水箱内的水进行加热)和补水,以便于清洁机器人进行拖地。
需要说明的是,在本实施例中,清洁机器人除了可以进行SLAM建图来实现导航,例如,通过激光雷达进行建图以实现导航,或者,通过视觉传感器进行建图以实现导航,还可以通过其他方式实现导航,例如,进行随机碰撞式导航等等。
在具体的实施过程中,计算机存储介质可以包括:通用串行总线闪存盘(USB,Universal Serial Bus Flash Drive)、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的存储介质。
在本公开实施例中,应该理解到,所揭露的设备和方法,可以通过其它的方式实现。例如,以上所描述的设备实施例仅仅是示意性的,例如,所述单元或单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个系统,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,设备或单元的间接耦合或通信连接,可以是电性或其它的形式。
在本公开实施例中的各功能单元可以集成在一个处理单元中,或者各个单元也可以均是独立的物理模块。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本公开实施例的技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备,例如可以是个人计算机,服务器,或者网络设备等,或处理器(processor)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:通用串行总线闪存盘(Universal Serial Bus Flash Drive)、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
本领域内的技术人员应明白,本公开的实施例可提供为方法、系统、或计算机程序产品。因此,本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施例的方法、装置(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本公开的优选实施例,但本领域内的技术人员一旦得知了基本创造性概念,则可对这些实施例作出另外的变更和修改。所以,所附权利要求意欲解释为包括优选实施例以及落入本公开范围的所有变更和修改。
显然,本领域的技术人员可以对本公开进行各种改动和变型而不脱离本公开的精神和范围。这样,倘若本公开的这些修改和变型属于本公开权利要求及其等同技术的范围之内,则本公开也意图包含这些改动和变型在内。

Claims (13)

  1. 一种拖地控制方法,所述方法包括:
    确定清洁机器人当前所在位置所对应的拖地模式,每种拖地模式对应清洁力度不同的拖地方式;
    根据确定出的拖地模式,控制清洁机器人在当前所在位置对应的区域进行拖地。
  2. 如权利要求1所述的方法,其中,所述确定清洁机器人当前所在位置所对应的拖地模式,包括:
    指示采集清洁机器人当前所在位置对应的环境图像;
    根据采集到的环境图像,确定对应的拖地模式。
  3. 如权利要求1所述的方法,其中,所述确定清洁机器人当前所在位置所对应的拖地模式,包括:
    确定清洁机器人当前所在位置;
    根据预先设置的拖地模式与位置的对应关系,确定对应的拖地模式。
  4. 如权利要求1所述的方法,其中,所述确定清洁机器人当前所在位置所对应的拖地模式,包括:
    根据接收到的拖地指令,确定清洁机器人当前所在位置所对应的拖地模式。
  5. 如权利要求1~4任一所述的方法,其中,每种拖地模式至少以下一项参数不相同:
    水箱水温、抹布的运动方式以及清洁机器人的遍历方式。
  6. 一种拖地控制装置,所述装置包括:
    确定模块,被设置为确定清洁机器人当前所在位置所对应的拖地模式,每种拖地模式对应清洁力度不同的拖地方式;
    控制模块,被设置为根据确定出的拖地模式,控制清洁机器人在当前所在位置对应的区域进行拖地。
  7. 如权利要求6所述的装置,其中,所述确定模块,具体被设置为指示 采集清洁机器人当前所在位置对应的环境图像,根据采集到的环境图像,确定对应的拖地模式。
  8. 如权利要求6所述的装置,其中,所述确定模块,具体被设置为确定清洁机器人当前所在位置,根据预先设置的拖地模式与位置的对应关系,确定对应的拖地模式。
  9. 如权利要求6所述的装置,其中,所述确定模块,具体被设置为根据接收到的拖地指令,确定清洁机器人当前所在位置所对应的拖地模式。
  10. 如权利要求6~9任一所述的装置,其中,每种拖地模式至少以下一项参数不相同:
    水箱水温、抹布的运动方式以及清洁机器人的遍历方式。
  11. 一种非易失性计算机存储介质,所述计算机存储介质存储有可执行程序,该可执行程序被处理器执行实现权利要求1~5任一所述的方法。
  12. 一种机器人控制器,所述设备包括处理器、通信接口、存储器和通信总线,其中,所述处理器,所述通信接口,所述存储器通过所述通信总线完成相互间的通信;
    所述存储器,被设置为存放计算机程序;
    所述处理器,被设置为执行所述存储器上所存储的程序时,实现权利要求1~5任一所述的方法步骤。
  13. 一种清洁机器人,其所述清洁机器人包括如权利要求12所述的机器人控制器。
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