WO2022213442A1

WO2022213442A1 - Water-controlled cleaning method and apparatus for cleaning robot, and cleaning robot and medium

Info

Publication number: WO2022213442A1
Application number: PCT/CN2021/092274
Authority: WO
Inventors: 喻强; 邵林; 徐晓明
Original assignee: 美智纵横科技有限责任公司
Priority date: 2021-04-09
Filing date: 2021-05-08
Publication date: 2022-10-13
Also published as: CN115191876A

Abstract

A water-controlled cleaning method and apparatus (10) for a cleaning robot, and a cleaning robot (20) and a storage medium (30). The water-controlled cleaning method for a cleaning robot comprises: controlling a cleaning robot to move around the boundary of a target area and to acquire the ambient humidity (S101); calculating an average humidity value of the target area according to the acquired ambient humidity (S102); according to a humidity range of the average humidity value, determining an amount of water for cleaning which is required in a mopping mode (S103); and starting the mopping mode to cover and clean the target area according to the amount of water for cleaning (S104).

Description

Water-controlled cleaning method, device, cleaning robot and medium for cleaning robot

This application claims the priority of the Chinese patent application filed on April 9, 2021 with the application number 202110383106.4 and the application name "Water-controlling cleaning method, device, cleaning robot and medium for cleaning robots", the entire contents of which are Incorporated herein by reference.

technical field

The present application belongs to the technical field of home appliances, and in particular, relates to a water control cleaning method, device, cleaning robot and storage medium for cleaning robots.

Background technique

Sweepers, also known as automatic cleaners, smart vacuum cleaners, cleaning robots, etc., are a kind of smart household appliances that can automatically complete the floor cleaning work in the room with certain artificial intelligence. The current sweeping robot has gradually become an essential intelligent helper in people's lives.

Most of the existing sweepers have the mopping function, which is also a development trend of sweepers. A good mopping effect can bring users a good cleaning experience and greatly improve user satisfaction. Among them, the control of the water volume of the water tank of the sweeper is a key factor for the mopping function. Too large or too small water volume (which can also be understood as the water output speed) will greatly reduce the mopping effect of the mop on the sweeper.

In the existing method, the user is required to manually set a fixed water volume in advance (generally divided into dry mopping, low speed, standard, high speed, etc.), and the subsequent mopping process follows this water volume until the water volume is manually set again. If it encounters rainstorms or warmer days, the sweeper will still perform the mopping function according to the preset water volume, which will cause the ground in the user's home to be wet, and even damage the floor or furniture in severe cases.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present application provide a water control cleaning method, device, cleaning robot, and storage medium for a cleaning robot, so as to be able to adaptively adjust the amount of mopping water according to environmental humidity, avoid environmental humidity, and improve user experience.

The embodiment of the first aspect of the present application provides a water-controlled cleaning method for a cleaning robot, including:

Control the cleaning robot to go around the edge of the target area and collect the ambient humidity;

Calculate the average humidity of the target area according to the collected ambient humidity;

Determine the amount of cleaning water required for the mopping mode according to the humidity range to which the average humidity value belongs;

The mopping mode is activated to perform cover cleaning in the target area according to the amount of cleaning water.

The water-controlled cleaning method for a cleaning robot according to the first aspect of the present application controls the cleaning robot to travel around the edge of the target area and collect the ambient humidity, and does not turn on the mopping mode during the edge-wise process; The average humidity value of the target area; according to the humidity range to which the average humidity value belongs, determine the amount of cleaning water required for the mopping mode; turn on the mopping mode, and start covering and cleaning in the target area according to the amount of cleaning water. With the prior art, the cleaning robot in the present application adaptively adjusts the amount of water for mopping the floor according to the environmental humidity, so as to prevent the environment from being wet, thereby improving the user experience; meanwhile, it saves energy and protects the environment, and avoids unnecessary water usage.

In some embodiments of the present application, before the controlling the cleaning robot to travel around the boundary of the target area and collect the ambient humidity, the method further includes:

Determine whether the humidity detection function of the cleaning robot is normal;

If the humidity detection function is normal, continue to collect the ambient humidity; if the humidity detection function is abnormal, stop collecting the ambient humidity and report the fault information.

The target area to be cleaned is determined according to whether there is map information of the current area.

In some embodiments of the present application, determining the target area to be cleaned according to whether there is map information of the current area includes:

According to the map information of the current area where the cleaning robot exists, the target area to be cleaned is determined according to the map information;

According to the map information of the current area that does not exist in the cleaning robot, an area with a fixed area is designated as the target area to be cleaned.

In some embodiments of the present application, calculating the average humidity of the target area according to the collected ambient humidity includes:

Obtain the ambient humidity of multiple locations on the boundary of the target area separated by a preset distance;

The average value of the ambient humidity of the multiple locations is calculated to obtain the average value of the humidity of the target area.

The water control cleaning device of the cleaning robot according to the embodiment of the second aspect of the present application includes:

The acquisition module is used to control the cleaning robot to go around the edge of the target area and collect the ambient humidity;

The calculation module is used to calculate the average humidity of the target area according to the collected ambient humidity;

a determining module, configured to determine the amount of cleaning water required by the mopping mode according to the humidity range to which the average humidity value belongs;

The control module is configured to start the mopping mode, and perform cover cleaning in the target area according to the amount of cleaning water.

The water-controlling cleaning device for a cleaning robot according to the second aspect of the present application controls the cleaning robot to travel around the edge of the target area and collect the ambient humidity; after the edge is completed, the average humidity value of the target area is calculated according to the collected ambient humidity; The humidity range to which the average humidity value belongs, determine the amount of cleaning water required for the mopping mode; turn on the mopping mode, and start covering and cleaning in the target area according to the amount of cleaning water. Compared with the prior art, the cleaning robot in this application is based on The environmental humidity adaptively adjusts the amount of mopping water to avoid humidity, thereby improving the user experience; at the same time, it saves energy and protects the environment, and avoids unnecessary water usage.

In some embodiments of the present application, the collection module is further used for:

Before controlling the cleaning robot to go around the edge of the target area and collecting the ambient humidity, determine whether the humidity detection function of the cleaning robot is normal;

Before controlling the cleaning robot to travel around the boundary of the target area and collecting the ambient humidity, the target area to be cleaned is determined according to whether there is map information of the current area.

In some embodiments of the present application, the collection module is specifically used for:

In some embodiments of the present application, the computing module is specifically used for:

The cleaning robot according to the embodiment of the third aspect of the present application includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to achieve The water-controlled cleaning method of the cleaning robot according to the embodiment of the first aspect.

The computer-readable storage medium of the embodiment of the fourth aspect of the present application stores computer-readable instructions thereon, and the computer-readable instructions can be executed by the processor to implement the water-controlled cleaning method of the cleaning robot of the embodiment of the first aspect.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for purposes of illustrating preferred embodiments only and are not to be considered limiting of the application. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

1 shows a flowchart of a water-controlled cleaning method for a cleaning robot according to an embodiment of the present application;

FIG. 2 shows a flowchart of a specific water-controlled cleaning method for a cleaning robot according to an embodiment of the present application;

FIG. 3 shows a schematic diagram of a water control cleaning device for a cleaning robot according to an embodiment of the present application;

FIG. 4 shows a schematic diagram of a cleaning robot according to an embodiment of the present application;

FIG. 5 shows a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relationship between various components under a certain posture (as shown in the accompanying drawings). The relative positional relationship, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly.

In addition, descriptions such as "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "connected", "fixed" and the like should be understood in a broad sense, for example, "fixed" may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal communication between two elements or an interaction relationship between the two elements, unless otherwise explicitly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

The present application proposes a water-controlled cleaning method, device, cleaning robot and storage medium for a cleaning robot. The target area to be cleaned is determined according to whether there is map information of the current area, and the cleaning robot is controlled to circle around the boundary of the target area and collect the environment. Humidity, the mopping mode is not turned on during the edge along the edge; after the edge is completed, the average humidity value of the target area is calculated according to the collected ambient humidity, and multiple different locations can be multiple locations separated by a preset distance; according to the humidity to which the average humidity value belongs range, determine the amount of cleaning water required for the mopping mode; turn on the mopping mode, and start covering and cleaning in the target area according to the amount of cleaning water. Compared with the prior art, the cleaning robot in this application adaptively adjusts according to the ambient humidity Mopping the floor water to avoid aggravating the humidity of the environment, thus improving the user experience; at the same time, it saves energy and protects the environment, and avoids unnecessary water use.

In order to make the above objects, features and advantages of the present application more obvious and easy to understand, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Example 1

FIG. 1 is a flowchart of a water-controlled cleaning method for a cleaning robot provided by an embodiment of the present application. As shown in Figure 1, the water-controlled cleaning method of the cleaning robot includes:

Step S101: Control the cleaning robot to make a circle around the boundary of the target area and collect ambient humidity.

The cleaning robot of this embodiment has a mopping mode and a cleaning mode, and the mopping mode is not turned on during the edgewise process.

Specifically, the target area is the area to be mopped, which may be a specific room floor area or a living room floor area in a family, or a fixed area floor area in a room or a living room. Therefore, before proceeding to step S101, the target area may be determined first.

In some embodiments of the present application, the target area to be cleaned may be determined according to whether there is map information of the current area in the cleaning robot, which specifically includes: if the cleaning robot has map information of the current area, then according to the map information of the current area Determine the target area to be cleaned; if the cleaning robot does not have map information of the current area, set a fixed area area as the target area to be cleaned.

It should be understood that if the cleaning robot has completed the collection of the current area map information in advance, the ground of a room can be used as a target area, and the cleaning robot can directly determine the target area on the map. If the cleaning robot does not have the map information of the current area, you can draw a fixed area as the starting point for the cleaning robot as the target area to be cleaned, for example, draw an area with a preset side length (for example, the length and width are 4 meters). area) as the target area.

After determining the target area, the cleaning robot goes around the boundary of the target area and collects the ambient humidity. Specifically, edgewise means that the cleaning robot walks and cleans along the boundary of the target area. The mopping mode is not turned on during the edgewise process, but the cleaning mode can be turned on, and the ambient humidity is continuously collected during the edgewise process. The cleaning robot can collect ambient humidity through the humidity sensor installed on it.

Before collecting the ambient humidity, in order to prevent the collected humidity information from erroneously affecting the determination of the subsequent mopping water amount, in some embodiments of the present application, it is judged whether the humidity detection function of the cleaning robot is normal before collecting the ambient humidity, and if it is normal, continue to collect Ambient humidity; if abnormal, stop collecting ambient humidity and report fault information.

It should be understood that it can detect whether the humidity sensor installed on the sweeping floor is working normally. If it is working abnormally, it will report fault information. The fault information reported can be an alarm sound, a warning light, and the intelligent control APP of the user's mobile phone at the same time. Send fault information so that users can deal with the fault in time.

Step S102: After the edge is completed, calculate the average humidity of the target area according to the collected ambient humidity.

After the cleaning robot has been along the edge for a week, the ambient humidity around the boundary of the target area is collected, and the average humidity of the target area can be obtained by calculating the average value of the collected data, so that the amount of mopping water can be controlled according to the environmental humidity of the target area.

Specifically, in some embodiments of the present application, in order to reduce the amount of calculation and the calculation consumption of the cleaning robot, step S102 may be specifically implemented as: obtaining the ambient humidity of multiple positions on the boundary of the target area separated by a preset distance; The average value of the ambient humidity at each location is obtained to obtain the average humidity value of the target area.

It should be understood that the power of the cleaning robot is limited and the computing power is also limited. Therefore, in order to reduce the consumption of the cleaning robot in this application, a collected ambient humidity can be taken at every preset distance (for example, 0.2 meters) on the boundary of the target area. to calculate the average humidity of the target area.

Step S103: Determine the amount of cleaning water required for the mopping mode according to the humidity range to which the average humidity value of the target area belongs.

Since the level of environmental humidity directly affects the user's feelings, it will also cause damage to wooden floors and various wooden furniture. Therefore, in this application, in order to avoid the cleaning robot mopping the floor and further increase the environmental humidity, the mopping is determined according to the average humidity of the target area. The amount of clean water required by the mode can also be understood as the water output speed (can be divided into dry mopping, low speed, standard, high speed, etc.).

Specifically, several humidity ranges and the amount of cleaning water corresponding to each humidity range may be preset, and the amount of cleaning water corresponds to the water outlet speed. After the average humidity value of the target area is determined, the corresponding amount of cleaning water can be determined according to the humidity range to which the average humidity value belongs.

It should be understood that when the ambient humidity is relatively high, the amount of cleaning water is reduced to prevent mopping the floor from further increasing the ambient humidity. When the ambient humidity is low, the amount of cleaning water can be appropriately increased to increase the ambient humidity by mopping the floor and improve user experience.

Step S104: Turn on the mopping mode, and start covering and cleaning in the target area according to the amount of cleaning water.

Specifically, after the cleaning robot travels around the edge of the target area and determines the required amount of cleaning water, it turns on the mopping mode to start mopping with water, and the mopping method of bowing coverage can be used.

After the mopping of the current target area is completed, the mopping and cleaning of the next target area is performed, and the above steps S101 to S104 are continued in the next target area, that is, each area can adaptively adjust the amount of water to mop the floor, so as to use Different amounts of water are used to mop the floor to clean areas with different environmental humidity, which saves energy and protects the environment, and avoids unnecessary use of water.

The water-controlled cleaning method for a cleaning robot according to the embodiment of the present application controls the cleaning robot to travel around the border of the target area and collects the ambient humidity, and does not turn on the mopping mode during the bordering; Humidity average value; according to the humidity range to which the average humidity value belongs, determine the amount of cleaning water required for the mopping mode; turn on the mopping mode, and start covering and cleaning in the target area according to the amount of cleaning water. Compared with the prior art, the cleaning robot in this application is based on The environmental humidity adaptively adjusts the amount of mopping water to avoid humidity, thereby improving the user experience; at the same time, it saves energy and protects the environment, and avoids unnecessary water usage.

According to the above embodiment, FIG. 2 shows a flowchart of a specific water control cleaning method for a cleaning robot of the present application. As shown in FIG. 2 , the water control cleaning method for the cleaning robot includes:

Step S201: turn on the cleaning robot and start cleaning;

Step S202: determine whether it is in the mopping mode; if it is in the mopping mode, go to step S204, if it is not in the mopping mode, go to step S203;

Step S203: enter the normal cleaning mode;

Step S204: determine whether the humidity detection function is normal; if it is normal, go to step S206, if it is abnormal, go to step S205;

Step S205: report fault information;

Step S206: control the cleaning robot to run around the edge of the target area and collect ambient humidity, and do not turn on the mopping mode during the edge process;

Step S207: after the edge is completed, calculate the average humidity of the target area according to the collected ambient humidity;

Step S208: Determine the amount of cleaning water required by the mopping mode according to the humidity range to which the average humidity value of the target area belongs;

Step S209: Turn on the mopping mode, and start covering and cleaning in the target area according to the determined amount of cleaning water;

Step S210: Determine whether mopping and cleaning are completed in all areas; if completed, the entire mopping ends; otherwise, go to a new target area and jump to step S206.

In the present application, the cleaning robot adaptively adjusts the amount of water for mopping the floor according to the environmental humidity, so as to avoid the humidity of the environment, thereby improving the user experience; at the same time, it saves energy and protects the environment, and avoids unnecessary use of water.

Embodiment 2

An embodiment of the present application provides a water-controlling cleaning device for a cleaning robot. The water-controlling cleaning device for a cleaning robot corresponds to the water-controlling cleaning method for a cleaning robot in Embodiment 1. For relevant details, please refer to some descriptions of Embodiment 1. The method embodiments described below are merely illustrative.

FIG. 3 is a schematic diagram of a water control cleaning device for a cleaning robot provided by an embodiment of the present application. As shown in FIG. 3 , the device 10 includes:

The collection module 101 is used to control the cleaning robot to go around the edge of the target area and collect the ambient humidity;

The calculation module 102 is used to calculate the average humidity of the target area according to the collected environmental humidity after the edge is completed;

A determination module 103, configured to determine the amount of cleaning water required by the mopping mode according to the humidity range to which the average humidity value belongs;

The control module 104 is configured to turn on the mopping mode, and start covering and cleaning in the target area according to the amount of cleaning water.

In some embodiments of the present application, the collection module 101 is further configured to:

If normal, continue to collect ambient humidity; if abnormal, stop collecting ambient humidity and report fault information.

In some embodiments of the present application, the collection module 101 is specifically used for:

If the cleaning robot has map information of the current area, the target area to be cleaned is determined according to the map information;

If the cleaning robot does not have map information of the current area, an area with a fixed area is set as the target area to be cleaned.

In some embodiments of the present application, the computing module 102 is specifically used for:

Calculate the average value of ambient humidity at multiple locations to obtain the average humidity value of the target area.

The water control cleaning device of the cleaning robot in this embodiment controls the cleaning robot to walk around the edge of the target area and collects the ambient humidity, and does not turn on the mopping mode during the edge along the edge; after the edge is completed, the humidity of the target area is calculated according to the collected ambient humidity. Average value; according to the humidity range to which the average humidity value belongs, determine the amount of cleaning water required for the mopping mode; turn on the mopping mode, and start covering and cleaning in the target area according to the amount of cleaning water. Compared with the prior art, the cleaning robot in this application is based on the environment Humidity adaptively adjusts the amount of water for mopping the floor to avoid humidity, thereby improving user experience; at the same time, it saves energy and protects the environment, and avoids unnecessary water usage.

Embodiment 3

As shown in FIG. 4 , an embodiment of the present application further provides a cleaning robot 20, including: a memory 201, a processor 202, and a computer program stored in the memory and running on the processor, the processing When the computer 202 runs the computer program, it is executed to implement the water-controlled cleaning method of the cleaning robot of any one of the first embodiment.

Specifically, the cleaning robot may include: a processor, a memory, a bus and a communication interface, the processor, the communication interface and the memory are connected by a bus; the memory stores a computer program that can run on the processor , the processor executes the water-controlled cleaning method for a cleaning robot provided by any of the foregoing embodiments of the present application when the processor runs the computer program.

The memory may include a high-speed random access memory (RAM: Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface (which may be wired or wireless), and the Internet, a wide area network, a local area network, a metropolitan area network, etc. may be used.

The bus can be an ISA bus, a PCI bus, an EISA bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, and the like. The memory is used to store a program, and the processor executes the program after receiving the execution instruction, and the water control cleaning method of the cleaning robot disclosed in any of the foregoing embodiments of the present application can be applied to the processor , or implemented by the processor.

A processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above-mentioned method can be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software. The above-mentioned processor can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit ( ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

The cleaning robot provided by the embodiment of the present application and the water control cleaning method of the cleaning robot provided by the embodiment of the present application are based on the same inventive concept, and have the same beneficial effects as the method adopted, operated or realized.

Embodiment 4

The embodiment of the present application also provides a computer-readable storage medium, please refer to FIG. 5 , the computer-readable storage medium shown is an optical disc 30, on which computer-readable instructions (ie, program products) are stored, and the computer-readable storage medium is stored thereon. The readable instructions can be executed by the processor to implement the water-controlled cleaning method of the cleaning robot of any one of the first embodiment.

Examples of the computer-readable storage medium may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM). ), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be repeated here.

The computer-readable storage medium provided by the above-mentioned embodiments of the present application and the water-controlled cleaning method of the cleaning robot provided by the embodiments of the present application are based on the same inventive concept, and have the same method adopted, executed or implemented by the stored application program. beneficial effect.

It should be noted:

In the description provided herein, numerous specific details are set forth. It will be understood, however, that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that in the above description of exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, figure, or its description. This disclosure, however, should not be interpreted as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this application.

Those skilled in the art will understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiments may be combined into one module or unit or component, and further they may be divided into multiple sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination, unless at least some of such features and/or procedures or elements are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the present application within and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the apparatus for creating a virtual machine according to the embodiment of the present application. The present application can also be implemented as an apparatus or apparatus program (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

It should be noted that the above-described embodiments illustrate rather than limit the application, and alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the conception of the present invention, the equivalent structural transformations made by the contents of the description and accompanying drawings of the present invention, or directly/indirectly applied in Other related technical fields are included within the scope of patent protection of the present invention.

Claims

A water-controlled cleaning method for a cleaning robot, comprising:

Control the cleaning robot to go around the edge of the target area and collect the ambient humidity;

Calculate the average humidity of the target area according to the collected ambient humidity;

Determine the amount of cleaning water required for the mopping mode according to the humidity range to which the average humidity value belongs;

The mopping mode is activated to perform cover cleaning in the target area according to the amount of cleaning water.
The water-controlled cleaning method for a cleaning robot according to claim 1, characterized in that, before the controlling the cleaning robot to go around the edge of the target area and collect ambient humidity, the method further comprises:

Determine whether the humidity detection function of the cleaning robot is normal;

If the humidity detection function is normal, continue to collect the ambient humidity; if the humidity detection function is abnormal, stop collecting the ambient humidity and report the fault information.
The water-controlled cleaning method for a cleaning robot according to claim 1, characterized in that, before the controlling the cleaning robot to go around the edge of the target area and collect ambient humidity, the method further comprises:

The target area to be cleaned is determined according to whether there is map information of the current area.
The water-controlled cleaning method for a cleaning robot according to claim 3, wherein determining the target area to be cleaned according to whether there is map information of the current area, comprising:

According to the map information of the current area where the cleaning robot exists, the target area to be cleaned is determined according to the map information;

According to the map information of the current area that does not exist in the cleaning robot, an area with a fixed area is designated as the target area to be cleaned.
The water control cleaning method for a cleaning robot according to claim 1, wherein the calculating the average humidity of the target area according to the collected ambient humidity, comprising:

Obtain the ambient humidity of multiple locations on the boundary of the target area separated by a preset distance;

The average value of the ambient humidity of the multiple locations is calculated to obtain the average value of the humidity of the target area.
A water-controlling cleaning device for a cleaning robot, characterized in that it includes:

The acquisition module is used to control the cleaning robot to go around the edge of the target area and collect the ambient humidity;

The calculation module is used to calculate the average humidity of the target area according to the collected ambient humidity;

a determining module, configured to determine the amount of cleaning water required by the mopping mode according to the humidity range to which the average humidity value belongs;

The control module is configured to start the mopping mode, and perform cover cleaning in the target area according to the amount of cleaning water.
The water-controlling cleaning device of a cleaning robot according to claim 6, wherein the collection module is further used for:

Before controlling the cleaning robot to go around the edge of the target area and collecting the ambient humidity, determine whether the humidity detection function of the cleaning robot is normal;

If the humidity detection function is normal, continue to collect the ambient humidity; if the humidity detection function is abnormal, stop collecting the ambient humidity and report the fault information.
The water-controlling cleaning device of a cleaning robot according to claim 6, wherein the collection module is further used for:

Before controlling the cleaning robot to travel around the boundary of the target area and collecting the ambient humidity, the target area to be cleaned is determined according to whether there is map information of the current area.
The water-controlling cleaning device for a cleaning robot according to claim 8, wherein the collection module is specifically used for:

According to the map information of the current area where the cleaning robot exists, the target area to be cleaned is determined according to the map information;

According to the map information of the current area that does not exist in the cleaning robot, an area with a fixed area is designated as the target area to be cleaned.
The water-controlling cleaning device for a cleaning robot according to claim 6, wherein the computing module is specifically used for:

Obtain the ambient humidity of multiple locations on the boundary of the target area separated by a preset distance;

The average value of the ambient humidity of the multiple locations is calculated to obtain the average value of the humidity of the target area.
A cleaning robot, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program when running the computer program to achieve the right The method of any one of claims 1 to 5.
A computer-readable storage medium having stored thereon computer-readable instructions executable by a processor to implement the method of any one of claims 1 to 5.