WO2022213442A1 - Procédé et appareil de nettoyage à commande hydraulique pour robot de nettoyage et robot de nettoyage et support - Google Patents

Procédé et appareil de nettoyage à commande hydraulique pour robot de nettoyage et robot de nettoyage et support Download PDF

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Publication number
WO2022213442A1
WO2022213442A1 PCT/CN2021/092274 CN2021092274W WO2022213442A1 WO 2022213442 A1 WO2022213442 A1 WO 2022213442A1 CN 2021092274 W CN2021092274 W CN 2021092274W WO 2022213442 A1 WO2022213442 A1 WO 2022213442A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
target area
cleaning robot
humidity
water
Prior art date
Application number
PCT/CN2021/092274
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English (en)
Chinese (zh)
Inventor
喻强
邵林
徐晓明
Original Assignee
美智纵横科技有限责任公司
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Publication of WO2022213442A1 publication Critical patent/WO2022213442A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • 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.
  • Sweepers also known as automatic cleaners, smart vacuum cleaners, cleaning robots, etc.
  • automatic cleaners also known as automatic cleaners, smart vacuum cleaners, cleaning robots, etc.
  • the current sweeping robot has gradually become an essential intelligent helper in people's lives.
  • 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.
  • a fixed water volume in advance generally divided into dry mopping, low speed, standard, high speed, etc.
  • 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:
  • 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 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 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.
  • the method before the controlling the cleaning robot to travel around the boundary of the target area and collect the ambient humidity, the method further includes:
  • 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 method before the controlling the cleaning robot to travel around the boundary of the target area and collect the ambient humidity, the method further includes:
  • the target area to be cleaned is determined according to whether there is map information of the current area.
  • determining the target area to be cleaned according to whether there is map information of the current area includes:
  • the target area to be cleaned is determined according to the map information
  • an area with a fixed area is designated as the target area to be cleaned.
  • calculating the average humidity of the target area according to the collected ambient humidity includes:
  • 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 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 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.
  • 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.
  • the collection module is further used for:
  • 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 collection module is further used for:
  • the target area to be cleaned is determined according to whether there is map information of the current area.
  • the collection module is specifically used for:
  • the target area to be cleaned is determined according to the map information
  • an area with a fixed area is designated as the target area to be cleaned.
  • the computing module is specifically used for:
  • 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 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.
  • FIG. 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 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.
  • “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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a preset side length for example, the length and width are 4 meters). area
  • 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.
  • the humidity detection function of the cleaning robot 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.).
  • 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.
  • the amount of cleaning water is reduced to prevent mopping the floor from further increasing the ambient humidity.
  • 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.
  • the cleaning robot 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.
  • 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 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.
  • 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.
  • FIG. 2 shows a flowchart of a specific water control cleaning method for a cleaning robot of the present application.
  • 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.
  • 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.
  • 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.
  • 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.
  • the collection module 101 is further configured to:
  • the collection module 101 is further configured to:
  • the target area to be cleaned is determined according to whether there is map information of the current area.
  • the collection module 101 is specifically used for:
  • the target area to be cleaned is determined according to the map information
  • an area with a fixed area is set as the target area to be cleaned.
  • the computing module 102 is specifically used for:
  • 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.
  • 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.
  • 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.
  • 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.
  • RAM Random Access 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.
  • 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.
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA off-the-shelf programmable gate array
  • 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.
  • 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.
  • PRAM phase-change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read only memory
  • EEPROM electrically erasable programmable read only memory
  • 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.
  • 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 may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
  • 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.
  • 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.
  • DSP digital signal processor
  • 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.

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Abstract

L'invention concerne un procédé et un appareil (10) de nettoyage à commande hydraulique pour un robot de nettoyage et un robot de nettoyage (20) et un support de stockage (30). Le procédé de nettoyage à commande hydraulique pour un robot de nettoyage consiste à : commander un robot de nettoyage pour qu'il se déplace autour de la limite d'une zone cible et pour qu'il acquière l'humidité ambiante (S101) ; calculer une valeur d'humidité moyenne de la zone cible en fonction de l'humidité ambiante acquise (S102) ; en fonction d'une plage d'humidité de la valeur d'humidité moyenne, déterminer une quantité d'eau pour le nettoyage qui est requise dans un mode de lavage (S103) ; et démarrer le mode de lavage pour couvrir et nettoyer la zone cible en fonction de la quantité d'eau pour le nettoyage (S104).
PCT/CN2021/092274 2021-04-09 2021-05-08 Procédé et appareil de nettoyage à commande hydraulique pour robot de nettoyage et robot de nettoyage et support WO2022213442A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110383106.4A CN115191876A (zh) 2021-04-09 2021-04-09 清洁机器人的控水清洁方法、装置、清洁机器人及介质
CN202110383106.4 2021-04-09

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WO2022213442A1 true WO2022213442A1 (fr) 2022-10-13

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