WO2023088169A1 - 洗地机器人的清洁方法、系统、清洁设备和存储介质 - Google Patents

洗地机器人的清洁方法、系统、清洁设备和存储介质 Download PDF

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Publication number
WO2023088169A1
WO2023088169A1 PCT/CN2022/131245 CN2022131245W WO2023088169A1 WO 2023088169 A1 WO2023088169 A1 WO 2023088169A1 CN 2022131245 W CN2022131245 W CN 2022131245W WO 2023088169 A1 WO2023088169 A1 WO 2023088169A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
area
sub
information
cleaned
Prior art date
Application number
PCT/CN2022/131245
Other languages
English (en)
French (fr)
Inventor
孙晓晖
Original Assignee
深圳市探博智能机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202111355109.3A external-priority patent/CN114081398B/zh
Priority claimed from CN202111356931.1A external-priority patent/CN114081399B/zh
Priority claimed from CN202111356939.8A external-priority patent/CN114081400B/zh
Application filed by 深圳市探博智能机器人有限公司 filed Critical 深圳市探博智能机器人有限公司
Publication of WO2023088169A1 publication Critical patent/WO2023088169A1/zh

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Classifications

    • 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

Definitions

  • the present application relates to the field of robot technology, and in particular to a cleaning method, system, cleaning equipment and storage medium of a scrubbing robot.
  • the cleaning effect of the floor washing robot on the ground is excellent, and it has become the choice of more and more users.
  • the use of a single scrubbing robot is not only inefficient, but also requires high cleaning capabilities and battery life for the scrubbing robot, making the cleaning cost too high.
  • Cleaning can be done by setting up multiple scrubbing robots in the cleaning area, but multiple scrubbing robots need to clean different areas. If the scrubbing robots are placed in the cleaning area manually, the human resources will be consumed too much. If the scrubbing robot is driven The movement of the robot to the cleaning area may cause the robot to consume too much energy during the movement, resulting in insufficient energy during cleaning.
  • the present application provides a cleaning method, system, cleaning equipment and storage medium of a floor scrubbing robot, which are used to solve the problem that the robot in the prior art consumes too much energy in motion, resulting in insufficient energy during cleaning .
  • the present application provides a cleaning method for a scrubbing robot, which is applied to a scrubbing robot system, and the scrubbing robot system includes a parent device and at least one sub-machine device, At least one of the slave devices can be stored in the parent device;
  • the cleaning method of the scrubbing robot includes the following steps: obtaining the area information of the area to be cleaned and the cleaning information of the scrubbing robot system, according to the area Information and the cleaning information set the central cleaning area of the area to be cleaned, and divide the area to be cleaned into at least one sub-area according to the central cleaning area; drive the master device to carry at least one of the slave devices moving to the central cleaning area, and when the parent device moves to the central cleaning area, drive at least one of the child devices to leave the parent device to perform area cleaning operations on at least one of the sub-areas, so that each The sub-areas are subjected to area cleaning operations by at least one slave device.
  • the present application provides a computer-readable storage medium storing a computer program.
  • the computer program When the computer program is executed by a processor, the processor performs the above-mentioned method steps.
  • the present application provides a cleaning device, including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the The processor executes the steps of the method as described above.
  • the central cleaning area and at least one sub-area of the area to be cleaned are obtained, and the main machine equipment is driven to carry at least one sub-machine equipment to move to the central cleaning area.
  • the main machine equipment moves to the central cleaning area area
  • at least one sub-machine device is driven to leave the parent machine device to clean at least one sub-area
  • the sub-machine device does not need to spend too much energy for moving to the sub-area
  • the sub-machine device can use more energy for cleaning the sub-area
  • the area can effectively improve the utilization rate of energy, and at the same time, the sub-machine equipment has more energy for cleaning, which can effectively improve the cleaning efficiency and cleaning effect.
  • Fig. 1 is a schematic structural view of an embodiment of a floor scrubbing system provided by the present application.
  • Fig. 2 is a schematic flowchart of a first embodiment of a cleaning method for a floor scrubbing robot provided by the present application.
  • Fig. 3 is a schematic flowchart of a second embodiment of the cleaning method of the scrubbing robot provided by the present application.
  • Fig. 4a is a schematic diagram of an embodiment of the area to be cleaned provided by the present application.
  • Fig. 4b is a schematic diagram of another embodiment of the area to be cleaned provided by the present application.
  • Fig. 5 is a schematic flowchart of a third embodiment of the cleaning method of the floor scrubbing robot provided by the present application.
  • Fig. 6 is a schematic flowchart of a fourth embodiment of the cleaning method of the floor scrubbing robot provided by the present application.
  • Fig. 7 is a schematic flowchart of a fifth embodiment of the cleaning method for the scrubbing robot provided by the present application.
  • Fig. 8 is a schematic flowchart of a sixth embodiment of the cleaning method for the floor scrubbing robot provided by the present application.
  • Fig. 9 is a schematic flow chart of a seventh embodiment of the cleaning method of the floor scrubbing robot provided by the present application.
  • Fig. 10 is a schematic flowchart of an eighth embodiment of the cleaning method for the floor scrubbing robot provided by the present application.
  • Fig. 11 is a schematic structural view of the first embodiment of the cleaning system of the floor scrubbing robot provided by the present application.
  • Fig. 12 is a schematic structural diagram of a second embodiment of the cleaning system of the floor scrubbing robot provided by the present application.
  • Fig. 13 is a schematic structural view of a third embodiment of the cleaning system of the floor scrubbing robot provided by the present application.
  • Fig. 14 is a schematic structural diagram of an embodiment of the cleaning equipment provided by the present application.
  • FIG. 15 is a schematic structural diagram of an embodiment of a storage medium provided by the present application.
  • FIG. 1 is a schematic structural diagram of an embodiment of a floor scrubbing system provided by the present application.
  • the scrubbing system 10 includes a parent machine device 11 and at least one slave machine device 12 .
  • the parent device 11 is provided with a storage compartment 111 , and at least one child device 12 can be stored in the storage compartment 111 of the parent device 11 .
  • the base machine equipment 11 is also provided with a second moving device 112 , and the second moving device 112 is used to drive the base machine equipment 11 to move.
  • the master device 11 can carry at least one slave device 12 for movement.
  • Each slave device 12 is provided with a first moving device 121 and a floor cleaning device 122, the first moving device 121 is used to drive the slave device 12 to move, and the floor cleaning device 122 is used to clean the ground.
  • the parent device 11 carries at least one child device 12 and moves to the central cleaning area through the second moving device 112 , at least one child device 12 moves to the sub-area through the first moving device 121 and performs area cleaning operations through the cleaning device 122 .
  • the master device carries at least one slave device and moves to the central cleaning area of the area to be cleaned, and the slave devices leave the master device and move to their respective matching sub-areas for area cleaning operations.
  • the sub-machine equipment can use more energy to clean the sub-area, effectively improving energy utilization.
  • the sub-machine equipment has more energy for cleaning, which can effectively improve cleaning. efficiency and cleaning effect.
  • the scrubbing system shown in Figure 1 can be used to implement the method shown below.
  • FIG. 2 is a schematic flowchart of a first embodiment of a cleaning method for a scrubbing robot provided in the present application.
  • the cleaning method of the floor scrubbing robot provided by the present application includes the following steps.
  • S101 Obtain area information of the area to be cleaned and cleaning information of the floor scrubbing system, set a central cleaning area of the area to be cleaned according to the area information and cleaning information, and divide the area to be cleaned into at least one sub-area centered on the central cleaning area.
  • the area information of the area to be cleaned is acquired, and the area information may include the cleanliness requirement information of the area to be cleaned (such as deep cleaning or general cleaning), the floor information of the area to be cleaned (such as carpet, marble, etc.) , cement, wooden floor or flat, delicate, rough), area information of the area to be cleaned, area outline of the area to be cleaned, area position of the area to be cleaned, and cleaning duration.
  • the cleaning information of the scrubbing system can include the cleaning capability information of each sub-machine equipment (such as whether it supports deep cleaning), cleaning duration information, cleaning distance information, and cleaning efficiency information (such as cleaning per minute) area), cleaning type information (such as steam cleaning, mopping cleaning).
  • a central cleaning area of the area to be cleaned is set according to the area information and the cleaning information, and the area to be cleaned is divided into at least one sub-area centered on the central cleaning area.
  • a corresponding sub-area may be allocated according to each sub-machine device, so that each sub-area has at least two sub-machine devices for cleaning.
  • the to-be-cleaned information of each sub-area and the cleaning parameters of each slave device are obtained, and at least one slave device is assigned to each sub-region according to the cleaning parameters of each slave.
  • the information of the area to be cleaned is that the area to be cleaned is a circle, the central cleaning area is at the center of the circle, and the sub-area is at least one fan-shaped area divided according to the center of the circle and the edge of the circle.
  • the area, shape, and cleaning requirements of at least one sub-region can be the same or different.
  • the area to be cleaned is first divided into multiple areas to be cleaned.
  • FIG. 4a is a schematic diagram of an embodiment of the area to be cleaned provided by the present application.
  • the area C to be cleaned is first divided into multiple areas to be cleaned C1, C2, C3...
  • the area of the area to be cleaned is divided according to the ability of the scrubbing system, and the size and shape can be consistent or inconsistent.
  • the multiple areas to be cleaned are sorted in advance, and the multiple areas to be cleaned are cleaned in sequence according to the preset sorting.
  • the location information of the cleaned area and the area to be cleaned is obtained, and the central cleaning area is set in the cleaned area.
  • C1 is the cleaned area
  • C2 is the area to be cleaned.
  • C1 the position C' close to C2 is selected as the central cleaning area, which can minimize the influence of the main machine equipment on the cleaning operation.
  • the central cleaning area needs to be cleaned when cleaning other areas to be cleaned.
  • the corresponding central cleaning area may be cleaned.
  • the cleaning route of the slave device is planned for each area to be cleaned, as shown in Figure 4a.
  • S102 Drive the main machine device to carry at least one child machine device to move to the central cleaning area.
  • drive at least one child machine device to leave the main machine device to perform area cleaning operations on at least one sub-area, so that each sub-area Area cleaning operations are performed by at least one slave device.
  • the main machine device is driven to carry at least one sub-machine device to the central cleaning area, the number of sub-machine devices matches the number of sub-areas, and when the main machine device moves to the central cleaning area, at least one sub-machine device is channeled
  • the equipment leaves the parent machine equipment, and performs area cleaning operations on the sub-area.
  • the area A to be cleaned is divided into at least one sub-area A1-A7 and 7 sub-areas according to the central cleaning area A0.
  • the main machine device carries 7 sub-machine devices a1-a7, and each sub-machine device is assigned a sub-area, the sub-machine device a1 corresponds to the sub-area A1, the sub-machine device a2 corresponds to the sub-area A2...and so on.
  • the slave devices a1-a7 are driven to move from the central cleaning area A0 to their assigned sub-areas for area cleaning operations.
  • the slave device after the slave device completes the area cleaning operation, the slave device is driven to drive to the master device after completing the area cleaning operation, and when all the slave devices return to the master device, the master device is driven to carry the slave device. Machine equipment returns to the base station for cleaning.
  • the central cleaning area may not be cleaned, and the main machine equipment is driven to move to the central cleaning area.
  • at least one sub-machine equipment cleaning center cleaning area is driven to improve the integrity of cleaning.
  • the central cleaning area can be a line or an area
  • the parent device can move in the central cleaning area, then drive the parent device to move in the central cleaning area, and at the same time drive at least one slave device to perform cleaning operations on the central cleaning area , to improve cleaning integrity.
  • the central cleaning area and at least one sub-area of the area to be cleaned are obtained according to the area information of the area to be cleaned and the cleaning information of the floor scrubbing system, and the main machine equipment is driven to move to the center with at least one sub-machine equipment.
  • the cleaning area when the main machine equipment moves to the central cleaning area, at least one sub-machine equipment is driven to leave the main machine equipment to perform area cleaning operations on at least one sub-area, and the sub-machine equipment does not need to spend too much energy for moving to the sub-area, the sub-machine equipment More energy can be used to clean the sub-area, effectively improving the utilization rate of energy.
  • the sub-machine equipment has more energy for cleaning, which can effectively improve the cleaning efficiency and cleaning effect.
  • FIG. 3 is a schematic flowchart of a second embodiment of a cleaning method for a scrubbing robot provided in the present application.
  • the cleaning method of the floor scrubbing robot provided by the present application includes the following steps.
  • S201 Obtain area information of the area to be cleaned and cleaning information of the scrubbing system, set a central cleaning area of the area to be cleaned according to the area information and cleaning information, and divide the area to be cleaned into at least one sub-area centered on the central cleaning area.
  • step S201 is basically the same as step S101 in the first embodiment of the cleaning method for the floor scrubbing robot provided in this application, and details are not repeated here.
  • S202 Obtain the to-be-cleaned information of each sub-area and the cleaning parameters of each sub-machine device, and assign at least one sub-machine device to each sub-area according to the cleaning parameters of each sub-machine.
  • the areas with the same information to be cleaned in the area to be cleaned are divided into the same sub-area, and the cleaning parameters of each slave device are obtained, according to the cleaning parameters of each slave device and the to-be-cleaned information of each sub-area , assign a sub-machine device with cleaning parameters matching its to-be-cleaned information to each sub-region. For example, if the to-be-cleaned information of the sub-area is a wooden floor, then a sub-machine device capable of cleaning the wooden floor is assigned. For another example, if the information to be cleaned in the sub-area is larger, the sub-machine device with a longer cleaning distance (stronger battery life) will be allocated.
  • S203 Calculate the best exit point of each slave device in the central cleaning area according to the assigned sub-area of each slave device.
  • the area to be cleaned is an irregular area
  • the divided sub-areas are also irregular areas
  • the central cleaning area may not be a point, but a line or an area, and the distance between the central cleaning area and each sub-area The distances may not be equal, or there may be a certain sub-area that is too far away from the central cleaning area. Therefore, according to the assigned sub-area of each sub-machine device, the optimal departure point of each sub-machine device in the central cleaning area is calculated.
  • the optimal departure point is the shortest point where the slave device moves to its assigned sub-area.
  • FIG. 4b is a schematic diagram of another embodiment of the area to be cleaned provided by the present application.
  • the area to be cleaned B is divided into at least one sub-area B1-B4 according to the central cleaning area B0, the best departure point corresponding to the sub-area B4 is B0', and the best departure point corresponding to the sub-area B1 for B0''.
  • S204 Obtain the current location of the parent device, and drive the slave device whose best exit point is the current location to leave the parent device.
  • the parent device when the parent device arrives at the central cleaning area, the current location of the parent device is obtained, and the child device whose optimal departure point is at the current location is driven to leave the parent device.
  • S205 Set the cleaning mode of each slave device according to the to-be-cleaned information of the assigned sub-area of each slave device.
  • the cleaning mode of each slave device is set according to the to-be-cleaned information of the sub-area to which each slave device is allocated. For example, if a slave device supports both the normal cleaning mode and the deep cleaning mode, and the to-be-cleaned information of the assigned sub-area is the deep cleaning mode, then the cleaning mode of the slave device is set to the deep cleaning mode. Setting the sub-machine equipment to a cleaning mode that matches the cleaning information of the sub-area to be cleaned can maximize the cleaning effect of the sub-machine equipment on the sub-area, make full use of the cleaning ability of the sub-machine equipment, and realize resource optimization.
  • the information to be cleaned of each sub-area and the cleaning parameters of each sub-machine device are obtained, and at least one sub-machine device is assigned to each sub-region according to the cleaning parameters of each sub-machine device, so that the sub-machines can be effectively used.
  • the cleaning ability of the equipment improves the utilization rate of resources.
  • the best departure point of each sub-machine equipment in the central cleaning area is calculated, which can effectively save the energy consumed by the sub-machine equipment moving to the sub-area , to further improve resource utilization.
  • the slave device When cleaning the area to be cleaned, there may be cases where the slave device needs to return to the parent device midway, for example, the slave device is low in power and needs to go to the master device for charging, or the water tank of the slave device is short of water, and the water storage capacity of the sewage tank Exceeding the standard, it is necessary to go to the parent machine equipment for fresh water supplementation, or discharge sewage to continue the cleaning operation.
  • FIG. 5 is a schematic flowchart of a third embodiment of a cleaning method for a scrubbing robot provided in the present application.
  • the robot return judging method provided in the present application includes the following steps.
  • S301 Obtain a central cleaning area and a plurality of sub-areas of the area to be cleaned, and drive the main device to carry at least one sub-device to the central cleaning area.
  • the area information of the area to be cleaned and the cleaning information of the scrubbing system are obtained, and the central cleaning area of the area to be cleaned is set according to the area information and cleaning information, and the area to be cleaned is divided around the central cleaning area for at least one subregion.
  • a cleaning route is planned for each sub-area, and the slave device corresponding to each sub-area is driven to clean according to the cleaning route.
  • the cleaning route can be planned in combination with the cleaning capability of each sub-machine device and the status of the sub-area to be cleaned.
  • the main machine device is driven to carry at least one child machine device to the central cleaning area, and when the main machine device moves to the central cleaning area, at least one child machine device is driven to leave the main machine device to perform area cleaning on at least one sub-area Operates such that each sub-area is subjected to an area cleaning operation by at least one slave device.
  • S303 Obtain the current cleaning information of each slave device, and drive the slave device to move to the master device according to the current cleaning information to perform device cleaning operations.
  • the current cleaning information of each slave device is obtained, and the current cleaning information is used to indicate whether the slave device currently needs to be cleaned.
  • the current cleaning information includes at least one of the cleaned area, the cleaned time, the area to be cleaned, and the remaining cleaning time.
  • the equipment cleaning operation includes the sub-machine equipment discharging the sewage in the sewage tank to the sewage tank of the main machine equipment, and/or the sub-machine equipment from the main machine equipment.
  • the clear water storehouse obtains clear water into the clear water tank.
  • At least one slave device is driven to leave the parent device to perform regional cleaning operations on multiple sub-areas, and the current cleaning information of each slave device is obtained, and the slave device is driven to move to the parent device according to the current cleaning information
  • the equipment cleaning operation in the equipment can effectively ensure the cleaning quality of each sub-machine equipment, and avoid the situation that the sub-machine equipment is not cleaned properly due to too much sewage or too little clean water.
  • FIG. 6 is a schematic flowchart of a fourth embodiment of a cleaning method for a scrubbing robot provided in the present application.
  • the robot return judging method provided in the present application includes the following steps.
  • S401 Obtain a central cleaning area and multiple sub-areas of the area to be cleaned, and drive the main device to carry at least one sub-device to the central cleaning area.
  • steps S401-S402 are basically the same as steps S301-S302 in the third embodiment of the cleaning method for the scrubbing robot provided in this application, and will not be repeated here.
  • S403 The main device is driven to move in the central cleaning area according to preset rules.
  • the central cleaning area is a line or an area
  • the base machine robot moves in the central cleaning area according to preset rules. For example, if the central cleaning area is a line segment, the base machine robot moves back and forth in the central cleaning area at a preset speed. For another example, if the central cleaning area is a circular area, the base machine robot moves circumferentially along the outer edge of the central cleaning area at a preset speed.
  • S404 Obtain the current distance between the parent device and the slave device, and when the current distance is less than the preset distance threshold, drive the slave device to move into the master device for device cleaning.
  • the current cleaning information includes the current distance between the parent device and the slave device, and the current distance is obtained.
  • the slave device is driven to move to the master device for device cleaning Operation, which can effectively save the energy consumed by the movement of the sub-machine equipment to the main machine equipment, so that more time and energy can be used for area cleaning operations, effectively improving the cleaning efficiency and cleaning effect of the sub-machine equipment.
  • the slave device determines that the slave device needs to perform device cleaning operations based on the current cleaning information (such as the cleaning time), then obtains the current distance between the slave device and the parent device, if the current distance is greater than or equal to the preset distance When the threshold is reached, the slave device continues to perform area cleaning operations, and when the current distance is less than the preset distance threshold, the slave device is driven to move to the master device for device cleaning operations.
  • the current cleaning information such as the cleaning time
  • S405 When at least one slave device moves into the master device for equipment cleaning operation, control the master device to stop, and when at least one slave device completes the device cleaning operation and leaves the master device, drives the master device to resume the motion state.
  • the parent device when there is at least one slave device moving into the parent device for equipment cleaning operations, the parent device is controlled to stop moving, so as to prevent the parent device from moving back and forth in the central cleaning area according to preset rules, causing the device After the cleaning operation is completed, when the slave device leaves the parent device, it needs to travel a long distance to return to the sub-area allocated by the slave device.
  • the parent device When at least one slave device completes the device cleaning operation and leaves the parent device, the parent device is driven back into motion. In this way, other slave devices that need to perform equipment cleaning operations can obtain the current distance between themselves and the parent device when the parent device moves back and forth in the central cleaning area, and move to the parent device to complete the device cleaning operation when the current distance is less than the preset distance threshold.
  • the master device moves in the central cleaning area according to preset rules, obtains the current distance between the master device and the slave device, and drives the slave device to move when the current distance is less than the preset distance threshold
  • the equipment cleaning operation in the main machine equipment can realize the reasonable allocation of resources, effectively save the energy consumed by the movement of the sub-machine equipment to the main machine equipment, so that more time and energy can be used for area cleaning operations, and the sub-machine equipment can be effectively improved. cleaning efficiency and cleaning effect.
  • FIG. 7 is a schematic flowchart of a fifth embodiment of a cleaning method for a scrubbing robot provided in the present application.
  • the robot return judging method provided in the present application includes the following steps.
  • S501 Obtain a central cleaning area and multiple sub-areas of the area to be cleaned, and drive the main machine device to carry at least one child device to move to the central cleaning area.
  • steps S501-S502 are basically the same as steps S301-S302 of the third embodiment of the cleaning method for the scrubbing robot provided in this application, and will not be repeated here.
  • the main driving device is in a state of stopping in the central cleaning area.
  • the master device is driven to stop in the central cleaning area according to preset rules and wait for at least one slave device to return. It may be that after driving to the central cleaning area, it is in a stationary state, and at least one slave device continues to maintain a stationary state after leaving the parent device until all the slave devices complete the cleaning task. It can also travel to the central cleaning area, and after at least one slave device leaves the parent device, it runs to a fixed point in the central cleaning area and stops.
  • step S504 Obtain a preset return requirement, and determine whether the cleaning information of each slave device meets the preset return requirement, and if so, perform step S505.
  • the preset return requirements are obtained, and the preset return requirements can be set according to the cleaning parameters of each sub-unit and the information to be cleaned in each sub-area. For example, some sub-units have strong battery life. Then the cleaning time in the corresponding preset return requirement is longer.
  • the cleaning mode of some slave devices is a deep cleaning mode, which consumes more power, and the corresponding preset return requirements have a smaller cleaned area.
  • S505 Obtain the current location information of at least one slave device whose cleaning information meets the preset return requirements; plan the return path according to the current location information and the central cleaning area, so that at least one slave device moves to the parent device according to the return path for installation cleaning operation.
  • the slave device since the slave device returns to the parent device during the area cleaning operation, when the slave device moves to the parent device, it may pass through the uncleaned sub-area and the cleaned sub-area.
  • the machine equipment first passes through an uncleaned sub-area, and then passes through a cleaned sub-area, which may bring the dirt from the uncleaned sub-area to the cleaned sub-area, affecting the cleaning effect. Therefore, it is necessary to plan the return motion path according to the current position information of the slave device and the central cleaning area where the master device stops, so that when the slave device returns to the master device according to the return motion path, the cleaned sub-area will not be soiled. For example, only the cleaned sub-areas are passed, or only the uncleaned sub-areas are passed.
  • the parent device is in a static state, and when the cleaning information of the slave device meets the preset return requirements, it returns to the parent device for equipment cleaning operations.
  • the cleaning information of the slave device meets the preset return requirements, it returns to the parent device for equipment cleaning operations.
  • the central cleaning area Plan the return path so that when the sub-machine equipment returns to the main machine equipment according to the return movement path, the cleaned sub-area will not be soiled, which can effectively improve the cleaning effect.
  • FIG. 8 is a schematic flowchart of a sixth embodiment of a cleaning method for a scrubbing robot provided in the present application.
  • the robot return judging method provided in the present application includes the following steps.
  • S601 Obtain a central cleaning area and a plurality of sub-areas of the area to be cleaned, and drive the main device to carry at least one sub-device to the central cleaning area.
  • S602 When the main machine moves to the central cleaning area, drive at least one sub-machine device to leave the main machine device to perform area cleaning operations on multiple sub-areas.
  • steps S601-S602 are basically the same as steps S301-S302 in the third embodiment of the cleaning method for the scrubbing robot provided in this application, and will not be repeated here.
  • the parent device stops moving in the central cleaning area according to preset rules.
  • Set preset waiting places for each sub-area can be set according to the positional relationship between the sub-area and the central cleaning area, such as the closest point between the sub-area and the central cleaning area, or if the sub-area includes steps, carpets, or uneven areas, then the preset waiting Locations avoid these locales to facilitate parent device movement.
  • the main driving device is in a state of stopping motion in the central cleaning area.
  • step S605 Obtain a preset return requirement, and determine whether the cleaning information of each slave device meets the preset return requirement, and if so, perform step S606.
  • steps S604-S605 are basically the same as steps S503-S504 in the fourth embodiment of the cleaning method for the scrubbing robot provided by the present application, and will not be repeated here.
  • S606 Drive at least one slave device whose cleaning information meets the preset return requirements to move to the preset waiting position in the sub-area where it is located, drive the master device to release the stop motion state, and move to the preset waiting position, so that the slave device moves To the parent machine equipment for equipment cleaning operations.
  • At least one slave device whose cleaning information satisfies the preset return requirement is driven to move to a preset waiting place in the sub-area where it is located.
  • the main machine device is driven to release the stop motion state and move to the preset waiting place in the sub-area, so that the sub-machine equipment moves into the main machine device for equipment cleaning operate. Therefore, the energy consumed by the slave machine equipment moving to the parent machine equipment can be reduced, and the slave machine equipment can use more energy for area cleaning operations.
  • the main machine equipment does not need to be in motion all the time, and only moves when there are sub-machine equipment in the waiting place, which effectively saves the energy consumption of the main machine equipment.
  • the sub-machine equipment when the sub-machine equipment completes the area cleaning operation, the sub-machine equipment is driven to drive to the main machine equipment after completing the area cleaning operation, and when all the sub-machine equipment returns to the main machine equipment, the main machine equipment is driven to carry the Machine equipment returns to the base station for cleaning.
  • one or more cleaning base stations are set, so that the parent device can select the best cleaning base station as the target base station when returning.
  • FIG. 9 is a schematic flowchart of a seventh embodiment of a cleaning method for a scrubbing robot provided in the present application.
  • the cleaning method of the floor scrubbing robot provided by the present application includes the following steps.
  • S701 After driving the main machine device to carry at least one sub-machine device to the central cleaning area of the area to be cleaned, drive at least one sub-machine device to leave the main machine device to perform area cleaning operations on multiple sub-areas of the area to be cleaned.
  • the area information of the area to be cleaned and the cleaning information of the scrubbing system are obtained, and the central cleaning area of the area to be cleaned is set according to the area information and cleaning information, and the area to be cleaned is divided around the central cleaning area for at least one subregion.
  • S702 Obtain current cleaning information of at least one slave device, and drive the slave device whose current cleaning information is cleaning completed information to move to the master device.
  • the current cleaning information of at least one slave device is obtained, and the slave device whose current cleaning information is cleaning completed information is driven to move to the master device. It may be that the parent device is in a static state, and the child device moves into the parent device, or it may be that the parent device is in a moving state, and the child device moves into the parent device.
  • S703 When at least one slave device moves into the master device, obtain the current location information of the master device and the base station location information of each clean base station, and select one or more clean base stations according to the current location information and the clean base station information target base station.
  • the master device may carry the at least one slave device and move to the target base station.
  • the current location information of the master device and the base station location information of each clean base station are acquired, and a target base station is selected from one or more clean base stations according to the current location information and the clean base station information.
  • a clean base station closest to the current location information can be selected as the target base station, or a clean base station with the gentlest moving path (no steps, flat ground) can be selected as the target base station.
  • a pending notification is sent to the target base station, so that the target base station is in a pending state, so that the parent device and at least one slave device can complete the charging and cleaning operation at the target base station.
  • the target base station checks whether its own power supply, water supply, and sewage functions are normal, and if at least one of them is in an abnormal state, it notifies the parent device so that the parent device can reselect the target base station in time to avoid wasting time.
  • S704 Drive the master device to move to the target base station with at least one slave device, so that the master device and the at least one slave device can complete the charging and cleaning operation at the target base station.
  • the main device is driven to carry at least one sub-device to the target base station, and during the movement of the main device with at least one sub-device, at least one sub-device can complete the sub-device in the main device Charging and cleaning operation, when the parent device moves to the target base station, the parent device and at least one slave device complete the charging and cleaning operation at the target base station. It may also be that after the parent device arrives at the target base station, the slave device performs the charging and cleaning operation of the slave device in the parent device; the parent device is driven to perform the charging and cleaning operation of the parent device at the target base station.
  • the charging and cleaning operation of the slave device includes charging the slave device, adding clean water to the clean water tank of the slave device, and discharging the sewage in the sewage tank of the slave device to the sewage tank of the master device.
  • the charging and cleaning operation of the parent machine equipment includes charging the parent machine equipment, replenishing clean water to the clean water tank of the parent machine equipment, and discharging the sewage in the sewage tank of the parent machine equipment.
  • the slave device that drives the cleaning completion information moves to the parent device, and selects the target from one or more cleaning base stations according to the current location information of the parent device and the cleaning base station information of each cleaning base station.
  • Base station you can choose the most suitable base station for the target, which effectively improves the charging cleaning efficiency and charging cleaning effect of the parent device and the slave device.
  • FIG. 10 is a schematic flowchart of an eighth embodiment of a cleaning method for a scrubbing robot provided in the present application.
  • the cleaning method of the floor scrubbing robot provided by the present application includes the following steps.
  • S801 After driving the main machine device to carry at least one sub-machine device to the central cleaning area of the area to be cleaned, drive at least one sub-machine device to leave the main machine device to perform area cleaning operations on multiple sub-areas of the area to be cleaned.
  • step S801 is basically the same as step S701 in the third embodiment of the cleaning method for the floor scrubbing robot provided in this application, and details are not repeated here.
  • S802 Obtain current cleaning information of at least one slave device, obtain a receiving location for the slave location information of the cleaned slave device according to the current cleaning information, and drive the master device to move to the receiving location.
  • the current cleaning information also includes the location information of the handset.
  • the current cleaning information is the sub-unit location information of the cleaned sub-unit device, the receiving location is obtained according to the sub-unit location information, and the main unit device is driven to move to the receiving location.
  • S803 Obtain the current state information of the master device, and correct the location information of the receiving location according to the current state information and the base station location information of each clean base station.
  • the current state information of the master device is obtained, and the location information of the receiving location is corrected according to the current state information and the location information of each clean base station.
  • the current status information of the base device will affect whether the base device can return to the target base station smoothly.
  • the current status information includes at least one of the current remaining power, the current remaining clean water, the current stored sewage, and the current charging capacity.
  • the master device must have sufficient power to carry all the slave devices to the target base station. However, the more slave devices that the parent device needs to carry, and the greater the amount of clean water and sewage, the more power will be required for the parent device to move to the base station. In the case that the power of the master device is currently insufficient, in order to ensure that the master device has enough power to move to the target base station, the location of the receiving location is corrected so that the power consumed by the master device to receive the slave device is the lowest.
  • the current state information of the parent device may be obtained at preset intervals, and it may be determined whether the location information of the receiving location needs to be corrected according to the current state information of the parent device. Since each parameter in the current status information of the base device will change in real time, obtaining the current status information in real time and correcting the location information of the receiving location can ensure that the base device has sufficient power to move to the target base station.
  • step S804 According to the current state information, it is judged whether the base device needs to move to the cleaning base station in advance to complete the charging and cleaning operation, and if so, execute step S805.
  • the parent device needs to provide services such as charging, replenishing clean water, and discharging sewage for the slave device. If the cleaning time is long and the cleaning area is large, it may cause the power and clean water stored in the parent device to Or the sewage holding capacity is insufficient to support the area cleaning operations of all sub-machine equipments to be completed. Therefore, the current state information of the master device can be obtained at intervals of a preset period, and it is judged whether the master device needs to move to the cleaning base station in advance to complete the charging and cleaning operation.
  • the current status information of the parent device can be acquired at preset intervals, and judge whether the parent device needs to move to the cleaning base station in advance to complete the charging and cleaning operation according to the current status information of the parent device. If the parent device does not need to move to the cleaning base station in advance to complete the charging and cleaning operation, it is judged according to the current state information of the parent device whether it is necessary to correct the location information of the receiving location.
  • S805 Obtain the current location information of the master device and the base station location information of each clean base station; select a temporary base station from one or more clean base stations according to the current location information and the clean base station information.
  • the current location information of the master device and the base station location information of each clean base station are obtained, and a temporary base station is selected from one or more clean base stations according to the current location information and the clean base station information.
  • a temporary base station is selected from one or more clean base stations according to the current location information and the clean base station information. For example, the closest clean base station is selected as the temporary base station, or the clean base station with the flattest path is selected as the temporary base station according to the current remaining power.
  • S806 Drive the base device to move to the temporary base station, and drive the base device to a position corresponding to the current position information after the base device completes the charging and cleaning operation.
  • the master device can move to the temporary base station in advance to complete the charging operation.
  • the temporary base station for the charging operation may not be the same base station as the target base station.
  • the parent device may move to the temporary base station in advance to complete the clean water replenishment operation.
  • the parent device completes the charging and cleaning operation at the clean base station. For example, the parent device moves to the clean base station to complete the charging operation due to insufficient power.
  • the clean water of the parent machine equipment is replenished and the sewage is discharged. Avoid the need for the parent machine to go back and forth to clean the base station multiple times, resulting in energy waste.
  • the master device After the master device completes the charging and cleaning operation, the master device is driven to move to a position corresponding to the current position information. That is to say, the master device returns to the previous position, so as to avoid the failure of the slave device to move to the master device due to the change of the position of the master device, or the need to re-plan the movement path.
  • the position information of the receiving location is corrected according to the current state information of the base device, which can effectively ensure that the base device can successfully move to the target base station, and the base device is driven to move to the temporary base station according to the current state information to complete
  • the charging and cleaning operation can ensure that the resources of the parent device can support the slave device to complete the cleaning operation in each area, ensuring the effectiveness and reliability of cleaning.
  • FIG. 11 is a schematic structural diagram of a first embodiment of a cleaning system of a floor scrubbing robot provided by the present application.
  • the cleaning system 30 of the scrubbing robot is applied to the scrubbing system shown in FIG. 1 , and includes an area module 31 and a cleaning module 32 .
  • the area module 31 is used to obtain the area information of the area to be cleaned and the cleaning information of the floor scrubbing system, set the central cleaning area of the area to be cleaned according to the area information and cleaning information, and divide the area to be cleaned into at least one subregion.
  • the cleaning module 22 is used to drive the main machine device to carry at least one child machine device to the central cleaning area. When the main machine machine moves to the central cleaning area, it drives at least one child machine device to leave the main machine device to perform area cleaning operations on at least one sub-area, so that every The sub-areas are cleaned by at least one slave device.
  • the area module 31 is also used to acquire the information to be cleaned of each sub-area and the cleaning parameters of each slave device, and allocate at least one slave device to each sub-area according to the cleaning parameters of each slave device.
  • the cleaning module 22 is also used to drive each slave device to perform area cleaning operations on its allocated sub-area.
  • the area module 31 is also used to calculate the optimal departure point of each slave device in the central cleaning area according to the assigned sub-area of each slave device.
  • the cleaning module 22 is also used to obtain the current location of the parent device, and drive the child device whose optimal departure point is the current location to leave the parent device.
  • the area module 31 is also used to set the cleaning mode of each slave device according to the to-be-cleaned information of the assigned sub-area of each slave device.
  • the area information includes at least one item of area information, ground information, cleanliness requirement information, and cleaning duration information.
  • the cleaning information includes at least one item of cleaning efficiency information, cleaning ability information, and cleaning type information.
  • the cleaning module 32 is also used to drive at least one slave device to clean the central cleaning area.
  • the cleaning module 32 is also used to drive at least one slave device to travel to the master device after completing the area cleaning operation, and drive the master device to carry the at least one slave device back to the cleaning base station.
  • the cleaning system of the scrubbing robot obtains the central cleaning area and at least one sub-area of the area to be cleaned according to the area information of the area to be cleaned and the cleaning information of the scrubbing system, and drives the main machine equipment to carry at least one The sub-machine equipment moves to the central cleaning area.
  • the main machine equipment moves to the central cleaning area
  • at least one sub-machine device is driven to leave the main machine equipment to perform area cleaning operations on at least one sub-area.
  • the sub-machine equipment does not need to spend too much energy for moving to the central cleaning area.
  • the sub-machine equipment can use more energy for cleaning the sub-area, effectively improving the utilization rate of energy.
  • the sub-machine equipment has more energy for cleaning, which can effectively improve the cleaning efficiency and cleaning effect.
  • FIG. 12 is a schematic structural diagram of an embodiment of a robot return judging system provided by the present application.
  • the robot return judging system 40 is applied to the scrubbing system shown in FIG. 1 , and includes an acquisition module 41 , a cleaning module 42 and an equipment module 43 .
  • the obtaining module 31 is used to obtain the central cleaning area and multiple sub-areas of the area to be cleaned, and drive the main machine device to carry at least one child device to move to the central cleaning area.
  • the cleaning module 42 is used to drive at least one sub-machine device away from the main machine device to perform area cleaning operations on multiple sub-areas when the main machine moves to the central cleaning area.
  • the device module 43 is used to obtain the current cleaning information of each slave device, and drive the slave device to move to the parent device according to the current cleaning information to perform device cleaning operations.
  • the current cleaning information includes at least one of the cleaned area, the cleaned time, the area to be cleaned, and the remaining cleaning time.
  • the cleaning module 42 is also used to drive the main machine equipment to be in a stationary state in the central cleaning area.
  • the equipment module 43 is also used to obtain the preset return requirements, and judge whether the cleaning information of each slave device meets the preset return requirements; obtain the current location information of at least one slave device whose cleaning information meets the preset return requirements; A return path is planned with the central cleaning area, so that at least one slave device moves to the parent device according to the return path to perform equipment cleaning operations.
  • the obtaining module 41 is also used to obtain the preset waiting place of each sub-area.
  • the device module 33 is also used to drive at least one slave device whose cleaning information meets the preset return requirements to move to the preset waiting place in the sub-area where it is located, and drive the master device to release the stop motion state and move to the preset waiting place, so that The sub-machine equipment moves to the main machine equipment for equipment cleaning operations.
  • the cleaning module 42 is also used to drive the main device to move in the central cleaning area according to preset rules.
  • the current cleaning information includes: the current distance between the slave device and the parent device.
  • the device module 33 is also used to acquire the current distance between the parent device and the slave device, and when the current distance is less than the preset distance threshold, drive the slave device to move into the master device for device cleaning.
  • the equipment module 43 is also used to control the main machine equipment to stop moving when there is at least one child machine equipment moving into the main machine equipment for equipment cleaning operation; when at least one child machine equipment completes the equipment cleaning operation and leaves the main machine equipment, drive the main machine equipment The device resumes motion.
  • the robot returns to the judging system to drive at least one slave device away from the parent device to perform area cleaning operations on multiple sub-areas, then obtain the current cleaning information of each slave device, and drive the slave device according to the current cleaning information
  • the equipment is moved to the main machine equipment for equipment cleaning operation, which can effectively ensure the cleaning quality of each sub-machine equipment, and avoid the situation that the sub-machine equipment is not cleaned properly due to too much sewage or too little clean water.
  • FIG. 13 is a schematic structural diagram of a first embodiment of the cleaning system of the floor scrubbing robot provided by the present application.
  • the cleaning system 50 of the cleaning robot is applied to the cleaning system shown in FIG. 1 , and includes a driving module 51 , a moving module 52 , a selection module 53 and a cleaning module 54 .
  • the driving module 51 is used to drive the main machine device to carry at least one child machine device to the central cleaning area of the area to be cleaned, and then drive at least one child machine device to leave the main machine device to perform area cleaning operations on multiple sub-areas of the area to be cleaned.
  • the movement module 52 is used to obtain the current cleaning information of at least one slave device, and drive the master device to move to the receiving location according to the current cleaning information, and then drive the slave device whose current cleaning information is cleaning completed information to move to the master device.
  • the selection module 53 is used to obtain the current location information of the parent device and the base station location information of each cleaning base station when at least one slave device moves into the parent device, and select from one or more cleaning base stations according to the current position information and the cleaning base station information. Select the target base station in the base station.
  • the cleaning module 54 is used to drive the master device to carry at least one slave device to the target base station, so that the master device and the at least one slave device can complete charging and cleaning operations at the target base station.
  • Current cleaning information includes handset location information.
  • the movement module 52 is also used to obtain a receiving location for the cleaned slave location information of the slave device according to the current cleaning information, and drive the master device to move to the receiving location.
  • the motion module 52 is also used to obtain the current state information of the master device, and correct the location information of the receiving location according to the current state information and the base station location information of each clean base station.
  • the current state information includes at least one of the current remaining power, the current remaining fresh water amount, the current stored sewage amount, and the current charging amount.
  • the cleaning module 54 is also used to judge whether the base device needs to move to the cleaning base station in advance to complete the charging and cleaning operation according to the current status information;
  • the base station location information of the cleaning base station select the temporary base station from one or more cleaning base stations according to the current location information and the cleaning base station information; drive the main machine equipment to move to the temporary base station, and when the main machine equipment completes the charging and cleaning operation, drive the main machine equipment to move to the current The location corresponding to the location information.
  • the selection module 53 is also configured to send a pending notification to the target base station, so that the target base station is in a pending state, so that the parent device and at least one slave device can complete the charging and cleaning operation at the target base station.
  • the cleaning module 54 is also used to drive each slave device to perform charging and cleaning operations on the slave device in the master device; drive the master device to perform charging and cleaning operations on the master device at the target base station.
  • the cleaning system of the floor scrubbing robot drives the slave device with the cleaning information to move to the parent device, and according to the current location information of the parent device and the cleaning base station information of each cleaning base station, one or more The target base station can be selected from the cleaning base stations, and the most suitable target base station can be selected, which effectively improves the charging cleaning efficiency and charging cleaning effect of the parent device and the slave device.
  • FIG. 14 is a schematic structural diagram of an embodiment of a cleaning device provided by the present application.
  • the cleaning device 60 includes a processor 61 and a memory 62 .
  • the processor 61 is coupled to the memory 62 .
  • a computer program is stored in the memory 62, and the processor 61 executes the computer program to realize the method shown in any one of Fig. 2-Fig. 3 and Fig. 5-Fig. 10 when working.
  • FIG. 14 is a schematic structural diagram of an embodiment of a cleaning device provided by the present application.
  • the cleaning device 60 includes a processor 61 and a memory 62 .
  • the processor 61 is coupled to the memory 62 .
  • a computer program is stored in the memory 62, and the processor 61 executes the computer program to realize the method shown in any one of Fig. 2-Fig. 3 and Fig. 5-Fig. 10 when working.
  • FIG. 14 is a schematic structural diagram of an embodiment of a cleaning device provided by the present application.
  • the cleaning device 60 includes a processor
  • FIG. 15 is a schematic structural diagram of an embodiment of a storage medium provided by the present application.
  • At least one computer program 71 is stored in the storage medium 70, and the computer program 71 is used to be executed by the processor to realize the method shown in any one of Fig. 2-Fig. 3 and Fig. 5-Fig. , which will not be repeated here.
  • the storage medium 70 may be a storage chip in the terminal, a hard disk, or a mobile hard disk, or a USB flash drive, an optical disk, or other readable and writable storage tools, or a server and the like.

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Abstract

本申请公开了一种洗地机器人的清洁方法、系统、清洁设备和存储介质。应用于洗地机器人系统，洗地机器人系统包括母机设备和至少一个子机设备，至少一个子机设备能够存储于母机设备中；包括如下步骤：获取待清洁区域的区域信息和洗地机器人系统的清洁信息，根据区域信息和清洁信息设置待清洁区域的中心清洁区域，并根据中心清洁区域将待清洁区域划分为至少一个子区域；驱动母机设备携带至少一个子机设备运动至中心清洁区域，当母机设备运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对至少一个子区域进行区域清洁操作，使得每个子区域被至少一个子机设备执行区域清洁操作。本发明能够提升子机设备对子区域的清洁效果。

Description

洗地机器人的清洁方法、系统、清洁设备和存储介质 技术领域
本申请涉及机器人技术领域，尤其涉及洗地机器人的清洁方法、系统、清洁设备和存储介质。
 背景技术
洗地机器人对地面的清洁效果优异，已经成为越来越多用户的选择。但是在清洁一些比较大的区域（例如商场、运动场馆等）使用单一的洗地机器人不仅清洁效率低下，对洗地机器人的清洁能力要求、续航能力要求都很高，使得清洁成本过高。
可以通过在清洁区域设置多个洗地机器人进行清洁，但是多个洗地机器人需要清洁各自不同的区域，如果通过人为将洗地机器人放置到清洁区域，导致人力资源消耗过大，如果驱动洗地机器人运动至清洁区域则可能导致机器人在运动上消耗的能源过多，导致清洁时能源不足。
 技术问题
有鉴于此，本申请提供了一种洗地机器人的清洁方法、系统、清洁设备和存储介质，用于解决现有技术中的机器人在运动上消耗的能源过多，导致清洁时能源不足的问题。
 技术解决方案
为达上述之一或部分或全部目的或是其他目的，本申请提供一种洗地机器人的清洁方法，应用于洗地机器人系统，所述洗地机器人系统包括母机设备和至少一个子机设备，至少一个所述子机设备能够存储于所述母机设备中；所述洗地机器人的清洁方法包括如下步骤：获取待清洁区域的区域信息和所述洗地机器人系统的清洁信息，根据所述区域信息和所述清洁信息设置所述待清洁区域的中心清洁区域，并根据所述中心清洁区域将所述待清洁区域划分为至少一个子区域；驱动所述母机设备携带至少一个所述子机设备运动至所述中心清洁区域，当所述母机设备运动至所述中心清洁区域时，驱动至少一个所述子机设备离开所述母机设备对至少一个所述子区域进行区域清洁操作，使得每个所述子区域被至少一个子机设备执行区域清洁操作。
为达上述之一或部分或全部目的或是其他目的，本申请提供一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行如上所述方法的步骤。
为达上述之一或部分或全部目的或是其他目的，本申请提供一种清洁设备，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如上所述方法的步骤。
实施本申请实施例，将具有如下有益效果。
 有益效果
根据待清洁区域的区域信息和洗地系统的清洁信息获取待清洁区域的中心清洁区域和至少一个子区域，驱动母机设备携带至少一个子机设备运动至中心清洁区域，当母机设备运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对至少一个子区域进行区域清洁操作，子机设备无需花费过多能源用于运动至子区域，子机设备能够将更多的能源用于清洁子区域，有效提升能源的利用率，同时子机设备具有更多的能源进行清洁，能有效提升清洁效率和清洁效果。
 附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有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申请的一些实施例，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。
其中。
图1是本申请提供的洗地系统的一实施例的结构示意图。
图2是本申请提供的洗地机器人的清洁方法的第一实施例的流程示意图。
图3是本申请提供的洗地机器人的清洁方法的第二实施例的流程示意图。
图4a是本申请提供的待清洁区域的一实施例的示意图。
图4b是本申请提供的待清洁区域的另一实施例的示意图。
图5是本申请提供的洗地机器人的清洁方法的第三实施例的流程示意图。
图6是本申请提供的洗地机器人的清洁方法的第四实施例的流程示意图。
图7是本申请提供的洗地机器人的清洁方法的第五实施例的流程示意图。
图8是本申请提供的洗地机器人的清洁方法的第六实施例的流程示意图。
图9是本申请提供的洗地机器人的清洁方法的第七实施例的流程示意图。
图10是本申请提供的洗地机器人的清洁方法的第八实施例的流程示意图。
图11是本申请提供的洗地机器人的清洁系统的第一实施例的结构示意图。
图12是本申请提供的洗地机器人的清洁系统的第二实施例的结构示意图。
图13是本申请提供的洗地机器人的清洁系统的第三实施例的结构示意图。
图14是本申请提供的清洁设备的一实施例的结构示意图。
图15是本申请提供的存储介质的一实施例的结构示意图。
 本发明的最佳实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
请参阅图1，图1是本申请提供的洗地系统的一实施例的结构示意图。洗地系统10包括母机设备11和至少一个子机设备12。母机设备11设置有存储仓111，至少一个子机设备12能够存储于母机设备11的存储仓111中。母机设备11上还设置有第二运动装置112，第二运动装置112用于带动母机设备11运动。母机设备11能够携带至少一个子机设备12运动。每个子机设备12上设置有第一运动装置121和地面清洁装置122，第一运动装置121用于带动子机设备12运动，地面清洁装置122用于清洁地面。母机设备11携带至少一个子机设备12通过第二运动装置112运动至中心清洁区域时，至少一个子机设备12通过第一运动装置121运动至子区域，并通过清洁装置122执行区域清洁操作。
通过上述描述可知，在本实施例中，母机设备携带至少一个子机设备运动至待清洁区域的中心清洁区域，子机设备离开母机设备运动至各自匹配的子区域进行区域清洁操作，子机设备无需花费过多能源用于运动至子区域，子机设备能够将更多的能源用于清洁子区域，有效提升能源的利用率，同时子机设备具有更多的能源进行清洁，能有效提升清洁效率和清洁效果。
图1所示的洗地系统可用于实现如下所示的方法。
请参阅图2，图2是本申请提供的洗地机器人的清洁方法的第一实施例的流程示意图。本申请提供的洗地机器人的清洁方法包括如下步骤。
S101：获取待清洁区域的区域信息和洗地系统的清洁信息，根据区域信息和清洁信息设置待清洁区域的中心清洁区域，并以中心清洁区域为中心将待清洁区域划分为至少一个子区域。
在一个具体的实施场景中，获取待清洁区域的区域信息，区域信息可以包括待清洁区域的清洁程度要求信息（例如深度清洁或者普通清洁）、待清洁区域的区域地面信息（例如、地毯、大理石、水泥、木质地板或者平坦、细腻、粗糙）、待清洁区域的区域面积信息、待清洁区域的区域轮廓、待清洁区域的区域位置、清洁时长中的至少一个。获取洗地系统的清洁信息，洗地系统的清洁信息可以包括每个子机设备的清洁能力信息（例如是否支持深度清洁）、清洁时长信息、清洁路程信息、清洁效率信息（例如每分钟可清洁的面积）、清洁类型信息（例如蒸汽清洁、拖地清洁）中的至少一个。
根据区域信息和清洁信息设置待清洁区域的中心清洁区域并以中心清洁区域为中心将待清洁区域划分为至少一个子区域。可以是根据每个子机设备分配对应的子区域，以使得每个子区域有至少两个子机设备进行清洁。具体地说，获取每个子区域的待清洁信息和每个子机设备的清洁参数，根据每个子机的清洁参数为每个子区域分配至少一个子机设备。
在一个实施场景中，待清洁区域信息为待清洁区域为圆形，则中心清洁区域为圆形的圆心处，子区域为根据圆心和圆形边缘划分出的至少一个扇形区域。
需要说明的是，至少一个子区域的面积、形状、清洁需求均可以相同或者不同。
在其他实施场景中，可能存在需要清洁的区域的面积特别大，超过了洗地系统一次清洁的能力范围，则先将需要清洁区域进行分割，划分出多个待清洁区域。请参阅图4a，图4a是本申请提供的待清洁区域的一实施例的示意图。如图4a所示的，需要清洁的区域C先划分为多个待清洁区域C1、C2、C3…待清洁区域的面积根据洗地系统的能力划分，大小和形状可以一致或者不一致。预先对多个待清洁区域进行排序，按照预设排序对多个待清洁区域依次进行清洁。
在针对每个待清洁区域选择中心清洁区域时，除第一个待清洁区域外，获取已清洁区域和所述待清洁区域的位置信息，在所述已清洁区域设置所述中心清洁区域。如图4a所示的，C1为已清洁区域，C2为待清洁区域，则在C1中选择靠近C2的位置C’作为中心清洁区域，可以最大程度减少母机设备对清洁操作的影响。除了第一个待清洁区域外，针对其他待清洁区域进行清洁时无需顾虑中心清洁区域是否需要清洁。在其他实施场景中，为了提升清洁质量，在完成待清洁区域的清洁任务后，可以对其对应的中心清洁区域进行清洁操作。
针对每个待清洁区域规划子机设备的清洁路线，如图4a中所示。
S102：驱动母机设备携带至少一个子机设备运动至中心清洁区域，当母机设备运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对至少一个子区域进行区域清洁操作，使得每个子区域被至少一个子机设备执行区域清洁操作。
在一个具体的实施场景中，驱动母机设备携带至少一个子机设备运动至中心清洁区域，子机设备的数量与子区域的数量匹配，当母机设备运动至中心清洁区域时，渠道至少一个子机设备离开母机设备，对子区域进行区域清洁操作。
例如，将待清洁区域A根据中心清洁区域A0划分至少一个子区域A1-A7 7个子区域。母机设备携带7个子机设备a1-a7，为每个子机设备分别分配一个子区域，子机设备a1对应子区域A1，子机设备a2对应子区域A2…以此类推。当母机设备运动至中心清洁区域A0后，驱动子机设备a1-a7自中心清洁区域A0运动到各自分配的子区域进行区域清洁操作。
在一个实施场景中，当子机设备完成区域清洁操作后，驱动子机设备在完成区域清洁操作后行驶至母机设备中，当全部的子机设备回到母机设备中后，驱动母机设备携带子机设备返回清洁基站。
在一个实施场景中，由于母机设备在中心清洁区域停留，以使得子机设备离开母机设备对至少一个子区域进行区域清洁操作，因此中心清洁区域可能没有被清洁到，则驱动母机设备移动至中心清洁区域外的其他区域，驱动至少一个子机设备清洁中心清洁区域，以提升清洁的完整性。
在其他实施场景中，中心清洁区域可以是一条线或者一个区域，母机设备可以在中心清洁区域中移动，则驱动母机设备在中心清洁区域中移动，同时驱动至少一个子机设备对中心清洁区域进行清洁操作，以提升清洁的完整性。
通过上述描述可知，在本实施例中根据待清洁区域的区域信息和洗地系统的清洁信息获取待清洁区域的中心清洁区域和至少一个子区域，驱动母机设备携带至少一个子机设备运动至中心清洁区域，当母机设备运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对至少一个子区域进行区域清洁操作，子机设备无需花费过多能源用于运动至子区域，子机设备能够将更多的能源用于清洁子区域，有效提升能源的利用率，同时子机设备具有更多的能源进行清洁，能有效提升清洁效率和清洁效果。
请参阅图3，图3是本申请提供的洗地机器人的清洁方法的第二实施例的流程示意图。本申请提供的洗地机器人的清洁方法包括如下步骤。
S201：获取待清洁区域的区域信息和洗地系统的清洁信息，根据区域信息和清洁信息设置待清洁区域的中心清洁区域，并以中心清洁区域为中心将待清洁区域划分为至少一个子区域。
在一个具体的实施场景中，步骤S201与本申请提供的洗地机器人的清洁方法的第一实施例中的步骤S101基本一致，此处不再进行赘述。
S202：获取每个子区域的待清洁信息和每个子机设备的清洁参数，根据每个子机的清洁参数为每个子区域分配至少一个子机设备。
在一个具体的实施场景，将待清洁区域中具有相同待清洁信息的区域划分至同一子区域，获取每个子机设备的清洁参数，根据每个子机设备的清洁参数和每个子区域的待清洁信息，为每个子区域分配具有与其待清洁信息匹配的清洁参数的子机设备。例如，子区域的待清洁信息为木质地板，则分配具有清洁木质地板能力的子机设备。又例如，子区域的待清洁信息为面积较大，则分配具有较长清洁距离（续航能力较强）的子机设备。
S203：根据每个子机设备被分配的子区域，计算每个子机设备在中心清洁区域的最佳离开点。
在一个具体的实施场景中，待清洁区域为不规则区域，划分的子区域也是不规则区域，则中心清洁区域可能不是一个点，而是一条线或者一个区域，中心清洁区域距离每个子区域的距离可能也不相等，或者可能存在某一个子区域距离中心清洁区域的位置过远，因此根据每个子机设备被分配的子区域，计算每个子机设备在中心清洁区域的最佳离开点。最佳离开地点为该子机设备运动至其分配的子区域的距离最近的点。
请结合参阅图4b，图4b是本申请提供的待清洁区域的另一实施例的示意图。在图3所示的应用场景中，待清洁区域B根据中心清洁区域B0划分至少一个子区域B1-B4，子区域B4对应的最佳离开地点为B0’，子区域B1对应的最佳离开地点为B0’’。
S204：获取母机设备当前所在位置，驱动最佳离开点为当前所在位置的子机设备离开母机设备。
在一个具体的实施场景中，当母机设备到达中心清洁区域后，获取母机设备当前所在位置，驱动最佳离开点为当前所在位置的子机设备离开母机设备。
S205：根据每个子机设备被分配的子区域的待清洁信息设置每个子机设备的清洁模式。
在一个具体的实施场景中，根据每个子机设备被分配的子区域的待清洁信息设置每个子机设备的清洁模式。例如，一子机设备同时支持普通清洁模式和深度清洁模式，其分配的子区域的待清洁信息为深度清洁模式，则将该子机设备的清洁模式设置为深度清洁模式。将子机设备设置为与其清洁的子区域的待清洁信息匹配的清洁模式，能够更大限度的提升子机设备对子区域的清洁效果，充分利用子机设备的清洁能力，实现资源优化。
通过上述描述可知，本实施例中获取每个子区域的待清洁信息和每个子机设备的清洁参数，根据每个子机设备的清洁参数为每个子区域分配至少一个子机设备，能够有效利用子机设备的清洁能力，提升资源利用率，根据每个子机设备被分配的子区域，计算每个子机设备在中心清洁区域的最佳离开点，能够有效节约子机设备运动至子区域所消耗的能量，进一步提升资源利用率。
在对待清洁区域进行清洁操作时，可能会出现子机设备中途需要返回母机设备的情况，例如子机设备电量不足需要去母机设备进行充电，或者子机设备的清水槽缺水、污水槽储水量超标，需要去母机设备进行清水补充，或者排放污水，以继续进行清洁操作。
请参阅图5，图5是本申请提供的洗地机器人的清洁方法的第三实施例的流程示意图。本申请提供的机器人返回判断方法包括如下步骤。
S301：获取待清洁区域的中心清洁区域和多个子区域，驱动母机设备携带至少一个子机设备运动至中心清洁区域。
在一个具体的实施场景中，获取待清洁区域的区域信息和洗地系统的清洁信息，根据区域信息和清洁信息设置待清洁区域的中心清洁区域，并以中心清洁区域为中心将待清洁区域划分为至少一个子区域。在其他实施场景中，在划分好至少一个子区域后，针对每个子区域规划其清洁路线，驱动每个子区域对应的子机设备根据清洁路线进行清洁。具体地说，可以结合每个子机设备的清洁能力和子区域的待清洁状况规划清洁路线。
S302：当母机运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对多个子区域进行区域清洁操作。
在一个具体的实施场景中，驱动母机设备携带至少一个子机设备运动至中心清洁区域，当母机设备运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对至少一个子区域进行区域清洁操作，使得每个子区域被至少一个子机设备执行区域清洁操作。
S303：获取每个子机设备的当前清洁信息，根据当前清洁信息驱动子机设备运动至母机设备中进行设备清洁操作。
在一个具体的实施场景中获取每个子机设备的当前清洁信息，当前清洁信息用于表示子机设备当前是否需要进行清洁。例如，当前清洁信息包括已清洁面积、已清洁时长、待清洁面积、剩余清洁时长中的至少一项。子机设备当行驶至分配的子区域进行区域清洁操作后，开始记录当前清洁信息，根据当前清洁信息判断子机设备是否需要执行设备清洁操作。例如，判断已清洁面积是否大于预设面积阈值，若已清洁面积大于预设面积阈值，则表示当前子机设备的污水槽中的污水量已经较多，且清水槽中剩余的清水量较少，若继续进行清洁可能导致污水槽中污水满溢，或者清水槽不能提供清水以打湿子机设备的清洁装置上的柔性清洁材料，无法很好的完成区域清洁操作。因此，需要驱动子机设备运动至母机设备中进行设备清洁操作，设备清洁操作包括子机设备将污水槽中的污水排放至母机设备的污水仓中，和/或，子机设备从母机设备的清水仓获取清水至清水槽中。
在其他实施场景中，还可以判断子机设备的已清洁时长是否超过预设时长阈值，若已清洁时长超过预设时长阈值，则驱动子机设备运动至母机设备中进行设备清洁操作。
在其他实施场景中，还可以判断子机设备的待清洁面积是否超过预设待清洁阈值，若子机设备的已清洁时长超过预设时长阈值和/或已清洁面积超过预设面积阈值，则进一步判断待清洁面积是否超过预设待清洁阈值，若待清洁面积未超过预设待清洁阈值，则表示子机设备即使不进行设备清洁操作，清水槽中剩余的清水量和污水槽中剩余的空间还足以支持子机设备完成区域清洁操作，子机设备无需返回母机设备，有效节约时间，节约资源。
在其他实施场景中，还可以判断子机设备的剩余清洁时长是否超过预设剩余阈值。若子机设备的已清洁时长超过预设时长阈值和/或已清洁面积超过预设面积阈值，则进一步判断子机设备的剩余清洁时长是否超过预设剩余阈值。剩余清洁时长没有超过预设剩余阈值，则表示子机设备即使不进行设备清洁操作，清水槽中剩余的清水量和污水槽中剩余的空间还足以支持子机设备完成区域清洁操作，子机设备无需返回母机设备，有效节约时间，节约资源。
在其他实施场景中，还可以接收用户发送的中止清洁指令，根据所述中止清洁指令驱动所述至少一个子机设备中止执行所述区域清洁操作运行至所述母机设备中，从而能够满足用户多变的需求。
通过上述描述可知，在本实施例中驱动至少一个子机设备离开母机设备对多个子区域进行区域清洁操作之后，获取每个子机设备的当前清洁信息，根据当前清洁信息驱动子机设备运动至母机设备中进行设备清洁操作，能够有效确保每个子机设备的清洁质量，避免出现子机设备由于污水过多或者清水过少，而导致的清洁不到位的情况。
请参阅图6，图6是本申请提供的洗地机器人的清洁方法的第四实施例的流程示意图。本申请提供的机器人返回判断方法包括如下步骤。
S401：获取待清洁区域的中心清洁区域和多个子区域，驱动母机设备携带至少一个子机设备运动至中心清洁区域。
S402：当母机运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对多个子区域进行区域清洁操作。
在一个具体的实施场景中，步骤S401-S402与本申请提供的洗地机器人的清洁方法的第三实施例中国的步骤S301-S302基本一致，此处不再进行赘述。
S403：驱动母机设备按照预设规则在中心清洁区域进行移动。
在一具体的实施场景中，中心清洁区域为一条线或者一个区域，则母机机器人按照预设规则在中心清洁区域移动。例如，中心清洁区域为一个线段，则母机机器人按照预设速度在中心清洁区域来回运动。再例如，中心清洁区域为一个圆形区域，则母机机器人按照预设速度沿中心清洁区域的外侧边缘周向运动。
S404：获取母机设备与子机设备的当前距离，当当前距离小于预设距离阈值时，驱动子机设备运动至母机设备中进行设备清洁操作。
在一个具体的实施场景中，当前清洁信息包括母机设备与子机设备的当前距离，获取当前距离，当前距离当当前距离小于预设距离阈值时，驱动子机设备运动至母机设备中进行设备清洁操作，这样可以有效节省子机设备运动至母机设备所消耗的能源，从而将更多的时间和能源用于区域清洁操作，有效提升了子机设备的清洁效率和清洁效果。
在一个实施场景中，子机设备根据当前清洁信息（例如已清洁时长）判定子机设备需要进行设备清洁操作，则获取子机设备与母机设备的当前距离，若当前距离大于或等于预设距离阈值时，子机设备继续进行区域清洁操作，当当前距离小于预设距离阈值时，驱动子机设备运动至母机设备中进行设备清洁操作。
S405：当存在至少一个子机设备运动至母机设备中进行设备清洁操作时，控制母机设备处于停止，当至少一个子机设备完成设备清洁操作，离开母机设备之后，驱动母机设备恢复运动状态。
在一个具体的实施场景中，当存在至少一个子机设备运动至母机设备中进行设备清洁操作时，控制母机设备处于停止运动状态，避免母机设备按照预设规则在中心清洁区域来回移动，导致设备清洁操作完成后，子机设备离开母机设备时，其需要行驶较远距离才能回到该子机设备分配的子区域。
当至少一个子机设备完成设备清洁操作，离开母机设备之后，驱动母机设备恢复运动状态。这样其他需要进行设备清洁操作的子机设备可以在母机设备在中心清洁区域来回移动时获取自身与母机设备的当前距离，在当前距离小于预设距离阈值时，运动至母机设备完成设备清洁操作。
通过上述描述可，在本实施例中，母机设备按照预设规则在中心清洁区域进行移动，获取母机设备与子机设备的当前距离，当当前距离小于预设距离阈值时，驱动子机设备运动至母机设备中进行设备清洁操作，能够实现资源的合理分配，有效节省子机设备运动至母机设备所消耗的能源，从而将更多的时间和能源用于区域清洁操作，有效提升了子机设备的清洁效率和清洁效果。
请参阅图7，图7是本申请提供的洗地机器人的清洁方法的第五实施例的流程示意图。本申请提供的机器人返回判断方法包括如下步骤。
S501：获取待清洁区域的中心清洁区域和多个子区域，驱动母机设备携带至少一个子机设备运动至中心清洁区域。
S502：当母机运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对多个子区域进行区域清洁操作。
在一个具体的实施场景中，步骤S501-S502与本申请提供的洗地机器人的清洁方法的第三实施例中国的步骤S301-S302基本一致，此处不再进行赘述。
S503：驱动母机设备在中心清洁区域处于停止运动状态。
在一个具体的实施场景中，至少一个子机设备离开母机设备后，驱动母机设备根据预设规则在中心清洁区域停止等待至少一个子机返回。可以是行驶至中心清洁区域之后，就处于停止运动状态，至少一个子机设备离开母机设备后继续维持停止运动状态直至所有子机设备完成清洁任务。还可以行驶至中心清洁区域，待至少一个子机设备离开母机设备后，运行至中心清洁区域的固定点后停止。
S504：获取预设返回要求，判断每个子机设备的清洁信息是否满足预设返回要求，若是，执行步骤S505。
在一个具体的实施场景中，获取预设返回要求，预设返回要求可以根据每个子机设备的清洁参数和每个子区域的待清洁信息设置，例如，某些子机设备的续航能力较强，则其对应的预设返回要求中已清洁时长较长。某些子机设备的清洁模式为深度清洁模式，较为耗电，则其对应的预设返回要求中已清洁面积较小。
S505：获取清洁信息满足预设返回要求的至少一个子机设备的当前位置信息；根据当前位置信息和中心清洁区域规划返回路径，以使得至少一个子机设备根据返回路径运动至母机设备中进行设备清洁操作。
在一个具体的实施场景中，由于子机设备是在区域清洁操作的过程中返回母机设备，那么子机设备运动至母机设备时，可能会经过未清洁的子区域和已清洁的子区域，若子机设备先经过一未清洁的子区域，再经过一已清洁的子区域，可能会将未清洁的子区域的脏污带到已清洁的子区域，影响清洁效果。因此需要根据子机设备的当前位置信息和母机设备停止的中心清洁区域规划返回运动路径，以使得子机设备根据返回运动路径返回母机设备时，不会将已清洁的子区域弄脏。例如，仅经过已清洁的子区域，或者仅经过未清洁的子区域。
通过上述描述可知，在本实施例中，母机设备处于静止状态，当子机设备的清洁信息满足预设返回要求时返回母机设备进行设备清洁操作，根据子机设备的当前位置信息和中心清洁区域规划返回路径，以使得子机设备根据返回运动路径返回母机设备时，不会将已清洁的子区域弄脏，能够有效提升清洁效果。
请参阅图8，图8是本申请提供的洗地机器人的清洁方法的第六实施例的流程示意图。本申请提供的机器人返回判断方法包括如下步骤。
S601：获取待清洁区域的中心清洁区域和多个子区域，驱动母机设备携带至少一个子机设备运动至中心清洁区域。
S602：当母机运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对多个子区域进行区域清洁操作。
在一个具体的实施场景中，步骤S601-S602与本申请提供的洗地机器人的清洁方法的第三实施例中国的步骤S301-S302基本一致，此处不再进行赘述。
S603：获取每个子区域的预设等待地点。
在一个具体的实施场景中，至少一个子机设备离开母机设备后，母机设备根据预设规则在中心清洁区域处于停止运动状态。针对每个子区域设置预设等待地点。预设等待地点可以是根据子区域与中心清洁区域的位置关系设置，例如是子区域与中心清洁区域最近的点，或者是子区域包括台阶、地毯、或者有凹凸不平的区域，则预设等待地点避开这些区域设置，以方便母机设备运动。
S604：驱动母机设备在中心清洁区域处于停止运动状态。
S605：获取预设返回要求，判断每个子机设备的清洁信息是否满足预设返回要求，若是，执行步骤S606。
在一个具体的实施场景中，步骤S604-S605与本申请提供的洗地机器人的清洁方法的第四实施例中国的步骤S503-S504基本一致，此处不再进行赘述。
S606：驱动清洁信息满足预设返回要求的至少一个子机设备运动至其所在的子区域的预设等待地点，驱动母机设备解除停止运动状态，运动至预设等待地点，以使得子机设备运动至母机设备中进行设备清洁操作。
在一个具体的实施场景中，驱动清洁信息满足预设返回要求的至少一个子机设备运动至其所在的子区域的预设等待地点。当检测到至少一个子区域的预设等待地点存在子机设备时，驱动母机设备解除停止运动状态，运动至该子区域的预设等待地点，以使得子机设备运动至母机设备中进行设备清洁操作。从而可以减少子机设备运动至母机设备所需要消耗的能源，子机设备可以将更多的能源用于区域清洁操作。母机设备也无需一直处于运动状态，仅在有子机设备处于等待地点时进行运动，有效节约了母机设备的能源消耗。
在实际使用过程中，当子机设备完成区域清洁操作后，驱动子机设备在完成区域清洁操作后行驶至母机设备中，当全部的子机设备回到母机设备中后，驱动母机设备携带子机设备返回清洁基站。为了缩短母机设备和子机设备的清洁时间，设置一个或多个清洁基站，以使得母机设备在返回时可以选择最佳的清洁基站作为目标基站。
请参阅图9，图9是本申请提供的洗地机器人的清洁方法的第七实施例的流程示意图。本申请提供的洗地机器人的清洁方法包括如下步骤。
S701：驱动母机设备携带至少一个子机设备运动至待清洁区域的中心清洁区域后，驱动至少一个子机设备离开母机设备对待清洁区域的多个子区域进行区域清洁操作。
在一个具体的实施场景中，获取待清洁区域的区域信息和洗地系统的清洁信息，根据区域信息和清洁信息设置待清洁区域的中心清洁区域，并以中心清洁区域为中心将待清洁区域划分为至少一个子区域。驱动母机设备携带至少一个子机设备运动至中心清洁区域，当母机设备运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对至少一个子区域进行区域清洁操作，使得每个子区域被至少一个子机设备执行区域清洁操作。
S702：获取至少一个子机设备的当前清洁信息，驱动当前清洁信息为清洁完毕信息的子机设备运动至母机设备中。
在一个具体的实施场景中，获取至少一个子机设备的当前清洁信息，驱动当前清洁信息为清洁完毕信息的子机设备运动至母机设备中。可以是母机设备处于静止状态，子机设备运动至母机设备中，也可以是母机设备处于运动状态，子机设备运动至母机设备中。
S703：当至少一个子机设备全部运动至母机设备中时，获取母机设备的当前位置信息和每个清洁基站的基站位置信息，根据当前位置信息和清洁基站信息从一个或多个清洁基站中选择目标基站。
在一个具体的实施场景中，当至少一个子机设备全部运动至母机设备中时，母机设备可以携带至少一个子机设备运动至目标基站。获取母机设备的当前位置信息和每个清洁基站的基站位置信息，根据当前位置信息和清洁基站信息从一个或多个清洁基站中选择目标基站。例如，可以选择距离当前位置信息最近的一个清洁基站作为目标基站，或者可以选择运动路径最平缓（没有台阶、地面平坦）的一个清洁基站作为目标基站。
在其他实施场景中，当选择了目标基站之后，向目标基站发出待处理通知，以使得目标基站处于待处理状态，以使得母机设备和至少一个子机设备能够在目标基站完成充电清洁操作。例如，目标基站检测自身的供电、供水、排污功能是否正常，若有至少一项处于非正常状态，则通知母机设备，使得母机设备能够及时重新选择目标基站，避免浪费时间。
S704：驱动母机设备携带至少一个子机设备运动至目标基站，以使得母机设备和至少一个子机设备能够在目标基站完成充电清洁操作。
在一个具体的实施场景中，驱动母机设备携带至少一个子机设备运动至目标基站，母机设备在携带至少一个子机设备运动的过程中，至少一个子机设备可以在母机设备中完成子机设备充电清洁操作，当母机设备运动至目标基站后，母机设备和至少一个子机设备在目标基站完成充电清洁操作。还可以是母机设备到达目标基站后，子机设备在母机设备中进行子机设备充电清洁操作；驱动母机设备在目标基站进行母机设备充电清洁操作。
子机设备充电清洁操作包括对子机设备进行充电，向子机设备的清水槽中补充清水，将子机设备的污水槽中的污水排出至母机设备的污水仓。母机设备充电清洁操作包括对母机设备进行充电，向母机设备的清水仓补充清水，将母机设备的污水仓中的污水排出。
通过上述描述可知，在本实施例中驱动清洁完毕信息的子机设备运动至母机设备中，根据母机设备的当前位置信息和每个清洁基站的清洁基站信息从一个或多个清洁基站中选择目标基站，可以选择最适合目标基站，有效提升了母机设备和子机设备的充电清洁效率和充电清洁效果。
请参阅图10，图10是本申请提供的洗地机器人的清洁方法的第八实施例的流程示意图。本申请提供的洗地机器人的清洁方法包括如下步骤。
S801：驱动母机设备携带至少一个子机设备运动至待清洁区域的中心清洁区域后，驱动至少一个子机设备离开母机设备对待清洁区域的多个子区域进行区域清洁操作。
在一个具体的实施场景中，步骤S801与本申请提供的洗地机器人的清洁方法的第三实施例的步骤S701基本一致，此处不再进行赘述。
S802：获取至少一个子机设备的当前清洁信息，根据当前清洁信息为清洁完毕的子机设备的子机位置信息获取接收地点，驱动母机设备运动至接收地点。
在一个具体的实施场景中，当前清洁信息还包括子机位置信息。获取当前清洁信息为清洁完毕的子机设备的子机位置信息，根据子机位置信息获取接收地点，驱动母机设备运动至接收地点。驱动当前清洁信息为清洁完毕信息的子机设备运动至母机设备中。根据子机位置获取接收地点，驱动母机设备运动至接收地点，可以有效节约子机设备的电量。
S803：获取母机设备的当前状态信息，根据当前状态信息和每个清洁基站的基站位置信息修正接收地点的位置信息。
在一个具体的实施场景中，获取母机设备的当前状态信息，根据当前状态信息和每个清洁基站的基站位置信息修正接收地点的位置信息。母机设备的当前状态信息会影响母机设备是否能够顺利回到目标基站。在本实施场景中，当前状态信息包括当前剩余电量、当前剩余清水量、当前存储污水量、当前待充电量中的至少一个。例如，母机设备必须有充足的电量以携带全部的子机设备运动至目标基站。而母机设备需要携带的子机设备越多、清水量和污水量越多，都会导致母机设备运动至基站所需要的电量越多。在母机设备当前电量不足的情况下，为了确保母机设备有足够的电量运动至目标基站，修正接收地点的位置，以使得母机设备接收子机设备消耗的电量最低。
在其他实施场景中，可以间隔预设周期获取母机设备的当前状态信息，根据母机设备的当前状态信息判断是否需要修正接收地点的位置信息。由于母机设备的当前状态信息中的各个参数都会实时变化，因此实时获取当前状态信息，对接收地点的位置信息进行修正，可以确保母机设备具备充足的电量运动至目标基站。
S804：根据当前状态信息判断母机设备是否需要提前运动至清洁基站完成充电清洁操作，若是，执行步骤S805。
在一个具体的实施场景中，母机设备需要给子机设备提供充电、补充清水、排放污水等服务，若清洁时间较长、清洁面积较大，则有可能导致母机设备中存储的电量、清水量或者污水容纳量不足以支撑至所有的子机设备的区域清洁操作全部完成。因此，可以间隔预设周期获取母机设备的当前状态信息，判断母机设备是否需要提前运动至清洁基站完成充电清洁操作。
在其他实施场景中，可以间隔预设周期获取母机设备的当前状态信息，根据母机设备的当前状态信息判断母机设备是否需要提前运动至清洁基站完成充电清洁操作。若母机设备不需要提前运动至清洁基站完成充电清洁操作，则根据母机设备的当前状态信息判断是否需要修正接收地点的位置信息。
S805：获取母机设备的当前位置信息和每个清洁基站的基站位置信息；根据当前位置信息和清洁基站信息从一个或多个清洁基站中选择临时基站。
在一个具体的实施场景中，获取母机设备的当前位置信息和每个清洁基站的基站位置信息，根据当前位置信息和清洁基站信息从一个或多个清洁基站中选择临时基站。例如，选择距离最近的清洁基站作为临时基站，或者根据当前剩余电量，选择路径最平坦的清洁基站作为临时基站。
S806：驱动母机设备运动至临时基站，当母机设备完成充电清洁操作之后，驱动母机设备运动至当前位置信息对应的位置。
在一个具体的实施场景中，母机设备的当前电量不足（低于预设电量警戒值），则母机设备可以提前运动至临时基站完成充电操作。进行充电操作的临时基站与目标基站可以不是同一个基站，再例如，母机设备当前的清水量不足，则母机设备可以提前运动至临时基站完成清水补充操作。
在其他实施场景中，母机设备在清洁基站完成充电清洁操作，例如母机设备由于电量不足的问题运动至清洁基站完成充电操作，尽管母机设备的清水量和污水容纳量尚且未到警戒阈值，也对母机设备的清水进行补充，并对污水进行排放。避免母机设备需要往返清洁基站多次，造成能源浪费。
当母机设备在完成充电清洁操作之后，驱动母机设备运动至当前位置信息对应的位置。也就是说母机设备回到之前的位置，避免由于母机设备的位置发生变动而导致子机设备无法成功运动至母机设备中，或需要重新规划运动路径。
通过上述描述可知，在本实施例中，根据母机设备的当前状态信息修正接收地点的位置信息，能够有效确保母机设备能够成功运动至目标基站中，根据当前状态信息驱动母机设备运动至临时基站完成充电清洁操作可以确保母机设备的资源可以支持子机完成各区域的清洁操作，确保清洁的有效性和可靠性。
应该理解的是，虽然图2-图3、图5-图10的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图2-图3、图5-图10中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
请参阅图11，图11是本申请提供的洗地机器人的清洁系统的第一实施例的结构示意图。洗地机器人的清洁系统30应用于图1所示的洗地系统，包括区域模块31和清洁模块32。
区域模块31用于获取待清洁区域的区域信息和洗地系统的清洁信息，根据区域信息和清洁信息设置待清洁区域的中心清洁区域，并以中心清洁区域为中心将待清洁区域划分为至少一个子区域。清洁模块22用于驱动母机设备携带至少一个子机设备运动至中心清洁区域，当母机运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对至少一个子区域进行区域清洁操作，使得每个子区域被至少一个子机设备执行区域清洁操作。
区域模块31还用于获取每个子区域的待清洁信息和每个子机设备的清洁参数，根据每个子机的清洁参数为每个子区域分配至少一个子机设备。清洁模块22还用于驱动每个子机设备对其分配的子区域进行区域清洁操作。
区域模块31还用于根据每个子机设备被分配的子区域，计算每个子机设备在中心清洁区域的最佳离开点。清洁模块22还用于获取母机设备当前所在位置，驱动最佳离开点为当前所在位置的子机设备离开母机设备。
区域模块31还用于根据每个子机设备被分配的子区域的待清洁信息设置每个子机设备的清洁模式。
区域信息包括面积信息、地面信息、清洁程度要求信息、清洁时长信息中的至少一项。清洁信息包括清洁效率信息、清洁能力信息、清洁类型信息中的至少一项。
清洁模块32还用于驱动至少一个子机设备清洁中心清洁区域。
清洁模块32还用于驱动至少一个子机设备在完成区域清洁操作后行驶至母机设备中，驱动母机设备携带至少一个子机设备返回清洁基站。
通过上述描述可知，在本实施例中洗地机器人的清洁系统根据待清洁区域的区域信息和洗地系统的清洁信息获取待清洁区域的中心清洁区域和至少一个子区域，驱动母机设备携带至少一个子机设备运动至中心清洁区域，当母机设备运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对至少一个子区域进行区域清洁操作，子机设备无需花费过多能源用于运动至子区域，子机设备能够将更多的能源用于清洁子区域，有效提升能源的利用率，同时子机设备具有更多的能源进行清洁，能有效提升清洁效率和清洁效果。
请参阅图12，图12是本申请提供的机器人返回判断系统的一实施例的结构示意图。机器人返回判断系统40应用于图1所示的洗地系统，包括获取模块41、清洁模块42和设备模块43。
获取模块31用于获取待清洁区域的中心清洁区域和多个子区域，驱动母机设备携带至少一个子机设备运动至中心清洁区域。清洁模块42用于当母机运动至中心清洁区域时，驱动至少一个子机设备离开母机设备对多个子区域进行区域清洁操作。设备模块43用于获取每个子机设备的当前清洁信息，根据当前清洁信息驱动子机设备运动至母机设备中进行设备清洁操作。
当前清洁信息包括已清洁面积、已清洁时长、待清洁面积、剩余清洁时长中的至少一项。
清洁模块42还用于驱动母机设备在中心清洁区域处于停止运动状态。
设备模块43还用于获取预设返回要求，判断每个子机设备的清洁信息是否满足预设返回要求；获取清洁信息满足预设返回要求的至少一个子机设备的当前位置信息；根据当前位置信息和中心清洁区域规划返回路径，以使得至少一个子机设备根据返回路径运动至母机设备中进行设备清洁操作。
获取模块41还用于获取每个子区域的预设等待地点。设备模块33还用于驱动清洁信息满足预设返回要求的至少一个子机设备运动至其所在的子区域的预设等待地点，驱动母机设备解除停止运动状态，运动至预设等待地点，以使得子机设备运动至母机设备中进行设备清洁操作。
清洁模块42还用于驱动母机设备按照预设规则在中心清洁区域进行移动。当前清洁信息包括：子机设备与母机设备的当前距离。设备模块33还用于获取母机设备与子机设备的当前距离，当当前距离小于预设距离阈值时，驱动子机设备运动至母机设备中进行设备清洁操作。
设备模块43还用于当存在至少一个子机设备运动至母机设备中进行设备清洁操作时，控制母机设备处于停止运动状态；当至少一个子机设备完成设备清洁操作，离开母机设备之后，驱动母机设备恢复运动状态。
通过上述描述可知，在本实施例中机器人返回判断系统驱动至少一个子机设备离开母机设备对多个子区域进行区域清洁操作之后，获取每个子机设备的当前清洁信息，根据当前清洁信息驱动子机设备运动至母机设备中进行设备清洁操作，能够有效确保每个子机设备的清洁质量，避免出现子机设备由于污水过多或者清水过少，而导致的清洁不到位的情况。
请参阅图13，图13是本申请提供的洗地机器人的清洁系统的第一实施例的结构示意图。洗地机器人的清洁系统50应用于图1所示的洗地系统，包括驱动模块51、运动模块52、选择模块53和清洁模块54。
驱动模块51用于驱动母机设备携带至少一个子机设备运动至待清洁区域的中心清洁区域后，驱动至少一个子机设备离开母机设备对待清洁区域的多个子区域进行区域清洁操作。运动模块52用于获取至少一个子机设备的当前清洁信息，根据当前清洁信息驱动母机设备运动至接收地点后，驱动当前清洁信息为清洁完毕信息的子机设备运动至母机设备中。选择模块53用于当至少一个子机设备全部运动至母机设备中时，获取母机设备的当前位置信息和每个清洁基站的基站位置信息，根据当前位置信息和清洁基站信息从一个或多个清洁基站中选择目标基站。清洁模块54用于驱动母机设备携带至少一个子机设备运动至目标基站，以使得母机设备和至少一个子机设备能够在目标基站完成充电清洁操作。
当前清洁信息包括子机位置信息。运动模块52还用于根据当前清洁信息为清洁完毕的子机设备的子机位置信息获取接收地点，驱动母机设备运动至接收地点。
运动模块52还用于获取母机设备的当前状态信息，根据当前状态信息和每个清洁基站的基站位置信息修正接收地点的位置信息。
当前状态信息包括当前剩余电量、当前剩余清水量、当前存储污水量、当前待充电量中的至少一个。
清洁模块54还用于根据当前状态信息判断母机设备是否需要提前运动至清洁基站完成充电清洁操作；若母机设备需要提前运动至清洁基站完成充电清洁操作，则获取母机设备的当前位置信息和每个清洁基站的基站位置信息；根据当前位置信息和清洁基站信息从一个或多个清洁基站中选择临时基站；驱动母机设备运动至临时基站，当母机设备完成充电清洁操作之后，驱动母机设备运动至当前位置信息对应的位置。
选择模块53还用于向目标基站发出待处理通知，以使得目标基站处于待处理状态，以使得母机设备和至少一个子机设备能够在目标基站完成充电清洁操作。
清洁模块54还用于驱动每个子机设备在母机设备中进行子机设备充电清洁操作；驱动母机设备在目标基站进行母机设备充电清洁操作。
通过上述描述可知，在本实施例中洗地机器人的清洁系统驱动清洁完毕信息的子机设备运动至母机设备中，根据母机设备的当前位置信息和每个清洁基站的清洁基站信息从一个或多个清洁基站中选择目标基站，可以选择最适合目标基站，有效提升了母机设备和子机设备的充电清洁效率和充电清洁效果。
请参阅图14，图14是本申请提供的清洁设备的一实施例的结构示意图。清洁设备60包括处理器61、存储器62。处理器61耦接存储器62。存储器62中存储有计算机程序，处理器61在工作时执行该计算机程序以实现如图2-图3、图5-图10中任一幅所示的方法。详细的方法可参见上述，在此不再赘述。
请参阅图15，图15是本申请提供的存储介质的一实施例的结构示意图。存储介质70中存储有至少一个计算机程序71，计算机程序71用于被处理器执行以实现如图2-图3、图5-图10中任一幅所示的方法，详细的方法可参见上述，在此不再赘述。在一个实施例中，存储介质70可以是终端中的存储芯片、硬盘或者是移动硬盘或者优盘、光盘等其他可读写存储的工具，还可以是服务器等等。
以上实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种洗地机器人的清洁方法，其特征在于，应用于洗地机器人系统，所述洗地机器人系统包括母机设备和至少一个子机设备，至少一个所述子机设备能够存储于所述母机设备中；
    所述洗地机器人的清洁方法包括如下步骤：
    获取待清洁区域的区域信息和所述洗地机器人系统的清洁信息，根据所述区域信息和所述清洁信息设置所述待清洁区域的中心清洁区域，并根据所述中心清洁区域将所述待清洁区域划分为至少一个子区域；
    驱动所述母机设备携带至少一个所述子机设备运动至所述中心清洁区域，当所述母机设备运动至所述中心清洁区域时，驱动至少一个所述子机设备离开所述母机设备对至少一个所述子区域进行区域清洁操作，使得每个所述子区域被至少一个子机设备执行区域清洁操作。
  2. 根据权利要求1所述的洗地机器人的清洁方法，其特征在于，所述根据所述中心清洁区域将所述待清洁区域划分为至少一个子区域的步骤，包括：
    获取每个所述子区域的待清洁信息和每个所述子机设备的清洁参数，根据每个所述子机的所述清洁参数为每个所述子区域分配至少一个所述子机设备；
    所述驱动至少一个所述子机设备离开所述母机设备对至少一个所述子区域进行区域清洁操作的步骤，包括：
    根据每个所述子机设备被分配的所述子区域的所述待清洁信息设置每个所述子机设备的清洁模式，驱动每个所述子机设备对其分配的所述子区域进行区域清洁操作。
  3. 根据权利要求2所述的洗地机器人的清洁方法，其特征在于，所述根据每个所述子机设备的所述清洁参数为每个所述子区域分配至少一个所述子机设备的步骤之后，包括：
    根据每个所述子机设备被分配的所述子区域，计算每个所述子机设备在所述中心清洁区域的最佳离开点；
    所述驱动至少一个所述子机设备离开所述母机设备对至少一个所述子区域进行区域清洁操作的步骤之前，包括：
    获取所述母机设备当前所在位置，驱动所述最佳离开点为所述当前所在位置的所述子机设备离开所述母机设备。
  4. 根据权利要求1所述的洗地机器人的清洁方法，其特征在于，所述区域信息包括面积信息、地面信息、清洁程度要求信息、清洁时长信息中的至少一项；所述清洁信息包括清洁效率信息、清洁能力信息、清洁类型信息中的至少一项。
  5. 根据权利要求1所述的洗地机器人的清洁方法，其特征在于，所述驱动至少一个所述子机设备离开所述母机设备对至少一个所述子区域进行区域清洁操作的步骤之后，包括：
    驱动至少一个所述子机设备清洁所述中心清洁区域。
  6. 根据权利要求1所述的洗地机器人的清洁方法，其特征在于，所述根据所述区域信息和所述清洁信息设置所述待清洁区域的中心清洁区域的步骤包括：
    获取已清洁区域和所述待清洁区域的位置信息，在所述已清洁区域设置所述中心清洁区域。
  7. 根据权利要求1所述的洗地机器人的清洁方法，其特征在于，所述驱动至少一个所述子机设备离开所述母机设备对至少一个所述子区域进行区域清洁操作的步骤之后，包括：
    获取每个所述子机设备的当前清洁信息，根据所述当前清洁信息驱动所述子机设备运动至所述母机设备中进行设备清洁操作。
  8. 根据权利要求7所述的洗地机器人的清洁方法，其特征在于，所述驱动所述至少一个子机设备离开所述母机设备对所述多个子区域进行区域清洁操作的步骤之后，还包括：
    驱动所述母机设备在所述中心清洁区域处于停止运动状态。
  9. 根据权利要求8所述的洗地机器人的清洁方法，其特征在于，所述根据所述当前清洁信息驱动所述子机设备运动至所述母机设备中进行设备清洁操作的步骤，包括：
    获取预设返回要求，判断每个所述子机设备的所述清洁信息是否满足所述预设返回要求；
    获取所述清洁信息满足所述预设返回要求的至少一个所述子机设备的当前位置信息；
    根据所述当前位置信息和所述中心清洁区域规划返回路径，以使得所述至少一个子机设备根据所述返回路径运动至所述母机设备中进行设备清洁操作。
  10. 根据权利要求9所述的洗地机器人的清洁方法，其特征在于，所述机器人返回判断方法还包括如下步骤：
    获取每个所述子区域的预设等待地点；
    所述获取所述清洁信息满足所述预设返回要求的至少一个所述子机设备的当前位置信息的步骤之后，包括：
    驱动所述清洁信息满足所述预设返回要求的至少一个所述子机设备运动至其所在的所述子区域的所述预设等待地点，驱动所述母机设备解除停止运动状态，运动至所述预设等待地点，以使得所述子机设备运动至所述母机设备中进行设备清洁操作。
  11. 根据权利要求7所述的洗地机器人的清洁方法，其特征在于，所述获取待清洁区域的中心清洁区域和多个子区域的步骤，包括：
    根据所述多个子区域设置每个子区域的清洁路径，驱动每个所述子机设备根据所述清洁路径进行清洁。
  12. 根据权利要求7所述的洗地机器人的清洁方法，其特征在于，所述机器人返回判断方法还包括：
    获取用户发送的中止清洁指令，根据所述中止清洁指令驱动所述至少一个子机设备中止执行所述区域清洁操作运行至所述母机设备中。
  13. 根据权利要求7所述的洗地机器人的清洁方法，其特征在于，所述清洁系统还包括位于所述待清洁区域的一个或多个清洁基站；
    所述获取每个所述子机设备的当前清洁信息的步骤之后，包括：
    驱动所述当前清洁信息为清洁完毕信息的所述子机设备运动至所述母机设备中；
    当所述至少一个子机设备全部运动至所述母机设备中时，获取所述母机设备的当前位置信息和每个所述清洁基站的基站位置信息，根据所述当前位置信息和所述清洁基站信息从所述一个或多个清洁基站中选择目标基站；
    驱动所述母机设备携带所述至少一个子机设备运动至所述目标基站，以使得所述母机设备和所述至少一个子机设备能够在所述目标基站完成充电清洁操作。
  14. 根据权利要求13所述的洗地机器人的清洁方法，其特征在于，所述当前清洁信息包括子机位置信息；
    所述获取每个所述子机设备的当前清洁信息的步骤之后，包括：
    根据所述当前清洁信息为所述清洁完毕的所述子机设备的子机位置信息获取接收地点，驱动所述母机设备运动至所述接收地点。
  15. 根据权利要求14所述的洗地机器人的清洁方法，其特征在于，所述根据所述当前清洁信息为所述清洁完毕的所述子机设备的子机位置信息获取所述接收地点的步骤之后，包括：
    获取所述母机设备的当前状态信息，根据所述当前状态信息和每个所述清洁基站的基站位置信息修正所述接收地点的位置信息。
  16. 根据权利要求15所述的洗地机器人的清洁方法，其特征在于，所述当前状态信息包括当前剩余电量、当前剩余清水量、当前存储污水量、当前待充电量中的至少一个。
  17. 根据权利要求15所述的洗地机器人的清洁方法，其特征在于，所述驱动所述至少一个子机设备离开所述母机设备对所述待清洁区域的所述多个子区域进行区域清洁操作的步骤之后，包括：
    根据所述当前状态信息判断所述母机设备是否需要提前运动至所述清洁基站完成所述充电清洁操作；
    若所述母机设备需要提前运动至所述清洁基站完成所述充电清洁操作，则获取所述母机设备的所述当前位置信息和每个所述清洁基站的所述基站位置信息；
    根据所述当前位置信息和所述清洁基站信息从所述一个或多个清洁基站中选择临时基站；
    驱动所述母机设备运动至所述临时基站，当所述母机设备完成所述充电清洁操作之后，驱动所述母机设备运动至所述当前位置信息对应的位置。
  18. 根据权利要求13所述的洗地机器人的清洁方法，其特征在于，所述根据所述当前位置信息和所述清洁基站信息从所述一个或多个清洁基站中选择目标基站的步骤之后，包括：
    向所述目标基站发出待处理通知，以使得所述目标基站处于待处理状态，以使得所述母机设备和所述至少一个子机设备能够在所述目标基站完成充电清洁操作。
  19. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行如权利要求1至18中任一项所述方法的步骤。
  20. 一种清洁设备，包括存储器和处理器，所述存储器存储有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如权利要求1至18中任一项所述方法的步骤。
PCT/CN2022/131245 2021-11-16 2022-11-11 洗地机器人的清洁方法、系统、清洁设备和存储介质 WO2023088169A1 (zh)

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